+ python -m lidar_slam --no-model /working/910217d2-2dd4-4806-a3b7-a019c7e66750 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/910217d2-2dd4-4806-a3b7-a019c7e66750 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 0.028040942 Adjusted end_distance from 9.223372036854776e+18 to 199.178040942 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.028040942 meters 0.029246978389196883 Centerline is valid? [0, True] SLAMing on 0.058040942 meters 0.029791981385369117 Centerline is valid? [True, True] Translation: X:0.03, Y:0.00, Z:0.00 [[ 9.99999980e-01 1.80499070e-04 -8.64348643e-05 3.08743592e-02] [-1.80498831e-04 9.99999984e-01 2.77550157e-06 3.94033586e-03] [ 8.64353639e-05 -2.75990012e-06 9.99999996e-01 5.02733897e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.088040942 meters 0.03031195573010091 Centerline is valid? [True, True] Translation: X:0.06, Y:0.02, Z:0.00 [[ 9.99999830e-01 -5.18069181e-04 -2.66045204e-04 6.09225003e-02] [ 5.18071483e-04 9.99999866e-01 8.58439095e-06 1.51034854e-02] [ 2.66040721e-04 -8.72221992e-06 9.99999965e-01 3.01845108e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.118040942 meters 0.03079273377184739 Centerline is valid? [True, True] Translation: X:0.09, Y:0.02, Z:0.00 [[ 9.99999294e-01 -1.18729369e-03 -4.37586162e-05 9.10851430e-02] [ 1.18729375e-03 9.99999295e-01 1.45117230e-06 2.04968838e-02] [ 4.37568624e-05 -1.50312561e-06 9.99999999e-01 2.28851080e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.148040942 meters 0.03365186707565632 Centerline is valid? [True, True] Translation: X:0.12, Y:0.02, Z:0.00 [[ 9.99999154e-01 -1.30014603e-03 -4.08377994e-05 1.20761249e-01] [ 1.30014609e-03 9.99999155e-01 1.30982464e-06 2.13016227e-02] [ 4.08360619e-05 -1.36291863e-06 9.99999999e-01 5.55997906e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.17804094199999998 meters 0.03456493651651489 Centerline is valid? [True, True] Translation: X:0.15, Y:0.04, Z:-0.00 [[ 9.99998454e-01 -9.22177329e-04 1.49712667e-03 1.52131121e-01] [ 9.22250251e-04 9.99999574e-01 -4.80185865e-05 3.61529533e-02] [-1.49708175e-03 4.93992377e-05 9.99998878e-01 -3.00449930e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.208040942 meters 0.03619160406326581 Centerline is valid? [True, True] Translation: X:0.18, Y:0.04, Z:-0.00 [[ 9.99998603e-01 1.49034254e-04 1.66470575e-03 1.84034146e-01] [-1.48945326e-04 9.99999987e-01 -5.35434810e-05 4.06772203e-02] [-1.66471371e-03 5.32954561e-05 9.99998613e-01 -1.07718237e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.23804094199999998 meters 0.039432200477615476 Centerline is valid? [True, True] Translation: X:0.22, Y:0.04, Z:-0.00 [[ 9.99996796e-01 1.61411904e-03 1.95019069e-03 2.15601712e-01] [-1.61399967e-03 9.99998696e-01 -6.27788312e-05 4.40945630e-02] [-1.95028947e-03 5.96310229e-05 9.99998096e-01 -9.27483034e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.268040942 meters 0.04269290047057276 Centerline is valid? [True, True] Translation: X:0.25, Y:0.05, Z:-0.00 [[ 9.99992839e-01 3.35595543e-03 1.74907885e-03 2.46963112e-01] [-3.35586195e-03 9.99994367e-01 -5.63759274e-05 4.80884916e-02] [-1.74925819e-03 5.05058565e-05 9.99998469e-01 -5.76613075e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.29804094200000003 meters 0.051496641438195 Centerline is valid? [True, True] Translation: X:0.28, Y:0.06, Z:-0.00 [[ 9.99980563e-01 5.95048094e-03 1.86145004e-03 2.77168226e-01] [-5.95037960e-03 9.99982295e-01 -5.99792760e-05 5.53583532e-02] [-1.86177399e-03 4.89017758e-05 9.99998266e-01 -7.54830890e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.328040942 meters 0.055399937854854794 Centerline is valid? [True, True] Translation: X:0.31, Y:0.06, Z:-0.00 [[ 9.99970640e-01 7.10219245e-03 2.87721165e-03 3.08351410e-01] [-7.10195474e-03 9.99974776e-01 -9.28293437e-05 5.78815716e-02] [-2.87779837e-03 7.23927913e-05 9.99995857e-01 -8.45093909e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.358040942 meters 0.06525173825303276 Centerline is valid? [True, True] Translation: X:0.34, Y:0.06, Z:-0.00 [[ 9.99951175e-01 9.22181556e-03 3.55047501e-03 3.40902052e-01] [-9.22146198e-03 9.99957475e-01 -1.15946181e-04 6.49898773e-02] [-3.55139326e-03 8.31999493e-05 9.99993690e-01 -2.14374994e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.388040942 meters 0.07088594124759984 Centerline is valid? [True, True] Translation: X:0.37, Y:0.07, Z:-0.00 [[ 9.99936637e-01 1.04411091e-02 4.20780568e-03 3.71708658e-01] [-1.04406199e-02 9.99945486e-01 -1.38202362e-04 6.68452904e-02] [-4.20901928e-03 9.42615057e-05 9.99991138e-01 -2.24163310e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.418040942 meters 0.07924228759598073 Centerline is valid? [True, True] Translation: X:0.40, Y:0.07, Z:-0.00 [[ 9.99903613e-01 1.22048397e-02 6.61868999e-03 4.04089163e-01] [-1.22036594e-02 9.99925509e-01 -2.18684623e-04 7.41635999e-02] [-6.62086596e-03 1.37891306e-04 9.99978072e-01 -2.81513925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.448040942 meters 0.08243013987420725 Centerline is valid? [True, True] Translation: X:0.44, Y:0.08, Z:-0.00 [[ 9.99880054e-01 1.34839602e-02 7.61976550e-03 4.36570253e-01] [-1.34824196e-02 9.99909076e-01 -2.53519822e-04 7.70676548e-02] [-7.62249113e-03 1.50756538e-04 9.99970937e-01 -3.08130739e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.47804094199999997 meters 0.08699036827828865 Centerline is valid? [True, True] Translation: X:0.47, Y:0.08, Z:-0.00 [[ 9.99850990e-01 1.46541025e-02 9.12441371e-03 4.68336657e-01] [-1.46519213e-02 9.99892608e-01 -3.05854935e-04 7.82810352e-02] [-9.12791585e-03 1.72119168e-04 9.99958325e-01 -2.76974719e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5080409419999999 meters 0.09288765579606631 Centerline is valid? [True, True] Translation: X:0.50, Y:0.08, Z:-0.00 [[ 9.99775663e-01 1.62826354e-02 1.35461962e-02 5.00929209e-01] [-1.62779382e-02 9.99867401e-01 -4.56944778e-04 8.45826435e-02] [-1.35518403e-02 2.36338123e-04 9.99908142e-01 -2.35906560e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.538040942 meters 0.0963998331657272 Centerline is valid? [True, True] Translation: X:0.53, Y:0.09, Z:-0.00 [[ 9.99720117e-01 1.67808946e-02 1.66760357e-02 5.31693017e-01] [-1.67738194e-02 9.99859150e-01 -5.64061817e-04 8.69491932e-02] [-1.66831524e-02 2.84183134e-04 9.99860786e-01 -2.14857177e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.568040942 meters 0.0996133441990626 Centerline is valid? [True, True] Translation: X:0.56, Y:0.09, Z:-0.00 [[ 9.99677881e-01 1.80096269e-02 1.78826302e-02 5.64694623e-01] [-1.80015904e-02 9.99837772e-01 -6.10283127e-04 9.16350574e-02] [-1.78907201e-02 2.88170760e-04 9.99839907e-01 -4.50985664e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5980409419999999 meters 0.10560673342707624 Centerline is valid? [True, False] Translation: X:0.57, Y:0.10, Z:-0.00 [[ 0.99972087 0.01640873 0.01699839 0.56663552] [-0.01635421 0.99986068 -0.00334153 0.09950038] [-0.01705085 0.0030626 0.99984993 -0.00464014] [ 0. 0. 0. 1. ]] SLAMing on 0.6280409419999999 meters 0.10830411891624296 Centerline is valid? [False, False] Translation: X:0.56, Y:0.10, Z:-0.01 [[ 0.99982845 0.01176228 0.01430785 0.56085256] [-0.01182027 0.99992224 0.00397512 0.10222922] [-0.01425998 -0.00414356 0.99988974 -0.00629859] [ 0. 0. 0. 1. ]] SLAMing on 0.658040942 meters 0.11092395628748387 Centerline is valid? [False, False] Translation: X:0.56, Y:0.11, Z:-0.01 [[ 0.9998446 0.01070562 0.01400606 0.56183921] [-0.01073958 0.99993956 0.00235132 0.10620761] [-0.01398004 -0.00250138 0.99989915 -0.00666199] [ 0. 0. 0. 1. ]] SLAMing on 0.6880409419999999 meters 0.11788950703826995 Centerline is valid? [False, False] Translation: X:0.56, Y:0.11, Z:-0.01 [[ 9.99872877e-01 8.85942866e-03 1.32566947e-02 5.62991213e-01] [-8.85857601e-03 9.99960754e-01 -1.23038600e-04 1.13151658e-01] [-1.32572645e-02 5.58752145e-06 9.99912119e-01 -5.83487668e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7180409419999999 meters 0.11956938401778672 Centerline is valid? [False, False] Translation: X:0.56, Y:0.12, Z:-0.01 [[ 0.99988495 0.00793705 0.01292633 0.56395686] [-0.00791838 0.99996753 -0.00149484 0.11669551] [-0.01293777 0.00139232 0.99991533 -0.00608304] [ 0. 0. 0. 1. ]] SLAMing on 0.7480409419999999 meters 0.12374615089137779 Centerline is valid? [False, False] Translation: X:0.56, Y:0.12, Z:-0.01 [[ 0.99989573 0.00698735 0.01263777 0.56478344] [-0.0069511 0.99997161 -0.00291023 0.12026954] [-0.01265775 0.00282208 0.99991591 -0.00621992] [ 0. 0. 0. 1. ]] SLAMing on 0.778040942 meters 0.12697319418492395 Centerline is valid? [False, False] Translation: X:0.57, Y:0.13, Z:-0.01 [[ 0.99991456 0.00545527 0.0118793 0.56630688] [-0.00539583 0.99997279 -0.00502993 0.12660671] [-0.01190641 0.0049654 0.99991679 -0.00587761] [ 0. 0. 0. 1. ]] SLAMing on 0.808040942 meters 0.12680150971545315 Centerline is valid? [False, False] Translation: X:0.57, Y:0.13, Z:0.00 [[ 9.99993848e-01 6.89308948e-04 -3.43936893e-03 5.72462259e-01] [-6.78728840e-04 9.99995038e-01 3.07639668e-03 1.27888153e-01] [ 3.44147245e-03 -3.07404336e-03 9.99989353e-01 1.54421017e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8380409419999999 meters 0.12869578234504198 Centerline is valid? [False, False] Translation: X:0.57, Y:0.13, Z:0.00 [[ 9.99993396e-01 -3.77599834e-04 -3.61453141e-03 5.73402964e-01] [ 3.82458080e-04 9.99999024e-01 1.34349060e-03 1.32190315e-01] [ 3.61402058e-03 -1.34486413e-03 9.99992565e-01 9.99624716e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8680409419999999 meters 0.12999065433210993 Centerline is valid? [False, False] Translation: X:0.57, Y:0.14, Z:0.00 [[ 0.99998954 0.00221326 -0.00400178 0.57374478] [-0.00220054 0.99999252 0.00318104 0.13849545] [ 0.00400879 -0.0031722 0.99998693 0.00187482] [ 0. 0. 0. 1. ]] SLAMing on 0.898040942 meters 0.13274224732542034 Centerline is valid? [False, False] Translation: X:0.57, Y:0.14, Z:0.00 [[ 9.99990340e-01 9.36492589e-04 -4.29443390e-03 5.74865173e-01] [-9.32711116e-04 9.99999176e-01 8.82470391e-04 1.44537025e-01] [ 4.29525678e-03 -8.78456401e-04 9.99990389e-01 1.39343890e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9280409419999999 meters 0.13003885202995086 Centerline is valid? [False, False] Translation: X:0.57, Y:0.15, Z:0.00 [[ 0.99998307 0.0038677 -0.00434706 0.57484352] [-0.00385575 0.99998878 0.0027537 0.15090663] [ 0.00435766 -0.0027369 0.99998676 0.00184982] [ 0. 0. 0. 1. ]] SLAMing on 0.9580409419999999 meters 0.13329843670426866 Centerline is valid? [False, False] Translation: X:0.58, Y:0.16, Z:0.00 [[ 0.99998535 0.0030015 -0.00450353 0.57566855] [-0.00299677 0.99999495 0.00105644 0.15520033] [ 0.00450668 -0.00104293 0.9999893 0.00129644] [ 0. 0. 0. 1. ]] SLAMing on 0.9880409419999999 meters 0.13536265002965134 Centerline is valid? [False, False] Translation: X:0.58, Y:0.16, Z:0.00 [[ 9.99988023e-01 2.15576184e-03 -4.39382516e-03 5.75837342e-01] [-2.15888460e-03 9.99997420e-01 -7.06097318e-04 1.59598621e-01] [ 4.39229165e-03 7.15574623e-04 9.99990098e-01 9.77939682e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.018040942 meters 0.12916638787830317 Centerline is valid? [False, False] Translation: X:0.58, Y:0.16, Z:0.00 [[ 0.99998925 0.00169681 -0.0043144 0.57560868] [-0.00170605 0.99999626 -0.00213747 0.16380351] [ 0.00431076 0.0021448 0.99998841 0.00119685] [ 0. 0. 0. 1. ]] SLAMing on 1.048040942 meters 0.12886517993782215 Centerline is valid? [False, False] Translation: X:0.58, Y:0.17, Z:0.00 [[ 9.99979014e-01 4.87549310e-03 -4.26637285e-03 5.75596867e-01] [-4.87691196e-03 9.99988056e-01 -3.22228846e-04 1.70458050e-01] [ 4.26475086e-03 3.43028808e-04 9.99990847e-01 1.32083018e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0780409420000001 meters 0.12961727763045996 Centerline is valid? [False, False] Translation: X:0.58, Y:0.18, Z:0.00 [[ 0.9999827 0.00411755 -0.00420115 0.57555949] [-0.00412669 0.99998913 -0.00216995 0.17544232] [ 0.00419217 0.00218725 0.99998882 0.00129526] [ 0. 0. 0. 1. ]] SLAMing on 1.1080409420000001 meters 0.12313282981416054 Centerline is valid? [False, False] Translation: X:0.58, Y:0.18, Z:0.00 [[ 9.99964248e-01 7.44422324e-03 -4.01072349e-03 5.75199667e-01] [-7.44339111e-03 9.99972273e-01 2.22363166e-04 1.79968081e-01] [ 4.01226760e-03 -1.92501832e-04 9.99991932e-01 1.43049332e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.138040942 meters 0.12521072790181806 Centerline is valid? [False, False] Translation: X:0.58, Y:0.18, Z:0.00 [[ 9.99969074e-01 6.71390449e-03 -4.09576587e-03 5.75898874e-01] [-6.71912685e-03 9.99976629e-01 -1.26263633e-03 1.83548873e-01] [ 4.08719293e-03 1.29011726e-03 9.99990815e-01 7.86086556e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.168040942 meters 0.12521072790181806 Centerline is valid? [False, False] Translation: X:0.58, Y:0.18, Z:0.00 [[ 9.99969074e-01 6.71390449e-03 -4.09576587e-03 5.75898874e-01] [-6.71912685e-03 9.99976629e-01 -1.26263633e-03 1.83548873e-01] [ 4.08719293e-03 1.29011726e-03 9.99990815e-01 7.86086556e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.198040942 meters 0.12336848253713865 Centerline is valid? [False, False] Translation: X:0.58, Y:0.19, Z:0.00 [[ 9.99972255e-01 6.16732011e-03 -4.17764868e-03 5.76525346e-01] [-6.17739497e-03 9.99978032e-01 -2.40301532e-03 1.86269447e-01] [ 4.16273674e-03 2.42875564e-03 9.99988386e-01 1.80735124e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.228040942 meters 0.11682258990211855 Centerline is valid? [False, False] Translation: X:0.58, Y:0.19, Z:-0.00 [[ 9.99974561e-01 5.84595693e-03 -4.08678457e-03 5.76422666e-01] [-5.86118221e-03 9.99975891e-01 -3.72349359e-03 1.90058553e-01] [ 4.06491866e-03 3.74735226e-03 9.99984717e-01 -8.97991012e-06] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.258040942 meters 0.116943394499987 Centerline is valid? [False, False] Translation: X:0.58, Y:0.19, Z:-0.00 [[ 9.99975359e-01 5.57238878e-03 -4.26957940e-03 5.77198901e-01] [-5.59110586e-03 9.99974758e-01 -4.38450101e-03 1.91865077e-01] [ 4.24503948e-03 4.40826464e-03 9.99981273e-01 -5.83934923e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.288040942 meters 0.11325390436983777 Centerline is valid? [False, False] Translation: X:0.58, Y:0.19, Z:-0.00 [[ 9.99977211e-01 5.17691767e-03 -4.33332078e-03 5.77426608e-01] [-5.19983751e-03 9.99972463e-01 -5.29476207e-03 1.94115489e-01] [ 4.30579091e-03 5.31717397e-03 9.99976594e-01 -7.77064722e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.318040942 meters 0.11151794665724349 Centerline is valid? [False, False] Translation: X:0.58, Y:0.20, Z:-0.00 [[ 0.99997373 0.00584649 -0.00428428 0.57910065] [-0.00586884 0.99996914 -0.00522357 0.1975278 ] [ 0.0042536 0.00524857 0.99997718 -0.00284307] [ 0. 0. 0. 1. ]] SLAMing on 1.348040942 meters 0.10823317168874699 Centerline is valid? [False, False] Translation: X:0.58, Y:0.20, Z:-0.00 [[ 0.99997429 0.00570859 -0.00433904 0.57937545] [-0.0057323 0.9999686 -0.00547223 0.19796936] [ 0.00430767 0.00549697 0.99997561 -0.00310617] [ 0. 0. 0. 1. ]] SLAMing on 1.378040942 meters 0.10744597767783333 Centerline is valid? [False, False] Translation: X:0.58, Y:0.20, Z:-0.00 [[ 0.99997202 0.00597878 -0.00449587 0.58028554] [-0.00600097 0.9999698 -0.00493792 0.19669692] [ 0.00446622 0.00496476 0.9999777 -0.00396713] [ 0. 0. 0. 1. ]] SLAMing on 1.408040942 meters 0.10190916736462335 Centerline is valid? [False, False] Translation: X:0.58, Y:0.19, Z:-0.00 [[ 0.9999716 0.00604338 -0.00450261 0.58093212] [-0.00606315 0.99997198 -0.00439005 0.19459048] [ 0.00447595 0.00441722 0.99998023 -0.00491008] [ 0. 0. 0. 1. ]] SLAMing on 1.438040942 meters 0.10396199184244352 Centerline is valid? [False, False] Translation: X:0.59, Y:0.19, Z:-0.00 [[ 9.99969605e-01 1.68113297e-03 -7.61339067e-03 5.91738777e-01] [-1.67396513e-03 9.99998150e-01 9.47751522e-04 1.93916241e-01] [ 7.61496988e-03 -9.34978165e-04 9.99970569e-01 -3.49676514e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.468040942 meters 0.09977252109921704 Centerline is valid? [False, True] Translation: X:0.59, Y:0.19, Z:-0.00 [[ 9.99968762e-01 1.61133826e-03 -7.73818797e-03 5.92106899e-01] [-1.60447195e-03 9.99998314e-01 8.93454402e-04 1.93716069e-01] [ 7.73961458e-03 -8.81010787e-04 9.99969661e-01 -3.70091396e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.498040942 meters 0.09798030424321899 Centerline is valid? [True, True] Translation: X:0.62, Y:0.19, Z:-0.00 [[ 9.99961817e-01 1.31505671e-03 -8.63919151e-03 6.19856425e-01] [-1.31423236e-03 9.99999131e-01 1.01096197e-04 1.92251208e-01] [ 8.63931696e-03 -8.97384322e-05 9.99962676e-01 -2.01793070e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.528040942 meters 0.09737410223358517 Centerline is valid? [True, True] Translation: X:0.65, Y:0.19, Z:-0.00 [[ 9.99957021e-01 8.57657751e-04 -9.23154878e-03 6.48594794e-01] [-8.56716390e-04 9.99999627e-01 1.05926241e-04 1.90579179e-01] [ 9.23163619e-03 -9.80128688e-05 9.99957383e-01 -2.06857529e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.558040942 meters 0.0913249483516476 Centerline is valid? [True, True] Translation: X:0.68, Y:0.18, Z:-0.00 [[ 9.99937973e-01 -1.06764913e-03 -1.10865328e-02 6.77292468e-01] [ 1.06910983e-03 9.99999421e-01 1.25829337e-04 1.83766897e-01] [ 1.10863920e-02 -1.37674253e-04 9.99938535e-01 -3.20063090e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5880409420000001 meters 0.09386925065471187 Centerline is valid? [True, True] Translation: X:0.71, Y:0.18, Z:-0.00 [[ 9.99922301e-01 -2.49684209e-03 -1.22129850e-02 7.06357494e-01] [ 2.49870735e-03 9.99996869e-01 1.37471569e-04 1.79324055e-01] [ 1.22126035e-02 -1.67977563e-04 9.99925409e-01 -3.58025045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.618040942 meters 0.09009894476530897 Centerline is valid? [True, True] Translation: X:0.74, Y:0.18, Z:-0.00 [[ 9.99902761e-01 -3.76661625e-03 -1.34268853e-02 7.35593850e-01] [ 3.76896909e-03 9.99992886e-01 1.49933599e-04 1.75145422e-01] [ 1.34262251e-02 -2.00524535e-04 9.99909844e-01 -4.05926030e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.648040942 meters 0.08599836565664631 Centerline is valid? [True, True] Translation: X:0.76, Y:0.17, Z:-0.01 [[ 9.99833416e-01 -5.13207063e-03 -1.75157559e-02 7.63411473e-01] [ 5.13625519e-03 9.99986791e-01 1.93924889e-04 1.69387623e-01] [ 1.75145293e-02 -2.83857977e-04 9.99846569e-01 -7.78513722e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.678040942 meters 0.08852133765410558 Centerline is valid? [True, True] Translation: X:0.79, Y:0.17, Z:-0.01 [[ 9.99778955e-01 -5.10929800e-03 -2.03945044e-02 7.91439336e-01] [ 5.11491826e-03 9.99986894e-01 2.23422545e-04 1.66203830e-01] [ 2.03930956e-02 -3.27689382e-04 9.99791986e-01 -9.73839216e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.708040942 meters 0.07848322164915834 Centerline is valid? [True, True] Translation: X:0.82, Y:0.16, Z:-0.01 [[ 9.99700420e-01 -5.47853728e-03 -2.38549005e-02 8.20798406e-01] [ 5.48633410e-03 9.99984916e-01 2.61408029e-04 1.58755034e-01] [ 2.38531085e-02 -3.92205670e-04 9.99715397e-01 -1.28013808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.738040942 meters 0.07946536589422963 Centerline is valid? [True, True] Translation: X:0.85, Y:0.15, Z:-0.01 [[ 9.99672360e-01 -5.62274989e-03 -2.49711263e-02 8.49440895e-01] [ 5.63120167e-03 9.99984109e-01 2.68154647e-04 1.54783129e-01] [ 2.49692217e-02 -4.08684237e-04 9.99688137e-01 -1.27928607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.768040942 meters 0.07727684909921276 Centerline is valid? [True, True] Translation: X:0.88, Y:0.15, Z:-0.01 [[ 9.99646246e-01 -5.94427870e-03 -2.59239067e-02 8.78519068e-01] [ 5.95333750e-03 9.99982242e-01 2.72271740e-04 1.52799928e-01] [ 2.59218278e-02 -4.26509189e-04 9.99663882e-01 -1.48779797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.798040942 meters 0.07450346513006456 Centerline is valid? [True, True] Translation: X:0.91, Y:0.15, Z:-0.02 [[ 9.99578945e-01 -4.85175717e-03 -2.86075756e-02 9.06245215e-01] [ 4.86204250e-03 9.99988138e-01 2.89982409e-04 1.46905100e-01] [ 2.86058293e-02 -4.28951559e-04 9.99590677e-01 -1.67248945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.828040942 meters 0.0743675335598265 Centerline is valid? [True, True] Translation: X:0.93, Y:0.14, Z:-0.02 [[ 9.99530694e-01 -3.77688832e-03 -3.03994602e-02 9.34785596e-01] [ 3.78798540e-03 9.99992778e-01 3.07460595e-04 1.44319784e-01] [ 3.03980794e-02 -4.22469013e-04 9.99537782e-01 -1.71837184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.858040942 meters 0.0682168876317426 Centerline is valid? [True, True] Translation: X:0.96, Y:0.14, Z:-0.02 [[ 9.99535374e-01 -2.78708601e-03 -3.03523969e-02 9.62362324e-01] [ 2.79741058e-03 9.99996043e-01 2.97698042e-04 1.40760556e-01] [ 3.03514471e-02 -3.82467840e-04 9.99539216e-01 -1.68014088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.888040942 meters 0.07305011655402306 Centerline is valid? [True, True] Translation: X:0.99, Y:0.14, Z:-0.02 [[ 9.99426005e-01 7.54449963e-04 -3.38687374e-02 9.91808803e-01] [-7.43684971e-04 9.99999669e-01 3.30440808e-04 1.36570468e-01] [ 3.38689755e-02 -3.05063466e-04 9.99426235e-01 -2.05278480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.918040942 meters 0.07096409371659046 Centerline is valid? [True, True] Translation: X:1.02, Y:0.13, Z:-0.02 [[ 9.99371524e-01 2.33510938e-03 -3.53709547e-02 1.01949869e+00] [-2.32469978e-03 9.99997242e-01 3.35421607e-04 1.32497251e-01] [ 3.53716403e-02 -2.52983952e-04 9.99374196e-01 -1.97207995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.948040942 meters 0.06813893448841819 Centerline is valid? [True, True] Translation: X:1.05, Y:0.13, Z:-0.02 [[ 9.99287210e-01 4.38867809e-03 -3.74941580e-02 1.04832597e+00] [-4.37851470e-03 9.99990352e-01 3.53175120e-04 1.26555127e-01] [ 3.74953462e-02 -1.88754659e-04 9.99296784e-01 -2.14891513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.978040942 meters 0.06382094167168056 Centerline is valid? [True, True] Translation: X:1.08, Y:0.12, Z:-0.02 [[ 9.99294558e-01 4.59966494e-03 -3.72723759e-02 1.07666458e+00] [-4.59008389e-03 9.99989407e-01 3.42622910e-04 1.23295018e-01] [ 3.72735570e-02 -1.71297877e-04 9.99305085e-01 -2.10672057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.008040942 meters 0.06318780368110909 Centerline is valid? [True, True] Translation: X:1.10, Y:0.12, Z:-0.02 [[ 9.99258742e-01 5.09687618e-03 -3.81574109e-02 1.10495095e+00] [-5.08761080e-03 9.99987000e-01 3.39917055e-04 1.20181221e-01] [ 3.81586474e-02 -1.45535033e-04 9.99271683e-01 -2.04044471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.038040942 meters 0.06302998281559176 Centerline is valid? [True, True] Translation: X:1.13, Y:0.12, Z:-0.02 [[ 9.99241236e-01 6.02053287e-03 -3.84799323e-02 1.13216435e+00] [-6.01225137e-03 9.99981871e-01 3.30931912e-04 1.16691076e-01] [ 3.84812271e-02 -9.93297877e-05 9.99259318e-01 -1.90522218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.068040942 meters 0.059931809136580985 Centerline is valid? [True, True] Translation: X:1.16, Y:0.11, Z:-0.02 [[ 9.99218752e-01 8.56598953e-03 -3.85812057e-02 1.15957821e+00] [-8.55970768e-03 9.99963311e-01 3.28004873e-04 1.11391850e-01] [ 3.85825999e-02 2.49522218e-06 9.99255414e-01 -1.76970082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.098040942 meters 0.058833653443313205 Centerline is valid? [True, True] Translation: X:1.19, Y:0.11, Z:-0.02 [[ 9.99196700e-01 1.00387495e-02 -3.87966295e-02 1.18798276e+00] [-1.00339256e-02 9.99949608e-01 3.19056407e-04 1.09287676e-01] [ 3.87978774e-02 7.04823849e-05 9.99247076e-01 -1.66226769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.128040942 meters 0.05652632245141481 Centerline is valid? [True, True] Translation: X:1.22, Y:0.11, Z:-0.02 [[ 9.99205904e-01 1.09004258e-02 -3.83241695e-02 1.21615476e+00] [-1.08967495e-02 9.99940582e-01 3.04811931e-04 1.07646087e-01] [ 3.83252150e-02 1.13038994e-04 9.99265313e-01 -1.51252601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.158040942 meters 0.054376546088318926 Centerline is valid? [True, True] Translation: X:1.25, Y:0.10, Z:-0.02 [[ 9.99144075e-01 1.35223207e-02 -3.90930293e-02 1.24502668e+00] [-1.35209346e-02 9.99908543e-01 2.99855778e-04 1.04985854e-01] [ 3.90935087e-02 2.28975170e-04 9.99235530e-01 -1.52179066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.188040942 meters 0.054692664136689814 Centerline is valid? [True, True] Translation: X:1.27, Y:0.10, Z:-0.01 [[ 9.99177064e-01 1.43496827e-02 -3.79378549e-02 1.27403578e+00] [-1.43493017e-02 9.99897004e-01 2.82344651e-04 1.03710735e-01] [ 3.79379990e-02 2.62269427e-04 9.99280061e-01 -1.32564926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.218040942 meters 0.051962276661067064 Centerline is valid? [True, True] Translation: X:1.30, Y:0.10, Z:-0.01 [[ 9.99205605e-01 1.48756428e-02 -3.69712629e-02 1.30196701e+00] [-1.48759941e-02 9.99889311e-01 2.65598223e-04 1.00845537e-01] [ 3.69711215e-02 2.84597055e-04 9.99316294e-01 -1.21930319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.248040942 meters 0.05041861474101076 Centerline is valid? [True, True] Translation: X:1.33, Y:0.10, Z:-0.01 [[ 9.99207339e-01 1.47669427e-02 -3.69679710e-02 1.32963079e+00] [-1.47672828e-02 9.99890923e-01 2.63866801e-04 9.89976437e-02] [ 3.69678352e-02 2.82258837e-04 9.99316416e-01 -1.15630376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.278040942 meters 0.04989890859542685 Centerline is valid? [True, True] Translation: X:1.36, Y:0.10, Z:-0.01 [[ 9.99238974e-01 1.52284156e-02 -3.59105535e-02 1.35692725e+00] [-1.52293996e-02 9.99883996e-01 2.46152622e-04 9.60951619e-02] [ 3.59101362e-02 3.00930874e-04 9.99354978e-01 -1.03150309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.308040942 meters 0.04648643200777105 Centerline is valid? [True, True] Translation: X:1.38, Y:0.09, Z:-0.01 [[ 9.99306336e-01 1.40773352e-02 -3.44771812e-02 1.38466426e+00] [-1.40776707e-02 9.99900878e-01 2.33034082e-04 9.32314363e-02] [ 3.44770442e-02 2.52485968e-04 9.99405458e-01 -1.03051534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.338040942 meters 0.04548750500125494 Centerline is valid? [True, True] Translation: X:1.41, Y:0.09, Z:-0.01 [[ 9.99375693e-01 1.34510447e-02 -3.26694555e-02 1.41226919e+00] [-1.34513686e-02 9.99909504e-01 2.09879347e-04 9.40908653e-02] [ 3.26693221e-02 2.29700569e-04 9.99466189e-01 -6.63424558e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.368040942 meters 0.04472163632329632 Centerline is valid? [True, True] Translation: X:1.44, Y:0.09, Z:-0.01 [[ 9.99373213e-01 1.30078921e-02 -3.29238032e-02 1.44077141e+00] [-1.30080018e-02 9.99915370e-01 2.10870816e-04 9.28647670e-02] [ 3.29237599e-02 2.17534249e-04 9.99457842e-01 -7.44112650e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.398040942 meters 0.045627826069448076 Centerline is valid? [True, True] Translation: X:1.47, Y:0.09, Z:-0.01 [[ 9.99412497e-01 1.24709779e-02 -3.19239047e-02 1.46900530e+00] [-1.24711461e-02 9.99922213e-01 1.93853110e-04 9.37505456e-02] [ 3.19238390e-02 2.04388460e-04 9.99490283e-01 -5.04538238e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.428040942 meters 0.04291188476049273 Centerline is valid? [True, True] Translation: X:1.50, Y:0.09, Z:-0.00 [[ 9.99572265e-01 8.97001834e-03 -2.78356981e-02 1.49782764e+00] [-8.96881572e-03 9.99959765e-01 1.68057004e-04 9.45518005e-02] [ 2.78360856e-02 8.16681269e-05 9.99612498e-01 -3.71647588e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.458040942 meters 0.04153164262562275 Centerline is valid? [True, True] Translation: X:1.53, Y:0.10, Z:-0.00 [[ 9.99620837e-01 7.40350655e-03 -2.65211359e-02 1.52633851e+00] [-7.40202573e-03 9.99972593e-01 1.54008544e-04 9.59193652e-02] [ 2.65215492e-02 4.23599804e-05 9.99648241e-01 -1.62336040e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.488040942 meters 0.03996177943940851 Centerline is valid? [True, True] Translation: X:1.55, Y:0.10, Z:0.00 [[ 9.99653107e-01 6.96865923e-03 -2.53988748e-02 1.55413673e+00] [-6.96738832e-03 9.99975718e-01 1.38535117e-04 1.00011216e-01] [ 2.53992234e-02 3.84767628e-05 9.99677387e-01 3.71472446e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.518040942 meters 0.03959717015914549 Centerline is valid? [True, True] Translation: X:1.58, Y:0.10, Z:0.00 [[ 9.99656949e-01 7.12567349e-03 -2.52033746e-02 1.58251921e+00] [-7.12443448e-03 9.99974611e-01 1.38955550e-04 1.02229763e-01] [ 2.52037248e-02 4.06519096e-05 9.99682335e-01 1.03742728e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.548040942 meters 0.03772943190902115 Centerline is valid? [True, True] Translation: X:1.61, Y:0.11, Z:0.00 [[ 9.99691886e-01 6.76427915e-03 -2.38825912e-02 1.61130240e+00] [-6.76322546e-03 9.99977121e-01 1.24893631e-04 1.06770900e-01] [ 2.38828896e-02 3.66681990e-05 9.99714762e-01 2.44848865e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.578040942 meters 0.036967269059357655 Centerline is valid? [True, True] Translation: X:1.64, Y:0.11, Z:0.00 [[ 9.99694054e-01 6.60809582e-03 -2.38354902e-02 1.63883294e+00] [-6.60720631e-03 9.99978165e-01 1.16073470e-04 1.09194750e-01] [ 2.38357368e-02 4.14480440e-05 9.99715888e-01 2.83865532e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.608040942 meters 0.03685373636926479 Centerline is valid? [True, True] Translation: X:1.67, Y:0.11, Z:0.00 [[ 9.99703554e-01 6.10088587e-03 -2.35708031e-02 1.66613851e+00] [-6.09989011e-03 9.99981389e-01 1.14145884e-04 1.11590061e-01] [ 2.35710608e-02 2.96672626e-05 9.99722164e-01 4.91793727e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.638040942 meters 0.03541005744527718 Centerline is valid? [True, True] Translation: X:1.69, Y:0.11, Z:0.01 [[ 9.99754173e-01 4.65032848e-03 -2.16787416e-02 1.69450899e+00] [-4.64919543e-03 9.99989187e-01 1.02665604e-04 1.13424254e-01] [ 2.16789847e-02 -1.85165915e-06 9.99764983e-01 7.49317749e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6680409419999997 meters 0.03543590478469568 Centerline is valid? [True, True] Translation: X:1.72, Y:0.12, Z:0.01 [[ 9.99730390e-01 4.73197286e-03 -2.27322606e-02 1.72197761e+00] [-4.73094463e-03 9.99988804e-01 9.90115060e-05 1.17418612e-01] [ 2.27324746e-02 8.56025457e-06 9.99741584e-01 1.10390418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.698040942 meters 0.03449503119150076 Centerline is valid? [True, True] Translation: X:1.75, Y:0.12, Z:0.01 [[ 9.99732230e-01 4.10445573e-03 -2.27732809e-02 1.74974160e+00] [-4.10334125e-03 9.99991577e-01 9.56674061e-05 1.19340755e-01] [ 2.27734818e-02 -2.19524624e-06 9.99740651e-01 1.16282978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.728040942 meters 0.03384434981851194 Centerline is valid? [True, True] Translation: X:1.78, Y:0.12, Z:0.01 [[ 9.99715618e-01 3.07844531e-03 -2.36475613e-02 1.77784030e+00] [-3.07702729e-03 9.99995261e-01 9.63518485e-05 1.23071521e-01] [ 2.36477459e-02 -2.35602561e-05 9.99720353e-01 1.26237416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.758040942 meters 0.032443840730761356 Centerline is valid? [True, True] Translation: X:1.81, Y:0.12, Z:0.02 [[ 9.99732024e-01 1.27530411e-03 -2.31139230e-02 1.80682097e+00] [-1.27351966e-03 9.99999185e-01 9.19221411e-05 1.23942917e-01] [ 2.31140214e-02 -6.24614728e-05 9.99732833e-01 1.50892669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.788040942 meters 0.03243168025352147 Centerline is valid? [True, True] Translation: X:1.84, Y:0.13, Z:0.02 [[ 9.99732798e-01 2.47156379e-04 -2.31143269e-02 1.83537202e+00] [-2.45133511e-04 9.99999966e-01 9.03491698e-05 1.25271238e-01] [ 2.31143484e-02 -8.46589322e-05 9.99732824e-01 1.70024965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.818040942 meters 0.031139349869391337 Centerline is valid? [True, True] Translation: X:1.86, Y:0.13, Z:0.02 [[ 9.99715751e-01 -4.61514347e-03 -2.33905633e-02 1.86349957e+00] [ 4.61851577e-03 9.99989331e-01 9.01531902e-05 1.26874520e-01] [ 2.33898977e-02 -1.98157250e-04 9.99726399e-01 1.84094997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.848040942 meters 0.031020108584735143 Centerline is valid? [True, True] Translation: X:1.89, Y:0.13, Z:0.02 [[ 9.99686798e-01 -7.53263632e-03 -2.38655753e-02 1.89229496e+00] [ 7.53700043e-03 9.99971592e-01 9.29162218e-05 1.26993743e-01] [ 2.38641975e-02 -2.72761972e-04 9.99715172e-01 1.92908731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.878040942 meters 0.031008558259406717 Centerline is valid? [True, True] Translation: X:1.92, Y:0.13, Z:0.02 [[ 9.99641964e-01 -1.07464647e-02 -2.45042472e-02 1.92090681e+00] [ 1.07518846e-02 9.99942193e-01 8.94368765e-05 1.26780063e-01] [ 2.45018695e-02 -3.52871693e-04 9.99699722e-01 2.02097673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.908040942 meters 0.03126312278792949 Centerline is valid? [True, True] Translation: X:1.95, Y:0.13, Z:0.02 [[ 9.99544759e-01 -1.68215918e-02 -2.50461467e-02 1.95060972e+00] [ 1.68289148e-02 9.99858380e-01 8.16112951e-05 1.27675449e-01] [ 2.50412268e-02 -5.03073612e-04 9.99686293e-01 2.09129725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9380409419999998 meters 0.03131428501924194 Centerline is valid? [True, True] Translation: X:1.98, Y:0.13, Z:0.02 [[ 9.99494456e-01 -2.03087868e-02 -2.44619206e-02 1.98004503e+00] [ 2.03167967e-02 9.99793589e-01 7.89313682e-05 1.27880363e-01] [ 2.44552684e-02 -5.75879333e-04 9.99700759e-01 2.22103698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.968040942 meters 0.03211342762062033 Centerline is valid? [True, True] Translation: X:2.01, Y:0.13, Z:0.02 [[ 9.99352997e-01 -2.25476481e-02 -2.80212539e-02 2.00768745e+00] [ 2.25590302e-02 9.99745509e-01 9.00922000e-05 1.30952942e-01] [ 2.80120914e-02 -7.22166223e-04 9.99607324e-01 2.12471660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.998040942 meters 0.03229609996333808 Centerline is valid? [True, True] Translation: X:2.04, Y:0.13, Z:0.02 [[ 9.99270364e-01 -2.46797233e-02 -2.91487643e-02 2.03632008e+00] [ 2.46929385e-02 9.99695079e-01 9.34419778e-05 1.32813573e-01] [ 2.91375701e-02 -8.13142443e-04 9.99575080e-01 2.15257034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.028040942 meters 0.03247796880801196 Centerline is valid? [True, True] Translation: X:2.07, Y:0.13, Z:0.02 [[ 9.99223531e-01 -2.56723805e-02 -2.98875324e-02 2.06517797e+00] [ 2.56865061e-02 9.99670043e-01 8.87170470e-05 1.34667692e-01] [ 2.98753933e-02 -8.56354445e-04 9.99553264e-01 2.18900448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.058040942 meters 0.03147220411865337 Centerline is valid? [True, True] Translation: X:2.09, Y:0.14, Z:0.02 [[ 9.99168157e-01 -2.44209432e-02 -3.26590281e-02 2.09273513e+00] [ 2.44368154e-02 9.99701373e-01 8.68788435e-05 1.40200000e-01] [ 3.26471535e-02 -8.84889213e-04 9.99466548e-01 2.06815078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.088040942 meters 0.03147220411865337 Centerline is valid? [True, True] Translation: X:2.12, Y:0.14, Z:0.02 [[ 9.99161964e-01 -2.46730019e-02 -3.26590299e-02 2.12019393e+00] [ 2.46889898e-02 9.99695177e-01 8.63006066e-05 1.40247307e-01] [ 3.26469454e-02 -8.92546739e-04 9.99466548e-01 2.19051283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.118040942 meters 0.030806524505019982 Centerline is valid? [True, True] Translation: X:2.15, Y:0.14, Z:0.02 [[ 9.99174652e-01 -2.30946120e-02 -3.34163599e-02 2.14864072e+00] [ 2.31101659e-02 9.99732921e-01 7.92448230e-05 1.43626790e-01] [ 3.34056049e-02 -8.51437040e-04 9.99441514e-01 2.30257979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.148040942 meters 0.029458041024986573 Centerline is valid? [True, True] Translation: X:2.18, Y:0.15, Z:0.02 [[ 9.99229909e-01 -2.08920223e-02 -3.32131224e-02 2.17788762e+00] [ 2.09058907e-02 9.99781446e-01 7.03020579e-05 1.47956403e-01] [ 3.32043947e-02 -7.64597823e-04 9.99448290e-01 2.47598599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.178040942 meters 0.02735794401945099 Centerline is valid? [True, True] Translation: X:2.21, Y:0.16, Z:0.03 [[ 9.99314627e-01 -1.42946816e-02 -3.41458505e-02 2.20634723e+00] [ 1.43053315e-02 9.99897671e-01 6.75971781e-05 1.57545200e-01] [ 3.41413902e-02 -5.56018559e-04 9.99416858e-01 2.63816213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.208040942 meters 0.026958319803665472 Centerline is valid? [True, True] Translation: X:2.23, Y:0.16, Z:0.03 [[ 9.99366237e-01 -1.21836020e-02 -3.34467259e-02 2.23475310e+00] [ 1.21926507e-02 9.99925665e-01 6.65894541e-05 1.61871826e-01] [ 3.34434283e-02 -4.74351499e-04 9.99440500e-01 2.75349452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.238040942 meters 0.026049819929412476 Centerline is valid? [True, True] Translation: X:2.26, Y:0.17, Z:0.03 [[ 9.99372682e-01 -9.84375307e-03 -3.40197382e-02 2.26386052e+00] [ 9.85150109e-03 9.99951471e-01 6.01331402e-05 1.65465014e-01] [ 3.40174953e-02 -3.95240906e-04 9.99421159e-01 2.84051948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.268040942 meters 0.025367362351545637 Centerline is valid? [True, True] Translation: X:2.29, Y:0.17, Z:0.03 [[ 9.99383037e-01 -6.76812063e-03 -3.44635739e-02 2.29146070e+00] [ 6.77393424e-03 9.99977055e-01 5.19283825e-05 1.70817882e-01] [ 3.44624317e-02 -2.85350328e-04 9.99405953e-01 2.96016163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.298040942 meters 0.02531315403329951 Centerline is valid? [True, True] Translation: X:2.32, Y:0.17, Z:0.03 [[ 9.99370747e-01 -7.06130414e-03 -3.47598552e-02 2.31902981e+00] [ 7.06735839e-03 9.99975025e-01 5.13076883e-05 1.72363622e-01] [ 3.47586248e-02 -2.96935757e-04 9.99395692e-01 3.09047908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.328040942 meters 0.024855927250911816 Centerline is valid? [True, True] Translation: X:2.35, Y:0.17, Z:0.03 [[ 9.99391326e-01 -7.50962932e-03 -3.40673440e-02 2.34697530e+00] [ 7.51536895e-03 9.99971758e-01 4.04289517e-05 1.73373567e-01] [ 3.40660783e-02 -2.96433003e-04 9.99419539e-01 3.24451738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.358040942 meters 0.02448370891355018 Centerline is valid? [True, True] Translation: X:2.37, Y:0.17, Z:0.03 [[ 9.99359390e-01 -9.05079369e-03 -3.46250387e-02 2.37471187e+00] [ 9.05761815e-03 9.99958978e-01 4.02406540e-05 1.74441114e-01] [ 3.46232541e-02 -3.53835254e-04 9.99400373e-01 3.17370423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.388040942 meters 0.02395947722115054 Centerline is valid? [True, True] Translation: X:2.40, Y:0.17, Z:0.03 [[ 9.99329781e-01 -9.96963840e-03 -3.52220734e-02 2.40233657e+00] [ 9.97694056e-03 9.99950229e-01 3.15605937e-05 1.74566953e-01] [ 3.52200057e-02 -3.82947974e-04 9.99379510e-01 3.27884628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4180409419999997 meters 0.024297840751931428 Centerline is valid? [True, True] Translation: X:2.43, Y:0.17, Z:0.03 [[ 9.99245437e-01 -1.21627133e-02 -3.68866433e-02 2.43074800e+00] [ 1.21718258e-02 9.99925920e-01 2.24773711e-05 1.73872958e-01] [ 3.68836374e-02 -4.71438208e-04 9.99319456e-01 3.26929912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.448040942 meters 0.024218062059857253 Centerline is valid? [True, True] Translation: X:2.46, Y:0.17, Z:0.03 [[ 9.99086401e-01 -1.51670313e-02 -3.99540216e-02 2.45927372e+00] [ 1.51797211e-02 9.99884781e-01 1.42447553e-05 1.72627770e-01] [ 3.99492021e-02 -6.20722645e-04 9.99201519e-01 3.11499784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.478040942 meters 0.024722864410940956 Centerline is valid? [True, True] Translation: X:2.49, Y:0.17, Z:0.03 [[ 9.99071918e-01 -1.62978496e-02 -3.98708331e-02 2.48735364e+00] [ 1.63109846e-02 9.99866967e-01 4.14331124e-06 1.71369822e-01] [ 3.98654614e-02 -6.54472010e-04 9.99204842e-01 3.23915224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.508040942 meters 0.025383687731173527 Centerline is valid? [True, True] Translation: X:2.52, Y:0.17, Z:0.04 [[ 9.99072273e-01 -1.77676516e-02 -3.92288690e-02 2.51520791e+00] [ 1.77813723e-02 9.99841899e-01 8.53435181e-07 1.69146528e-01] [ 3.92226517e-02 -6.98395766e-04 9.99230252e-01 3.52831522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.538040942 meters 0.025676154279110717 Centerline is valid? [True, True] Translation: X:2.54, Y:0.17, Z:0.04 [[ 9.99072700e-01 -1.72988270e-02 -3.94270402e-02 2.54435475e+00] [ 1.73122246e-02 9.99850132e-01 -1.60926500e-06 1.70633179e-01] [ 3.94211592e-02 -6.80962003e-04 9.99222452e-01 3.63038804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.568040942 meters 0.02452853424968833 Centerline is valid? [True, True] Translation: X:2.57, Y:0.17, Z:0.04 [[ 9.99100550e-01 -1.87719243e-02 -3.80224260e-02 2.57347630e+00] [ 1.87851300e-02 9.99823544e-01 -9.94718768e-06 1.69886395e-01] [ 3.80159035e-02 -7.04317974e-04 9.99276886e-01 3.90488184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.598040942 meters 0.02458737034235113 Centerline is valid? [True, True] Translation: X:2.60, Y:0.17, Z:0.04 [[ 9.99110914e-01 -1.98563877e-02 -3.71901185e-02 2.60153991e+00] [ 1.98694176e-02 9.99802583e-01 -1.92444483e-05 1.70258014e-01] [ 3.71831587e-02 -7.19718657e-04 9.99308208e-01 4.10631836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6280409419999997 meters 0.02560504928958018 Centerline is valid? [True, True] Translation: X:2.63, Y:0.17, Z:0.04 [[ 9.99115539e-01 -2.06091615e-02 -3.66524502e-02 2.62969163e+00] [ 2.06222251e-02 9.99787339e-01 -2.16408189e-05 1.69111056e-01] [ 3.66451017e-02 -7.34233400e-04 9.99328073e-01 4.35303978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.658040942 meters 0.024476171362123954 Centerline is valid? [True, True] Translation: X:2.66, Y:0.17, Z:0.04 [[ 9.99087895e-01 -2.06806853e-02 -3.73589099e-02 2.65790884e+00] [ 2.06941700e-02 9.99785852e-01 -2.57457452e-05 1.70389170e-01] [ 3.73514420e-02 -7.47389370e-04 9.99301912e-01 4.48915451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6880409419999998 meters 0.024164855232690508 Centerline is valid? [True, True] Translation: X:2.69, Y:0.17, Z:0.05 [[ 9.99080122e-01 -1.99459477e-02 -3.79614113e-02 2.68615375e+00] [ 1.99589184e-02 9.99800800e-01 -3.72964440e-05 1.69278696e-01] [ 3.79545934e-02 -7.20406575e-04 9.99279205e-01 4.53068552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.718040942 meters 0.02369890472258147 Centerline is valid? [True, True] Translation: X:2.71, Y:0.17, Z:0.05 [[ 9.99077247e-01 -1.87031364e-02 -3.86632503e-02 2.71423164e+00] [ 1.87155396e-02 9.99824848e-01 -4.11417696e-05 1.69272754e-01] [ 3.86572479e-02 -6.82499787e-04 9.99252296e-01 4.58926820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.748040942 meters 0.021709082709015868 Centerline is valid? [True, True] Translation: X:2.74, Y:0.17, Z:0.05 [[ 9.99131458e-01 -1.36890959e-02 -3.93565554e-02 2.74349685e+00] [ 1.36979613e-02 9.99906178e-01 -4.44027132e-05 1.71984586e-01] [ 3.93534707e-02 -4.94740423e-04 9.99225230e-01 4.62451136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.778040942 meters 0.02081490477197114 Centerline is valid? [True, True] Translation: X:2.77, Y:0.17, Z:0.05 [[ 9.99138444e-01 -1.09236368e-02 -4.00380333e-02 2.77191109e+00] [ 1.09302616e-02 9.99940261e-01 -5.34416372e-05 1.74500321e-01] [ 4.00362252e-02 -3.84230582e-04 9.99198155e-01 4.72139662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.808040942 meters 0.020114731224278305 Centerline is valid? [True, True] Translation: X:2.80, Y:0.18, Z:0.05 [[ 9.99151042e-01 -8.38385886e-03 -4.03349346e-02 2.80000230e+00] [ 8.38813734e-03 9.99964817e-01 -6.31642019e-05 1.77297876e-01] [ 4.03340451e-02 -2.75224393e-04 9.99186213e-01 4.89852761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.838040942 meters 0.019609393166931145 Centerline is valid? [True, True] Translation: X:2.83, Y:0.18, Z:0.05 [[ 9.99197927e-01 -5.93408634e-03 -3.96016321e-02 2.82725180e+00] [ 5.93611018e-03 9.99982379e-01 -6.64819801e-05 1.79958341e-01] [ 3.96013288e-02 -1.68650995e-04 9.99215545e-01 5.16045557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.868040942 meters 0.019525965403384953 Centerline is valid? [True, True] Translation: X:2.85, Y:0.18, Z:0.05 [[ 9.99183700e-01 -5.43251785e-03 -4.00302670e-02 2.85423737e+00] [ 5.43399465e-03 9.99985233e-01 -7.19142444e-05 1.78979342e-01] [ 4.00300666e-02 -1.45668716e-04 9.99198465e-01 5.26128115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8980409419999997 meters 0.019806630545730793 Centerline is valid? [True, True] Translation: X:2.88, Y:0.17, Z:0.05 [[ 9.99157109e-01 -4.66082827e-03 -4.07841752e-02 2.88181939e+00] [ 4.66155857e-03 9.99989132e-01 -7.71925566e-05 1.74663331e-01] [ 4.07840918e-02 -1.12990330e-04 9.99167976e-01 5.28128543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.928040942 meters 0.019285826006278876 Centerline is valid? [True, True] Translation: X:2.91, Y:0.17, Z:0.05 [[ 9.99169794e-01 -5.56557906e-03 -4.03577494e-02 2.90936805e+00] [ 5.56664228e-03 9.99984502e-01 -8.60302809e-05 1.71679973e-01] [ 4.03576027e-02 -1.38698296e-04 9.99185290e-01 5.42985436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.958040942 meters 0.01909595828111628 Centerline is valid? [True, True] Translation: X:2.94, Y:0.17, Z:0.06 [[ 9.99126730e-01 -6.05802159e-03 -4.13409968e-02 2.93740663e+00] [ 6.05913635e-03 9.99981638e-01 -9.83350074e-05 1.69545724e-01] [ 4.13408334e-02 -1.52241602e-04 9.99145091e-01 5.50889005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.988040942 meters 0.019101845772865524 Centerline is valid? [True, True] Translation: X:2.97, Y:0.17, Z:0.06 [[ 9.99075446e-01 -7.60298850e-03 -4.23136835e-02 2.96525547e+00] [ 7.60510193e-03 9.99971075e-01 -1.11027591e-04 1.68298895e-01] [ 4.23133037e-02 -2.10874936e-04 9.99104369e-01 5.55532095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.018040942 meters 0.02200266222999741 Centerline is valid? [True, True] Translation: X:2.99, Y:0.17, Z:0.06 [[ 9.99018890e-01 -9.32301190e-03 -4.32936242e-02 2.99259174e+00] [ 9.32636935e-03 9.99956501e-01 -1.24433821e-04 1.67656052e-01] [ 4.32929011e-02 -2.79460592e-04 9.99062384e-01 5.57326221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.048040941999999 meters 0.02534269511911879 Centerline is valid? [True, True] Translation: X:3.02, Y:0.17, Z:0.06 [[ 9.98929016e-01 -1.06394031e-02 -4.50291423e-02 3.02058870e+00] [ 1.06441174e-02 9.99943341e-01 -1.35079941e-04 1.66673456e-01] [ 4.50280281e-02 -3.44360205e-04 9.98985665e-01 5.60457514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0780409419999994 meters 0.02836395419461521 Centerline is valid? [True, True] Translation: X:3.05, Y:0.16, Z:0.06 [[ 9.98818849e-01 -1.23526115e-02 -4.69927647e-02 3.04914209e+00] [ 1.23594555e-02 9.99923609e-01 -1.44931222e-04 1.62575038e-01] [ 4.69909652e-02 -4.36044947e-04 9.98895219e-01 5.55518897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.108040942 meters 0.03157498697204681 Centerline is valid? [True, True] Translation: X:3.08, Y:0.16, Z:0.06 [[ 9.98773386e-01 -1.39376901e-02 -4.75127887e-02 3.07817736e+00] [ 1.39460058e-02 9.99902737e-01 -1.56486738e-04 1.59267182e-01] [ 4.75103486e-02 -5.06318836e-04 9.98870617e-01 5.64387269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.138040941999999 meters 0.033171758860097884 Centerline is valid? [True, True] Translation: X:3.11, Y:0.15, Z:0.06 [[ 9.98814519e-01 -1.59826082e-02 -4.59794879e-02 3.10558047e+00] [ 1.59921436e-02 9.99872105e-01 -1.60481321e-04 1.53565493e-01] [ 4.59761722e-02 -5.75019500e-04 9.98942371e-01 5.94100933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.168040941999999 meters 0.033973287919330124 Centerline is valid? [True, True] Translation: X:3.13, Y:0.15, Z:0.06 [[ 9.98853056e-01 -1.71882688e-02 -4.46893317e-02 3.13392995e+00] [ 1.71982685e-02 9.99852086e-01 -1.60741595e-04 1.52593300e-01] [ 4.46854844e-02 -6.08021890e-04 9.99000920e-01 6.16495893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1980409419999996 meters 0.03522229244938557 Centerline is valid? [True, True] Translation: X:3.16, Y:0.15, Z:0.06 [[ 9.98842799e-01 -1.85442990e-02 -4.43753424e-02 3.16249209e+00] [ 1.85550977e-02 9.99827825e-01 -1.68572662e-04 1.51633770e-01] [ 4.43708281e-02 -6.55011223e-04 9.99014915e-01 6.30116547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.228040942 meters 0.03540700866637419 Centerline is valid? [True, True] Translation: X:3.19, Y:0.15, Z:0.06 [[ 9.98830829e-01 -2.12212678e-02 -4.34353786e-02 3.19118197e+00] [ 2.12337695e-02 9.99774523e-01 -1.73575241e-04 1.48446462e-01] [ 4.34292684e-02 -7.48924516e-04 9.99056224e-01 6.49618747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.258040941999999 meters 0.037129185682989896 Centerline is valid? [True, True] Translation: X:3.22, Y:0.15, Z:0.07 [[ 9.98802154e-01 -2.31743982e-02 -4.30952910e-02 3.21889928e+00] [ 2.31881391e-02 9.99731103e-01 -1.81072075e-04 1.45304863e-01] [ 4.30878990e-02 -8.18444425e-04 9.99070950e-01 6.58335860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.288040941999999 meters 0.03836371066386699 Centerline is valid? [True, True] Translation: X:3.25, Y:0.14, Z:0.07 [[ 9.98701992e-01 -2.53215539e-02 -4.41944619e-02 3.24787405e+00] [ 2.53379640e-02 9.99678924e-01 -1.88906627e-04 1.42951858e-01] [ 4.41850555e-02 -9.31136261e-04 9.99022930e-01 6.56047714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.318040942 meters 0.04021642134708315 Centerline is valid? [True, True] Translation: X:3.28, Y:0.14, Z:0.06 [[ 9.98454406e-01 -2.95478872e-02 -4.70714592e-02 3.27664844e+00] [ 2.95707468e-02 9.99562668e-01 -2.10796816e-04 1.35728508e-01] [ 4.70571019e-02 -1.18146719e-03 9.98891502e-01 6.23801440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.348040942 meters 0.04014643884074431 Centerline is valid? [True, True] Translation: X:3.31, Y:0.13, Z:0.06 [[ 9.98401298e-01 -3.08643820e-02 -4.73522698e-02 3.30503962e+00] [ 3.08889245e-02 9.99522801e-01 -2.13532855e-04 1.34437127e-01] [ 4.73362639e-02 -1.24946921e-03 9.98878229e-01 6.32554927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.378040941999999 meters 0.040766994591196405 Centerline is valid? [True, True] Translation: X:3.33, Y:0.13, Z:0.07 [[ 9.98397989e-01 -3.18208628e-02 -4.67855551e-02 3.33284809e+00] [ 3.18457148e-02 9.99492774e-01 -2.14272075e-04 1.32917272e-01] [ 4.67686426e-02 -1.27599064e-03 9.98904933e-01 6.52712161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4080409419999995 meters 0.04075930787097619 Centerline is valid? [True, True] Translation: X:3.36, Y:0.13, Z:0.07 [[ 9.98450582e-01 -3.10037232e-02 -4.62082757e-02 3.36070260e+00] [ 3.10269411e-02 9.99518525e-01 -2.14860779e-04 1.33928400e-01] [ 4.61926890e-02 -1.21917358e-03 9.98931804e-01 6.74107345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.438040942 meters 0.03966119099993774 Centerline is valid? [True, True] Translation: X:3.39, Y:0.14, Z:0.07 [[ 9.98527648e-01 -2.93270769e-02 -4.56339601e-02 3.38941575e+00] [ 2.93478200e-02 9.99569237e-01 -2.15501021e-04 1.36879235e-01] [ 4.56206226e-02 -1.12407352e-03 9.98958205e-01 7.00759792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.468040941999999 meters 0.038918137326514966 Centerline is valid? [True, True] Translation: X:3.42, Y:0.14, Z:0.07 [[ 9.98612149e-01 -2.77527143e-02 -4.47611704e-02 3.41848691e+00] [ 2.77707031e-02 9.99614295e-01 -2.20020488e-04 1.40124876e-01] [ 4.47500120e-02 -1.02333404e-03 9.98997692e-01 7.32354374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.498040941999999 meters 0.03654634714862888 Centerline is valid? [True, True] Translation: X:3.45, Y:0.14, Z:0.08 [[ 9.98755976e-01 -2.44818542e-02 -4.34412255e-02 3.44669208e+00] [ 2.44953661e-02 9.99699919e-01 -2.21318070e-04 1.44660397e-01] [ 4.34336079e-02 -8.43065981e-04 9.99055960e-01 7.65800582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.528040942 meters 0.03576824238287256 Centerline is valid? [True, True] Translation: X:3.48, Y:0.15, Z:0.08 [[ 9.98750040e-01 -2.37686294e-02 -4.39705661e-02 3.47594851e+00] [ 2.37816773e-02 9.99717150e-01 -2.26408604e-04 1.45277692e-01] [ 4.39635104e-02 -8.19568209e-04 9.99032801e-01 7.70689473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.558040942 meters 0.03678019951323541 Centerline is valid? [True, True] Translation: X:3.50, Y:0.14, Z:0.08 [[ 9.98712594e-01 -2.38360345e-02 -4.47771953e-02 3.50286295e+00] [ 2.38492407e-02 9.99715538e-01 -2.39339544e-04 1.43626699e-01] [ 4.47701628e-02 -8.28870693e-04 9.98996970e-01 7.67231810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.588040941999999 meters 0.03323825780313888 Centerline is valid? [True, True] Translation: X:3.53, Y:0.15, Z:0.08 [[ 9.98669141e-01 -2.41764201e-02 -4.55570757e-02 3.53103023e+00] [ 2.41902342e-02 9.99707343e-01 -2.48133059e-04 1.52996881e-01] [ 4.55497420e-02 -8.54233503e-04 9.98961707e-01 7.72187659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6180409419999995 meters 0.03630643793053684 Centerline is valid? [True, True] Translation: X:3.56, Y:0.14, Z:0.08 [[ 9.98660239e-01 -2.37551745e-02 -4.59719368e-02 3.55850162e+00] [ 2.37682182e-02 9.99717461e-01 -2.62948897e-04 1.44091405e-01] [ 4.59651943e-02 -8.30074418e-04 9.98942697e-01 7.68146360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.648040942 meters 0.031991210928289084 Centerline is valid? [True, True] Translation: X:3.59, Y:0.16, Z:0.08 [[ 9.98661430e-01 -2.21195612e-02 -4.67554620e-02 3.58756458e+00] [ 2.21310567e-02 9.99755041e-01 -2.71840975e-04 1.55428487e-01] [ 4.67500218e-02 -7.63270683e-04 9.98906328e-01 7.85462637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.678040941999999 meters 0.031469169191307565 Centerline is valid? [True, True] Translation: X:3.62, Y:0.16, Z:0.08 [[ 9.98644122e-01 -2.13507474e-02 -4.74769855e-02 3.61593413e+00] [ 2.13611884e-02 9.99771782e-01 -2.87498298e-04 1.57561105e-01] [ 4.74722888e-02 -7.27056348e-04 9.98872291e-01 7.96562789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.708040941999999 meters 0.03131303218282359 Centerline is valid? [True, True] Translation: X:3.64, Y:0.16, Z:0.08 [[ 9.98651769e-01 -1.92029432e-02 -4.82274984e-02 3.64461323e+00] [ 1.92106530e-02 9.99815412e-01 -3.03686463e-04 1.61286077e-01] [ 4.82244279e-02 -6.23204713e-04 9.98836331e-01 8.05180938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.738040942 meters 0.030884099815448974 Centerline is valid? [True, True] Translation: X:3.67, Y:0.16, Z:0.08 [[ 9.98666584e-01 -1.84145724e-02 -4.82281803e-02 3.67215846e+00] [ 1.84208069e-02 9.99830273e-01 -3.15223220e-04 1.61338500e-01] [ 4.82257994e-02 -5.73599098e-04 9.98836295e-01 8.18485729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.768040942 meters 0.03092484265548555 Centerline is valid? [True, True] Translation: X:3.70, Y:0.16, Z:0.08 [[ 9.98667762e-01 -1.77391450e-02 -4.84564088e-02 3.69979505e+00] [ 1.77444337e-02 9.99842504e-01 -3.21058336e-04 1.60176961e-01] [ 4.84544724e-02 -5.39200921e-04 9.98825247e-01 8.34184851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.798040941999999 meters 0.030280600436780866 Centerline is valid? [True, True] Translation: X:3.73, Y:0.16, Z:0.09 [[ 9.98699346e-01 -1.75078732e-02 -4.78862268e-02 3.72799901e+00] [ 1.75125422e-02 9.99846592e-01 -3.22073743e-04 1.61547047e-01] [ 4.78845194e-02 -5.16954732e-04 9.98852745e-01 8.59676029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8280409419999994 meters 0.029906024832504086 Centerline is valid? [True, True] Translation: X:3.76, Y:0.16, Z:0.09 [[ 9.98728514e-01 -1.69207149e-02 -4.74873054e-02 3.75563285e+00] [ 1.69240272e-02 9.99856723e-01 -3.32340554e-04 1.59829586e-01] [ 4.74861250e-02 -4.71758463e-04 9.98871786e-01 8.78040461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.858040942 meters 0.029761642210427323 Centerline is valid? [True, True] Translation: X:3.78, Y:0.16, Z:0.09 [[ 9.98732554e-01 -1.65010984e-02 -4.75499624e-02 3.78379860e+00] [ 1.65037155e-02 9.99863747e-01 -3.37586008e-04 1.59845238e-01] [ 4.75490541e-02 -4.47592914e-04 9.98868804e-01 8.91687090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.888040941999999 meters 0.02947301470455161 Centerline is valid? [True, True] Translation: X:3.81, Y:0.16, Z:0.09 [[ 9.98805041e-01 -1.56652038e-02 -4.62935324e-02 3.81195847e+00] [ 1.56662207e-02 9.99877219e-01 -3.40871672e-04 1.58729884e-01] [ 4.62931882e-02 -3.84780351e-04 9.98927822e-01 9.13427836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.918040941999999 meters 0.028798344403257767 Centerline is valid? [True, True] Translation: X:3.84, Y:0.16, Z:0.09 [[ 9.98809858e-01 -1.56737555e-02 -4.61865876e-02 3.83981166e+00] [ 1.56745789e-02 9.99877087e-01 -3.44365523e-04 1.58798658e-01] [ 4.61863081e-02 -3.79999630e-04 9.98932771e-01 9.32180250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9480409419999996 meters 0.028641880087152086 Centerline is valid? [True, True] Translation: X:3.87, Y:0.16, Z:0.09 [[ 9.98825832e-01 -1.63144035e-02 -4.56157513e-02 3.86773424e+00] [ 1.63153025e-02 9.99866834e-01 -3.52627703e-04 1.57461282e-01] [ 4.56154298e-02 -3.92021124e-04 9.98958998e-01 9.46841217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.978040942 meters 0.028641880087152086 Centerline is valid? [True, True] Translation: X:3.90, Y:0.16, Z:0.10 [[ 9.98821217e-01 -1.65946375e-02 -4.56157185e-02 3.89517773e+00] [ 1.65956370e-02 9.99862219e-01 -3.56821896e-04 1.57766601e-01] [ 4.56153549e-02 -4.00620626e-04 9.98958998e-01 9.59071748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.008040941999999 meters 0.02830927453317061 Centerline is valid? [True, True] Translation: X:3.92, Y:0.16, Z:0.10 [[ 9.98853054e-01 -1.70197781e-02 -4.47538150e-02 3.92235078e+00] [ 1.70206160e-02 9.99855073e-01 -3.62366449e-04 1.56129410e-01] [ 4.47534963e-02 -3.99786663e-04 9.98997980e-01 9.78380681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.038040941999999 meters 0.027944580326028066 Centerline is valid? [True, True] Translation: X:3.95, Y:0.15, Z:0.10 [[ 9.98887300e-01 -1.91493806e-02 -4.30982972e-02 3.95159136e+00] [ 1.91519278e-02 9.99816522e-01 -3.53836590e-04 1.51133228e-01] [ 4.30971654e-02 -4.71972599e-04 9.99070774e-01 1.00114085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.068040942 meters 0.02790327261929131 Centerline is valid? [True, True] Translation: X:3.98, Y:0.15, Z:0.10 [[ 9.98866956e-01 -1.95312409e-02 -4.33973960e-02 3.97980037e+00] [ 1.95337300e-02 9.99809131e-01 -3.66741638e-04 1.49094455e-01] [ 4.33962757e-02 -4.81386910e-04 9.99057822e-01 1.01008898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.098040941999999 meters 0.02774118370019883 Centerline is valid? [True, True] Translation: X:4.01, Y:0.14, Z:0.10 [[ 9.98816346e-01 -1.99660968e-02 -4.43538169e-02 4.00761938e+00] [ 1.99685626e-02 9.99800533e-01 -3.87508715e-04 1.44783539e-01] [ 4.43527069e-02 -4.98631931e-04 9.99015810e-01 1.02176417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.128040941999999 meters 0.02761703559063273 Centerline is valid? [True, True] Translation: X:4.04, Y:0.14, Z:0.10 [[ 9.98803518e-01 -2.02996596e-02 -4.44910903e-02 4.03601267e+00] [ 2.03019199e-02 9.99793814e-01 -4.01092560e-04 1.43838822e-01] [ 4.44900590e-02 -5.02641894e-04 9.99009701e-01 1.03000096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1580409419999995 meters 0.02734084138573585 Centerline is valid? [True, True] Translation: X:4.06, Y:0.14, Z:0.10 [[ 9.98768944e-01 -2.02288295e-02 -4.52922890e-02 4.06345044e+00] [ 2.02305200e-02 9.99795253e-01 -4.21102235e-04 1.40836711e-01] [ 4.52915340e-02 -4.95702724e-04 9.98973689e-01 1.03826428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.188040942 meters 0.027137677499126368 Centerline is valid? [True, True] Translation: X:4.09, Y:0.14, Z:0.11 [[ 9.98748399e-01 -2.08271318e-02 -4.54737881e-02 4.09157783e+00] [ 2.08291970e-02 9.99782957e-01 -4.28470414e-04 1.39211707e-01] [ 4.54728422e-02 -5.19248354e-04 9.98965440e-01 1.05384791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.218040941999999 meters 0.026921977108971998 Centerline is valid? [True, True] Translation: X:4.12, Y:0.14, Z:0.11 [[ 9.98759847e-01 -2.14032838e-02 -4.49518370e-02 4.11989306e+00] [ 2.14053419e-02 9.99770785e-01 -4.35617280e-04 1.37987253e-01] [ 4.49508570e-02 -5.27132393e-04 9.98989060e-01 1.07475506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.248040941999999 meters 0.026418144953830762 Centerline is valid? [True, True] Translation: X:4.15, Y:0.13, Z:0.11 [[ 9.98731493e-01 -2.26912082e-02 -4.49501309e-02 4.14730367e+00] [ 2.26940077e-02 9.99742357e-01 -4.48092346e-04 1.32820911e-01] [ 4.49487176e-02 -5.72574681e-04 9.98989132e-01 1.08881246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.278040942 meters 0.026179410537509475 Centerline is valid? [True, True] Translation: X:4.18, Y:0.13, Z:0.11 [[ 9.98693533e-01 -2.36898625e-02 -4.52771251e-02 4.17648949e+00] [ 2.36935441e-02 9.99719165e-01 -4.55424081e-04 1.30422253e-01] [ 4.52751986e-02 -6.17946474e-04 9.98974361e-01 1.10306513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.308040941999999 meters 0.026353423665648367 Centerline is valid? [True, True] Translation: X:4.21, Y:0.13, Z:0.11 [[ 9.98633123e-01 -2.60044818e-02 -4.53392958e-02 4.20554160e+00] [ 2.60100502e-02 9.99661572e-01 -4.67222114e-04 1.25637441e-01] [ 4.53361016e-02 -7.12693878e-04 9.98971536e-01 1.11498443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.338040941999999 meters 0.02602161671740015 Centerline is valid? [True, True] Translation: X:4.23, Y:0.12, Z:0.11 [[ 9.98613349e-01 -2.63772009e-02 -4.55590026e-02 4.23339905e+00] [ 2.63827016e-02 9.99651800e-01 -4.80660568e-04 1.23411816e-01] [ 4.55558174e-02 -7.21975510e-04 9.98961534e-01 1.12343540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3680409419999995 meters 0.02570261792659329 Centerline is valid? [True, True] Translation: X:4.26, Y:0.12, Z:0.11 [[ 9.98583270e-01 -2.72026313e-02 -4.57325994e-02 4.26261371e+00] [ 2.72088452e-02 9.99629652e-01 -4.86726699e-04 1.22723374e-01] [ 4.57289027e-02 -7.58294080e-04 9.98953599e-01 1.13507561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.398040942 meters 0.02606827596742121 Centerline is valid? [True, True] Translation: X:4.29, Y:0.12, Z:0.11 [[ 9.98552098e-01 -2.75348028e-02 -4.62119239e-02 4.29024635e+00] [ 2.75409705e-02 9.99620549e-01 -5.03352548e-04 1.20611870e-01] [ 4.62082484e-02 -7.70097487e-04 9.98931532e-01 1.14395477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.428040941999999 meters 0.025980842240065718 Centerline is valid? [True, True] Translation: X:4.32, Y:0.12, Z:0.12 [[ 9.98453298e-01 -2.85708300e-02 -4.76940222e-02 4.31906063e+00] [ 2.85783482e-02 9.99591418e-01 -5.24393536e-04 1.18980798e-01] [ 4.76895177e-02 -8.39433920e-04 9.98861855e-01 1.15293541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.458040941999999 meters 0.026452284284572133 Centerline is valid? [True, True] Translation: X:4.35, Y:0.12, Z:0.12 [[ 9.98422388e-01 -2.90588815e-02 -4.80449463e-02 4.34706592e+00] [ 2.90665259e-02 9.99577334e-01 -5.39684214e-04 1.15567357e-01] [ 4.80403219e-02 -8.57666872e-04 9.98845029e-01 1.15985900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.488040942 meters 0.02616319690944213 Centerline is valid? [True, True] Translation: X:4.38, Y:0.11, Z:0.12 [[ 9.98361942e-01 -2.99072627e-02 -4.87748742e-02 4.37584275e+00] [ 2.99159109e-02 9.99552266e-01 -5.52852726e-04 1.10219413e-01] [ 4.87695703e-02 -9.07197667e-04 9.98809645e-01 1.17597065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.518040942 meters 0.026033029642440718 Centerline is valid? [True, True] Translation: X:4.40, Y:0.11, Z:0.12 [[ 9.98370323e-01 -3.02144099e-02 -4.84126772e-02 4.40342940e+00] [ 3.02227310e-02 9.99543032e-01 -5.60291024e-04 1.09618167e-01] [ 4.84074831e-02 -9.03785389e-04 9.98827262e-01 1.19816727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.548040941999999 meters 0.025288401208914076 Centerline is valid? [True, True] Translation: X:4.43, Y:0.11, Z:0.12 [[ 9.98401644e-01 -2.91129437e-02 -4.84416457e-02 4.43236667e+00] [ 2.91193336e-02 9.99575778e-01 -5.73943266e-04 1.07819836e-01] [ 4.84378049e-02 -8.37562543e-04 9.98825849e-01 1.21785098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5780409419999994 meters 0.02594489207100943 Centerline is valid? [True, True] Translation: X:4.46, Y:0.11, Z:0.12 [[ 9.98418657e-01 -2.86615764e-02 -4.83601031e-02 4.46100659e+00] [ 2.86668533e-02 9.99588850e-01 -5.84592756e-04 1.07276742e-01] [ 4.83569752e-02 -8.02663669e-04 9.98829795e-01 1.23481857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.608040942 meters 0.025186097364214764 Centerline is valid? [True, True] Translation: X:4.49, Y:0.11, Z:0.13 [[ 9.98455936e-01 -2.79419022e-02 -4.80103610e-02 4.49011191e+00] [ 2.79457165e-02 9.99609267e-01 -5.91910581e-04 1.07116866e-01] [ 4.80081409e-02 -7.50687307e-04 9.98846662e-01 1.25619000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.638040941999999 meters 0.02512537503297804 Centerline is valid? [True, True] Translation: X:4.52, Y:0.11, Z:0.13 [[ 9.98474860e-01 -2.72051919e-02 -4.80398960e-02 4.51890663e+00] [ 2.72075991e-02 9.99629622e-01 -6.03913652e-04 1.06756157e-01] [ 4.80385327e-02 -7.04057634e-04 9.98845235e-01 1.27033366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.668040941999999 meters 0.024408641434248778 Centerline is valid? [True, True] Translation: X:4.55, Y:0.10, Z:0.13 [[ 9.98512760e-01 -2.46229023e-02 -4.86413528e-02 4.54708418e+00] [ 2.46217537e-02 9.99696645e-01 -6.22877001e-04 1.03169204e-01] [ 4.86419342e-02 -5.75684772e-04 9.98816115e-01 1.28063019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6980409419999996 meters 0.023791432075153537 Centerline is valid? [True, True] Translation: X:4.57, Y:0.10, Z:0.13 [[ 9.98542116e-01 -2.26924192e-02 -4.89764932e-02 4.57458018e+00] [ 2.26887250e-02 9.99742378e-01 -6.31439444e-04 1.02269628e-01] [ 4.89782046e-02 -4.80695308e-04 9.98799732e-01 1.28956300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.728040942 meters 0.023241990148051606 Centerline is valid? [True, True] Translation: X:4.60, Y:0.10, Z:0.13 [[ 9.98578437e-01 -2.06448595e-02 -4.91415786e-02 4.60335156e+00] [ 2.06384250e-02 9.99786801e-01 -6.38398171e-04 1.03242136e-01] [ 4.91442813e-02 -3.76714136e-04 9.98791619e-01 1.30869101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.758040941999999 meters 0.023042155460816303 Centerline is valid? [True, True] Translation: X:4.63, Y:0.10, Z:0.13 [[ 9.98666434e-01 -1.60160684e-02 -4.90799271e-02 4.63221589e+00] [ 1.60034827e-02 9.99871725e-01 -6.49409662e-04 1.04664625e-01] [ 4.90840324e-02 -1.36906131e-04 9.98794643e-01 1.32314091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.788040941999999 meters 0.022503028298851802 Centerline is valid? [True, True] Translation: X:4.66, Y:0.11, Z:0.13 [[ 9.98672554e-01 -1.39363136e-02 -4.95873904e-02 4.65971481e+00] [ 1.39202932e-02 9.99902885e-01 -6.68423576e-04 1.05184764e-01] [ 4.95918900e-02 -2.27347329e-05 9.98769565e-01 1.33516028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.818040942 meters 0.022641117283460247 Centerline is valid? [True, True] Translation: X:4.69, Y:0.10, Z:0.14 [[ 9.98718932e-01 -1.05622544e-02 -4.94866926e-02 4.68728224e+00] [ 1.05414844e-02 9.99944205e-01 -6.80689485e-04 1.03245763e-01] [ 4.94911211e-02 1.58154277e-04 9.98774551e-01 1.35310556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.848040941999999 meters 0.022673378655730943 Centerline is valid? [True, True] Translation: X:4.71, Y:0.10, Z:0.14 [[ 9.98744333e-01 -1.02135988e-02 -4.90452870e-02 4.71449215e+00] [ 1.01921473e-02 9.99947822e-01 -6.87456474e-04 1.01227086e-01] [ 4.90497493e-02 1.86716466e-04 9.98796319e-01 1.36656183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.878040941999999 meters 0.02278516135393039 Centerline is valid? [True, True] Translation: X:4.74, Y:0.10, Z:0.14 [[ 9.98760955e-01 -1.08581925e-02 -4.85659898e-02 4.74225542e+00] [ 1.08376080e-02 9.99941035e-01 -6.87159683e-04 9.79514674e-02] [ 4.85705874e-02 1.59969104e-04 9.98819740e-01 1.38817437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9080409419999995 meters 0.02204435431786004 Centerline is valid? [True, True] Translation: X:4.77, Y:0.09, Z:0.14 [[ 9.98749005e-01 -1.33263751e-02 -4.81957790e-02 4.77040519e+00] [ 1.33083804e-02 9.99911199e-01 -6.94252116e-04 9.09260749e-02] [ 4.82007510e-02 5.19758505e-05 9.98837667e-01 1.40470614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.938040942 meters 0.021343052141576568 Centerline is valid? [True, True] Translation: X:4.80, Y:0.09, Z:0.14 [[ 9.98727474e-01 -1.48355525e-02 -4.82010304e-02 4.79818417e+00] [ 1.48190817e-02 9.99889947e-01 -6.99066908e-04 8.84244042e-02] [ 4.82060968e-02 -1.61176825e-05 9.98837410e-01 1.42408398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.968040941999999 meters 0.021986446502191427 Centerline is valid? [True, True] Translation: X:4.83, Y:0.09, Z:0.14 [[ 9.98680860e-01 -1.58398725e-02 -4.88430015e-02 4.82642411e+00] [ 1.58235133e-02 9.99874540e-01 -7.21606154e-04 8.67831804e-02] [ 4.88483038e-02 -5.22136269e-05 9.98806208e-01 1.42814543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.998040941999999 meters 0.02076244110941999 Centerline is valid? [True, True] Translation: X:4.86, Y:0.08, Z:0.14 [[ 9.98570031e-01 -1.87197081e-02 -5.00746042e-02 4.85511578e+00] [ 1.87054583e-02 9.99824754e-01 -7.53226841e-04 8.21920234e-02] [ 5.00799290e-02 -1.84518670e-04 9.98745196e-01 1.42894255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.028040942 meters 0.022012817360420423 Centerline is valid? [True, True] Translation: X:4.88, Y:0.08, Z:0.14 [[ 9.98492691e-01 -2.03461556e-02 -5.09743116e-02 4.88342607e+00] [ 2.03329448e-02 9.99792962e-01 -7.77771031e-04 7.96346114e-02] [ 5.09795826e-02 -2.59859175e-04 9.98699662e-01 1.42476661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.058040941999999 meters 0.022397280225128994 Centerline is valid? [True, True] Translation: X:4.91, Y:0.08, Z:0.14 [[ 9.98401965e-01 -2.25240262e-02 -5.18284135e-02 4.91181354e+00] [ 2.25130780e-02 9.99746232e-01 -7.95105024e-04 7.67826386e-02] [ 5.18331701e-02 -3.72982697e-04 9.98655688e-01 1.42880654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.088040941999999 meters 0.02256262674622725 Centerline is valid? [True, True] Translation: X:4.94, Y:0.07, Z:0.14 [[ 9.98196255e-01 -2.57492163e-02 -5.42329593e-02 4.94108402e+00] [ 2.57416561e-02 9.99668277e-01 -8.38050364e-04 6.90628986e-02] [ 5.42365482e-02 -5.59507453e-04 9.98527958e-01 1.42199887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1180409419999995 meters 0.022150596754135825 Centerline is valid? [True, True] Translation: X:4.97, Y:0.07, Z:0.14 [[ 9.98108407e-01 -2.75098200e-02 -5.49801538e-02 4.97014556e+00] [ 2.75040188e-02 9.99621321e-01 -8.62314852e-04 6.60768862e-02] [ 5.49830561e-02 -6.51491479e-04 9.98487075e-01 1.43251828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.148040942 meters 0.02250630068704953 Centerline is valid? [True, True] Translation: X:5.00, Y:0.06, Z:0.14 [[ 9.98081026e-01 -2.89043164e-02 -5.47613510e-02 4.99778198e+00] [ 2.89000600e-02 9.99581928e-01 -8.69788444e-04 6.44560663e-02] [ 5.47635974e-02 -7.14486985e-04 9.98499093e-01 1.44517072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.178040941999999 meters 0.021908521941701033 Centerline is valid? [True, True] Translation: X:5.03, Y:0.06, Z:0.15 [[ 9.98075919e-01 -3.06527027e-02 -5.38968651e-02 5.02655185e+00] [ 3.06508116e-02 9.99529782e-01 -8.61873054e-04 6.46553134e-02] [ 5.38979406e-02 -7.91767921e-04 9.98546136e-01 1.49076889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.208040941999999 meters 0.02293727685698521 Centerline is valid? [True, True] Translation: X:5.05, Y:0.06, Z:0.15 [[ 9.98132195e-01 -3.08149839e-02 -5.27499608e-02 5.05449377e+00] [ 3.08127991e-02 9.99524807e-01 -8.54864085e-04 6.09343953e-02] [ 5.27512370e-02 -7.72106578e-04 9.98607386e-01 1.49625705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.238040942 meters 0.02282493579457691 Centerline is valid? [True, True] Translation: X:5.08, Y:0.06, Z:0.15 [[ 9.98151951e-01 -3.13274958e-02 -5.20698626e-02 5.08205063e+00] [ 3.13257657e-02 9.99508867e-01 -8.49544393e-04 5.97317124e-02] [ 5.20709034e-02 -7.83153920e-04 9.98643083e-01 1.52064544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.268040942 meters 0.02234291736415885 Centerline is valid? [True, True] Translation: X:5.11, Y:0.06, Z:0.16 [[ 9.98192872e-01 -3.20751955e-02 -5.08150683e-02 5.10989146e+00] [ 3.20738710e-02 9.99485147e-01 -8.41720634e-04 5.83154025e-02] [ 5.08159044e-02 -7.89636407e-04 9.98707725e-01 1.56155524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.298040941999999 meters 0.023282754594449857 Centerline is valid? [True, True] Translation: X:5.14, Y:0.06, Z:0.16 [[ 9.98176042e-01 -3.29407824e-02 -5.05914400e-02 5.13849174e+00] [ 3.29399112e-02 9.99456971e-01 -8.51219204e-04 5.81109997e-02] [ 5.05920073e-02 -8.16810925e-04 9.98719070e-01 1.57204166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3280409419999994 meters 0.0218551895989107 Centerline is valid? [True, True] Translation: X:5.17, Y:0.06, Z:0.16 [[ 9.98214343e-01 -3.24849761e-02 -5.01283577e-02 5.16734126e+00] [ 3.24829568e-02 9.99471924e-01 -8.55168984e-04 5.78816249e-02] [ 5.01296663e-02 -7.74675332e-04 9.98742417e-01 1.59175581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.358040942 meters 0.02054618260453571 Centerline is valid? [True, True] Translation: X:5.20, Y:0.06, Z:0.16 [[ 9.98230299e-01 -3.16531145e-02 -5.03423320e-02 5.19603138e+00] [ 3.16494188e-02 9.99498652e-01 -8.70767313e-04 6.02096625e-02] [ 5.03446555e-02 -7.24079236e-04 9.98731641e-01 1.60980680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.388040941999999 meters 0.02072780981535926 Centerline is valid? [True, True] Translation: X:5.22, Y:0.06, Z:0.16 [[ 9.98247579e-01 -3.06340219e-02 -5.06293176e-02 5.22419276e+00] [ 3.06283870e-02 9.99530447e-01 -8.87319125e-04 5.98601278e-02] [ 5.06327267e-02 -6.64930169e-04 9.98717120e-01 1.61476901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.418040941999999 meters 0.021296715823044283 Centerline is valid? [True, True] Translation: X:5.25, Y:0.06, Z:0.16 [[ 9.98317925e-01 -2.74617178e-02 -5.10605039e-02 5.25173922e+00] [ 2.74516125e-02 9.99622729e-01 -8.99334989e-04 6.20093913e-02] [ 5.10659375e-02 -5.03870927e-04 9.98695157e-01 1.61572689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4480409419999996 meters 0.020455948280327683 Centerline is valid? [True, True] Translation: X:5.28, Y:0.06, Z:0.16 [[ 9.98350550e-01 -2.69495422e-02 -5.06942029e-02 5.27950135e+00] [ 2.69386553e-02 9.99636685e-01 -8.98125545e-04 6.36591494e-02] [ 5.06999890e-02 -4.68989524e-04 9.98713818e-01 1.63399723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.478040942 meters 0.019323318205834574 Centerline is valid? [True, True] Translation: X:5.31, Y:0.07, Z:0.17 [[ 9.98459085e-01 -2.46756293e-02 -4.97048168e-02 5.30694628e+00] [ 2.46617581e-02 9.99695454e-01 -8.92428802e-04 6.61320833e-02] [ 4.97117006e-02 -3.34754525e-04 9.98763553e-01 1.65819016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.508040941999999 meters 0.019200572841180527 Centerline is valid? [True, True] Translation: X:5.34, Y:0.07, Z:0.17 [[ 9.98511390e-01 -2.32035166e-02 -4.93619400e-02 5.33590747e+00] [ 2.31878072e-02 9.99730730e-01 -8.90949272e-04 6.70874408e-02] [ 4.93693214e-02 -2.54972150e-04 9.98780559e-01 1.67295989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.538040941999999 meters 0.020391711711981442 Centerline is valid? [True, True] Translation: X:5.36, Y:0.07, Z:0.17 [[ 9.98542141e-01 -2.16978648e-02 -4.94246469e-02 5.36360819e+00] [ 2.16797034e-02 9.99764559e-01 -9.03572658e-04 6.80149204e-02] [ 4.94326160e-02 -1.69256311e-04 9.98777447e-01 1.68895319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.568040942 meters 0.01947191651055749 Centerline is valid? [True, True] Translation: X:5.39, Y:0.07, Z:0.17 [[ 9.98644917e-01 -1.76736364e-02 -4.89486603e-02 5.39141296e+00] [ 1.76503002e-02 9.99843808e-01 -9.08979359e-04 6.77650144e-02] [ 4.89570799e-02 4.37890683e-05 9.98800882e-01 1.71004440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.598040941999999 meters 0.01877842363768888 Centerline is valid? [True, True] Translation: X:5.42, Y:0.07, Z:0.17 [[ 9.98671453e-01 -1.67997181e-02 -4.87144527e-02 5.41833133e+00] [ 1.67749120e-02 9.99858870e-01 -9.18030370e-04 6.84422082e-02] [ 4.87230003e-02 9.96300639e-05 9.98812324e-01 1.72386094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.628040941999999 meters 0.01947855010059072 Centerline is valid? [True, True] Translation: X:5.45, Y:0.07, Z:0.17 [[ 9.98702179e-01 -1.62044881e-02 -4.82842936e-02 5.44526475e+00] [ 1.61791184e-02 9.99868690e-01 -9.16229445e-04 7.01324576e-02] [ 4.82928004e-02 1.33843039e-04 9.98833213e-01 1.72065606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6580409419999995 meters 0.018245263383379215 Centerline is valid? [True, True] Translation: X:5.47, Y:0.07, Z:0.17 [[ 9.98693966e-01 -1.64799404e-02 -4.83608766e-02 5.47278465e+00] [ 1.64543381e-02 9.99864188e-01 -9.27485032e-04 6.93344872e-02] [ 4.83695936e-02 1.30527488e-04 9.98829498e-01 1.74668976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.688040942 meters 0.01799324930643292 Centerline is valid? [True, True] Translation: X:5.50, Y:0.07, Z:0.18 [[ 9.98668746e-01 -1.71186492e-02 -4.86588831e-02 5.50108800e+00] [ 1.70928156e-02 9.99853459e-01 -9.46997667e-04 6.86978988e-02] [ 4.86679639e-02 1.14019656e-04 9.98815006e-01 1.75585815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.718040941999999 meters 0.01923273743377235 Centerline is valid? [True, True] Translation: X:5.53, Y:0.06, Z:0.17 [[ 9.98546247e-01 -1.92658497e-02 -5.03410362e-02 5.52873203e+00] [ 1.92402443e-02 9.99814396e-01 -9.93227489e-04 6.44481621e-02] [ 5.03508280e-02 2.32097448e-05 9.98731592e-01 1.74582327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.748040941999999 meters 0.01806480376439946 Centerline is valid? [True, True] Translation: X:5.56, Y:0.06, Z:0.18 [[ 9.98510424e-01 -2.10213987e-02 -5.03491222e-02 5.55674584e+00] [ 2.09977377e-02 9.99779024e-01 -9.98894285e-04 6.24215165e-02] [ 5.03589944e-02 -5.98113061e-05 9.98731179e-01 1.77043601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.778040942 meters 0.01785137573726285 Centerline is valid? [True, True] Translation: X:5.58, Y:0.06, Z:0.18 [[ 9.98476351e-01 -2.34806907e-02 -4.99363043e-02 5.58436907e+00] [ 2.34598019e-02 9.99724276e-01 -1.00446353e-03 6.02847056e-02] [ 4.99461212e-02 -1.68562729e-04 9.98751899e-01 1.78856305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.808040941999999 meters 0.01794536295527549 Centerline is valid? [True, True] Translation: X:5.61, Y:0.06, Z:0.18 [[ 9.98461372e-01 -2.77702625e-02 -4.79968843e-02 5.61328391e+00] [ 2.77553093e-02 9.99614269e-01 -9.78112925e-04 5.51657624e-02] [ 4.80055329e-02 -3.55560398e-04 9.98847006e-01 1.82546913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.838040941999999 meters 0.017896011364436627 Centerline is valid? [True, True] Translation: X:5.64, Y:0.05, Z:0.18 [[ 9.98437126e-01 -2.97281911e-02 -4.73237885e-02 5.64096446e+00] [ 2.97153387e-02 9.99557926e-01 -9.75231097e-04 5.33945350e-02] [ 4.73318598e-02 -4.32535472e-04 9.98879126e-01 1.84512553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8680409419999995 meters 0.017981095230218222 Centerline is valid? [True, True] Translation: X:5.67, Y:0.05, Z:0.19 [[ 9.98401419e-01 -3.10931565e-02 -4.71998074e-02 5.67004872e+00] [ 3.10816863e-02 9.99516370e-01 -9.77104062e-04 5.22581249e-02] [ 4.72073614e-02 -4.91507526e-04 9.98884990e-01 1.86342085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.898040942 meters 0.017981095230218222 Centerline is valid? [True, True] Translation: X:5.70, Y:0.05, Z:0.19 [[ 9.98392926e-01 -3.13650332e-02 -4.71995703e-02 5.69752319e+00] [ 3.13533313e-02 9.99507875e-01 -9.88429484e-04 5.29335724e-02] [ 4.72073443e-02 -4.93022761e-04 9.98884990e-01 1.87565664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.928040941999999 meters 0.01847816804545442 Centerline is valid? [True, True] Translation: X:5.73, Y:0.05, Z:0.19 [[ 9.98329688e-01 -3.24848230e-02 -4.77762483e-02 5.72528816e+00] [ 3.24735152e-02 9.99472083e-01 -1.01304343e-03 5.05168546e-02] [ 4.77839349e-02 -5.40111393e-04 9.98857549e-01 1.87408949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.958040941999999 meters 0.019191526125671425 Centerline is valid? [True, True] Translation: X:5.75, Y:0.05, Z:0.19 [[ 9.98230217e-01 -3.37858845e-02 -4.89382142e-02 5.75371834e+00] [ 3.37753763e-02 9.99428906e-01 -1.04189150e-03 4.92617121e-02] [ 4.89454672e-02 -6.12859026e-04 9.98801264e-01 1.87545613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.988040942 meters 0.019100511968867282 Centerline is valid? [True, True] Translation: X:5.78, Y:0.05, Z:0.19 [[ 9.98211561e-01 -3.44188987e-02 -4.88775997e-02 5.78168900e+00] [ 3.44089365e-02 9.99407290e-01 -1.04546941e-03 4.83637855e-02] [ 4.88846133e-02 -6.38226577e-04 9.98804229e-01 1.88927591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.018040941999999 meters 0.019054169343959655 Centerline is valid? [True, True] Translation: X:5.81, Y:0.05, Z:0.19 [[ 9.98172767e-01 -3.61948961e-02 -4.83844683e-02 5.80934962e+00] [ 3.61866351e-02 9.99344501e-01 -1.04696126e-03 4.56189179e-02] [ 4.83906470e-02 -7.05822882e-04 9.98828237e-01 1.90861222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.048040941999999 meters 0.019241530598228664 Centerline is valid? [True, True] Translation: X:5.84, Y:0.04, Z:0.19 [[ 9.98131278e-01 -3.74581622e-02 -4.82787456e-02 5.83845480e+00] [ 3.74511954e-02 9.99297907e-01 -1.04919023e-03 4.49283098e-02] [ 4.82841502e-02 -7.60867146e-04 9.98833350e-01 1.92308564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0780409419999994 meters 0.01958425957399703 Centerline is valid? [True, True] Translation: X:5.87, Y:0.04, Z:0.19 [[ 9.98044872e-01 -3.83066161e-02 -4.93866099e-02 5.86664377e+00] [ 3.82998291e-02 9.99265704e-01 -1.08409417e-03 4.30285030e-02] [ 4.93918735e-02 -8.09524095e-04 9.98779149e-01 1.92776005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.108040942 meters 0.019648320627876817 Centerline is valid? [True, True] Translation: X:5.90, Y:0.04, Z:0.19 [[ 9.97991134e-01 -3.90157439e-02 -4.99146014e-02 5.89558457e+00] [ 3.90094539e-02 9.99238235e-01 -1.10055881e-03 4.18711137e-02] [ 4.99195173e-02 -8.48793399e-04 9.98752883e-01 1.93820891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.138040941999999 meters 0.019877327313552465 Centerline is valid? [True, True] Translation: X:5.92, Y:0.04, Z:0.20 [[ 9.97971626e-01 -3.92491554e-02 -5.01212248e-02 5.92332634e+00] [ 3.92425774e-02 9.99229091e-01 -1.11567646e-03 4.09886113e-02] [ 5.01263752e-02 -8.53472590e-04 9.98742518e-01 1.95102860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.168040941999999 meters 0.01988512139895341 Centerline is valid? [True, True] Translation: X:5.95, Y:0.04, Z:0.20 [[ 9.97996705e-01 -3.91388848e-02 -4.97063917e-02 5.95087387e+00] [ 3.91320358e-02 9.99233431e-01 -1.11131301e-03 4.10954430e-02] [ 4.97117839e-02 -8.36025575e-04 9.98763255e-01 1.96974184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1980409419999996 meters 0.019844595089986112 Centerline is valid? [True, True] Translation: X:5.98, Y:0.04, Z:0.20 [[ 9.98028542e-01 -4.01225863e-02 -4.82618704e-02 5.97883338e+00] [ 4.01166961e-02 9.99194406e-01 -1.09104788e-03 4.11441685e-02] [ 4.82667666e-02 -8.47209866e-04 9.98834121e-01 1.99708559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.228040941999999 meters 0.020158981055604343 Centerline is valid? [True, True] Translation: X:6.01, Y:0.04, Z:0.20 [[ 9.98015123e-01 -4.04781766e-02 -4.82424262e-02 6.00626805e+00] [ 4.04721406e-02 9.99180059e-01 -1.10231855e-03 4.08925947e-02] [ 4.82474901e-02 -8.52343671e-04 9.98835048e-01 2.01066458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.258040941999999 meters 0.02031179479059563 Centerline is valid? [True, True] Translation: X:6.03, Y:0.04, Z:0.20 [[ 9.97943594e-01 -4.13182688e-02 -4.90039228e-02 6.03471997e+00] [ 4.13128283e-02 9.99145628e-01 -1.12430298e-03 3.98111585e-02] [ 4.90085095e-02 -9.02499697e-04 9.98797953e-01 2.01321419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.288040941999999 meters 0.020414711711715047 Centerline is valid? [True, True] Translation: X:6.06, Y:0.04, Z:0.20 [[ 9.97882053e-01 -4.17299120e-02 -4.99001230e-02 6.06331645e+00] [ 4.17242271e-02 9.99128496e-01 -1.15604521e-03 3.91978974e-02] [ 4.99048765e-02 -9.28447295e-04 9.98753544e-01 2.02488693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.318040942 meters 0.020565732200383356 Centerline is valid? [True, True] Translation: X:6.09, Y:0.04, Z:0.20 [[ 9.97876210e-01 -4.21116054e-02 -4.96958912e-02 6.09117524e+00] [ 4.21058910e-02 9.99112478e-01 -1.16233816e-03 3.86432284e-02] [ 4.97007329e-02 -9.32620183e-04 9.98763719e-01 2.03919502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.348040941999999 meters 0.019697113747167323 Centerline is valid? [True, True] Translation: X:6.12, Y:0.04, Z:0.21 [[ 9.97851073e-01 -4.27809628e-02 -4.96288797e-02 6.11946272e+00] [ 4.27754814e-02 9.99084022e-01 -1.17303401e-03 3.92565442e-02] [ 4.96336042e-02 -9.52385969e-04 9.98767039e-01 2.06564064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.378040941999999 meters 0.019741346310336406 Centerline is valid? [True, True] Translation: X:6.15, Y:0.04, Z:0.21 [[ 9.97862909e-01 -4.32763134e-02 -4.89568653e-02 6.14716498e+00] [ 4.32710213e-02 9.99062687e-01 -1.16843152e-03 3.97806869e-02] [ 4.89615428e-02 -9.52479089e-04 9.98800210e-01 2.08507662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4080409419999995 meters 0.02106181821208219 Centerline is valid? [True, True] Translation: X:6.18, Y:0.04, Z:0.21 [[ 9.97878999e-01 -4.29764289e-02 -4.88930542e-02 6.17536258e+00] [ 4.29702018e-02 9.99075659e-01 -1.17894290e-03 3.80877679e-02] [ 4.88985271e-02 -9.24502039e-04 9.98803324e-01 2.09524528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.438040942 meters 0.019627274148689432 Centerline is valid? [True, True] Translation: X:6.20, Y:0.04, Z:0.21 [[ 9.97932536e-01 -4.27010499e-02 -4.80340991e-02 6.20381131e+00] [ 4.26945107e-02 9.99087497e-01 -1.16258604e-03 4.14715951e-02] [ 4.80399115e-02 -8.90609926e-04 9.98845020e-01 2.11803460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.468040941999999 meters 0.02082730693654586 Centerline is valid? [True, True] Translation: X:6.23, Y:0.04, Z:0.21 [[ 9.97942346e-01 -4.23235499e-02 -4.81642193e-02 6.23175896e+00] [ 4.23160279e-02 9.99103583e-01 -1.17627248e-03 3.87918386e-02] [ 4.81708281e-02 -8.64266327e-04 9.98838738e-01 2.12334893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.498040941999999 meters 0.019489518440584563 Centerline is valid? [True, True] Translation: X:6.26, Y:0.04, Z:0.21 [[ 9.97954539e-01 -4.22621753e-02 -4.79650634e-02 6.25925281e+00] [ 4.22543440e-02 9.99106192e-01 -1.17766279e-03 4.11516718e-02] [ 4.79719624e-02 -8.51478367e-04 9.98848320e-01 2.14579461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.528040942 meters 0.018297841610455248 Centerline is valid? [True, True] Translation: X:6.29, Y:0.04, Z:0.22 [[ 9.97995489e-01 -4.22205760e-02 -4.71426280e-02 6.28744638e+00] [ 4.22124006e-02 9.99107975e-01 -1.16940499e-03 4.28858206e-02] [ 4.71499486e-02 -8.22942602e-04 9.98887484e-01 2.17759749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.558040941999999 meters 0.020521573949700698 Centerline is valid? [True, True] Translation: X:6.32, Y:0.04, Z:0.22 [[ 9.98013282e-01 -4.18624782e-02 -4.70852625e-02 6.31558022e+00] [ 4.18533383e-02 9.99123068e-01 -1.18041578e-03 3.85385090e-02] [ 4.70933870e-02 -7.92604789e-04 9.98890176e-01 2.18381363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.588040941999999 meters 0.019192483942154313 Centerline is valid? [True, True] Translation: X:6.34, Y:0.04, Z:0.22 [[ 9.97989441e-01 -4.18669030e-02 -4.75840132e-02 6.34300563e+00] [ 4.18573545e-02 9.99122879e-01 -1.19752203e-03 4.24243830e-02] [ 4.75924128e-02 -7.96626567e-04 9.98866521e-01 2.19798132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6180409419999995 meters 0.01907270051103072 Centerline is valid? [True, True] Translation: X:6.37, Y:0.04, Z:0.22 [[ 9.98001451e-01 -4.07629722e-02 -4.82854429e-02 6.37047594e+00] [ 4.07512837e-02 9.99168568e-01 -1.22687607e-03 4.31824317e-02] [ 4.82953080e-02 -7.43269685e-04 9.98832824e-01 2.20546908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.648040942 meters 0.018768319817286227 Centerline is valid? [True, True] Translation: X:6.40, Y:0.04, Z:0.22 [[ 9.98020860e-01 -4.00755386e-02 -4.84594081e-02 6.39950437e+00] [ 4.00627451e-02 9.99196402e-01 -1.23564573e-03 4.39191914e-02] [ 4.84699854e-02 -7.08216698e-04 9.98824388e-01 2.22040012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.678040941999999 meters 0.018462795877674926 Centerline is valid? [True, True] Translation: X:6.43, Y:0.04, Z:0.22 [[ 9.98037258e-01 -3.97460603e-02 -4.83929969e-02 6.42784337e+00] [ 3.97324029e-02 9.99209581e-01 -1.24451536e-03 4.46020845e-02] [ 4.84042108e-02 -6.80697351e-04 9.98827597e-01 2.23885607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.708040941999999 meters 0.018429477522780884 Centerline is valid? [True, True] Translation: X:6.46, Y:0.04, Z:0.23 [[ 9.98074761e-01 -3.99136242e-02 -4.74728751e-02 6.45610045e+00] [ 3.99001239e-02 9.99202913e-01 -1.23234356e-03 4.47311405e-02] [ 4.74842224e-02 -6.64202600e-04 9.98871767e-01 2.25879190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.738040942 meters 0.017106063081585653 Centerline is valid? [True, True] Translation: X:6.48, Y:0.05, Z:0.23 [[ 9.98096306e-01 -3.99327135e-02 -4.70015068e-02 6.48426027e+00] [ 3.99189594e-02 9.99202162e-01 -1.23161369e-03 4.83747355e-02] [ 4.70131889e-02 -6.46982171e-04 9.98894059e-01 2.28527416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.768040941999999 meters 0.017047118215150973 Centerline is valid? [True, True] Translation: X:6.51, Y:0.05, Z:0.23 [[ 9.98118317e-01 -3.98226949e-02 -4.66259438e-02 6.51124738e+00] [ 3.98084525e-02 9.99206567e-01 -1.23434793e-03 4.90236877e-02] [ 4.66381043e-02 -6.24081390e-04 9.98911657e-01 2.29607030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.798040941999999 meters 0.017080023822954836 Centerline is valid? [True, True] Translation: X:6.54, Y:0.05, Z:0.23 [[ 9.98095383e-01 -3.95416093e-02 -4.73504829e-02 6.53857719e+00] [ 3.95263204e-02 9.99217736e-01 -1.25953062e-03 4.95730317e-02] [ 4.73632462e-02 -6.14458663e-04 9.98877543e-01 2.29996452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8280409419999994 meters 0.016622184998760274 Centerline is valid? [True, True] Translation: X:6.57, Y:0.05, Z:0.23 [[ 9.98042122e-01 -3.88978800e-02 -4.89783370e-02 6.56666029e+00] [ 3.88802638e-02 9.99243014e-01 -1.31270025e-03 4.99969396e-02] [ 4.89923223e-02 -5.94160517e-04 9.98798978e-01 2.29898316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.858040942 meters 0.016254897155553803 Centerline is valid? [True, True] Translation: X:6.59, Y:0.05, Z:0.23 [[ 9.98022672e-01 -3.86350678e-02 -4.95789975e-02 6.59470723e+00] [ 3.86160014e-02 9.99253222e-01 -1.34272607e-03 5.11771645e-02] [ 4.95938493e-02 -5.74471575e-04 9.98769303e-01 2.31166545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.888040941999999 meters 0.016123439716372916 Centerline is valid? [True, True] Translation: X:6.62, Y:0.05, Z:0.23 [[ 9.98020043e-01 -3.82353783e-02 -4.99404532e-02 6.62161431e+00] [ 3.82148475e-02 9.99268612e-01 -1.36622175e-03 5.16784895e-02] [ 4.99561654e-02 -5.44950108e-04 9.98751263e-01 2.32230026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.918040941999999 meters 0.01577485741184125 Centerline is valid? [True, True] Translation: X:6.65, Y:0.05, Z:0.23 [[ 9.98126872e-01 -3.62913096e-02 -4.92512678e-02 6.65053084e+00] [ 3.62686447e-02 9.99341159e-01 -1.35408740e-03 5.27320405e-02] [ 4.92679607e-02 -4.34725716e-04 9.98785502e-01 2.33730673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9480409419999996 meters 0.01564029754809764 Centerline is valid? [True, True] Translation: X:6.68, Y:0.05, Z:0.24 [[ 9.98186557e-01 -3.52249560e-02 -4.88139245e-02 6.67886802e+00] [ 3.52008224e-02 9.99379341e-01 -1.35423569e-03 5.35878343e-02] [ 4.88313306e-02 -3.66510427e-04 9.98806972e-01 2.35625524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.978040941999999 meters 0.01536916562684936 Centerline is valid? [True, True] Translation: X:6.71, Y:0.06, Z:0.24 [[ 9.98321657e-01 -3.18046234e-02 -4.83976673e-02 6.70638966e+00] [ 3.17763267e-02 9.99494088e-01 -1.35415431e-03 5.53124781e-02] [ 4.84162507e-02 -1.86018518e-04 9.98827228e-01 2.37438747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.008040942 meters 0.015251443021158797 Centerline is valid? [True, True] Translation: X:6.73, Y:0.06, Z:0.24 [[ 9.98362385e-01 -3.07786158e-02 -4.82205956e-02 6.73437272e+00] [ 3.07490872e-02 9.99526218e-01 -1.35422179e-03 5.66213565e-02] [ 4.82394306e-02 -1.30735205e-04 9.98835792e-01 2.38891712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.038040942 meters 0.015252480476776792 Centerline is valid? [True, True] Translation: X:6.76, Y:0.06, Z:0.24 [[ 9.98394540e-01 -2.99657888e-02 -4.80665500e-02 6.76114678e+00] [ 2.99348750e-02 9.99550922e-01 -1.36302749e-03 5.72131543e-02] [ 4.80858085e-02 -7.80269626e-05 9.98843205e-01 2.40106423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.068040942 meters 0.01508480408613587 Centerline is valid? [True, True] Translation: X:6.79, Y:0.06, Z:0.24 [[ 9.98422585e-01 -3.02120777e-02 -4.73241153e-02 6.78934737e+00] [ 3.01820935e-02 9.99543508e-01 -1.34819665e-03 5.65168972e-02] [ 4.73432441e-02 -8.22708940e-05 9.98878677e-01 2.41995161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.098040942 meters 0.015146074962522538 Centerline is valid? [True, True] Translation: X:6.82, Y:0.06, Z:0.24 [[ 9.98436262e-01 -3.09921153e-02 -4.65243935e-02 6.81626481e+00] [ 3.09633981e-02 9.99519624e-01 -1.33796448e-03 5.64032358e-02] [ 4.65435106e-02 -1.04681067e-04 9.98916258e-01 2.43511191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.128040942 meters 0.015165041841874746 Centerline is valid? [True, True] Translation: X:6.84, Y:0.05, Z:0.25 [[ 9.98445243e-01 -3.26417559e-02 -4.51842049e-02 6.84455657e+00] [ 3.26161108e-02 9.99467101e-01 -1.30488970e-03 5.47989542e-02] [ 4.52027202e-02 -1.70872128e-04 9.98977820e-01 2.45583174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.158040942 meters 0.015177341042206376 Centerline is valid? [True, True] Translation: X:6.87, Y:0.05, Z:0.25 [[ 9.98407628e-01 -3.35631416e-02 -4.53400886e-02 6.87285685e+00] [ 3.35376868e-02 9.99436579e-01 -1.32220902e-03 5.39555488e-02] [ 4.53589205e-02 -2.00498116e-04 9.98970734e-01 2.46770126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.188040942 meters 0.015196326821599288 Centerline is valid? [True, True] Translation: X:6.90, Y:0.05, Z:0.25 [[ 9.98377419e-01 -3.46455415e-02 -4.51908725e-02 6.90083470e+00] [ 3.46211763e-02 9.99399633e-01 -1.32196708e-03 5.37427330e-02] [ 4.52095416e-02 -2.44739084e-04 9.98977496e-01 2.47481054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.218040942 meters 0.015207778449095453 Centerline is valid? [True, True] Translation: X:6.93, Y:0.05, Z:0.25 [[ 9.98304774e-01 -3.56765162e-02 -4.59865717e-02 6.92850593e+00] [ 3.56517724e-02 9.99363350e-01 -1.35839919e-03 5.40382511e-02] [ 4.60057573e-02 -2.83406397e-04 9.98941134e-01 2.48166317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.248040942 meters 0.015231951830718004 Centerline is valid? [True, True] Translation: X:6.96, Y:0.05, Z:0.25 [[ 9.98240773e-01 -3.70138002e-02 -4.63177925e-02 6.95616039e+00] [ 3.69895493e-02 9.99314698e-01 -1.38085917e-03 5.39038590e-02] [ 4.63371617e-02 -3.34844346e-04 9.98925801e-01 2.48592485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.278040942 meters 0.015353867197328435 Centerline is valid? [True, True] Translation: X:6.99, Y:0.05, Z:0.25 [[ 9.98204773e-01 -3.83214946e-02 -4.60292759e-02 6.98520246e+00] [ 3.82987410e-02 9.99265386e-01 -1.37645031e-03 5.46945717e-02] [ 4.60482098e-02 -3.88884045e-04 9.98939143e-01 2.50103005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.308040942 meters 0.015444334952785058 Centerline is valid? [True, True] Translation: X:7.01, Y:0.06, Z:0.25 [[ 9.98172384e-01 -3.95919916e-02 -4.56548558e-02 7.01396248e+00] [ 3.95704364e-02 9.99215836e-01 -1.37615499e-03 5.50811980e-02] [ 4.56735396e-02 -4.32942662e-04 9.98956326e-01 2.51128486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.338040942000001 meters 0.015478969346275078 Centerline is valid? [True, True] Translation: X:7.04, Y:0.06, Z:0.25 [[ 9.98104667e-01 -4.06904424e-02 -4.61666767e-02 7.04314168e+00] [ 4.06690582e-02 9.99171687e-01 -1.40277032e-03 5.59052196e-02] [ 4.61855156e-02 -4.77443661e-04 9.98932766e-01 2.52473487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.368040942 meters 0.0157292705376448 Centerline is valid? [True, True] Translation: X:7.07, Y:0.06, Z:0.25 [[ 9.98104808e-01 -4.14453399e-02 -4.54870965e-02 7.07124897e+00] [ 4.14248662e-02 9.99140651e-01 -1.39304757e-03 5.56400731e-02] [ 4.55057425e-02 -4.93889405e-04 9.98963955e-01 2.53575600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.398040942 meters 0.015506993331547153 Centerline is valid? [True, True] Translation: X:7.10, Y:0.06, Z:0.25 [[ 9.98102166e-01 -4.15294621e-02 -4.54683444e-02 7.09940933e+00] [ 4.15089032e-02 9.99137158e-01 -1.39663339e-03 5.75146367e-02] [ 4.54871139e-02 -4.93358292e-04 9.98964804e-01 2.54451899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.428040942 meters 0.015297099191176677 Centerline is valid? [True, True] Translation: X:7.13, Y:0.06, Z:0.26 [[ 9.98127439e-01 -4.11046213e-02 -4.52992907e-02 7.12704547e+00] [ 4.10832106e-02 9.99154742e-01 -1.40394032e-03 5.89942141e-02] [ 4.53187096e-02 -4.59728941e-04 9.98972474e-01 2.55201831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.458040942 meters 0.015457812008701693 Centerline is valid? [True, True] Translation: X:7.15, Y:0.06, Z:0.26 [[ 9.98113532e-01 -4.08222892e-02 -4.58575737e-02 7.15444674e+00] [ 4.07994502e-02 9.99166326e-01 -1.43429736e-03 5.83471526e-02] [ 4.58778947e-02 -4.39372193e-04 9.98946958e-01 2.56267777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.488040942 meters 0.01511218310130284 Centerline is valid? [True, True] Translation: X:7.18, Y:0.06, Z:0.26 [[ 9.98125764e-01 -4.03727123e-02 -4.59891557e-02 7.18237841e+00] [ 4.03489908e-02 9.99184604e-01 -1.44436675e-03 6.02941604e-02] [ 4.60099693e-02 -4.13956356e-04 9.98940895e-01 2.57378033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.518040942 meters 0.015161659357684926 Centerline is valid? [True, True] Translation: X:7.21, Y:0.06, Z:0.26 [[ 9.98124150e-01 -4.00932334e-02 -4.62678588e-02 7.20895424e+00] [ 4.00683303e-02 9.99195867e-01 -1.46591888e-03 6.16382885e-02] [ 4.62894267e-02 -3.90706815e-04 9.98927994e-01 2.57508912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.548040942 meters 0.014927855816515914 Centerline is valid? [True, True] Translation: X:7.24, Y:0.06, Z:0.26 [[ 9.98124218e-01 -4.00266420e-02 -4.63240080e-02 7.23719095e+00] [ 4.00013313e-02 9.99198540e-01 -1.47363522e-03 6.41510937e-02] [ 4.63458658e-02 -3.82150986e-04 9.98925380e-01 2.58316872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.578040942 meters 0.014775809207412418 Centerline is valid? [True, True] Translation: X:7.26, Y:0.07, Z:0.26 [[ 9.98128133e-01 -4.06171675e-02 -4.57217288e-02 7.26492161e+00] [ 4.05925557e-02 9.99174706e-01 -1.46701851e-03 6.56292662e-02] [ 4.57435810e-02 -3.91689380e-04 9.98953138e-01 2.60087463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.608040942 meters 0.014962775661624569 Centerline is valid? [True, True] Translation: X:7.29, Y:0.07, Z:0.26 [[ 9.98129692e-01 -4.10346632e-02 -4.53130605e-02 7.29166019e+00] [ 4.10103389e-02 9.99157646e-01 -1.46669816e-03 6.59334411e-02] [ 4.53350763e-02 -3.94348985e-04 9.98971759e-01 2.61304267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.638040942 meters 0.014910065523905718 Centerline is valid? [True, True] Translation: X:7.32, Y:0.07, Z:0.26 [[ 9.98175679e-01 -4.19039842e-02 -4.34668829e-02 7.31951382e+00] [ 4.18820769e-02 9.99121559e-01 -1.41495177e-03 6.76217088e-02] [ 4.34879920e-02 -4.08112887e-04 9.99053866e-01 2.63715598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.668040942000001 meters 0.014780328868716452 Centerline is valid? [True, True] Translation: X:7.35, Y:0.07, Z:0.27 [[ 9.98178465e-01 -4.19607624e-02 -4.33479625e-02 7.34717737e+00] [ 4.19385008e-02 9.99119180e-01 -1.42323200e-03 6.92154240e-02] [ 4.33695007e-02 -3.97309026e-04 9.99059022e-01 2.65042882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.698040942 meters 0.01475733434940836 Centerline is valid? [True, True] Translation: X:7.38, Y:0.07, Z:0.27 [[ 9.98169427e-01 -4.21461839e-02 -4.33762035e-02 7.37509951e+00] [ 4.21235268e-02 9.99111377e-01 -1.43662376e-03 7.04554134e-02] [ 4.33982066e-02 -3.93164757e-04 9.99057777e-01 2.66146462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.728040942 meters 0.01469608679232463 Centerline is valid? [True, True] Translation: X:7.40, Y:0.07, Z:0.27 [[ 9.98193288e-01 -4.20181649e-02 -4.29492090e-02 7.40322403e+00] [ 4.19953120e-02 9.99116778e-01 -1.43459935e-03 7.25517577e-02] [ 4.29715545e-02 -3.71657997e-04 9.99076227e-01 2.66877400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.758040942000001 meters 0.014683905249597347 Centerline is valid? [True, True] Translation: X:7.43, Y:0.07, Z:0.27 [[ 9.98202001e-01 -4.18229851e-02 -4.29372024e-02 7.43027571e+00] [ 4.17994288e-02 9.99124975e-01 -1.44665915e-03 7.33170127e-02] [ 4.29601348e-02 -3.50692471e-04 9.99076726e-01 2.68162448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.788040942 meters 0.014683905249597347 Centerline is valid? [True, True] Translation: X:7.46, Y:0.07, Z:0.27 [[ 9.98190453e-01 -4.20978661e-02 -4.29370316e-02 7.45774808e+00] [ 4.20743467e-02 9.99113428e-01 -1.45170900e-03 7.43399500e-02] [ 4.29600787e-02 -3.57465494e-04 9.99076726e-01 2.69386706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.818040942 meters 0.014499739014322293 Centerline is valid? [True, True] Translation: X:7.49, Y:0.08, Z:0.27 [[ 9.98210192e-01 -4.17875285e-02 -4.27810142e-02 7.48528693e+00] [ 4.17633914e-02 9.99126465e-01 -1.45818476e-03 7.56258158e-02] [ 4.28045774e-02 -3.31105353e-04 9.99083409e-01 2.69888864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.848040942 meters 0.014533462920875095 Centerline is valid? [True, True] Translation: X:7.51, Y:0.08, Z:0.27 [[ 9.98152918e-01 -4.19857403e-02 -4.39084359e-02 7.51328628e+00] [ 4.19599576e-02 9.99118153e-01 -1.50907830e-03 7.71455543e-02] [ 4.39330752e-02 -3.36105201e-04 9.99034420e-01 2.70063731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.878040942 meters 0.01455468210223545 Centerline is valid? [True, True] Translation: X:7.54, Y:0.08, Z:0.27 [[ 9.98136420e-01 -4.23909748e-02 -4.38940941e-02 7.54105388e+00] [ 4.23650628e-02 9.99101040e-01 -1.52081694e-03 7.87536583e-02] [ 4.39191039e-02 -3.41593271e-04 9.99035032e-01 2.70263609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.908040942 meters 0.014544979632526201 Centerline is valid? [True, True] Translation: X:7.57, Y:0.08, Z:0.27 [[ 9.98096405e-01 -4.24936091e-02 -4.46974159e-02 7.56763065e+00] [ 4.24662755e-02 9.99096681e-01 -1.56131780e-03 7.97260368e-02] [ 4.47233859e-02 -3.39787093e-04 9.98999351e-01 2.70959684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.938040942 meters 0.014633661006631134 Centerline is valid? [True, True] Translation: X:7.60, Y:0.08, Z:0.27 [[ 9.98113365e-01 -4.38265339e-02 -4.29993734e-02 7.59676049e+00] [ 4.38021406e-02 9.99039085e-01 -1.50975328e-03 7.91676045e-02] [ 4.30242219e-02 -3.76559677e-04 9.99073958e-01 2.72868599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.968040942 meters 0.014813490087939736 Centerline is valid? [True, True] Translation: X:7.63, Y:0.08, Z:0.28 [[ 9.98130002e-01 -4.51708617e-02 -4.11836313e-02 7.62573986e+00] [ 4.51492421e-02 9.98979193e-01 -1.45537962e-03 7.84845990e-02] [ 4.12073316e-02 -4.06751673e-04 9.99150534e-01 2.75481806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.998040942 meters 0.014676560894915747 Centerline is valid? [True, True] Translation: X:7.65, Y:0.08, Z:0.28 [[ 9.98151349e-01 -4.55436212e-02 -4.02450326e-02 7.65390518e+00] [ 4.55229027e-02 9.98962270e-01 -1.43154234e-03 7.93931776e-02] [ 4.02684667e-02 -4.03174787e-04 9.99188815e-01 2.76253699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.028040942 meters 0.014909855446332896 Centerline is valid? [True, True] Translation: X:7.68, Y:0.08, Z:0.28 [[ 9.98146455e-01 -4.54309612e-02 -4.04929774e-02 7.68126541e+00] [ 4.54093959e-02 9.98967405e-01 -1.45264218e-03 7.94350289e-02] [ 4.05171595e-02 -3.88812005e-04 9.99178767e-01 2.77421477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.058040942 meters 0.014856738490378048 Centerline is valid? [True, True] Translation: X:7.71, Y:0.08, Z:0.28 [[ 9.98156570e-01 -4.51723572e-02 -4.05329475e-02 7.70968017e+00] [ 4.51503564e-02 9.98979138e-01 -1.45850597e-03 8.09124977e-02] [ 4.05574531e-02 -3.74259707e-04 9.99177138e-01 2.78130639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.088040942000001 meters 0.01459744050406483 Centerline is valid? [True, True] Translation: X:7.74, Y:0.08, Z:0.28 [[ 9.98192004e-01 -4.37258776e-02 -4.12403966e-02 7.73886308e+00] [ 4.37013930e-02 9.99043518e-01 -1.49546304e-03 8.33125206e-02] [ 4.12663413e-02 -3.09503533e-04 9.99148134e-01 2.77980159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.118040942 meters 0.014722571881961 Centerline is valid? [True, True] Translation: X:7.77, Y:0.08, Z:0.28 [[ 9.98208851e-01 -4.32899213e-02 -4.12925242e-02 7.76562043e+00] [ 4.32645634e-02 9.99062512e-01 -1.50795817e-03 8.36010846e-02] [ 4.13190923e-02 -2.81245836e-04 9.99145962e-01 2.79218252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.148040942 meters 0.014610101746437667 Centerline is valid? [True, True] Translation: X:7.79, Y:0.08, Z:0.28 [[ 9.98255537e-01 -4.16430865e-02 -4.18537595e-02 7.79297623e+00] [ 4.16153657e-02 9.99132528e-01 -1.53374821e-03 8.45218242e-02] [ 4.18813225e-02 -2.10686867e-04 9.99122570e-01 2.80048552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.178040942 meters 0.015473290178670843 Centerline is valid? [True, True] Translation: X:7.82, Y:0.09, Z:0.28 [[ 9.98243184e-01 -4.11255951e-02 -4.26524359e-02 7.82122664e+00] [ 4.10961950e-02 9.99153967e-01 -1.56626420e-03 8.69079812e-02] [ 4.26807640e-02 -1.89340254e-04 9.99088743e-01 2.79862829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.208040942 meters 0.014415313769228718 Centerline is valid? [True, True] Translation: X:7.85, Y:0.09, Z:0.28 [[ 9.98321598e-01 -3.96797997e-02 -4.21841153e-02 7.84947646e+00] [ 3.96492443e-02 9.99212440e-01 -1.56107484e-03 8.85624419e-02] [ 4.22128359e-02 -1.14113557e-04 9.99108634e-01 2.81446580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.238040942 meters 0.014478193023477104 Centerline is valid? [True, True] Translation: X:7.88, Y:0.09, Z:0.28 [[ 9.98424533e-01 -3.72569217e-02 -4.19568142e-02 7.87624400e+00] [ 3.72240370e-02 9.99305720e-01 -1.56501837e-03 9.02117269e-02] [ 4.19859922e-02 7.50731271e-07 9.99118199e-01 2.82044598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.268040942 meters 0.014496925853267997 Centerline is valid? [True, True] Translation: X:7.90, Y:0.09, Z:0.28 [[ 9.98466263e-01 -3.61678626e-02 -4.19166803e-02 7.90395255e+00] [ 3.61338806e-02 9.99345728e-01 -1.56830808e-03 9.16713368e-02] [ 4.19459778e-02 5.12903816e-05 9.99119879e-01 2.83104940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.298040942 meters 0.014651629533731652 Centerline is valid? [True, True] Translation: X:7.93, Y:0.09, Z:0.28 [[ 9.98548333e-01 -3.34902180e-02 -4.21856954e-02 7.93187924e+00] [ 3.34528810e-02 9.99439030e-01 -1.59088320e-03 9.31341450e-02] [ 4.22153095e-02 1.77340725e-04 9.99108521e-01 2.83894193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.328040942 meters 0.014601365533784024 Centerline is valid? [True, True] Translation: X:7.96, Y:0.09, Z:0.29 [[ 9.98573588e-01 -3.27644113e-02 -4.21578304e-02 7.95984840e+00] [ 3.27263397e-02 9.99463080e-01 -1.59308580e-03 9.41416094e-02] [ 4.21873916e-02 2.11141922e-04 9.99109693e-01 2.85171804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.358040942 meters 0.014750280712527132 Centerline is valid? [True, True] Translation: X:7.99, Y:0.09, Z:0.29 [[ 9.98599618e-01 -3.18922066e-02 -4.22100768e-02 7.98816361e+00] [ 3.18527584e-02 9.99491280e-01 -1.60696269e-03 9.43300619e-02] [ 4.22398533e-02 2.60204953e-04 9.99107465e-01 2.86220000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.388040942 meters 0.01491739961414799 Centerline is valid? [True, True] Translation: X:8.02, Y:0.09, Z:0.29 [[ 9.98586626e-01 -3.05744129e-02 -4.34736220e-02 8.01709282e+00] [ 3.05307500e-02 9.99532436e-01 -1.66810902e-03 9.34193604e-02] [ 4.35042968e-02 3.38469075e-04 9.99053183e-01 2.86717148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.418040942 meters 0.015210732629335501 Centerline is valid? [True, True] Translation: X:8.04, Y:0.09, Z:0.29 [[ 9.98587624e-01 -3.04456915e-02 -4.35409786e-02 8.04382759e+00] [ 3.04012847e-02 9.99536359e-01 -1.68183980e-03 9.37730381e-02] [ 4.35719960e-02 3.55762724e-04 9.99050226e-01 2.88057419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.448040942 meters 0.015159113807559348 Centerline is valid? [True, True] Translation: X:8.07, Y:0.09, Z:0.29 [[ 9.98568942e-01 -3.11780711e-02 -4.34510842e-02 8.07095293e+00] [ 3.11343037e-02 9.99513792e-01 -1.68381054e-03 9.09552910e-02] [ 4.34824559e-02 3.28581653e-04 9.99054137e-01 2.90102878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.478040942 meters 0.014972909713059363 Centerline is valid? [True, True] Translation: X:8.10, Y:0.09, Z:0.29 [[ 9.98532263e-01 -3.22066953e-02 -4.35436484e-02 8.09949099e+00] [ 3.21635003e-02 9.99481188e-01 -1.69240293e-03 8.86934993e-02] [ 4.35755641e-02 2.89402782e-04 9.99050092e-01 2.91439287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.508040942000001 meters 0.014847370289929336 Centerline is valid? [True, True] Translation: X:8.13, Y:0.08, Z:0.29 [[ 9.98380377e-01 -3.48694355e-02 -4.49527025e-02 8.12789382e+00] [ 3.48254957e-02 9.99391858e-01 -1.76048101e-03 8.49974821e-02] [ 4.49867518e-02 1.92129550e-04 9.98987565e-01 2.91616489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.538040942 meters 0.014636406725015863 Centerline is valid? [True, True] Translation: X:8.16, Y:0.08, Z:0.29 [[ 9.98292014e-01 -3.66868751e-02 -4.54656882e-02 8.15620998e+00] [ 3.66436139e-02 9.99326803e-01 -1.78487194e-03 8.23004237e-02] [ 4.55005622e-02 1.15796272e-04 9.98964306e-01 2.92083119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.568040942 meters 0.014569855737144847 Centerline is valid? [True, True] Translation: X:8.18, Y:0.08, Z:0.29 [[ 9.98211506e-01 -3.87440735e-02 -4.55267610e-02 8.18391184e+00] [ 3.87022443e-02 9.99249166e-01 -1.80020482e-03 7.98335950e-02] [ 4.55623252e-02 3.49973317e-05 9.98961497e-01 2.93020456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.598040942 meters 0.01463143419703915 Centerline is valid? [True, True] Translation: X:8.21, Y:0.07, Z:0.29 [[ 9.98051642e-01 -4.26590318e-02 -4.55316073e-02 8.21167110e+00] [ 4.26206849e-02 9.99089681e-01 -1.81311131e-03 7.35159037e-02] [ 4.55675046e-02 -1.31009570e-04 9.98961253e-01 2.94353478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.628040942 meters 0.014646130363571392 Centerline is valid? [True, True] Translation: X:8.24, Y:0.07, Z:0.30 [[ 9.97957567e-01 -4.48962068e-02 -4.54425416e-02 8.23973636e+00] [ 4.48601375e-02 9.98991631e-01 -1.81374390e-03 7.24518476e-02] [ 4.54781489e-02 -2.28519210e-04 9.98965308e-01 2.95864482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.658040942 meters 0.01484074908396744 Centerline is valid? [True, True] Translation: X:8.27, Y:0.07, Z:0.30 [[ 9.97834134e-01 -4.70982388e-02 -4.59216431e-02 8.26911356e+00] [ 4.70631135e-02 9.98890211e-01 -1.84637528e-03 7.05758412e-02] [ 4.59576408e-02 -3.18839225e-04 9.98943339e-01 2.97026754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.688040942 meters 0.015714779756915053 Centerline is valid? [True, True] Translation: X:8.30, Y:0.06, Z:0.30 [[ 9.97619453e-01 -5.14033677e-02 -4.59686831e-02 8.29762139e+00] [ 5.13722095e-02 9.98677845e-01 -1.85972199e-03 6.47232364e-02] [ 4.60035014e-02 -5.06217980e-04 9.98941150e-01 2.98126089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.718040942 meters 0.015453812075618 Centerline is valid? [True, True] Translation: X:8.33, Y:0.06, Z:0.30 [[ 9.97541403e-01 -5.33506839e-02 -4.54406642e-02 8.32633009e+00] [ 5.33220652e-02 9.98575667e-01 -1.84255759e-03 6.28583862e-02] [ 4.54742433e-02 -5.84962573e-04 9.98965340e-01 2.99926242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.748040942 meters 0.01598683721332609 Centerline is valid? [True, True] Translation: X:8.35, Y:0.06, Z:0.30 [[ 9.97410794e-01 -5.53373616e-02 -4.59291131e-02 8.35426119e+00] [ 5.53097002e-02 9.98467489e-01 -1.87385396e-03 5.84833965e-02] [ 4.59624204e-02 -6.71323309e-04 9.98942944e-01 3.01407776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.778040942 meters 0.017698600221123552 Centerline is valid? [True, True] Translation: X:8.38, Y:0.06, Z:0.30 [[ 9.97324076e-01 -5.59611425e-02 -4.70429339e-02 8.38336150e+00] [ 5.59325951e-02 9.98432693e-01 -1.92399711e-03 5.81419759e-02] [ 4.70768723e-02 -7.12384737e-04 9.98891015e-01 3.01457424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.808040942 meters 0.01600927689959429 Centerline is valid? [True, True] Translation: X:8.41, Y:0.06, Z:0.30 [[ 9.97375042e-01 -5.53335056e-02 -4.67036170e-02 8.41089603e+00] [ 5.53041587e-02 9.98467705e-01 -1.92127850e-03 5.77226155e-02] [ 4.67383643e-02 -6.66669025e-04 9.98906943e-01 3.03430461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.838040942000001 meters 0.015786448530621233 Centerline is valid? [True, True] Translation: X:8.44, Y:0.06, Z:0.30 [[ 9.97389027e-01 -5.45774253e-02 -4.72909475e-02 8.43989530e+00] [ 5.45461748e-02 9.98509341e-01 -1.95201889e-03 5.85852439e-02] [ 4.73269890e-02 -6.32618067e-04 9.98879250e-01 3.04341161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.868040942 meters 0.015376156777174913 Centerline is valid? [True, True] Translation: X:8.47, Y:0.06, Z:0.30 [[ 9.97485630e-01 -5.18157788e-02 -4.83481343e-02 8.46740728e+00] [ 5.17793221e-02 9.98656534e-01 -2.00703501e-03 5.85096073e-02] [ 4.83871763e-02 -5.01445036e-04 9.98828529e-01 3.04833183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.898040942 meters 0.014837803097279393 Centerline is valid? [True, True] Translation: X:8.50, Y:0.06, Z:0.31 [[ 9.97521731e-01 -5.06939275e-02 -4.87905843e-02 8.49585249e+00] [ 5.06552170e-02 9.98714137e-01 -2.03035608e-03 6.01411292e-02] [ 4.88307730e-02 -4.46173322e-04 9.98806967e-01 3.06439744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.928040942 meters 0.0144353880669126 Centerline is valid? [True, True] Translation: X:8.52, Y:0.06, Z:0.31 [[ 9.97685258e-01 -4.69916141e-02 -4.91519528e-02 8.52391161e+00] [ 4.69472572e-02 9.98895251e-01 -2.05716803e-03 5.94711409e-02] [ 4.91943219e-02 -2.55143155e-04 9.98789194e-01 3.07550416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.958040942 meters 0.014241161615278513 Centerline is valid? [True, True] Translation: X:8.55, Y:0.06, Z:0.31 [[ 9.97757890e-01 -4.54709885e-02 -4.91078530e-02 8.55222208e+00] [ 4.54246084e-02 9.98965644e-01 -2.06064612e-03 6.00156126e-02] [ 4.91507576e-02 -1.74679067e-04 9.98791356e-01 3.09165922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.988040942 meters 0.01413137780259026 Centerline is valid? [True, True] Translation: X:8.58, Y:0.06, Z:0.31 [[ 9.97918023e-01 -4.19725665e-02 -4.89685955e-02 8.57973702e+00] [ 4.19215898e-02 9.99118763e-01 -2.06803416e-03 6.07521135e-02] [ 4.90122433e-02 1.08871828e-05 9.98798178e-01 3.10785617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.018040942 meters 0.014134938460534206 Centerline is valid? [True, True] Translation: X:8.61, Y:0.06, Z:0.31 [[ 9.97966721e-01 -4.10384889e-02 -4.87674799e-02 8.60773825e+00] [ 4.09865608e-02 9.99157564e-01 -2.06475576e-03 6.10835141e-02] [ 4.88111309e-02 6.17462529e-05 9.98808024e-01 3.12140729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.048040942 meters 0.013999845198759782 Centerline is valid? [True, True] Translation: X:8.63, Y:0.06, Z:0.31 [[ 9.97977245e-01 -4.05005695e-02 -4.90012385e-02 8.63461984e+00] [ 4.04468273e-02 9.99179510e-01 -2.08823155e-03 6.07092008e-02] [ 4.90456081e-02 1.02062939e-04 9.98796535e-01 3.13259748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.078040942 meters 0.014076021638750193 Centerline is valid? [True, True] Translation: X:8.66, Y:0.06, Z:0.31 [[ 9.98009702e-01 -4.00007746e-02 -4.87501037e-02 8.66289364e+00] [ 3.99466532e-02 9.99199640e-01 -2.08434629e-03 5.97447754e-02] [ 4.87944615e-02 1.32794330e-04 9.98808832e-01 3.14412638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.108040942 meters 0.01396762489564801 Centerline is valid? [True, True] Translation: X:8.69, Y:0.06, Z:0.32 [[ 9.98068478e-01 -3.90684443e-02 -4.83008251e-02 8.69060974e+00] [ 3.90135564e-02 9.99236519e-01 -2.07895790e-03 5.61280303e-02] [ 4.83451700e-02 1.90555378e-04 9.98830670e-01 3.16875128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.138040942 meters 0.013981580612952543 Centerline is valid? [True, True] Translation: X:8.72, Y:0.06, Z:0.32 [[ 9.98115112e-01 -3.85053892e-02 -4.77865868e-02 8.71786077e+00] [ 3.84503844e-02 9.99258366e-01 -2.07009011e-03 5.52250270e-02] [ 4.78308562e-02 2.28775596e-04 9.98855423e-01 3.18976729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.168040942 meters 0.014074919272501771 Centerline is valid? [True, True] Translation: X:8.75, Y:0.05, Z:0.32 [[ 9.98196800e-01 -3.73257734e-02 -4.70099545e-02 8.74616900e+00] [ 3.72709645e-02 9.99303109e-01 -2.04220554e-03 5.37833578e-02] [ 4.70534206e-02 2.86416694e-04 9.98892333e-01 3.20491585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.198040942 meters 0.01403849534623462 Centerline is valid? [True, True] Translation: X:8.77, Y:0.05, Z:0.32 [[ 9.98196826e-01 -3.67839680e-02 -4.74345477e-02 8.77388905e+00] [ 3.67273518e-02 9.99323190e-01 -2.06487323e-03 5.42702328e-02] [ 4.74783977e-02 3.19004587e-04 9.98872214e-01 3.21574608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.228040942 meters 0.014096511593210627 Centerline is valid? [True, True] Translation: X:8.80, Y:0.05, Z:0.32 [[ 9.98225798e-01 -3.60862984e-02 -4.73606872e-02 8.80166524e+00] [ 3.60288529e-02 9.99348614e-01 -2.06630912e-03 5.21321661e-02] [ 4.74044025e-02 3.56291842e-04 9.98875716e-01 3.22518292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.258040942000001 meters 0.014124773839145665 Centerline is valid? [True, True] Translation: X:8.83, Y:0.05, Z:0.32 [[ 9.98224336e-01 -3.60329826e-02 -4.74320429e-02 8.82839998e+00] [ 3.59746997e-02 9.99350532e-01 -2.08212777e-03 5.07073438e-02] [ 4.74762625e-02 3.72077114e-04 9.98872297e-01 3.23734241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.288040942 meters 0.014110721870700116 Centerline is valid? [True, True] Translation: X:8.86, Y:0.05, Z:0.33 [[ 9.98211655e-01 -3.62614355e-02 -4.75247244e-02 8.85638165e+00] [ 3.62028881e-02 9.99342270e-01 -2.09239191e-03 4.90277406e-02] [ 4.75693391e-02 3.68117711e-04 9.98867870e-01 3.25101334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.318040942 meters 0.014993243958994323 Centerline is valid? [True, True] Translation: X:8.88, Y:0.05, Z:0.33 [[ 9.98156424e-01 -3.70047843e-02 -4.81082041e-02 8.88438007e+00] [ 3.69450097e-02 9.99315027e-01 -2.13140880e-03 4.68361420e-02] [ 4.81541236e-02 3.50121323e-04 9.98839856e-01 3.25092618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.348040942 meters 0.013683796678827256 Centerline is valid? [True, True] Translation: X:8.91, Y:0.04, Z:0.33 [[ 9.98066445e-01 -3.94235127e-02 -4.80536892e-02 8.91341255e+00] [ 3.93660458e-02 9.99222561e-01 -2.14206237e-03 4.00370189e-02] [ 4.81007780e-02 2.46236851e-04 9.98842457e-01 3.27726264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.378040942 meters 0.013530953444653429 Centerline is valid? [True, True] Translation: X:8.94, Y:0.04, Z:0.33 [[ 9.98005421e-01 -4.11294020e-02 -4.78910465e-02 8.94090019e+00] [ 4.10737339e-02 9.99153813e-01 -2.14632460e-03 3.78890873e-02] [ 4.79387988e-02 1.74979488e-04 9.98850260e-01 3.28856056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.408040942 meters 0.013395074450806042 Centerline is valid? [True, True] Translation: X:8.97, Y:0.03, Z:0.33 [[ 9.97817090e-01 -4.53931114e-02 -4.79637451e-02 8.96948988e+00] [ 4.53419570e-02 9.98969201e-01 -2.15455781e-03 3.34003384e-02] [ 4.80121063e-02 -2.49154664e-05 9.98846754e-01 3.29606075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.438040942 meters 0.013419301277603334 Centerline is valid? [True, True] Translation: X:9.00, Y:0.03, Z:0.33 [[ 9.97704724e-01 -4.77459883e-02 -4.80167179e-02 8.99740968e+00] [ 4.76967868e-02 9.98859502e-01 -2.17059134e-03 3.12669922e-02] [ 4.80655920e-02 -1.24633925e-04 9.98844174e-01 3.30799671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.468040942 meters 0.013440592134416406 Centerline is valid? [True, True] Translation: X:9.03, Y:0.03, Z:0.33 [[ 9.97609014e-01 -4.98868045e-02 -4.78284611e-02 9.02562688e+00] [ 4.98397934e-02 9.98754855e-01 -2.17571337e-03 2.86122986e-02] [ 4.78774472e-02 -2.13249348e-04 9.98853195e-01 3.32455714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.498040942 meters 0.013620787672831466 Centerline is valid? [True, True] Translation: X:9.05, Y:0.03, Z:0.33 [[ 9.97507584e-01 -5.20155443e-02 -4.76760307e-02 9.05366803e+00] [ 5.19706250e-02 9.98646230e-01 -2.18211707e-03 2.52002275e-02] [ 4.77249923e-02 -3.01074789e-04 9.98860468e-01 3.34570668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.528040942 meters 0.014098305395900311 Centerline is valid? [True, True] Translation: X:9.08, Y:0.02, Z:0.34 [[ 9.97291978e-01 -5.65401182e-02 -4.70311092e-02 9.08276078e+00] [ 5.65012146e-02 9.98400200e-01 -2.15723767e-03 1.91058144e-02] [ 4.70778393e-02 -5.05918973e-04 9.98891096e-01 3.36971590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.558040942 meters 0.01493914325494736 Centerline is valid? [True, True] Translation: X:9.11, Y:0.02, Z:0.34 [[ 9.97186019e-01 -5.84174695e-02 -4.69834344e-02 9.11116676e+00] [ 5.83801904e-02 9.98292071e-01 -2.16644428e-03 1.62212925e-02] [ 4.70297482e-02 -5.82553893e-04 9.98893319e-01 3.37475457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.588040942 meters 0.015190158530083769 Centerline is valid? [True, True] Translation: X:9.14, Y:0.01, Z:0.34 [[ 9.96958820e-01 -6.20108728e-02 -4.71991925e-02 9.14004167e+00] [ 6.19770538e-02 9.98075191e-01 -2.18104052e-03 1.45755499e-02] [ 4.72435913e-02 -7.50859317e-04 9.98883116e-01 3.38554899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.618040942 meters 0.01550099377133294 Centerline is valid? [True, True] Translation: X:9.17, Y:0.01, Z:0.34 [[ 9.96900191e-01 -6.27140815e-02 -4.75073907e-02 9.16787010e+00] [ 6.26800778e-02 9.98031231e-01 -2.20661322e-03 1.40673424e-02] [ 4.75522453e-02 -7.77993800e-04 9.98868449e-01 3.39254177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.648040942 meters 0.01528754303339485 Centerline is valid? [True, True] Translation: X:9.20, Y:0.01, Z:0.34 [[ 9.96854895e-01 -6.32305630e-02 -4.77725358e-02 9.19615812e+00] [ 6.31965389e-02 9.97998623e-01 -2.22378292e-03 1.43672006e-02] [ 4.78175360e-02 -8.02270030e-04 9.98855765e-01 3.40392257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.678040942 meters 0.015445494851392993 Centerline is valid? [True, True] Translation: X:9.22, Y:0.01, Z:0.34 [[ 9.96832900e-01 -6.34181701e-02 -4.79823473e-02 9.22331445e+00] [ 6.33834321e-02 9.97986720e-01 -2.24668331e-03 1.12069506e-02] [ 4.80282259e-02 -8.01718017e-04 9.98845657e-01 3.41932771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.708040942 meters 0.015445494851392993 Centerline is valid? [True, True] Translation: X:9.25, Y:0.01, Z:0.34 [[ 9.96815089e-01 -6.36977398e-02 -4.79820444e-02 9.25081397e+00] [ 6.36630150e-02 9.97968909e-01 -2.25313384e-03 1.25835418e-02] [ 4.80281080e-02 -8.08723799e-04 9.98845657e-01 3.43158160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.738040942 meters 0.015358001679852308 Centerline is valid? [True, True] Translation: X:9.28, Y:0.01, Z:0.34 [[ 9.96799477e-01 -6.38652988e-02 -4.80835284e-02 9.27864256e+00] [ 6.38299689e-02 9.97958203e-01 -2.27144790e-03 1.28762694e-02] [ 4.81304183e-02 -8.04992047e-04 9.98840735e-01 3.44839003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.768040942 meters 0.01534987019834419 Centerline is valid? [True, True] Translation: X:9.31, Y:0.01, Z:0.35 [[ 9.96782099e-01 -6.39761266e-02 -4.82959833e-02 9.30690097e+00] [ 6.39399495e-02 9.97951108e-01 -2.29520879e-03 1.31992266e-02] [ 4.83438686e-02 -8.00219700e-04 9.98830431e-01 3.45438419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.798040942 meters 0.015275396646357362 Centerline is valid? [True, True] Translation: X:9.34, Y:0.01, Z:0.35 [[ 9.96786966e-01 -6.37766020e-02 -4.84591524e-02 9.33504096e+00] [ 6.37392770e-02 9.97963896e-01 -2.31670867e-03 1.43397270e-02] [ 4.85082363e-02 -7.79486333e-04 9.98822478e-01 3.46594521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.828040942 meters 0.015135513275024616 Centerline is valid? [True, True] Translation: X:9.36, Y:0.02, Z:0.35 [[ 9.96813993e-01 -6.35046119e-02 -4.82600007e-02 9.36309996e+00] [ 6.34666179e-02 9.97981264e-01 -2.32076377e-03 1.53475987e-02] [ 4.83099557e-02 -7.49529227e-04 9.98832111e-01 3.47985209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.858040942 meters 0.01488643585069165 Centerline is valid? [True, True] Translation: X:9.39, Y:0.02, Z:0.35 [[ 9.96997946e-01 -6.13830574e-02 -4.71933805e-02 9.39051795e+00] [ 6.13437568e-02 9.98114090e-01 -2.28199357e-03 1.57885724e-02] [ 4.72444537e-02 -6.19876353e-04 9.98883165e-01 3.49985769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.888040942 meters 0.014490301851295342 Centerline is valid? [True, True] Translation: X:9.42, Y:0.02, Z:0.35 [[ 9.97077850e-01 -6.00807056e-02 -4.71812384e-02 9.41918168e+00] [ 6.00397528e-02 9.98193369e-01 -2.28595783e-03 1.72485092e-02] [ 4.72333413e-02 -5.53471968e-04 9.98883730e-01 3.51313389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.918040942 meters 0.01405223826858744 Centerline is valid? [True, True] Translation: X:9.45, Y:0.02, Z:0.35 [[ 9.97275254e-01 -5.69061836e-02 -4.69441599e-02 9.44790835e+00] [ 5.68615895e-02 9.98379454e-01 -2.28587295e-03 1.90251189e-02] [ 4.69981651e-02 -3.89675026e-04 9.98894900e-01 3.53444814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.948040942 meters 0.013949680957187476 Centerline is valid? [True, True] Translation: X:9.48, Y:0.02, Z:0.35 [[ 9.97360248e-01 -5.56396516e-02 -4.66558195e-02 9.47672162e+00] [ 5.55936818e-02 9.98450865e-01 -2.28331710e-03 2.11656471e-02] [ 4.67105862e-02 -3.16479070e-04 9.98908415e-01 3.54755452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.978040942 meters 0.015628787049615532 Centerline is valid? [True, True] Translation: X:9.50, Y:0.02, Z:0.35 [[ 9.97368363e-01 -5.46377016e-02 -4.76557499e-02 9.50478344e+00] [ 5.45880170e-02 9.98506210e-01 -2.34438000e-03 2.32681186e-02] [ 4.77126538e-02 -2.63222445e-04 9.98861068e-01 3.54041242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.008040942000001 meters 0.013834420911747922 Centerline is valid? [True, True] Translation: X:9.53, Y:0.03, Z:0.36 [[ 9.97473672e-01 -5.24923631e-02 -4.78625625e-02 9.53258337e+00] [ 5.24391609e-02 9.98621315e-01 -2.36740951e-03 2.58426929e-02] [ 4.79208460e-02 -1.48443956e-04 9.98851125e-01 3.56093159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.038040942 meters 0.013914492229980025 Centerline is valid? [True, True] Translation: X:9.56, Y:0.03, Z:0.36 [[ 9.97527900e-01 -5.22761016e-02 -4.69605926e-02 9.56099955e+00] [ 5.22244355e-02 9.98632661e-01 -2.32729024e-03 2.71231600e-02] [ 4.70180432e-02 -1.30953490e-04 9.98894032e-01 3.57961946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.068040942 meters 0.014034779793470162 Centerline is valid? [True, True] Translation: X:9.59, Y:0.03, Z:0.36 [[ 9.97625624e-01 -5.16948002e-02 -4.55056165e-02 9.58790606e+00] [ 5.16451298e-02 9.98662926e-01 -2.26731571e-03 2.67273870e-02] [ 4.55619806e-02 -8.82112216e-05 9.98961510e-01 3.61067896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.098040942 meters 0.014163925650054473 Centerline is valid? [True, True] Translation: X:9.62, Y:0.03, Z:0.36 [[ 9.97622529e-01 -5.19816573e-02 -4.52459507e-02 9.61537540e+00] [ 5.19326011e-02 9.98648035e-01 -2.25980489e-03 2.73702869e-02] [ 4.53022482e-02 -9.53076367e-05 9.98973322e-01 3.62868750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.128040942 meters 0.014223831995979815 Centerline is valid? [True, True] Translation: X:9.64, Y:0.03, Z:0.36 [[ 9.97603553e-01 -5.22356851e-02 -4.53716308e-02 9.64320197e+00] [ 5.21863677e-02 9.98634780e-01 -2.27159641e-03 2.79353004e-02] [ 4.54283469e-02 -1.01627962e-04 9.98967595e-01 3.64274230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.158040942 meters 0.01423900066610217 Centerline is valid? [True, True] Translation: X:9.67, Y:0.03, Z:0.37 [[ 9.97563375e-01 -5.28852633e-02 -4.55023378e-02 9.67077999e+00] [ 5.28357774e-02 9.98600588e-01 -2.29040097e-03 2.86085557e-02] [ 4.55597898e-02 -1.19331273e-04 9.98961607e-01 3.65423295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.188040942 meters 0.014572436307784244 Centerline is valid? [True, True] Translation: X:9.70, Y:0.03, Z:0.37 [[ 9.97451510e-01 -5.51653937e-02 -4.52467049e-02 9.69893479e+00] [ 5.51182594e-02 9.98477208e-01 -2.28960782e-03 2.91915741e-02] [ 4.53041108e-02 -2.10146846e-04 9.98973220e-01 3.66712148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.218040942 meters 0.014848186255318363 Centerline is valid? [True, True] Translation: X:9.73, Y:0.03, Z:0.37 [[ 9.97389386e-01 -5.67697280e-02 -4.46274549e-02 9.72653180e+00] [ 5.67249131e-02 9.98387263e-01 -2.27095827e-03 2.85938620e-02] [ 4.46844042e-02 -2.66458827e-04 9.99001118e-01 3.67858600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.248040942 meters 0.014872843634413841 Centerline is valid? [True, True] Translation: X:9.76, Y:0.03, Z:0.37 [[ 9.97290050e-01 -5.83812332e-02 -4.47681598e-02 9.75562397e+00] [ 5.83375754e-02 9.98294305e-01 -2.28218350e-03 2.95326488e-02] [ 4.48250356e-02 -3.35667002e-04 9.98994797e-01 3.69572390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.278040942 meters 0.015119732439634418 Centerline is valid? [True, True] Translation: X:9.78, Y:0.03, Z:0.37 [[ 9.97086204e-01 -6.13960589e-02 -4.52727984e-02 9.78433851e+00] [ 6.13540066e-02 9.98113374e-01 -2.31914077e-03 2.92192963e-02] [ 4.53297716e-02 -4.65284304e-04 9.98971969e-01 3.69868935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.308040942 meters 0.01718616182780519 Centerline is valid? [True, True] Translation: X:9.81, Y:0.03, Z:0.37 [[ 9.96967201e-01 -6.28306227e-02 -4.59207150e-02 9.81257808e+00] [ 6.27883492e-02 9.98024066e-01 -2.36382874e-03 2.81967559e-02] [ 4.59784995e-02 -5.26626164e-04 9.98942291e-01 3.68621295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.338040942 meters 0.017067094918582104 Centerline is valid? [True, True] Translation: X:9.84, Y:0.03, Z:0.37 [[ 9.96777502e-01 -6.53414583e-02 -4.65306984e-02 9.84116374e+00] [ 6.53005751e-02 9.97862754e-01 -2.39977991e-03 2.72548534e-02] [ 4.65880560e-02 -6.46434743e-04 9.98913978e-01 3.69916312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.368040942 meters 0.015795763955178486 Centerline is valid? [True, True] Translation: X:9.87, Y:0.03, Z:0.37 [[ 9.96731974e-01 -6.62280041e-02 -4.62517320e-02 9.86930066e+00] [ 6.61880262e-02 9.97804289e-01 -2.39698119e-03 2.69995321e-02] [ 4.63089239e-02 -6.72163059e-04 9.98926940e-01 3.72537362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.398040942 meters 0.017030678567591963 Centerline is valid? [True, True] Translation: X:9.90, Y:0.03, Z:0.37 [[ 9.96655737e-01 -6.69261725e-02 -4.68852742e-02 9.89709864e+00] [ 6.68856366e-02 9.97757678e-01 -2.43464476e-03 2.76268151e-02] [ 4.69430838e-02 -7.09448744e-04 9.98897314e-01 3.72574101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.428040942 meters 0.016118879506110476 Centerline is valid? [True, True] Translation: X:9.92, Y:0.03, Z:0.38 [[ 9.96656207e-01 -6.72211179e-02 -4.64513254e-02 9.92436351e+00] [ 6.71810401e-02 9.97737855e-01 -2.42518939e-03 2.79623790e-02] [ 4.65092697e-02 -7.03568293e-04 9.98917611e-01 3.75333635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.458040942 meters 0.016019573895429247 Centerline is valid? [True, True] Translation: X:9.95, Y:0.03, Z:0.38 [[ 9.96674855e-01 -6.70205166e-02 -4.63409616e-02 9.95269432e+00] [ 6.69801271e-02 9.97751361e-01 -2.42556965e-03 2.94973036e-02] [ 4.63993205e-02 -6.86419217e-04 9.98922736e-01 3.76412552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.488040942 meters 0.01595925974734822 Centerline is valid? [True, True] Translation: X:9.98, Y:0.03, Z:0.38 [[ 9.96694064e-01 -6.62118146e-02 -4.70843839e-02 9.98119805e+00] [ 6.61685668e-02 9.97805381e-01 -2.47825551e-03 3.07545790e-02] [ 4.71451414e-02 -6.45443649e-04 9.98887841e-01 3.77462062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.518040942 meters 0.015699608809966965 Centerline is valid? [True, True] Translation: X:10.01, Y:0.03, Z:0.38 [[ 9.96847273e-01 -6.24936506e-02 -4.88882231e-02 1.00092855e+01] [ 6.24419644e-02 9.98045248e-01 -2.58526846e-03 3.21475570e-02] [ 4.89542216e-02 -4.75558869e-04 9.98800910e-01 3.77722670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.548040942 meters 0.015516134986665452 Centerline is valid? [True, True] Translation: X:10.04, Y:0.03, Z:0.38 [[ 9.96956436e-01 -6.02371066e-02 -4.94909637e-02 1.00385358e+01] [ 6.01810962e-02 9.98184030e-01 -2.62243181e-03 3.43161540e-02] [ 4.95590573e-02 -3.63970169e-04 9.98771129e-01 3.78179749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.578040942 meters 0.015298022647187404 Centerline is valid? [True, True] Translation: X:10.07, Y:0.04, Z:0.38 [[ 9.97194764e-01 -5.46837742e-02 -5.11105418e-02 1.00675664e+01] [ 5.46160693e-02 9.98503720e-01 -2.72142747e-03 3.81675508e-02] [ 5.11828841e-02 -7.76636727e-05 9.98689294e-01 3.78839789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.608040942 meters 0.015397537399496113 Centerline is valid? [True, True] Translation: X:10.10, Y:0.04, Z:0.38 [[ 9.97314522e-01 -5.23736389e-02 -5.11932179e-02 1.00955497e+01] [ 5.23019839e-02 9.98627558e-01 -2.73925004e-03 4.06312074e-02] [ 5.12664227e-02 5.43869816e-05 9.98685011e-01 3.79698151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.638040942 meters 0.015572880449236961 Centerline is valid? [True, True] Translation: X:10.12, Y:0.04, Z:0.38 [[ 9.97419253e-01 -5.00512444e-02 -5.14753107e-02 1.01228773e+01] [ 4.99749985e-02 9.98746633e-01 -2.76804967e-03 4.29437369e-02] [ 5.15493376e-02 1.88427458e-04 9.98670431e-01 3.80800335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.668040942 meters 0.015667072554785454 Centerline is valid? [True, True] Translation: X:10.15, Y:0.04, Z:0.38 [[ 9.97472941e-01 -4.85882950e-02 -5.18354171e-02 1.01517268e+01] [ 4.85086948e-02 9.98818854e-01 -2.79335392e-03 4.44888926e-02] [ 5.19099162e-02 2.71826523e-04 9.98651734e-01 3.82185880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.698040942 meters 0.01614611235769101 Centerline is valid? [True, True] Translation: X:10.18, Y:0.05, Z:0.38 [[ 9.97533882e-01 -4.64756322e-02 -5.25943864e-02 1.01791717e+01] [ 4.63901003e-02 9.98919344e-01 -2.84652375e-03 4.52575225e-02] [ 5.26698440e-02 3.99645024e-04 9.98611900e-01 3.82741561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.728040942 meters 0.016223360371070975 Centerline is valid? [True, True] Translation: X:10.21, Y:0.05, Z:0.38 [[ 9.97535061e-01 -4.61398355e-02 -5.28669769e-02 1.02066140e+01] [ 4.60526895e-02 9.98934901e-01 -2.86605241e-03 4.57654258e-02] [ 5.29429075e-02 4.24321299e-04 9.98597451e-01 3.83336047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.758040942000001 meters 0.016211036714926175 Centerline is valid? [True, True] Translation: X:10.24, Y:0.04, Z:0.38 [[ 9.97452252e-01 -4.72132425e-02 -5.34781741e-02 1.02351486e+01] [ 4.71252612e-02 9.98884762e-01 -2.90568210e-03 4.37669983e-02] [ 5.35557198e-02 3.78106232e-04 9.98564791e-01 3.84322969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.788040942 meters 0.01636477251923854 Centerline is valid? [True, True] Translation: X:10.26, Y:0.04, Z:0.38 [[ 9.97367175e-01 -4.81092246e-02 -5.42606676e-02 1.02619039e+01] [ 4.80191693e-02 9.98842020e-01 -2.96295310e-03 4.38877074e-02] [ 5.43403802e-02 3.49599981e-04 9.98522409e-01 3.84404444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.818040942 meters 0.016224026461318493 Centerline is valid? [True, True] Translation: X:10.29, Y:0.04, Z:0.39 [[ 9.97282367e-01 -4.94096689e-02 -5.46494725e-02 1.02904617e+01] [ 4.93196327e-02 9.98778554e-01 -2.99577692e-03 4.29465530e-02] [ 5.47307414e-02 2.92343587e-04 9.98501107e-01 3.86109101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.848040942 meters 0.016283366100343113 Centerline is valid? [True, True] Translation: X:10.32, Y:0.04, Z:0.39 [[ 9.97068605e-01 -5.16926844e-02 -5.64097731e-02 1.03185522e+01] [ 5.15995679e-02 9.98663022e-01 -3.10696485e-03 4.01804350e-02] [ 5.64949619e-02 1.87137185e-04 9.98402867e-01 3.85289289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.878040942 meters 0.016323927221617608 Centerline is valid? [True, True] Translation: X:10.35, Y:0.04, Z:0.39 [[ 9.96946373e-01 -5.30871767e-02 -5.72684979e-02 1.03465566e+01] [ 5.29929475e-02 9.98589874e-01 -3.16387413e-03 3.87819372e-02] [ 5.73557033e-02 1.19386336e-04 9.98353800e-01 3.85979000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.908040942 meters 0.016600194040645316 Centerline is valid? [True, True] Translation: X:10.37, Y:0.03, Z:0.39 [[ 9.96729630e-01 -5.53844741e-02 -5.88439065e-02 1.03745382e+01] [ 5.52881504e-02 9.98465102e-01 -3.26502622e-03 3.48353551e-02] [ 5.89344189e-02 9.77616093e-07 9.98261857e-01 3.85722010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.938040942 meters 0.01665510271421391 Centerline is valid? [True, True] Translation: X:10.40, Y:0.03, Z:0.39 [[ 9.96641627e-01 -5.63629874e-02 -5.94027078e-02 1.04033716e+01] [ 5.62661148e-02 9.98410342e-01 -3.30350812e-03 3.42763587e-02] [ 5.94944734e-02 -4.99458646e-05 9.98228634e-01 3.86057614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.968040942 meters 0.016715349965965347 Centerline is valid? [True, True] Translation: X:10.43, Y:0.03, Z:0.39 [[ 9.96514338e-01 -5.79004762e-02 -6.00558842e-02 1.04320159e+01] [ 5.78033667e-02 9.98322352e-01 -3.35447390e-03 3.39829734e-02] [ 6.01493572e-02 -1.28650965e-04 9.98189380e-01 3.88157135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.998040942 meters 0.019796482607794465 Centerline is valid? [True, True] Translation: X:10.46, Y:0.03, Z:0.38 [[ 9.96276725e-01 -6.03420289e-02 -6.15753775e-02 1.04604604e+01] [ 6.02437967e-02 9.98177723e-01 -3.45229679e-03 2.96135082e-02] [ 6.16714887e-02 -2.70091589e-04 9.98096466e-01 3.84003200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.028040942 meters 0.017106085934776718 Centerline is valid? [True, True] Translation: X:10.49, Y:0.03, Z:0.39 [[ 9.96216036e-01 -6.12945247e-02 -6.16164860e-02 1.04881994e+01] [ 6.11974377e-02 9.98119671e-01 -3.46339183e-03 2.87249938e-02] [ 6.17129137e-02 -3.20484587e-04 9.98093890e-01 3.89492366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.058040942 meters 0.017306077158964366 Centerline is valid? [True, True] Translation: X:10.52, Y:0.03, Z:0.39 [[ 9.96178057e-01 -6.16792853e-02 -6.18461428e-02 1.05151694e+01] [ 6.15812260e-02 9.98095966e-01 -3.49221034e-03 2.79589631e-02] [ 6.19437827e-02 -3.29697991e-04 9.98079586e-01 3.90265468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.088040942 meters 0.017415589710459742 Centerline is valid? [True, True] Translation: X:10.54, Y:0.03, Z:0.39 [[ 9.96140595e-01 -6.11504400e-02 -6.29645873e-02 1.05442348e+01] [ 6.10469125e-02 9.98128519e-01 -3.56851988e-03 2.60200435e-02] [ 6.30649668e-02 -2.89046131e-04 9.98009382e-01 3.90333348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.118040942 meters 0.017717937214442127 Centerline is valid? [True, True] Translation: X:10.57, Y:0.03, Z:0.39 [[ 9.96244108e-01 -5.92148316e-02 -6.31765859e-02 1.05714834e+01] [ 5.91058892e-02 9.98245250e-01 -3.59358546e-03 2.85308490e-02] [ 6.32785204e-02 -1.54019947e-04 9.97995894e-01 3.90159630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.148040942 meters 0.018998434426808125 Centerline is valid? [True, True] Translation: X:10.60, Y:0.04, Z:0.39 [[ 9.96610978e-01 -5.40586219e-02 -6.20018110e-02 1.06002231e+01] [ 5.39431332e-02 9.98537747e-01 -3.53628194e-03 3.63928893e-02] [ 6.21023152e-02 1.79725460e-04 9.98069772e-01 3.91136485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.178040942 meters 0.01791213581866865 Centerline is valid? [True, True] Translation: X:10.63, Y:0.04, Z:0.39 [[ 9.96765903e-01 -5.10901322e-02 -6.20284837e-02 1.06282078e+01] [ 5.09680318e-02 9.98693975e-01 -3.55015751e-03 4.03124500e-02] [ 6.21288510e-02 3.77206220e-04 9.98068066e-01 3.92761582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.208040942 meters 0.019457018223412864 Centerline is valid? [True, True] Translation: X:10.66, Y:0.05, Z:0.39 [[ 9.96970872e-01 -4.63311228e-02 -6.24700464e-02 1.06566281e+01] [ 4.61974301e-02 9.98925901e-01 -3.58357971e-03 4.73003437e-02] [ 6.25689787e-02 6.86768985e-04 9.98040406e-01 3.92298262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.238040942 meters 0.018713184482463292 Centerline is valid? [True, True] Translation: X:10.69, Y:0.05, Z:0.40 [[ 9.97055991e-01 -4.47482527e-02 -6.22651104e-02 1.06857118e+01] [ 4.46114235e-02 9.98997976e-01 -3.58670813e-03 5.02234728e-02] [ 6.23632182e-02 7.98413618e-04 9.98053201e-01 3.95744389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.268040942 meters 0.01904065622146648 Centerline is valid? [True, True] Translation: X:10.71, Y:0.05, Z:0.40 [[ 9.97103749e-01 -4.35681080e-02 -6.23372514e-02 1.07147722e+01] [ 4.34277013e-02 9.99050064e-01 -3.60614735e-03 5.24665908e-02] [ 6.24351480e-02 8.88539510e-04 9.98048627e-01 3.97447100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.298040942 meters 0.019419124622458674 Centerline is valid? [True, True] Translation: X:10.74, Y:0.05, Z:0.40 [[ 9.97113265e-01 -4.18990298e-02 -6.33214649e-02 1.07437945e+01] [ 4.17497834e-02 9.99121325e-01 -3.67886700e-03 5.43398537e-02] [ 6.34199668e-02 1.02458964e-03 9.97986402e-01 3.98315802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.328040942 meters 0.020018129896591994 Centerline is valid? [True, True] Translation: X:10.77, Y:0.06, Z:0.40 [[ 9.97068036e-01 -4.15053559e-02 -6.42855838e-02 1.07712827e+01] [ 4.13498133e-02 9.99137698e-01 -3.74871889e-03 5.77265825e-02] [ 6.43857421e-02 1.07953089e-03 9.97924502e-01 3.97569656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.358040942 meters 0.01964036954081716 Centerline is valid? [True, True] Translation: X:10.80, Y:0.06, Z:0.40 [[ 9.97053093e-01 -4.19788453e-02 -6.42098622e-02 1.07994768e+01] [ 4.18239078e-02 9.99117938e-01 -3.75582115e-03 5.89830300e-02] [ 6.43108902e-02 1.05924573e-03 9.97929350e-01 3.99074402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.388040942 meters 0.019440734388364862 Centerline is valid? [True, True] Translation: X:10.83, Y:0.06, Z:0.40 [[ 9.97026890e-01 -4.31214979e-02 -6.38585662e-02 1.08278671e+01] [ 4.29694676e-02 9.99069337e-01 -3.75285036e-03 5.94147915e-02] [ 6.39609639e-02 9.97724133e-04 9.97951902e-01 4.01745302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.418040942 meters 0.019306586687023983 Centerline is valid? [True, True] Translation: X:10.86, Y:0.06, Z:0.40 [[ 9.97037594e-01 -4.40710033e-02 -6.30379466e-02 1.08567626e+01] [ 4.39237526e-02 9.99027959e-01 -3.72048617e-03 5.96753210e-02] [ 6.31406366e-02 9.40601413e-04 9.98004196e-01 4.04869002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.448040942 meters 0.01943054585265248 Centerline is valid? [True, True] Translation: X:10.88, Y:0.06, Z:0.41 [[ 9.97036955e-01 -4.52192073e-02 -6.22296813e-02 1.08845292e+01] [ 4.50771455e-02 9.98976710e-01 -3.68562197e-03 6.13193806e-02] [ 6.23326632e-02 8.69564910e-04 9.98055050e-01 4.05544939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.478040942 meters 0.019005358299330286 Centerline is valid? [True, True] Translation: X:10.91, Y:0.06, Z:0.41 [[ 9.96906412e-01 -4.88206287e-02 -6.15966819e-02 1.09135805e+01] [ 4.86878051e-02 9.98807353e-01 -3.65633120e-03 6.02558925e-02] [ 6.17017232e-02 6.46012771e-04 9.98094424e-01 4.07922916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.508040942000001 meters 0.018844225914721683 Centerline is valid? [True, True] Translation: X:10.94, Y:0.06, Z:0.41 [[ 9.96750628e-01 -5.13050210e-02 -6.20965384e-02 1.09424486e+01] [ 5.11738893e-02 9.98682899e-01 -3.70134753e-03 5.96462592e-02] [ 6.22046487e-02 5.11599093e-04 9.98063285e-01 4.09105216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.538040942 meters 0.01855084495298052 Centerline is valid? [True, True] Translation: X:10.97, Y:0.06, Z:0.41 [[ 9.96412961e-01 -5.63962526e-02 -6.30925744e-02 1.09706581e+01] [ 5.62700308e-02 9.98408442e-01 -3.77709470e-03 5.57396414e-02] [ 6.32051729e-02 2.13325009e-04 9.98000531e-01 4.09773056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.568040942 meters 0.01853580249756934 Centerline is valid? [True, True] Translation: X:11.00, Y:0.05, Z:0.41 [[ 9.96220401e-01 -5.90823835e-02 -6.36724779e-02 1.09984197e+01] [ 5.89581516e-02 9.98253108e-01 -3.82990405e-03 5.46848957e-02] [ 6.37875289e-02 6.14169439e-05 9.97963500e-01 4.10304079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.598040942 meters 0.018561402208997175 Centerline is valid? [True, True] Translation: X:11.03, Y:0.05, Z:0.41 [[ 9.96100259e-01 -6.16341331e-02 -6.31308721e-02 1.10261675e+01] [ 6.15160102e-02 9.98098806e-01 -3.81494873e-03 5.33162979e-02] [ 6.32459792e-02 -8.34879562e-05 9.97997966e-01 4.12104705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.628040942 meters 0.018561402208997175 Centerline is valid? [True, True] Translation: X:11.05, Y:0.06, Z:0.41 [[ 9.96083048e-01 -6.19127606e-02 -6.31298023e-02 1.10536626e+01] [ 6.17940791e-02 9.98081561e-01 -3.83258257e-03 5.50785337e-02] [ 6.32459774e-02 -8.34774739e-05 9.97997966e-01 4.13328298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.658040942 meters 0.0187556814480642 Centerline is valid? [True, True] Translation: X:11.08, Y:0.05, Z:0.42 [[ 9.95869903e-01 -6.66254486e-02 -6.16780870e-02 1.10820825e+01] [ 6.65203489e-02 9.97777991e-01 -3.75810701e-03 5.13896002e-02] [ 6.17914233e-02 -3.60262203e-04 9.98089019e-01 4.16108431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.688040942 meters 0.018912846123963687 Centerline is valid? [True, True] Translation: X:11.11, Y:0.05, Z:0.42 [[ 9.95720581e-01 -6.91320469e-02 -6.13293064e-02 1.11110045e+01] [ 6.90323954e-02 9.97607390e-01 -3.74476688e-03 5.15125542e-02] [ 6.14414527e-02 -5.04967478e-04 9.98110561e-01 4.17624956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.718040942 meters 0.018732239582441145 Centerline is valid? [True, True] Translation: X:11.14, Y:0.05, Z:0.42 [[ 9.95622916e-01 -7.08414511e-02 -6.09630918e-02 1.11392621e+01] [ 7.07452440e-02 9.97487413e-01 -3.73782992e-03 5.28033800e-02] [ 6.10747101e-02 -5.91379687e-04 9.98133022e-01 4.20343263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.748040942 meters 0.019371633259263048 Centerline is valid? [True, True] Translation: X:11.17, Y:0.05, Z:0.42 [[ 9.95614621e-01 -7.21927254e-02 -5.94956861e-02 1.11670000e+01] [ 7.21026804e-02 9.97390493e-01 -3.66169534e-03 4.89589891e-02] [ 5.96047794e-02 -6.44161021e-04 9.98221847e-01 4.22746745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.778040942 meters 0.021331239564569737 Centerline is valid? [True, True] Translation: X:11.20, Y:0.05, Z:0.42 [[ 9.95598377e-01 -7.25884539e-02 -5.92856482e-02 1.11955022e+01] [ 7.24992594e-02 9.97361762e-01 -3.65692789e-03 4.92462845e-02] [ 5.93946893e-02 -6.57334119e-04 9.98234361e-01 4.24450996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.808040942 meters 0.01944645352800297 Centerline is valid? [True, True] Translation: X:11.22, Y:0.05, Z:0.43 [[ 9.95688969e-01 -7.22436769e-02 -5.81749845e-02 1.12237488e+01] [ 7.21564137e-02 9.97386824e-01 -3.60200063e-03 4.88234577e-02] [ 5.82831848e-02 -6.11225954e-04 9.98299903e-01 4.28169541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.838040942 meters 0.01902787954359177 Centerline is valid? [True, True] Translation: X:11.25, Y:0.05, Z:0.43 [[ 9.95742796e-01 -7.15265709e-02 -5.81397812e-02 1.12511977e+01] [ 7.14377409e-02 9.97438537e-01 -3.60755322e-03 5.26080922e-02] [ 5.82488942e-02 -5.61179497e-04 9.98301934e-01 4.30475015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.868040942 meters 0.018797290000008668 Centerline is valid? [True, True] Translation: X:11.28, Y:0.06, Z:0.43 [[ 9.95962280e-01 -6.88224222e-02 -5.76421024e-02 1.12797019e+01] [ 6.87296827e-02 9.97628852e-01 -3.59221164e-03 5.64207473e-02] [ 5.77526492e-02 -3.84016112e-04 9.98330849e-01 4.31904120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.898040942 meters 0.018684319862207477 Centerline is valid? [True, True] Translation: X:11.31, Y:0.06, Z:0.43 [[ 9.96078858e-01 -6.70862067e-02 -5.76745191e-02 1.13073014e+01] [ 6.69897590e-02 9.97747146e-01 -3.60624809e-03 5.94299313e-02] [ 5.77865163e-02 -2.71494655e-04 9.98328926e-01 4.33028848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.928040942 meters 0.018725738348870546 Centerline is valid? [True, True] Translation: X:11.33, Y:0.06, Z:0.43 [[ 9.96150648e-01 -6.54807783e-02 -5.82765288e-02 1.13344312e+01] [ 6.53792360e-02 9.97853816e-01 -3.64943056e-03 6.22579753e-02] [ 5.83904242e-02 -1.74692314e-04 9.98293808e-01 4.32547466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.958040942 meters 0.018397388768543875 Centerline is valid? [True, True] Translation: X:11.36, Y:0.07, Z:0.44 [[ 9.96256044e-01 -6.35483780e-02 -5.86131318e-02 1.13624789e+01] [ 6.34417661e-02 9.97978758e-01 -3.67986608e-03 6.56373316e-02] [ 5.87285100e-02 -5.24317740e-05 9.98273990e-01 4.37314632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.988040942 meters 0.01854153372316369 Centerline is valid? [True, True] Translation: X:11.39, Y:0.07, Z:0.44 [[ 9.96291895e-01 -6.26157982e-02 -5.90061230e-02 1.13907718e+01] [ 6.25051230e-02 9.98037705e-01 -3.72131157e-03 6.77937445e-02] [ 5.91233485e-02 1.93275832e-05 9.98250685e-01 4.39662826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.018040942 meters 0.018724225979294615 Centerline is valid? [True, True] Translation: X:11.42, Y:0.07, Z:0.44 [[ 9.96361487e-01 -6.16811871e-02 -5.88151191e-02 1.14184763e+01] [ 6.15686209e-02 9.98095899e-01 -3.72586560e-03 7.20179752e-02] [ 5.89329449e-02 9.11432219e-05 9.98261939e-01 4.43289996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.048040942 meters 0.01944907678584096 Centerline is valid? [True, True] Translation: X:11.45, Y:0.08, Z:0.44 [[ 9.96413338e-01 -6.07706780e-02 -5.88844938e-02 1.14463625e+01] [ 6.06554232e-02 9.98151742e-01 -3.74437034e-03 7.52214524e-02] [ 5.90032080e-02 1.59276658e-04 9.98257780e-01 4.43172123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.078040942 meters 0.019631105403437224 Centerline is valid? [True, True] Translation: X:11.47, Y:0.08, Z:0.45 [[ 9.96482251e-01 -6.01247328e-02 -5.83792817e-02 1.14740966e+01] [ 6.00098778e-02 9.98190851e-01 -3.72015770e-03 7.75014101e-02] [ 5.84973383e-02 2.03737562e-04 9.98287544e-01 4.47295940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.108040942 meters 0.020254993039837067 Centerline is valid? [True, True] Translation: X:11.50, Y:0.08, Z:0.45 [[ 9.96548032e-01 -5.94665027e-02 -5.79288707e-02 1.15009586e+01] [ 5.93514745e-02 9.98230269e-01 -3.70571318e-03 8.01009751e-02] [ 5.80467180e-02 2.54757284e-04 9.98313835e-01 4.48677778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.138040942 meters 0.01998828699734045 Centerline is valid? [True, True] Translation: X:11.53, Y:0.09, Z:0.45 [[ 9.96617274e-01 -5.86354453e-02 -5.75838032e-02 1.15286740e+01] [ 5.85198696e-02 9.98279414e-01 -3.69279230e-03 8.54599573e-02] [ 5.77012538e-02 3.10503935e-04 9.98333846e-01 4.49829690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.168040942 meters 0.021516999498965985 Centerline is valid? [True, True] Translation: X:11.56, Y:0.09, Z:0.45 [[ 9.96627237e-01 -5.81944829e-02 -5.78580455e-02 1.15568372e+01] [ 5.80762660e-02 9.98305203e-01 -3.72405628e-03 8.84913692e-02] [ 5.79767074e-02 3.51316675e-04 9.98317874e-01 4.50003560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.198040942 meters 0.02015160723686138 Centerline is valid? [True, True] Translation: X:11.58, Y:0.09, Z:0.45 [[ 9.96702959e-01 -5.73258445e-02 -5.74191505e-02 1.15836991e+01] [ 5.72076652e-02 9.98355440e-01 -3.70119486e-03 9.14101105e-02] [ 5.75368954e-02 4.04176329e-04 9.98343299e-01 4.52229563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.228040942 meters 0.020392545773758826 Centerline is valid? [True, True] Translation: X:11.61, Y:0.09, Z:0.46 [[ 9.96752154e-01 -5.68457103e-02 -5.70412971e-02 1.16119286e+01] [ 5.67277962e-02 9.98382879e-01 -3.68559157e-03 9.24197575e-02] [ 5.71585645e-02 4.37794253e-04 9.98365017e-01 4.55869124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.258040942 meters 0.019942858810014952 Centerline is valid? [True, True] Translation: X:11.64, Y:0.10, Z:0.46 [[ 9.96843948e-01 -5.63446520e-02 -5.59233806e-02 1.16398568e+01] [ 5.62298075e-02 9.98411267e-01 -3.62625007e-03 9.51389743e-02] [ 5.60388531e-02 4.70244512e-04 9.98428478e-01 4.58249964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.288040942 meters 0.02011416820829029 Centerline is valid? [True, True] Translation: X:11.67, Y:0.10, Z:0.46 [[ 9.96982918e-01 -5.57414375e-02 -5.40180795e-02 1.16680566e+01] [ 5.56330873e-02 9.98445116e-01 -3.50860879e-03 9.89838040e-02] [ 5.41296625e-02 4.92830498e-04 9.98533793e-01 4.61674142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.318040942 meters 0.019930821975875184 Centerline is valid? [True, True] Translation: X:11.70, Y:0.10, Z:0.46 [[ 9.97058667e-01 -5.54069880e-02 -5.29535733e-02 1.16962884e+01] [ 5.53017283e-02 9.98463721e-01 -3.45207851e-03 1.02561103e-01] [ 5.30634911e-02 5.13500673e-04 9.98591008e-01 4.63574943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.348040942 meters 0.02094115699264262 Centerline is valid? [True, True] Translation: X:11.72, Y:0.11, Z:0.46 [[ 9.97075933e-01 -5.51392991e-02 -5.29078628e-02 1.17243119e+01] [ 5.50330867e-02 9.98478525e-01 -3.46337572e-03 1.06560137e-01] [ 5.30183329e-02 5.41565582e-04 9.98593392e-01 4.63823588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.378040942 meters 0.02063169508989026 Centerline is valid? [True, True] Translation: X:11.75, Y:0.11, Z:0.46 [[ 9.97110192e-01 -5.44100795e-02 -5.30170487e-02 1.17521793e+01] [ 5.43017240e-02 9.98518498e-01 -3.48318840e-03 1.10852967e-01] [ 5.31280244e-02 5.94205511e-04 9.98587532e-01 4.64693994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.408040942 meters 0.02011342498199466 Centerline is valid? [True, True] Translation: X:11.78, Y:0.11, Z:0.47 [[ 9.97094248e-01 -5.46318629e-02 -5.30887987e-02 1.17800432e+01] [ 5.45231991e-02 9.98506391e-01 -3.49407060e-03 1.11168221e-01] [ 5.32003924e-02 5.89346551e-04 9.98583682e-01 4.66808748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.438040942 meters 0.020111226203718087 Centerline is valid? [True, True] Translation: X:11.81, Y:0.11, Z:0.47 [[ 9.97019567e-01 -5.60488936e-02 -5.30141952e-02 1.18088148e+01] [ 5.59417473e-02 9.98427886e-01 -3.50399810e-03 1.12330964e-01] [ 5.31272460e-02 5.27847957e-04 9.98587611e-01 4.68110538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.468040942 meters 0.020163618222700675 Centerline is valid? [True, True] Translation: X:11.84, Y:0.12, Z:0.47 [[ 9.96952332e-01 -5.70660105e-02 -5.31932186e-02 1.18367533e+01] [ 5.69589332e-02 9.98370288e-01 -3.52804479e-03 1.15545110e-01] [ 5.33078605e-02 4.87463492e-04 9.98578006e-01 4.68884922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.498040942 meters 0.020718038422731608 Centerline is valid? [True, True] Translation: X:11.86, Y:0.12, Z:0.47 [[ 9.96897090e-01 -5.80933654e-02 -5.31164146e-02 1.18646817e+01] [ 5.79877997e-02 9.98311059e-01 -3.52773003e-03 1.18307780e-01] [ 5.32316418e-02 4.36679793e-04 9.98582096e-01 4.69249007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.528040942 meters 0.020302763682486374 Centerline is valid? [True, True] Translation: X:11.89, Y:0.12, Z:0.47 [[ 9.96693574e-01 -6.12260449e-02 -5.34162123e-02 1.18931055e+01] [ 6.11234482e-02 9.98123887e-01 -3.55378846e-03 1.20004529e-01] [ 5.35335819e-02 2.77055032e-04 9.98566011e-01 4.70203349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.558040942 meters 0.021911350784841042 Centerline is valid? [True, True] Translation: X:11.92, Y:0.12, Z:0.47 [[ 9.96514372e-01 -6.35511477e-02 -5.40403352e-02 1.19216317e+01] [ 6.34487966e-02 9.97978569e-01 -3.60926265e-03 1.21008912e-01] [ 5.41604691e-02 1.67887872e-04 9.98532231e-01 4.70334295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.588040942 meters 0.0206791368513598 Centerline is valid? [True, True] Translation: X:11.95, Y:0.12, Z:0.47 [[ 9.96314595e-01 -6.71628735e-02 -5.33514329e-02 1.19492678e+01] [ 6.70675824e-02 9.97742025e-01 -3.57647727e-03 1.20713058e-01] [ 5.34711732e-02 -1.48551132e-05 9.98569393e-01 4.73262087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.618040942 meters 0.02224811163415342 Centerline is valid? [True, True] Translation: X:11.98, Y:0.12, Z:0.47 [[ 9.96144607e-01 -6.95110283e-02 -5.35176431e-02 1.19770487e+01] [ 6.94181817e-02 9.97581174e-01 -3.59406555e-03 1.22544641e-01] [ 5.36380204e-02 -1.34888459e-04 9.98560436e-01 4.73647152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.648040942 meters 0.02077789744573453 Centerline is valid? [True, True] Translation: X:12.00, Y:0.12, Z:0.48 [[ 9.96089628e-01 -7.12997150e-02 -5.21709111e-02 1.20047648e+01] [ 7.12132700e-02 9.97454914e-01 -3.51635591e-03 1.24694441e-01] [ 5.22888468e-02 -2.12655527e-04 9.98631980e-01 4.75923873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.678040942 meters 0.023169978593256587 Centerline is valid? [True, True] Translation: X:12.03, Y:0.13, Z:0.48 [[ 9.95876049e-01 -7.36330085e-02 -5.30007079e-02 1.20333240e+01] [ 7.35467745e-02 9.97285349e-01 -3.57824212e-03 1.27174573e-01] [ 5.31203062e-02 -3.34545488e-04 9.98588064e-01 4.75809939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.708040942 meters 0.021382049503847134 Centerline is valid? [True, True] Translation: X:12.06, Y:0.13, Z:0.48 [[ 9.95770520e-01 -7.64164902e-02 -5.10057925e-02 1.20612953e+01] [ 7.63396587e-02 9.97075882e-01 -3.45564108e-03 1.30073064e-01] [ 5.11207136e-02 -4.52739278e-04 9.98692379e-01 4.79085701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.738040942 meters 0.022069770015392058 Centerline is valid? [True, True] Translation: X:12.09, Y:0.13, Z:0.48 [[ 9.95672526e-01 -7.76675918e-02 -5.10290662e-02 1.20904092e+01] [ 7.75916283e-02 9.96979183e-01 -3.47095497e-03 1.32719576e-01] [ 5.11444974e-02 -5.03493836e-04 9.98691137e-01 4.80342790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.768040942 meters 0.02200117812053771 Centerline is valid? [True, True] Translation: X:12.12, Y:0.14, Z:0.48 [[ 9.95666436e-01 -7.90440942e-02 -4.89936739e-02 1.21175903e+01] [ 7.89752027e-02 9.96870974e-01 -3.34338332e-03 1.35736075e-01] [ 4.91046461e-02 -5.40390772e-04 9.98793493e-01 4.82870097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.798040942 meters 0.021368172376942704 Centerline is valid? [True, True] Translation: X:12.15, Y:0.14, Z:0.49 [[ 9.95698666e-01 -7.93072446e-02 -4.79012193e-02 1.21451680e+01] [ 7.92413983e-02 9.96850076e-01 -3.27503803e-03 1.41304291e-01] [ 4.80100684e-02 -5.34808596e-04 9.98846709e-01 4.85376874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.828040942 meters 0.02187164796367075 Centerline is valid? [True, True] Translation: X:12.17, Y:0.15, Z:0.49 [[ 9.95719878e-01 -7.93344577e-02 -4.74127424e-02 1.21717086e+01] [ 7.92693620e-02 9.96847920e-01 -3.25460414e-03 1.45649651e-01] [ 4.75214959e-02 -5.17703801e-04 9.98870081e-01 4.86590541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.858040942 meters 0.021518091051720374 Centerline is valid? [True, True] Translation: X:12.20, Y:0.15, Z:0.49 [[ 9.95853776e-01 -7.81127665e-02 -4.66224531e-02 1.22002983e+01] [ 7.80482066e-02 9.96944430e-01 -3.20631655e-03 1.54239617e-01] [ 4.67304492e-02 -4.45776405e-04 9.98907436e-01 4.87532887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.888040942 meters 0.021721010705245517 Centerline is valid? [True, True] Translation: X:12.23, Y:0.16, Z:0.49 [[ 9.95880354e-01 -7.76449833e-02 -4.68356388e-02 1.22270784e+01] [ 7.75787909e-02 9.96980985e-01 -3.23211654e-03 1.58067483e-01] [ 4.69451990e-02 -4.14650865e-04 9.98897380e-01 4.88161828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.918040942 meters 0.021556260023598936 Centerline is valid? [True, True] Translation: X:12.25, Y:0.16, Z:0.49 [[ 9.95927148e-01 -7.74685635e-02 -4.61273957e-02 1.22546719e+01] [ 7.74039034e-02 9.96994717e-01 -3.18898918e-03 1.63727952e-01] [ 4.62358162e-02 -3.94439576e-04 9.98930475e-01 4.89443602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.948040942 meters 0.021471730387413512 Centerline is valid? [True, True] Translation: X:12.28, Y:0.17, Z:0.49 [[ 9.95966115e-01 -7.74763056e-02 -4.52649879e-02 1.22809263e+01] [ 7.74134928e-02 9.96994123e-01 -3.14162654e-03 1.69414861e-01] [ 4.53723285e-02 -3.75167234e-04 9.98970075e-01 4.90583130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.978040942 meters 0.021545752216621566 Centerline is valid? [True, True] Translation: X:12.31, Y:0.17, Z:0.49 [[ 9.95924048e-01 -7.81730192e-02 -4.49918786e-02 1.23085520e+01] [ 7.81112894e-02 9.96939729e-01 -3.13116372e-03 1.73671833e-01] [ 4.50989638e-02 -3.95972406e-04 9.98982446e-01 4.92071114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.008040942 meters 0.021859225127760472 Centerline is valid? [True, True] Translation: X:12.34, Y:0.18, Z:0.49 [[ 9.95851368e-01 -7.91479264e-02 -4.48960861e-02 1.23364691e+01] [ 7.90868921e-02 9.96862791e-01 -3.13686789e-03 1.77563406e-01] [ 4.50035143e-02 -4.26837743e-04 9.98986737e-01 4.93140089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.038040942 meters 0.02203569612231021 Centerline is valid? [True, True] Translation: X:12.36, Y:0.18, Z:0.49 [[ 9.95787930e-01 -8.00830329e-02 -4.46442160e-02 1.23635031e+01] [ 8.00234494e-02 9.96788089e-01 -3.12309912e-03 1.83709550e-01] [ 4.47509300e-02 -4.62639746e-04 9.98998068e-01 4.93354716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.068040942 meters 0.022253387732802995 Centerline is valid? [True, True] Translation: X:12.39, Y:0.19, Z:0.49 [[ 9.95798879e-01 -8.01618991e-02 -4.42567731e-02 1.23907666e+01] [ 8.01031552e-02 9.96781752e-01 -3.10203602e-03 1.87698774e-01] [ 4.43630089e-02 -4.56103169e-04 9.99015373e-01 4.94661403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.098040942 meters 0.021988781913180593 Centerline is valid? [True, True] Translation: X:12.42, Y:0.20, Z:0.50 [[ 9.95838918e-01 -8.00824305e-02 -4.34931371e-02 1.24185505e+01] [ 8.00254123e-02 9.96788147e-01 -3.05329707e-03 1.95408591e-01] [ 4.35979590e-02 -4.39964174e-04 9.99049060e-01 4.97466979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.128040942 meters 0.02189214697493179 Centerline is valid? [True, True] Translation: X:12.45, Y:0.20, Z:0.50 [[ 9.95851301e-01 -7.97389515e-02 -4.38393103e-02 1.24465001e+01] [ 7.96801417e-02 9.96815693e-01 -3.09004508e-03 1.99953468e-01] [ 4.39461094e-02 -4.15897043e-04 9.99033816e-01 4.98632168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.158040942 meters 0.021641926383086433 Centerline is valid? [True, True] Translation: X:12.47, Y:0.20, Z:0.50 [[ 9.95880027e-01 -7.91923928e-02 -4.41762070e-02 1.24730694e+01] [ 7.91315746e-02 9.96859277e-01 -3.12649833e-03 2.04108312e-01] [ 4.42850567e-02 -3.82115577e-04 9.99018863e-01 4.99835708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.188040942 meters 0.021449621254825964 Centerline is valid? [True, True] Translation: X:12.50, Y:0.21, Z:0.50 [[ 9.95970779e-01 -7.73856803e-02 -4.53173674e-02 1.25000696e+01] [ 7.73194037e-02 9.97001187e-01 -3.21616925e-03 2.10432457e-01] [ 4.54303546e-02 -3.00701234e-04 9.98967463e-01 5.00910300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.218040942 meters 0.021613831655981207 Centerline is valid? [True, True] Translation: X:12.53, Y:0.22, Z:0.50 [[ 9.96052215e-01 -7.64845491e-02 -4.50566117e-02 1.25283036e+01] [ 7.64179290e-02 9.97070734e-01 -3.20170649e-03 2.15073092e-01] [ 4.51695100e-02 -2.54066115e-04 9.98979304e-01 5.02599375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.248040942 meters 0.021050477830171457 Centerline is valid? [True, True] Translation: X:12.56, Y:0.22, Z:0.50 [[ 9.96183454e-01 -7.52004469e-02 -4.43104740e-02 1.25559592e+01] [ 7.51341892e-02 9.97168421e-01 -3.16121042e-03 2.18852982e-01] [ 4.44227298e-02 -1.80086019e-04 9.99012807e-01 5.04879538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.278040942 meters 0.021629685390880463 Centerline is valid? [True, True] Translation: X:12.58, Y:0.22, Z:0.51 [[ 9.96229312e-01 -7.49082065e-02 -4.37712169e-02 1.25840959e+01] [ 7.48431074e-02 9.97190420e-01 -3.12645067e-03 2.23099558e-01] [ 4.38824350e-02 -1.61312083e-04 9.99036689e-01 5.06864669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.308040942 meters 0.021212929589432144 Centerline is valid? [True, True] Translation: X:12.61, Y:0.23, Z:0.51 [[ 9.96344551e-01 -7.38056418e-02 -4.30146925e-02 1.26119071e+01] [ 7.37412157e-02 9.97272640e-01 -3.08473058e-03 2.28518585e-01] [ 4.31250465e-02 -9.85012196e-05 9.99069678e-01 5.09465127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.338040942 meters 0.021271884549492987 Centerline is valid? [True, True] Translation: X:12.64, Y:0.23, Z:0.51 [[ 9.96348045e-01 -7.35679355e-02 -4.33397265e-02 1.26392967e+01] [ 7.35017569e-02 9.97290205e-01 -3.12068569e-03 2.32456818e-01] [ 4.34518671e-02 -7.62569562e-05 9.99055519e-01 5.10584820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.368040942 meters 0.02106967252667915 Centerline is valid? [True, True] Translation: X:12.67, Y:0.24, Z:0.51 [[ 9.96354939e-01 -7.29406742e-02 -4.42322681e-02 1.26669685e+01] [ 7.28705420e-02 9.97336281e-01 -3.19803430e-03 2.37859304e-01] [ 4.43477125e-02 -3.68520760e-05 9.99016156e-01 5.11136667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.398040942 meters 0.021307177184107712 Centerline is valid? [True, True] Translation: X:12.69, Y:0.24, Z:0.51 [[ 9.96356127e-01 -7.27567262e-02 -4.45076082e-02 1.26938454e+01] [ 7.26849591e-02 9.97349717e-01 -3.23081748e-03 2.40967200e-01] [ 4.46247141e-02 -1.59888879e-05 9.99003821e-01 5.12224436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.428040941999999 meters 0.02092536066057173 Centerline is valid? [True, True] Translation: X:12.72, Y:0.25, Z:0.51 [[ 9.96407716e-01 -7.20816816e-02 -4.44510291e-02 1.27213325e+01] [ 7.20091779e-02 9.97398732e-01 -3.23226053e-03 2.45264343e-01] [ 4.45683868e-02 1.97672725e-05 9.99006336e-01 5.13706416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.458040942 meters 0.020160610708289405 Centerline is valid? [True, True] Translation: X:12.75, Y:0.25, Z:0.51 [[ 9.96452238e-01 -7.06234256e-02 -4.57741061e-02 1.27489350e+01] [ 7.05443976e-02 9.97503043e-01 -3.34160741e-03 2.49297780e-01] [ 4.58958059e-02 1.00645441e-04 9.98946227e-01 5.14705595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.488040942 meters 0.02029168994327927 Centerline is valid? [True, True] Translation: X:12.78, Y:0.25, Z:0.52 [[ 9.96440751e-01 -7.02722680e-02 -4.65579017e-02 1.27767717e+01] [ 7.01899114e-02 9.97527841e-01 -3.40341391e-03 2.53248136e-01] [ 4.66819688e-02 1.23405314e-04 9.98909795e-01 5.15252911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.518040942 meters 0.020914265806250533 Centerline is valid? [True, True] Translation: X:12.80, Y:0.26, Z:0.52 [[ 9.96453560e-01 -6.99185291e-02 -4.68156130e-02 1.28046986e+01] [ 6.98342449e-02 9.97552693e-01 -3.43550056e-03 2.56677673e-01] [ 4.69412460e-02 1.53983777e-04 9.98897640e-01 5.15712503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.548040942 meters 0.020914265806250533 Centerline is valid? [True, True] Translation: X:12.83, Y:0.26, Z:0.52 [[ 9.96433777e-01 -7.02005527e-02 -4.68146376e-02 1.28321429e+01] [ 7.01159574e-02 9.97532886e-01 -3.44874211e-03 2.58789956e-01] [ 4.69412442e-02 1.53989989e-04 9.98897640e-01 5.16935878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.578040942 meters 0.0209874171665915 Centerline is valid? [True, True] Translation: X:12.86, Y:0.26, Z:0.52 [[ 9.96439439e-01 -7.01396287e-02 -4.67854321e-02 1.28603150e+01] [ 7.00544479e-02 9.97537169e-01 -3.45987717e-03 2.62615498e-01] [ 4.69128820e-02 1.70030444e-04 9.98898970e-01 5.18522208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.608040942 meters 0.020448342015615496 Centerline is valid? [True, True] Translation: X:12.89, Y:0.26, Z:0.52 [[ 9.96430656e-01 -7.03438796e-02 -4.66656961e-02 1.28869732e+01] [ 7.02587601e-02 9.97522786e-01 -3.46379573e-03 2.64742660e-01] [ 4.67937520e-02 1.72758301e-04 9.98904557e-01 5.20279015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.638040942 meters 0.020552251075054515 Centerline is valid? [True, True] Translation: X:12.91, Y:0.26, Z:0.52 [[ 9.96337318e-01 -7.18828953e-02 -4.63119590e-02 1.29147799e+01] [ 7.18004482e-02 9.97413073e-01 -3.44346265e-03 2.64838382e-01] [ 4.64396794e-02 1.05630932e-04 9.98921090e-01 5.22570532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.668040942 meters 0.020545488904251417 Centerline is valid? [True, True] Translation: X:12.94, Y:0.27, Z:0.52 [[ 9.96274240e-01 -7.30169250e-02 -4.58929921e-02 1.29413102e+01] [ 7.29365931e-02 9.97330700e-01 -3.42474989e-03 2.66094368e-01] [ 4.60205547e-02 6.47116026e-05 9.98940491e-01 5.23947714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.698040942 meters 0.020480858697506463 Centerline is valid? [True, True] Translation: X:12.97, Y:0.27, Z:0.53 [[ 9.96183567e-01 -7.39801307e-02 -4.63167417e-02 1.29696483e+01] [ 7.38990713e-02 9.97259715e-01 -3.46232412e-03 2.67394989e-01] [ 4.64459638e-02 2.63461929e-05 9.98920804e-01 5.25662809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.728040942 meters 0.02015926390860385 Centerline is valid? [True, True] Translation: X:13.00, Y:0.27, Z:0.53 [[ 9.96039984e-01 -7.60958145e-02 -4.59758259e-02 1.29971179e+01] [ 7.60176142e-02 9.97100508e-01 -3.44946622e-03 2.67602526e-01] [ 4.61050093e-02 -5.91663142e-05 9.98936597e-01 5.27528486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.758040942 meters 0.020223421458042838 Centerline is valid? [True, True] Translation: X:13.02, Y:0.27, Z:0.53 [[ 9.95984156e-01 -7.69872905e-02 -4.57003178e-02 1.30243914e+01] [ 7.69107083e-02 9.97032070e-01 -3.43434665e-03 2.68995416e-01] [ 4.58290835e-02 -9.42889588e-05 9.98949291e-01 5.29126406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.788040942 meters 0.019915242870111205 Centerline is valid? [True, True] Translation: X:13.05, Y:0.27, Z:0.53 [[ 9.95914004e-01 -7.77188166e-02 -4.59900284e-02 1.30525838e+01] [ 7.76417697e-02 9.96975311e-01 -3.46195916e-03 2.70637730e-01] [ 4.61199822e-02 -1.22933583e-04 9.98935900e-01 5.30519996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.818040942 meters 0.02052335929241109 Centerline is valid? [True, True] Translation: X:13.08, Y:0.27, Z:0.53 [[ 9.95808670e-01 -7.92300599e-02 -4.56912498e-02 1.30808334e+01] [ 7.91550336e-02 9.96856341e-01 -3.45184177e-03 2.71384864e-01] [ 4.58211017e-02 -1.79318446e-04 9.98949646e-01 5.31712465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.848040942 meters 0.020075558943530664 Centerline is valid? [True, True] Translation: X:13.11, Y:0.27, Z:0.53 [[ 9.95769170e-01 -7.95174816e-02 -4.60513923e-02 1.31089421e+01] [ 7.94409859e-02 9.96833455e-01 -3.49178075e-03 2.73222727e-01] [ 4.61832261e-02 -1.81360383e-04 9.98932969e-01 5.32636415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.878040942 meters 0.02057262451644994 Centerline is valid? [True, True] Translation: X:13.14, Y:0.28, Z:0.53 [[ 9.95637398e-01 -8.09204384e-02 -4.64548618e-02 1.31368769e+01] [ 8.08435207e-02 9.96720536e-01 -3.53526271e-03 2.75652700e-01] [ 4.65885898e-02 -2.35734817e-04 9.98914134e-01 5.32824167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.908040942 meters 0.02059485442527997 Centerline is valid? [True, True] Translation: X:13.16, Y:0.28, Z:0.53 [[ 9.95549927e-01 -8.14689227e-02 -4.73619798e-02 1.31644769e+01] [ 8.13889750e-02 9.96675850e-01 -3.61723952e-03 2.77663881e-01] [ 4.74992341e-02 -2.53600448e-04 9.98871242e-01 5.33689192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.938040942 meters 0.021041336990018252 Centerline is valid? [True, True] Translation: X:13.19, Y:0.28, Z:0.54 [[ 9.95347617e-01 -8.39286101e-02 -4.73192393e-02 1.31923852e+01] [ 8.38513833e-02 9.96471703e-01 -3.61820022e-03 2.77874368e-01] [ 4.74559535e-02 -3.66416713e-04 9.98873264e-01 5.35352638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.968040942 meters 0.020626897219353332 Centerline is valid? [True, True] Translation: X:13.22, Y:0.28, Z:0.54 [[ 9.95200726e-01 -8.56311812e-02 -4.73583823e-02 1.32208003e+01] [ 8.55554462e-02 9.96326807e-01 -3.62764073e-03 2.79100105e-01] [ 4.74950650e-02 -4.41536845e-04 9.98871375e-01 5.37965337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.998040942 meters 0.020892951094096814 Centerline is valid? [True, True] Translation: X:13.25, Y:0.28, Z:0.54 [[ 9.95062907e-01 -8.71873556e-02 -4.74149363e-02 1.32484952e+01] [ 8.71126594e-02 9.96191804e-01 -3.64342889e-03 2.79752269e-01] [ 4.75520319e-02 -5.05000253e-04 9.98868635e-01 5.39739085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.028040942 meters 0.021238904212697134 Centerline is valid? [True, True] Translation: X:13.28, Y:0.28, Z:0.54 [[ 9.94949904e-01 -8.87564658e-02 -4.68719350e-02 1.32764138e+01] [ 8.86849240e-02 9.96053195e-01 -3.60780320e-03 2.80774082e-01] [ 4.70071565e-02 -5.67250541e-04 9.98894392e-01 5.41114257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.058040942 meters 0.021271979680170503 Centerline is valid? [True, True] Translation: X:13.31, Y:0.28, Z:0.54 [[ 9.94744440e-01 -9.10882280e-02 -4.67593229e-02 1.33054612e+01] [ 9.10193118e-02 9.95842601e-01 -3.60534686e-03 2.84024691e-01] [ 4.68933304e-02 -6.69602648e-04 9.98899678e-01 5.43098877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.088040942 meters 0.021399361640110443 Centerline is valid? [True, True] Translation: X:13.33, Y:0.29, Z:0.54 [[ 9.94730231e-01 -9.15544797e-02 -4.61469960e-02 1.33333995e+01] [ 9.14873398e-02 9.95799843e-01 -3.56932867e-03 2.86650417e-01] [ 4.62799594e-02 -6.71346779e-04 9.98928283e-01 5.44627569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.118040942 meters 0.021003410883787238 Centerline is valid? [True, True] Translation: X:13.36, Y:0.29, Z:0.55 [[ 9.94670063e-01 -9.15891849e-02 -4.73591250e-02 1.33609344e+01] [ 9.15178688e-02 9.95796647e-01 -3.67656450e-03 2.90270307e-01] [ 4.74967914e-02 -6.77237539e-04 9.98871161e-01 5.46131708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.148040942 meters 0.021207305421426164 Centerline is valid? [True, True] Translation: X:13.39, Y:0.29, Z:0.55 [[ 9.94597656e-01 -9.21391164e-02 -4.78109305e-02 1.33892955e+01] [ 9.20664217e-02 9.95745900e-01 -3.72509289e-03 2.93061142e-01] [ 4.79507647e-02 -6.96812624e-04 9.98849457e-01 5.47064371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.178040941999999 meters 0.02146970257895807 Centerline is valid? [True, True] Translation: X:13.42, Y:0.30, Z:0.55 [[ 9.94542509e-01 -9.26129576e-02 -4.80420377e-02 1.34170956e+01] [ 9.25394634e-02 9.95701931e-01 -3.75651571e-03 2.95646347e-01] [ 4.81834518e-02 -7.09769829e-04 9.98838251e-01 5.48217250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.208040942 meters 0.021233400530079962 Centerline is valid? [True, True] Translation: X:13.45, Y:0.30, Z:0.55 [[ 9.94414890e-01 -9.35991403e-02 -4.87670664e-02 1.34454617e+01] [ 9.35239303e-02 9.95609678e-01 -3.82678476e-03 2.99499904e-01] [ 4.89111471e-02 -7.55475973e-04 9.98802848e-01 5.50520282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.238040942 meters 0.021233287334991833 Centerline is valid? [True, True] Translation: X:13.47, Y:0.30, Z:0.55 [[ 9.94311916e-01 -9.43901038e-02 -4.93388489e-02 1.34736391e+01] [ 9.43134849e-02 9.95534973e-01 -3.88390683e-03 3.02840745e-01] [ 4.94851519e-02 -7.91503931e-04 9.98774546e-01 5.52565782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.268040942 meters 0.021322015903649412 Centerline is valid? [True, True] Translation: X:13.50, Y:0.31, Z:0.55 [[ 9.94235333e-01 -9.49937446e-02 -4.97221433e-02 1.35017323e+01] [ 9.49160537e-02 9.95477535e-01 -3.92671196e-03 3.05400882e-01] [ 4.98702898e-02 -8.15353852e-04 9.98755370e-01 5.54182445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.298040942 meters 0.021356413307473412 Centerline is valid? [True, True] Translation: X:13.53, Y:0.31, Z:0.56 [[ 9.94159950e-01 -9.56397203e-02 -4.99903674e-02 1.35301099e+01] [ 9.55612973e-02 9.95415663e-01 -3.96198183e-03 3.07674756e-01] [ 5.01401175e-02 -8.38300705e-04 9.98741841e-01 5.56092296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.328040942 meters 0.021143324827997665 Centerline is valid? [True, True] Translation: X:13.56, Y:0.31, Z:0.56 [[ 9.94091907e-01 -9.58452847e-02 -5.09407594e-02 1.35584049e+01] [ 9.57634513e-02 9.95395879e-01 -4.05037935e-03 3.10498821e-01] [ 5.10944318e-02 -8.51813601e-04 9.98693463e-01 5.59169794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.358040942 meters 0.02148126405584767 Centerline is valid? [True, True] Translation: X:13.59, Y:0.31, Z:0.56 [[ 9.94089822e-01 -9.57495147e-02 -5.11610767e-02 1.35855320e+01] [ 9.56661513e-02 9.95405108e-01 -4.08139729e-03 3.13144194e-01] [ 5.13167889e-02 -8.37107794e-04 9.98682075e-01 5.60658962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.388040942 meters 0.02122019889498715 Centerline is valid? [True, True] Translation: X:13.61, Y:0.32, Z:0.56 [[ 9.94120557e-01 -9.53022987e-02 -5.13983372e-02 1.36129075e+01] [ 9.52171781e-02 9.95448047e-01 -4.10777898e-03 3.19020032e-01] [ 5.15558552e-02 -8.10377101e-04 9.98669784e-01 5.62687115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.418040942 meters 0.021778226815146934 Centerline is valid? [True, True] Translation: X:13.64, Y:0.32, Z:0.56 [[ 9.94172205e-01 -9.43693865e-02 -5.21156887e-02 1.36409705e+01] [ 9.42798961e-02 9.95536962e-01 -4.17839825e-03 3.21250863e-01] [ 5.22774072e-02 -7.59414302e-04 9.98632313e-01 5.62821585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.448040942 meters 0.020957752472068825 Centerline is valid? [True, True] Translation: X:13.67, Y:0.33, Z:0.56 [[ 9.94204406e-01 -9.36952623e-02 -5.27143018e-02 1.36688394e+01] [ 9.36024286e-02 9.95600658e-01 -4.23258840e-03 3.27219739e-01] [ 5.28789671e-02 -7.26128636e-04 9.98600665e-01 5.64617260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.478040942 meters 0.02079758648863357 Centerline is valid? [True, True] Translation: X:13.70, Y:0.33, Z:0.56 [[ 9.94325884e-01 -9.12173433e-02 -5.47305548e-02 1.36964489e+01] [ 9.11127692e-02 9.95830825e-01 -4.40809573e-03 3.31937162e-01] [ 5.49044683e-02 -6.03568722e-04 9.98491430e-01 5.64951805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.508040942 meters 0.020706459275897846 Centerline is valid? [True, True] Translation: X:13.72, Y:0.34, Z:0.57 [[ 9.94334592e-01 -9.06787099e-02 -5.54625239e-02 1.37245108e+01] [ 9.05700990e-02 9.95880034e-01 -4.47390830e-03 3.35344350e-01] [ 5.56397084e-02 -5.74684499e-04 9.98450746e-01 5.65640917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.538040942 meters 0.020580970985154098 Centerline is valid? [True, True] Translation: X:13.75, Y:0.34, Z:0.57 [[ 9.94354200e-01 -9.02481770e-02 -5.58121009e-02 1.37525676e+01] [ 9.01366611e-02 9.95919161e-01 -4.51732162e-03 3.39052501e-01] [ 5.59920208e-02 -5.38898691e-04 9.98431071e-01 5.66845468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.568040942 meters 0.020711834094412247 Centerline is valid? [True, True] Translation: X:13.78, Y:0.34, Z:0.57 [[ 9.94204295e-01 -9.13098135e-02 -5.67480146e-02 1.37805449e+01] [ 9.11954983e-02 9.95822355e-01 -4.60628283e-03 3.43987552e-01] [ 5.69315403e-02 -5.95577292e-04 9.98377907e-01 5.67347988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.598040942 meters 0.020775933527950166 Centerline is valid? [True, True] Translation: X:13.81, Y:0.35, Z:0.57 [[ 9.94051072e-01 -9.23180721e-02 -5.77913456e-02 1.38090837e+01] [ 9.22008141e-02 9.95729351e-01 -4.69786434e-03 3.47448341e-01] [ 5.79782368e-02 -6.58492026e-04 9.98317630e-01 5.67845342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.628040942 meters 0.02162486606409182 Centerline is valid? [True, True] Translation: X:13.84, Y:0.35, Z:0.57 [[ 9.93768996e-01 -9.48284029e-02 -5.85726525e-02 1.38382376e+01] [ 9.47114951e-02 9.95493310e-01 -4.77515193e-03 3.49968084e-01] [ 5.87615038e-02 -8.02105548e-04 9.98271728e-01 5.68113880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.658040942 meters 0.021167875913765934 Centerline is valid? [True, True] Translation: X:13.87, Y:0.35, Z:0.57 [[ 9.93658127e-01 -9.63985756e-02 -5.78864568e-02 1.38670949e+01] [ 9.62862714e-02 9.95342431e-01 -4.73265395e-03 3.51873701e-01] [ 5.80730677e-02 -8.71031027e-04 9.98311955e-01 5.70657972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.688040942 meters 0.021418385483331748 Centerline is valid? [True, True] Translation: X:13.89, Y:0.35, Z:0.57 [[ 9.93584122e-01 -9.73895743e-02 -5.74966441e-02 1.38946839e+01] [ 9.72797760e-02 9.95245920e-01 -4.71219834e-03 3.54213571e-01] [ 5.76822194e-02 -9.11295205e-04 9.98334579e-01 5.72184600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.718040942 meters 0.022096237050235733 Centerline is valid? [True, True] Translation: X:13.92, Y:0.36, Z:0.57 [[ 9.93522299e-01 -9.82046876e-02 -5.71776271e-02 1.39223888e+01] [ 9.80971824e-02 9.95165785e-01 -4.69076490e-03 3.57006553e-01] [ 5.73618732e-02 -9.48584587e-04 9.98353002e-01 5.72695045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.748040942 meters 0.022085458816394614 Centerline is valid? [True, True] Translation: X:13.95, Y:0.36, Z:0.57 [[ 9.93322934e-01 -1.00144020e-01 -5.72775959e-02 1.39505690e+01] [ 1.00038978e-01 9.94972392e-01 -4.70557607e-03 3.63163361e-01] [ 5.74608619e-02 -1.05583554e-03 9.98347201e-01 5.73643263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.778040942 meters 0.02216081256920772 Centerline is valid? [True, True] Translation: X:13.98, Y:0.37, Z:0.57 [[ 9.93191851e-01 -1.01220746e-01 -5.76568014e-02 1.39795596e+01] [ 1.01115350e-01 9.94863369e-01 -4.75002059e-03 3.66809383e-01] [ 5.78414404e-02 -1.11230590e-03 9.98325163e-01 5.74494389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.808040942 meters 0.02291717085362238 Centerline is valid? [True, True] Translation: X:14.01, Y:0.37, Z:0.57 [[ 9.93034579e-01 -1.02382038e-01 -5.83116035e-02 1.40075201e+01] [ 1.02275561e-01 9.94744450e-01 -4.81542243e-03 3.69440279e-01] [ 5.84981567e-02 -1.18197100e-03 9.98286817e-01 5.74689529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.838040942 meters 0.022866275485793994 Centerline is valid? [True, True] Translation: X:14.04, Y:0.37, Z:0.58 [[ 9.92985075e-01 -1.03208221e-01 -5.76949247e-02 1.40352538e+01] [ 1.03104970e-01 9.94659036e-01 -4.77153243e-03 3.71998198e-01] [ 5.78792395e-02 -1.21057301e-03 9.98322858e-01 5.76559164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.868040942 meters 0.023392305152683122 Centerline is valid? [True, True] Translation: X:14.06, Y:0.37, Z:0.58 [[ 9.92997055e-01 -1.03808130e-01 -5.63978866e-02 1.40633029e+01] [ 1.03709744e-01 9.94596611e-01 -4.67647730e-03 3.73436137e-01] [ 5.65786033e-02 -1.20528222e-03 9.98397420e-01 5.78360536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.898040942 meters 0.02352308935881551 Centerline is valid? [True, True] Translation: X:14.09, Y:0.38, Z:0.58 [[ 9.93028208e-01 -1.04105088e-01 -5.52911335e-02 1.40905157e+01] [ 1.04010745e-01 9.94565586e-01 -4.58906019e-03 3.76760177e-01] [ 5.54684031e-02 -1.19380576e-03 9.98459729e-01 5.80506653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.928040941999999 meters 0.02274232954490443 Centerline is valid? [True, True] Translation: X:14.12, Y:0.38, Z:0.58 [[ 9.93040860e-01 -1.04115844e-01 -5.50430833e-02 1.41185233e+01] [ 1.04022023e-01 9.94564473e-01 -4.57461523e-03 3.83628931e-01] [ 5.52201851e-02 -1.18291301e-03 9.98473501e-01 5.82131846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.958040942 meters 0.022858587051047125 Centerline is valid? [True, True] Translation: X:14.15, Y:0.39, Z:0.58 [[ 9.93205178e-01 -1.02444252e-01 -5.52145696e-02 1.41464819e+01] [ 1.02346600e-01 9.94738159e-01 -4.60084223e-03 3.87546369e-01] [ 5.53953692e-02 -1.08144314e-03 9.98463912e-01 5.81513248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.988040942 meters 0.022307294648568322 Centerline is valid? [True, True] Translation: X:14.18, Y:0.39, Z:0.58 [[ 9.93357029e-01 -1.01199879e-01 -5.47758845e-02 1.41750367e+01] [ 1.01101560e-01 9.94865613e-01 -4.57016179e-03 3.91493466e-01] [ 5.49571438e-02 -9.98125013e-04 9.98488215e-01 5.82571912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.018040942 meters 0.020206373158370525 Centerline is valid? [True, True] Translation: X:14.20, Y:0.40, Z:0.59 [[ 9.93519115e-01 -9.98270232e-02 -5.43537782e-02 1.42031048e+01] [ 9.97275104e-02 9.95004397e-01 -4.54686112e-03 3.98174145e-01] [ 5.45361479e-02 -9.03173538e-04 9.98511388e-01 5.85885424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.048040942 meters 0.019020605369038563 Centerline is valid? [True, True] Translation: X:14.23, Y:0.40, Z:0.59 [[ 9.93924443e-01 -9.68543594e-02 -5.22822523e-02 1.42313098e+01] [ 9.67575424e-02 9.95298319e-01 -4.38570664e-03 4.03204768e-01] [ 5.24612126e-02 -6.99641211e-04 9.98622717e-01 5.89373552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.078040942 meters 0.019032684154325227 Centerline is valid? [True, True] Translation: X:14.26, Y:0.41, Z:0.59 [[ 9.94160932e-01 -9.50392091e-02 -5.11037125e-02 1.42594435e+01] [ 9.49437282e-02 9.95473362e-01 -4.29823172e-03 4.05474340e-01] [ 5.12808850e-02 -5.78842930e-04 9.98684102e-01 5.90818885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.108040942 meters 0.018248158823330654 Centerline is valid? [True, True] Translation: X:14.29, Y:0.41, Z:0.59 [[ 9.94556622e-01 -9.20903642e-02 -4.87492708e-02 1.42881826e+01] [ 9.19997095e-02 9.95750573e-01 -4.10493702e-03 4.12531198e-01] [ 4.89201395e-02 -4.02326464e-04 9.98802612e-01 5.93018502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.138040942 meters 0.018167773043897717 Centerline is valid? [True, True] Translation: X:14.32, Y:0.42, Z:0.59 [[ 9.94691557e-01 -9.08849818e-02 -4.82558408e-02 1.43157779e+01] [ 9.07942230e-02 9.95861342e-01 -4.07397075e-03 4.16576119e-01] [ 4.84263891e-02 -3.29007258e-04 9.98826700e-01 5.93304491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.168040942 meters 0.01792328777323632 Centerline is valid? [True, True] Translation: X:14.34, Y:0.42, Z:0.59 [[ 9.94776129e-01 -9.01451437e-02 -4.78989221e-02 1.43431391e+01] [ 9.00545382e-02 9.95928598e-01 -4.05064879e-03 4.20646552e-01] [ 4.80690526e-02 -2.84026586e-04 9.98843975e-01 5.93720812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.198040942 meters 0.01793958141911572 Centerline is valid? [True, True] Translation: X:14.37, Y:0.42, Z:0.59 [[ 9.94856923e-01 -8.91959176e-02 -4.79978216e-02 1.43697253e+01] [ 8.91031843e-02 9.96014075e-01 -4.07246769e-03 4.23366049e-01] [ 4.81697533e-02 -2.25236061e-04 9.98839138e-01 5.93622732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.228040942 meters 0.017718703550665526 Centerline is valid? [True, True] Translation: X:14.40, Y:0.43, Z:0.60 [[ 9.95102201e-01 -8.71749156e-02 -4.66062623e-02 1.43986439e+01] [ 8.70848488e-02 9.96193014e-01 -3.96335536e-03 4.25409304e-01] [ 4.67743381e-02 -1.14755667e-04 9.98905475e-01 5.95079246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.258040942 meters 0.017678072727177918 Centerline is valid? [True, True] Translation: X:14.43, Y:0.43, Z:0.60 [[ 9.95227129e-01 -8.63349971e-02 -4.54887936e-02 1.44265019e+01] [ 8.62478144e-02 9.96266161e-01 -3.87944777e-03 4.26962898e-01] [ 4.56538779e-02 -6.23773587e-05 9.98957316e-01 5.96739218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.288040942 meters 0.0176802193636515 Centerline is valid? [True, True] Translation: X:14.45, Y:0.43, Z:0.60 [[ 9.95377392e-01 -8.56869555e-02 -4.33773300e-02 1.44544774e+01] [ 8.56065556e-02 9.96322109e-01 -3.71111260e-03 4.28531156e-01] [ 4.35357868e-02 -1.94262291e-05 9.99051868e-01 5.98745661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.318040942 meters 0.0177163219507479 Centerline is valid? [True, True] Translation: X:14.48, Y:0.43, Z:0.60 [[ 9.95373467e-01 -8.56886161e-02 -4.34640318e-02 1.44811978e+01] [ 8.56073430e-02 9.96321967e-01 -3.73119206e-03 4.31392655e-01] [ 4.36238903e-02 -6.91069671e-06 9.99048025e-01 5.99204686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.348040942 meters 0.017680130090916197 Centerline is valid? [True, True] Translation: X:14.51, Y:0.43, Z:0.60 [[ 9.95359983e-01 -8.59263083e-02 -4.33032807e-02 1.45090481e+01] [ 8.58456341e-02 9.96301495e-01 -3.72259302e-03 4.34264793e-01] [ 4.34629920e-02 -1.20774711e-05 9.99055038e-01 5.99295844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.378040942 meters 0.01775295210239426 Centerline is valid? [True, True] Translation: X:14.54, Y:0.44, Z:0.60 [[ 9.95258329e-01 -8.70752220e-02 -4.33447089e-02 1.45358666e+01] [ 8.69949267e-02 9.96201738e-01 -3.73891493e-03 4.35793669e-01] [ 4.35056412e-02 -4.95835452e-05 9.99053180e-01 5.98383190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.408040942 meters 0.01775295210239426 Centerline is valid? [True, True] Translation: X:14.56, Y:0.44, Z:0.60 [[ 9.95234082e-01 -8.73521419e-02 -4.33442548e-02 1.45632709e+01] [ 8.72718801e-02 9.96177494e-01 -3.74417200e-03 4.38253088e-01] [ 4.35056325e-02 -5.64070227e-05 9.99053180e-01 5.99607982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.438040942 meters 0.01774184193913185 Centerline is valid? [True, True] Translation: X:14.59, Y:0.44, Z:0.60 [[ 9.95147754e-01 -8.83217579e-02 -4.33614494e-02 1.45906939e+01] [ 8.82418156e-02 9.96091994e-01 -3.75797617e-03 4.38570450e-01] [ 4.35239036e-02 -8.65514717e-05 9.99052382e-01 6.00622990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.468040942 meters 0.017912139064602237 Centerline is valid? [True, True] Translation: X:14.62, Y:0.44, Z:0.60 [[ 9.95011994e-01 -9.01836273e-02 -4.26385494e-02 1.46190259e+01] [ 9.01078313e-02 9.95925142e-01 -3.70014849e-03 4.37940400e-01] [ 4.27984962e-02 -1.60375087e-04 9.99083712e-01 6.02039858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.498040942 meters 0.01799880712015647 Centerline is valid? [True, True] Translation: X:14.65, Y:0.44, Z:0.60 [[ 9.94851630e-01 -9.24479459e-02 -4.15163966e-02 1.46476790e+01] [ 9.23775883e-02 9.95717490e-01 -3.61404844e-03 4.37320220e-01] [ 4.16727136e-02 -2.39742608e-04 9.99131286e-01 6.04055829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.528040942 meters 0.018705038406503397 Centerline is valid? [True, True] Translation: X:14.68, Y:0.43, Z:0.61 [[ 9.94570441e-01 -9.63175444e-02 -3.94026450e-02 1.46755593e+01] [ 9.62568071e-02 9.95350588e-01 -3.44010718e-03 4.34432289e-01] [ 3.95507885e-02 -3.71343887e-04 9.99217492e-01 6.06538064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.558040942 meters 0.0187533052484914 Centerline is valid? [True, True] Translation: X:14.70, Y:0.44, Z:0.61 [[ 9.94403348e-01 -9.82849731e-02 -3.87562351e-02 1.47045275e+01] [ 9.82276107e-02 9.95158214e-01 -3.38612257e-03 4.37006394e-01] [ 3.89013907e-02 -4.39760755e-04 9.99242958e-01 6.06842733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.588040942 meters 0.019101608490333565 Centerline is valid? [True, True] Translation: X:14.73, Y:0.44, Z:0.61 [[ 9.94037447e-01 -1.01474059e-01 -3.99069981e-02 1.47334941e+01] [ 1.01415392e-01 9.94838022e-01 -3.49698514e-03 4.36458497e-01] [ 4.00558523e-02 -5.71049684e-04 9.99197279e-01 6.05704054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.618040942 meters 0.019405755949672174 Centerline is valid? [True, True] Translation: X:14.76, Y:0.44, Z:0.61 [[ 9.93861414e-01 -1.03089607e-01 -4.01500063e-02 1.47616875e+01] [ 1.03031103e-01 9.94671874e-01 -3.52914043e-03 4.35782531e-01] [ 4.02998997e-02 -6.29222932e-04 9.99187431e-01 6.06663845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.648040942 meters 0.019590819779241386 Centerline is valid? [True, True] Translation: X:14.79, Y:0.44, Z:0.61 [[ 9.93722099e-01 -1.04425501e-01 -4.01460316e-02 1.47907274e+01] [ 1.04367981e-01 9.94532479e-01 -3.53169544e-03 4.35667991e-01] [ 4.02953314e-02 -6.80436451e-04 9.99187582e-01 6.08376185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.678040942 meters 0.019951194346752896 Centerline is valid? [True, True] Translation: X:14.82, Y:0.44, Z:0.61 [[ 9.93644479e-01 -1.05486503e-01 -3.92841703e-02 1.48182130e+01] [ 1.05431847e-01 9.94420490e-01 -3.46622582e-03 4.35563394e-01] [ 3.94306239e-02 -6.97606467e-04 9.99222067e-01 6.10301597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.708040942 meters 0.019908517007385666 Centerline is valid? [True, True] Translation: X:14.85, Y:0.44, Z:0.61 [[ 9.93702027e-01 -1.05153877e-01 -3.87161823e-02 1.48459453e+01] [ 1.05100449e-01 9.94455736e-01 -3.41839013e-03 4.38415025e-01] [ 3.88609866e-02 -6.72226930e-04 9.99244400e-01 6.12327022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.738040942 meters 0.01952417699034467 Centerline is valid? [True, True] Translation: X:14.87, Y:0.44, Z:0.61 [[ 9.93928904e-01 -1.02926530e-01 -3.88775307e-02 1.48735748e+01] [ 1.02870486e-01 9.94688795e-01 -3.44456311e-03 4.42535104e-01] [ 3.90255811e-02 -5.75699647e-04 9.99238046e-01 6.12798674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.768040942 meters 0.019092810207472624 Centerline is valid? [True, True] Translation: X:14.90, Y:0.45, Z:0.61 [[ 9.94045002e-01 -1.01473364e-01 -3.97201628e-02 1.49023134e+01] [ 1.01413594e-01 9.94838117e-01 -3.52198509e-03 4.46042246e-01] [ 3.98725196e-02 -5.27152794e-04 9.99204636e-01 6.13122410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.798040942 meters 0.01906615292630324 Centerline is valid? [True, True] Translation: X:14.93, Y:0.45, Z:0.61 [[ 9.94167193e-01 -1.00030758e-01 -4.03167510e-02 1.49302195e+01] [ 9.99675644e-02 9.94984236e-01 -3.58547086e-03 4.47727203e-01] [ 4.04731891e-02 -4.65809901e-04 9.99180516e-01 6.14065640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.828040942 meters 0.018753531858907005 Centerline is valid? [True, True] Translation: X:14.96, Y:0.45, Z:0.62 [[ 9.94352046e-01 -9.81965021e-02 -4.02673086e-02 1.49591035e+01] [ 9.81317669e-02 9.95166970e-01 -3.58584622e-03 4.50012085e-01] [ 4.04248131e-02 -3.85908615e-04 9.99182509e-01 6.15370046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.858040942 meters 0.018515570107507873 Centerline is valid? [True, True] Translation: X:14.99, Y:0.45, Z:0.62 [[ 9.94566393e-01 -9.61655910e-02 -3.98731674e-02 1.49881469e+01] [ 9.61000983e-02 9.95365307e-01 -3.56041140e-03 4.52051326e-01] [ 4.00307565e-02 -2.90749781e-04 9.99198406e-01 6.17248621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.888040942 meters 0.018626345072136386 Centerline is valid? [True, True] Translation: X:15.02, Y:0.45, Z:0.62 [[ 9.94661406e-01 -9.52801175e-02 -3.96281066e-02 1.50163467e+01] [ 9.52143421e-02 9.95450471e-01 -3.54815055e-03 4.54816151e-01] [ 3.97858856e-02 -2.43955681e-04 9.99208198e-01 6.18791862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.918040942 meters 0.0186259590506539 Centerline is valid? [True, True] Translation: X:15.04, Y:0.46, Z:0.62 [[ 9.94755971e-01 -9.44225530e-02 -3.93057321e-02 1.50446213e+01] [ 9.43567352e-02 9.95532191e-01 -3.53040841e-03 4.57283200e-01] [ 3.94634717e-02 -1.96865708e-04 9.99220994e-01 6.20126128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.948040942 meters 0.01863715505344714 Centerline is valid? [True, True] Translation: X:15.07, Y:0.46, Z:0.62 [[ 9.94775994e-01 -9.43031312e-02 -3.90850454e-02 1.50711346e+01] [ 9.42374925e-02 9.95543514e-01 -3.52245518e-03 4.58675912e-01] [ 3.92430420e-02 -1.79222822e-04 9.99229679e-01 6.21562617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.978040942 meters 0.018716700297329147 Centerline is valid? [True, True] Translation: X:15.10, Y:0.46, Z:0.62 [[ 9.94731246e-01 -9.47396721e-02 -3.91681241e-02 1.50989367e+01] [ 9.46739344e-02 9.95502063e-01 -3.53395086e-03 4.59458945e-01] [ 3.93267537e-02 -1.92869074e-04 9.99226385e-01 6.23299210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.008040942 meters 0.018750921626506097 Centerline is valid? [True, True] Translation: X:15.13, Y:0.46, Z:0.63 [[ 9.94739173e-01 -9.50874932e-02 -3.81096606e-02 1.51268902e+01] [ 9.50250723e-02 9.95468901e-01 -3.45005650e-03 4.57999231e-01] [ 3.82650391e-02 -1.89466904e-04 9.99267607e-01 6.26031522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.038040942 meters 0.018767403787359978 Centerline is valid? [True, True] Translation: X:15.15, Y:0.46, Z:0.63 [[ 9.94662369e-01 -9.58853193e-02 -3.81153163e-02 1.51545140e+01] [ 9.58233845e-02 9.95392364e-01 -3.45268129e-03 4.59391041e-01] [ 3.82707563e-02 -2.18086461e-04 9.99267382e-01 6.27620158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.068040942 meters 0.01882092472968868 Centerline is valid? [True, True] Translation: X:15.18, Y:0.46, Z:0.63 [[ 9.94678471e-01 -9.56454305e-02 -3.82973963e-02 1.51816912e+01] [ 9.55822715e-02 9.95415447e-01 -3.48094772e-03 4.61134950e-01] [ 3.84547566e-02 -1.98128381e-04 9.99260323e-01 6.28999426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.098040942 meters 0.01878206850763196 Centerline is valid? [True, True] Translation: X:15.21, Y:0.46, Z:0.63 [[ 9.94723335e-01 -9.47216061e-02 -3.94119779e-02 1.52097838e+01] [ 9.46537879e-02 9.95503788e-01 -3.58738857e-03 4.64288767e-01] [ 3.95745765e-02 -1.62033874e-04 9.99216606e-01 6.28726918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.128040942 meters 0.018708616042842765 Centerline is valid? [True, True] Translation: X:15.24, Y:0.47, Z:0.63 [[ 9.94751243e-01 -9.42284588e-02 -3.98868621e-02 1.52372243e+01] [ 9.41584968e-02 9.95550590e-01 -3.63317728e-03 4.67122890e-01] [ 4.00517378e-02 -1.41579357e-04 9.99197597e-01 6.28809159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.158040942 meters 0.018650036229049496 Centerline is valid? [True, True] Translation: X:15.26, Y:0.47, Z:0.63 [[ 9.94838672e-01 -9.29596091e-02 -4.06758883e-02 1.52643752e+01] [ 9.28853034e-02 9.95669877e-01 -3.71696217e-03 4.68496956e-01] [ 4.08452841e-02 -8.04145186e-05 9.99165480e-01 6.30162505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.188040942 meters 0.018698469107887375 Centerline is valid? [True, True] Translation: X:15.29, Y:0.47, Z:0.63 [[ 9.94884524e-01 -9.24418196e-02 -4.07344370e-02 1.52918995e+01] [ 9.23665630e-02 9.95718086e-01 -3.72970967e-03 4.71003929e-01] [ 4.09047968e-02 -5.18695112e-05 9.99163047e-01 6.31827650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.218040942 meters 0.01865898843280702 Centerline is valid? [True, True] Translation: X:15.32, Y:0.47, Z:0.63 [[ 9.94950157e-01 -9.20206796e-02 -4.00796746e-02 1.53184214e+01] [ 9.19470049e-02 9.95757096e-01 -3.68161033e-03 4.73188127e-01] [ 4.02484047e-02 -2.21872630e-05 9.99189704e-01 6.34085720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.248040942 meters 0.01860425823928966 Centerline is valid? [True, True] Translation: X:15.35, Y:0.48, Z:0.64 [[ 9.95000081e-01 -9.16441853e-02 -3.97011585e-02 1.53450555e+01] [ 9.15714025e-02 9.95791817e-01 -3.65170590e-03 4.75807336e-01] [ 3.98687464e-02 -2.04310099e-06 9.99204925e-01 6.35892395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.278040942 meters 0.018519832310801027 Centerline is valid? [True, True] Translation: X:15.37, Y:0.48, Z:0.64 [[ 9.94998615e-01 -9.10888178e-02 -4.09949231e-02 1.53728299e+01] [ 9.10105614e-02 9.95842772e-01 -3.77506045e-03 4.78279170e-01] [ 4.11683637e-02 2.52089464e-05 9.99152223e-01 6.35226249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.308040942 meters 0.018395409955620366 Centerline is valid? [True, True] Translation: X:15.40, Y:0.48, Z:0.64 [[ 9.94886159e-01 -9.14834473e-02 -4.28054877e-02 1.53994880e+01] [ 9.13979465e-02 9.95806597e-01 -3.95436195e-03 4.79937250e-01] [ 4.29877457e-02 2.18062909e-05 9.99075599e-01 6.35546170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.338040942 meters 0.018343723956772227 Centerline is valid? [True, True] Translation: X:15.43, Y:0.48, Z:0.64 [[ 9.94741008e-01 -9.22067011e-02 -4.45898042e-02 1.54278987e+01] [ 9.21143954e-02 9.95739888e-01 -4.12479142e-03 4.80357722e-01] [ 4.47801800e-02 -4.26367792e-06 9.98996865e-01 6.35743184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.368040942 meters 0.018327400679981832 Centerline is valid? [True, True] Translation: X:15.46, Y:0.48, Z:0.64 [[ 9.94657276e-01 -9.32040762e-02 -4.43835851e-02 1.54555528e+01] [ 9.31130636e-02 9.95647025e-01 -4.11807528e-03 4.81712492e-01] [ 4.45742059e-02 -3.66180446e-05 9.99006075e-01 6.37352902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.398040942 meters 0.01840501154460793 Centerline is valid? [True, True] Translation: X:15.48, Y:0.48, Z:0.64 [[ 9.94571714e-01 -9.42790803e-02 -4.40290978e-02 1.54835906e+01] [ 9.41900154e-02 9.95545805e-01 -4.09769611e-03 4.83752449e-01] [ 4.42193106e-02 -7.16487530e-05 9.99021845e-01 6.39543087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.428040942 meters 0.018415432426567676 Centerline is valid? [True, True] Translation: X:15.51, Y:0.49, Z:0.64 [[ 9.94554117e-01 -9.44550830e-02 -4.40493590e-02 1.55104930e+01] [ 9.43655476e-02 9.95529122e-01 -4.11225095e-03 4.86591436e-01] [ 4.42408427e-02 -6.68857701e-05 9.99020892e-01 6.40943617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.458040942 meters 0.018354350645955798 Centerline is valid? [True, True] Translation: X:15.54, Y:0.49, Z:0.64 [[ 9.94514751e-01 -9.47796240e-02 -4.42406336e-02 1.55384535e+01] [ 9.46893850e-02 9.95498276e-01 -4.13561364e-03 4.89535814e-01] [ 4.44334463e-02 -7.61896120e-05 9.99012344e-01 6.42342242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.488040942 meters 0.0182652551232779 Centerline is valid? [True, True] Translation: X:15.57, Y:0.49, Z:0.64 [[ 9.94485429e-01 -9.49558857e-02 -4.45209172e-02 1.55664122e+01] [ 9.48641255e-02 9.95481479e-01 -4.17410637e-03 4.92101132e-01] [ 4.47161044e-02 -7.23499108e-05 9.98999732e-01 6.43534171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.518040942 meters 0.018298417052005855 Centerline is valid? [True, True] Translation: X:15.59, Y:0.49, Z:0.64 [[ 9.94484583e-01 -9.45502228e-02 -4.53946072e-02 1.55943815e+01] [ 9.44537979e-02 9.95520092e-01 -4.26924500e-03 4.93420107e-01] [ 4.55949016e-02 -4.19947274e-05 9.98960011e-01 6.44753705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.548040942 meters 0.018258911685476272 Centerline is valid? [True, True] Translation: X:15.62, Y:0.50, Z:0.65 [[ 9.94484496e-01 -9.46351239e-02 -4.52192548e-02 1.56215576e+01] [ 9.45389545e-02 9.95512025e-01 -4.26542576e-03 4.95433895e-01] [ 4.54199710e-02 -3.30812842e-05 9.98967980e-01 6.45896316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.578040942 meters 0.01822723520678854 Centerline is valid? [True, True] Translation: X:15.65, Y:0.50, Z:0.65 [[ 9.94393937e-01 -9.49988422e-02 -4.64318695e-02 1.56485692e+01] [ 9.48975653e-02 9.95477382e-01 -4.38567768e-03 4.97644860e-01] [ 4.66385102e-02 -4.51800766e-05 9.98911832e-01 6.46568004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.608040942 meters 0.018240256393476036 Centerline is valid? [True, True] Translation: X:15.68, Y:0.50, Z:0.65 [[ 9.94324648e-01 -9.56421414e-02 -4.65947994e-02 1.56767782e+01] [ 9.55405749e-02 9.95415780e-01 -4.40710924e-03 5.00407121e-01] [ 4.68027039e-02 -6.95965783e-05 9.98904151e-01 6.47401076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.638040942 meters 0.018271220364565906 Centerline is valid? [True, True] Translation: X:15.71, Y:0.50, Z:0.65 [[ 9.94241224e-01 -9.63290262e-02 -4.69585738e-02 1.57051231e+01] [ 9.62260105e-02 9.95349542e-01 -4.45468569e-03 5.02457986e-01] [ 4.71693105e-02 -8.96040686e-05 9.98886905e-01 6.48793123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.668040942 meters 0.018407997924013098 Centerline is valid? [True, True] Translation: X:15.73, Y:0.50, Z:0.65 [[ 9.94134630e-01 -9.76228807e-02 -4.65414953e-02 1.57332397e+01] [ 9.75225009e-02 9.95223470e-01 -4.42802076e-03 5.02340546e-01] [ 4.67514645e-02 -1.36794230e-04 9.98906543e-01 6.51077526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.698040942 meters 0.01839403408121394 Centerline is valid? [True, True] Translation: X:15.76, Y:0.50, Z:0.65 [[ 9.94029547e-01 -9.86031694e-02 -4.67190951e-02 1.57613291e+01] [ 9.85024806e-02 9.95126819e-01 -4.45818076e-03 5.03617413e-01] [ 4.69310153e-02 -1.70383358e-04 9.98898118e-01 6.52693145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.728040942 meters 0.018579359018443053 Centerline is valid? [True, True] Translation: X:15.79, Y:0.50, Z:0.65 [[ 9.93958498e-01 -9.91988997e-02 -4.69689560e-02 1.57884633e+01] [ 9.90971861e-02 9.95067607e-01 -4.49491791e-03 5.04889393e-01] [ 4.71831775e-02 -1.86729513e-04 9.98886236e-01 6.54193053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.758040942 meters 0.018686054396590535 Centerline is valid? [True, True] Translation: X:15.82, Y:0.51, Z:0.65 [[ 9.93712723e-01 -1.01332378e-01 -4.76106337e-02 1.58171072e+01] [ 1.01230010e-01 9.94852586e-01 -4.56261704e-03 5.06238037e-01] [ 4.78279029e-02 -2.85694318e-04 9.98855550e-01 6.54503681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.788040942 meters 0.018718404566364345 Centerline is valid? [True, True] Translation: X:15.85, Y:0.51, Z:0.65 [[ 9.93546324e-01 -1.02532721e-01 -4.85050919e-02 1.58457557e+01] [ 1.02427310e-01 9.94729575e-01 -4.66039525e-03 5.08219046e-01] [ 4.87272924e-02 -3.37927525e-04 9.98812063e-01 6.54795088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.818040942 meters 0.0189216675884176 Centerline is valid? [True, True] Translation: X:15.87, Y:0.51, Z:0.66 [[ 9.93304112e-01 -1.04176450e-01 -4.99420516e-02 1.58735500e+01] [ 1.04066187e-01 9.94558742e-01 -4.81013933e-03 5.07786657e-01] [ 5.01714073e-02 -4.19347693e-04 9.98740534e-01 6.55003716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.848040942 meters 0.01906416188581876 Centerline is valid? [True, True] Translation: X:15.90, Y:0.51, Z:0.66 [[ 9.93190056e-01 -1.05448584e-01 -4.95389655e-02 1.59017081e+01] [ 1.05341412e-01 9.94424643e-01 -4.77658050e-03 5.08366619e-01] [ 4.97664517e-02 -4.74452337e-04 9.98760770e-01 6.56792725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.878040942 meters 0.01924162809772762 Centerline is valid? [True, True] Translation: X:15.93, Y:0.51, Z:0.66 [[ 9.93104109e-01 -1.06466403e-01 -4.90829162e-02 1.59294129e+01] [ 1.06361820e-01 9.94316170e-01 -4.74514622e-03 5.08888003e-01] [ 4.93091359e-02 -5.08124095e-04 9.98783435e-01 6.58473525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.908040942 meters 0.019692787695893853 Centerline is valid? [True, True] Translation: X:15.96, Y:0.51, Z:0.66 [[ 9.92866154e-01 -1.08929786e-01 -4.84881706e-02 1.59574162e+01] [ 1.08830450e-01 9.94049254e-01 -4.69191514e-03 5.07870310e-01] [ 4.87107192e-02 -6.18545667e-04 9.98812737e-01 6.60099388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.938040942 meters 0.01981333652945286 Centerline is valid? [True, True] Translation: X:15.99, Y:0.51, Z:0.66 [[ 9.92726172e-01 -1.10200595e-01 -4.84827347e-02 1.59865897e+01] [ 1.10102477e-01 9.93909138e-01 -4.69791372e-03 5.08656118e-01] [ 4.87051460e-02 -6.74327291e-04 9.98812973e-01 6.61580454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.968040942 meters 0.02017287944545158 Centerline is valid? [True, True] Translation: X:16.01, Y:0.51, Z:0.66 [[ 9.92603185e-01 -1.11264022e-01 -4.85719440e-02 1.60147061e+01] [ 1.11166285e-01 9.93790623e-01 -4.71738766e-03 5.08870676e-01] [ 4.87952181e-02 -7.17068579e-04 9.98808546e-01 6.62948512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.998040942 meters 0.020740473527092115 Centerline is valid? [True, True] Translation: X:16.04, Y:0.51, Z:0.66 [[ 9.92354845e-01 -1.13257648e-01 -4.90363727e-02 1.60429113e+01] [ 1.13160261e-01 9.93565315e-01 -4.76662163e-03 5.07643266e-01] [ 4.92606954e-02 -8.18788654e-04 9.98785619e-01 6.63528205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.028040942 meters 0.021094930272820167 Centerline is valid? [True, True] Translation: X:16.07, Y:0.51, Z:0.66 [[ 9.92215376e-01 -1.14277886e-01 -4.94895216e-02 1.60722538e+01] [ 1.14179714e-01 9.93448440e-01 -4.81556937e-03 5.09054627e-01] [ 4.97156011e-02 -8.72617423e-04 9.98763034e-01 6.64416406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.058040941999998 meters 0.021045634432989388 Centerline is valid? [True, True] Translation: X:16.10, Y:0.51, Z:0.66 [[ 9.92191741e-01 -1.13891089e-01 -5.08366907e-02 1.60992295e+01] [ 1.13786414e-01 9.93492864e-01 -4.95790513e-03 5.09980424e-01] [ 5.10705507e-02 -8.65332224e-04 9.98694673e-01 6.64811662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.088040942 meters 0.02083674134405346 Centerline is valid? [True, True] Translation: X:16.13, Y:0.51, Z:0.67 [[ 9.92268527e-01 -1.13296740e-01 -5.06657645e-02 1.61284896e+01] [ 1.13191668e-01 9.93560852e-01 -4.94762750e-03 5.12273135e-01] [ 5.09000702e-02 -8.25567343e-04 9.98703410e-01 6.66446957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.118040942 meters 0.019977950764642677 Centerline is valid? [True, True] Translation: X:16.16, Y:0.52, Z:0.67 [[ 9.92386792e-01 -1.12533901e-01 -5.00457485e-02 1.61565661e+01] [ 1.12429883e-01 9.93647590e-01 -4.89769034e-03 5.16210863e-01] [ 5.02789937e-02 -7.66234455e-04 9.98734918e-01 6.69515914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.148040942 meters 0.01966027875674181 Centerline is valid? [True, True] Translation: X:16.19, Y:0.52, Z:0.67 [[ 9.92553539e-01 -1.11324879e-01 -4.94392815e-02 1.61851195e+01] [ 1.11221288e-01 9.93783831e-01 -4.85003083e-03 5.18939158e-01] [ 4.96718877e-02 -6.84785285e-04 9.98765355e-01 6.72012755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.178040942 meters 0.019164439248938375 Centerline is valid? [True, True] Translation: X:16.21, Y:0.52, Z:0.67 [[ 9.92934268e-01 -1.08314427e-01 -4.84718926e-02 1.62127954e+01] [ 1.08210735e-01 9.94116553e-01 -4.76600937e-03 5.21845035e-01] [ 4.87029384e-02 -5.12845124e-04 9.98813176e-01 6.74600918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.208040942 meters 0.018920506248176847 Centerline is valid? [True, True] Translation: X:16.24, Y:0.53, Z:0.68 [[ 9.93088070e-01 -1.06763925e-01 -4.87601206e-02 1.62416877e+01] [ 1.06656804e-01 9.94284304e-01 -4.80094677e-03 5.25249642e-01] [ 4.89939904e-02 -4.32835662e-04 9.98798980e-01 6.75678549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.238040942 meters 0.018663504181436606 Centerline is valid? [True, True] Translation: X:16.27, Y:0.53, Z:0.68 [[ 9.93221862e-01 -1.05158206e-01 -4.95185237e-02 1.62700329e+01] [ 1.05045143e-01 9.94455444e-01 -4.88741836e-03 5.28591985e-01] [ 4.97579177e-02 -3.47389663e-04 9.98761247e-01 6.76127154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.268040942 meters 0.01835980803529458 Centerline is valid? [True, True] Translation: X:16.30, Y:0.53, Z:0.68 [[ 9.93517841e-01 -1.01425357e-01 -5.13341590e-02 1.62981528e+01] [ 1.01298279e-01 9.94843140e-01 -5.07796237e-03 5.30971283e-01] [ 5.15844700e-02 -1.55015758e-04 9.98668623e-01 6.75883411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.298040942 meters 0.018369962574074705 Centerline is valid? [True, True] Translation: X:16.33, Y:0.53, Z:0.68 [[ 9.93685500e-01 -9.95824978e-02 -5.16957824e-02 1.63251280e+01] [ 9.94508927e-02 9.95029308e-01 -5.11828624e-03 5.33486679e-01] [ 5.19485103e-02 -5.52248933e-05 9.98649763e-01 6.76925779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.328040942 meters 0.018369962574074705 Centerline is valid? [True, True] Translation: X:16.35, Y:0.54, Z:0.68 [[ 9.93659547e-01 -9.98414883e-02 -5.16950909e-02 1.63525127e+01] [ 9.97098706e-02 9.95003353e-01 -5.12526137e-03 5.36316016e-01] [ 5.19485025e-02 -6.17459289e-05 9.98649763e-01 6.78151011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.358040942 meters 0.018280164193502257 Centerline is valid? [True, True] Translation: X:16.38, Y:0.54, Z:0.68 [[ 9.94002977e-01 -9.66244929e-02 -5.12034111e-02 1.63805694e+01] [ 9.64904139e-02 9.95320900e-01 -5.08986722e-03 5.39679622e-01] [ 5.14556311e-02 1.18704838e-04 9.98675275e-01 6.80282196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.388040942 meters 0.018443342029682112 Centerline is valid? [True, True] Translation: X:16.41, Y:0.54, Z:0.68 [[ 9.94156050e-01 -9.52908027e-02 -5.07288065e-02 1.64076441e+01] [ 9.51568406e-02 9.95449458e-01 -5.05490216e-03 5.42880365e-01] [ 5.09796486e-02 1.98168608e-04 9.98699673e-01 6.81876820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.418040942 meters 0.018459701952315086 Centerline is valid? [True, True] Translation: X:16.44, Y:0.55, Z:0.68 [[ 9.94289731e-01 -9.45166149e-02 -4.95433223e-02 1.64356048e+01] [ 9.43875720e-02 9.95523256e-01 -4.94304008e-03 5.46160435e-01] [ 4.97887289e-02 2.38540090e-04 9.98759744e-01 6.84035629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.448040942 meters 0.01847805991243155 Centerline is valid? [True, True] Translation: X:16.46, Y:0.55, Z:0.69 [[ 9.94468287e-01 -9.34116025e-02 -4.80322768e-02 1.64635836e+01] [ 9.32884432e-02 9.95627533e-01 -4.80437431e-03 5.47230982e-01] [ 4.82710415e-02 2.96941560e-04 9.98834230e-01 6.87225731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.478040942 meters 0.01863168397850251 Centerline is valid? [True, True] Translation: X:16.49, Y:0.55, Z:0.69 [[ 9.94454237e-01 -9.36203133e-02 -4.79166813e-02 1.64907874e+01] [ 9.34973741e-02 9.95607929e-01 -4.80555806e-03 5.49650769e-01] [ 4.81561256e-02 2.98823696e-04 9.98839776e-01 6.88057564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.508040942 meters 0.018718793834564505 Centerline is valid? [True, True] Translation: X:16.52, Y:0.55, Z:0.69 [[ 9.94380649e-01 -9.37298318e-02 -4.92122353e-02 1.65186249e+01] [ 9.35998463e-02 9.95597621e-01 -4.94433243e-03 5.50317336e-01] [ 4.94590158e-02 3.10290838e-04 9.98776106e-01 6.87501554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.538040942 meters 0.01894764291149401 Centerline is valid? [True, True] Translation: X:16.55, Y:0.55, Z:0.69 [[ 9.94324376e-01 -9.40083456e-02 -4.98143111e-02 1.65455787e+01] [ 9.38752961e-02 9.95571363e-01 -5.00903081e-03 5.52919429e-01] [ 5.00645922e-02 3.04268232e-04 9.98745936e-01 6.87161811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.568040942 meters 0.018582417973979918 Centerline is valid? [True, True] Translation: X:16.57, Y:0.55, Z:0.69 [[ 9.94237979e-01 -9.48415724e-02 -4.99591533e-02 1.65736397e+01] [ 9.47084790e-02 9.95492342e-01 -5.02995570e-03 5.53655446e-01] [ 5.02110035e-02 2.69417568e-04 9.98738596e-01 6.88851956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.598040942 meters 0.018620638140217572 Centerline is valid? [True, True] Translation: X:16.60, Y:0.55, Z:0.69 [[ 9.94174673e-01 -9.59275564e-02 -4.91388120e-02 1.66010487e+01] [ 9.57995525e-02 9.95388293e-01 -4.95896848e-03 5.54506484e-01] [ 4.93878999e-02 2.22604678e-04 9.98779648e-01 6.90311497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.628040942 meters 0.018378201939218644 Centerline is valid? [True, True] Translation: X:16.63, Y:0.56, Z:0.69 [[ 9.94091529e-01 -9.68812359e-02 -4.89495483e-02 1.66290175e+01] [ 9.67550513e-02 9.95295933e-01 -4.94638137e-03 5.55289278e-01] [ 4.91984978e-02 1.81039764e-04 9.98789004e-01 6.93128111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.658040942 meters 0.018361914444179755 Centerline is valid? [True, True] Translation: X:16.66, Y:0.56, Z:0.69 [[ 9.94003085e-01 -9.77317946e-02 -4.90546882e-02 1.66562143e+01] [ 9.76054630e-02 9.95212778e-01 -4.96995016e-03 5.56710187e-01] [ 4.93055746e-02 1.52140243e-04 9.98783729e-01 6.94495055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.688040942 meters 0.018265840145780896 Centerline is valid? [True, True] Translation: X:16.68, Y:0.56, Z:0.70 [[ 9.93795327e-01 -9.97528721e-02 -4.91956570e-02 1.66841722e+01] [ 9.96279551e-02 9.95012242e-01 -4.99094221e-03 5.55703509e-01] [ 4.94481418e-02 5.87123328e-05 9.98776691e-01 6.96879632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.718040942 meters 0.018215823433051875 Centerline is valid? [True, True] Translation: X:16.71, Y:0.56, Z:0.70 [[ 9.93450927e-01 -1.03450084e-01 -4.85111933e-02 1.67124446e+01] [ 1.03332385e-01 9.94634640e-01 -4.93461531e-03 5.56063593e-01] [ 4.87613997e-02 -1.10479134e-04 9.98810449e-01 6.98302600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.748040942 meters 0.01817138700619665 Centerline is valid? [True, True] Translation: X:16.74, Y:0.56, Z:0.70 [[ 9.93223758e-01 -1.05787099e-01 -4.81212660e-02 1.67406681e+01] [ 1.05673392e-01 9.94388780e-01 -4.90802940e-03 5.58190673e-01] [ 4.83704532e-02 -2.10366021e-04 9.98829442e-01 6.99692239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.778040942 meters 0.01821870477944927 Centerline is valid? [True, True] Translation: X:16.77, Y:0.56, Z:0.70 [[ 9.92940502e-01 -1.08186132e-01 -4.86304432e-02 1.67699119e+01] [ 1.08072197e-01 9.94130605e-01 -4.97391884e-03 5.59761345e-01] [ 4.88831210e-02 -3.16793366e-04 9.98804455e-01 7.00648295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.808040941999998 meters 0.018385712727843822 Centerline is valid? [True, True] Translation: X:16.80, Y:0.56, Z:0.70 [[ 9.92634895e-01 -1.10589306e-01 -4.94567615e-02 1.67980001e+01] [ 1.10473852e-01 9.93866098e-01 -5.07032787e-03 5.60214015e-01] [ 4.97141226e-02 -4.30694563e-04 9.98763396e-01 7.01071390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.838040942 meters 0.018960280741238254 Centerline is valid? [True, True] Translation: X:16.83, Y:0.56, Z:0.70 [[ 9.92006467e-01 -1.15249836e-01 -5.13872090e-02 1.68269099e+01] [ 1.15131186e-01 9.93336300e-01 -5.27299992e-03 5.57124481e-01] [ 5.16524925e-02 -6.85420303e-04 9.98664884e-01 7.02444719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.868040942 meters 0.019281569268497063 Centerline is valid? [True, True] Translation: X:16.86, Y:0.56, Z:0.70 [[ 9.91721599e-01 -1.17758150e-01 -5.11985255e-02 1.68553517e+01] [ 1.17643475e-01 9.93041975e-01 -5.25816855e-03 5.57689403e-01] [ 5.14614771e-02 -8.08533120e-04 9.98674653e-01 7.03944095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.898040942 meters 0.020273856291195293 Centerline is valid? [True, True] Translation: X:16.88, Y:0.56, Z:0.70 [[ 9.91242856e-01 -1.21807517e-01 -5.09953875e-02 1.68833593e+01] [ 1.21698856e-01 9.92553227e-01 -5.24209194e-03 5.57504210e-01] [ 5.12541627e-02 -1.00989414e-03 9.98685131e-01 7.04843647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.928040942 meters 0.020767105185833343 Centerline is valid? [True, True] Translation: X:16.91, Y:0.56, Z:0.71 [[ 9.91041789e-01 -1.23435180e-01 -5.09894955e-02 1.69111174e+01] [ 1.23328367e-01 9.92352041e-01 -5.24790329e-03 5.59041681e-01] [ 5.12473058e-02 -1.08755973e-03 9.98685401e-01 7.06090112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.958040942 meters 0.02077137680729741 Centerline is valid? [True, True] Translation: X:16.94, Y:0.56, Z:0.71 [[ 9.90906952e-01 -1.24525430e-01 -5.09591081e-02 1.69402103e+01] [ 1.24419906e-01 9.92215764e-01 -5.25018899e-03 5.61169114e-01] [ 5.12162124e-02 -1.13787867e-03 9.98686940e-01 7.07444591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.988040942 meters 0.02014037405824494 Centerline is valid? [True, True] Translation: X:16.97, Y:0.56, Z:0.71 [[ 9.90874328e-01 -1.25235407e-01 -4.98413312e-02 1.69678508e+01] [ 1.25134753e-01 9.92126404e-01 -5.14711874e-03 5.64014773e-01] [ 5.00935022e-02 -1.13673483e-03 9.98743886e-01 7.10664361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.018040942 meters 0.020340196025316126 Centerline is valid? [True, True] Translation: X:17.00, Y:0.57, Z:0.71 [[ 9.90920955e-01 -1.25063354e-01 -4.93438833e-02 1.69959836e+01] [ 1.24963838e-01 9.92148144e-01 -5.10882207e-03 5.66137529e-01] [ 4.95953687e-02 -1.10376221e-03 9.98768783e-01 7.12401978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.048040942 meters 0.020126202930412725 Centerline is valid? [True, True] Translation: X:17.02, Y:0.57, Z:0.71 [[ 9.90965736e-01 -1.25149935e-01 -4.82120718e-02 1.70238366e+01] [ 1.25054794e-01 9.92137255e-01 -4.99661788e-03 5.69529007e-01] [ 4.84583189e-02 -1.07767356e-03 9.98824624e-01 7.13701595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.078040942 meters 0.01969647160083645 Centerline is valid? [True, True] Translation: X:17.05, Y:0.57, Z:0.71 [[ 9.91189190e-01 -1.23431005e-01 -4.80497407e-02 1.70527979e+01] [ 1.23333835e-01 9.92352676e-01 -4.99323638e-03 5.74401283e-01] [ 4.82986089e-02 -9.76916892e-04 9.98832463e-01 7.14832382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.108040942 meters 0.01977914241614851 Centerline is valid? [True, True] Translation: X:17.08, Y:0.58, Z:0.72 [[ 9.91344860e-01 -1.22246206e-01 -4.78668283e-02 1.70805600e+01] [ 1.22147887e-01 9.92499393e-01 -4.98475719e-03 5.77470606e-01] [ 4.81171657e-02 -9.05218527e-04 9.98841288e-01 7.15854388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.138040942 meters 0.019083469535285422 Centerline is valid? [True, True] Translation: X:17.11, Y:0.58, Z:0.72 [[ 9.91605513e-01 -1.19926442e-01 -4.83337834e-02 1.71095715e+01] [ 1.19823201e-01 9.92782461e-01 -5.03833399e-03 5.81244685e-01] [ 4.85891619e-02 -7.95468881e-04 9.98818532e-01 7.17260292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.168040942 meters 0.018831477876137825 Centerline is valid? [True, True] Translation: X:17.14, Y:0.58, Z:0.72 [[ 9.91736078e-01 -1.18774397e-01 -4.84994304e-02 1.71379403e+01] [ 1.18668484e-01 9.92920999e-01 -5.06760238e-03 5.84262862e-01] [ 4.87580043e-02 -7.29629774e-04 9.98810355e-01 7.19412502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.198040942 meters 0.01835585177812131 Centerline is valid? [True, True] Translation: X:17.17, Y:0.59, Z:0.72 [[ 9.91935631e-01 -1.17552516e-01 -4.73825934e-02 1.71666725e+01] [ 1.17449488e-01 9.93066459e-01 -4.96235492e-03 5.88494466e-01] [ 4.76374016e-02 -6.42724661e-04 9.98864488e-01 7.21786749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.228040942 meters 0.01809339511355418 Centerline is valid? [True, True] Translation: X:17.19, Y:0.59, Z:0.72 [[ 9.92299138e-01 -1.14654916e-01 -4.68686656e-02 1.71938153e+01] [ 1.14550353e-01 9.93405261e-01 -4.91972010e-03 5.93232894e-01] [ 4.71236491e-02 -4.86988178e-04 9.98888945e-01 7.23492843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.258040942 meters 0.017799885395262165 Centerline is valid? [True, True] Translation: X:17.22, Y:0.60, Z:0.72 [[ 9.92349004e-01 -1.13930318e-01 -4.75745447e-02 1.72213554e+01] [ 1.13821512e-01 9.93488639e-01 -4.99874260e-03 5.98251328e-01] [ 4.78342780e-02 -4.54509366e-04 9.98855182e-01 7.23712783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.288040942 meters 0.017640570104214964 Centerline is valid? [True, True] Translation: X:17.25, Y:0.60, Z:0.72 [[ 9.92345553e-01 -1.13604977e-01 -4.84170606e-02 1.72493621e+01] [ 1.13491204e-01 9.93525904e-01 -5.10142577e-03 6.02117883e-01] [ 4.86831513e-02 -4.32533335e-04 9.98814179e-01 7.24170186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.318040942 meters 0.01752802873875846 Centerline is valid? [True, True] Translation: X:17.28, Y:0.61, Z:0.72 [[ 9.92318443e-01 -1.13665096e-01 -4.88298348e-02 1.72775858e+01] [ 1.13548746e-01 9.93519031e-01 -5.15915648e-03 6.05261065e-01] [ 4.90997862e-02 -4.25040389e-04 9.98793788e-01 7.24751696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.348040942 meters 0.017624186302538935 Centerline is valid? [True, True] Translation: X:17.30, Y:0.61, Z:0.73 [[ 9.92269654e-01 -1.14063679e-01 -4.88918222e-02 1.73040838e+01] [ 1.13946858e-01 9.93473347e-01 -5.17910439e-03 6.07028672e-01] [ 4.91634699e-02 -4.32001394e-04 9.98790652e-01 7.26333045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.378040942 meters 0.01782311090636504 Centerline is valid? [True, True] Translation: X:17.33, Y:0.61, Z:0.73 [[ 9.92009862e-01 -1.16416099e-01 -4.86181624e-02 1.73330215e+01] [ 1.16303082e-01 9.93200383e-01 -5.15671021e-03 6.07887986e-01] [ 4.88879016e-02 -5.38934767e-04 9.98804126e-01 7.28341916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.408040942 meters 0.017962483172192033 Centerline is valid? [True, True] Translation: X:17.36, Y:0.61, Z:0.73 [[ 9.91829708e-01 -1.18018680e-01 -4.84295570e-02 1.73613136e+01] [ 1.17907865e-01 9.93011192e-01 -5.14865689e-03 6.10594204e-01] [ 4.86987298e-02 -6.03634794e-04 9.98813331e-01 7.29738806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.438040942 meters 0.018875924440544093 Centerline is valid? [True, True] Translation: X:17.39, Y:0.61, Z:0.73 [[ 9.91628734e-01 -1.19648290e-01 -4.85462736e-02 1.73891188e+01] [ 1.19538335e-01 9.92816112e-01 -5.17242899e-03 6.11912355e-01] [ 4.88163949e-02 -6.74011488e-04 9.98807542e-01 7.29767580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.468040942 meters 0.018766534003985372 Centerline is valid? [True, True] Translation: X:17.42, Y:0.62, Z:0.73 [[ 9.91209378e-01 -1.23187091e-01 -4.82587790e-02 1.74172195e+01] [ 1.23082389e-01 9.92383110e-01 -5.14663611e-03 6.17550460e-01] [ 4.85251964e-02 -8.38411836e-04 9.98821607e-01 7.30474638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.498040942 meters 0.01918084294412493 Centerline is valid? [True, True] Translation: X:17.44, Y:0.62, Z:0.73 [[ 9.91001135e-01 -1.24817639e-01 -4.83457128e-02 1.74445542e+01] [ 1.24713934e-01 9.92179284e-01 -5.16747006e-03 6.19208182e-01] [ 4.86126061e-02 -9.08415359e-04 9.98817295e-01 7.31806228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.528040942 meters 0.019455806308307403 Centerline is valid? [True, True] Translation: X:17.47, Y:0.62, Z:0.73 [[ 9.90786826e-01 -1.26396211e-01 -4.86360273e-02 1.74735388e+01] [ 1.26292771e-01 9.91979349e-01 -5.20637076e-03 6.21329562e-01] [ 4.89040003e-02 -9.83975115e-04 9.98802999e-01 7.33435206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.558040941999998 meters 0.020261367569201945 Centerline is valid? [True, True] Translation: X:17.50, Y:0.62, Z:0.74 [[ 9.90385855e-01 -1.29393299e-01 -4.89206826e-02 1.75022903e+01] [ 1.29291706e-01 9.91592711e-01 -5.24881584e-03 6.22739810e-01] [ 4.91885539e-02 -1.12668556e-03 9.98788875e-01 7.35513792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.588040942 meters 0.020811488837082875 Centerline is valid? [True, True] Translation: X:17.53, Y:0.63, Z:0.74 [[ 9.90205509e-01 -1.30759632e-01 -4.89384222e-02 1.75302802e+01] [ 1.30659075e-01 9.91413394e-01 -5.26202397e-03 6.25675022e-01] [ 4.92062675e-02 -1.18376383e-03 9.98787936e-01 7.36742555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.618040942 meters 0.02152710386113741 Centerline is valid? [True, True] Translation: X:17.56, Y:0.63, Z:0.74 [[ 9.90007530e-01 -1.32347555e-01 -4.86745832e-02 1.75573730e+01] [ 1.32249697e-01 9.91202584e-01 -5.23974358e-03 6.30323064e-01] [ 4.89398399e-02 -1.24981327e-03 9.98800946e-01 7.37399462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.648040942 meters 0.021832108798109463 Centerline is valid? [True, True] Translation: X:17.58, Y:0.63, Z:0.74 [[ 9.89985475e-01 -1.32585805e-01 -4.84743616e-02 1.75836598e+01] [ 1.32488793e-01 9.91170741e-01 -5.22317376e-03 6.34427283e-01] [ 4.87388876e-02 -1.25144352e-03 9.98810770e-01 7.38379625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.678040942 meters 0.02194384171917919 Centerline is valid? [True, True] Translation: X:17.61, Y:0.64, Z:0.74 [[ 9.89934065e-01 -1.32908810e-01 -4.86394351e-02 1.76114034e+01] [ 1.32811211e-01 9.91127463e-01 -5.24738086e-03 6.38915696e-01] [ 4.89053031e-02 -1.26530120e-03 9.98802618e-01 7.39198357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.708040942 meters 0.022147510668798685 Centerline is valid? [True, True] Translation: X:17.64, Y:0.64, Z:0.74 [[ 9.89995808e-01 -1.32092696e-01 -4.95965728e-02 1.76384963e+01] [ 1.31989566e-01 9.91236597e-01 -5.36321802e-03 6.43841898e-01] [ 4.98703799e-02 -1.23666677e-03 9.98754933e-01 7.39356988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.738040942 meters 0.022081510336487337 Centerline is valid? [True, True] Translation: X:17.67, Y:0.65, Z:0.74 [[ 9.89957386e-01 -1.32315965e-01 -4.97680516e-02 1.76660036e+01] [ 1.32212144e-01 9.91206805e-01 -5.38691345e-03 6.48402371e-01] [ 5.00432061e-02 -1.24712606e-03 9.98746275e-01 7.40584612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.768040942 meters 0.02214184525829089 Centerline is valid? [True, True] Translation: X:17.69, Y:0.65, Z:0.74 [[ 9.89967782e-01 -1.32212566e-01 -4.98360076e-02 1.76935842e+01] [ 1.32107669e-01 9.91220623e-01 -5.40743961e-03 6.54180720e-01] [ 5.01134100e-02 -1.23052782e-03 9.98742776e-01 7.41421625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.798040942 meters 0.022378992777643502 Centerline is valid? [True, True] Translation: X:17.72, Y:0.66, Z:0.74 [[ 9.89975991e-01 -1.32057076e-01 -5.00845822e-02 1.77202096e+01] [ 1.31950291e-01 9.91241368e-01 -5.44712188e-03 6.58387163e-01] [ 5.03652408e-02 -1.21615531e-03 9.98730125e-01 7.42478160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.828040942 meters 0.022348619496028215 Centerline is valid? [True, True] Translation: X:17.75, Y:0.66, Z:0.74 [[ 9.90032824e-01 -1.31702804e-01 -4.98936692e-02 1.77489782e+01] [ 1.31595923e-01 9.91288539e-01 -5.43549814e-03 6.63136431e-01] [ 5.01748928e-02 -1.18448187e-03 9.98739744e-01 7.44015718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.858040942 meters 0.02187618177969653 Centerline is valid? [True, True] Translation: X:17.78, Y:0.67, Z:0.75 [[ 9.90312591e-01 -1.30089515e-01 -4.85560522e-02 1.77758535e+01] [ 1.29985859e-01 9.91501683e-01 -5.29985220e-03 6.69071241e-01] [ 4.88328627e-02 -1.06308979e-03 9.98806398e-01 7.46961787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.888040942 meters 0.021785263476898933 Centerline is valid? [True, True] Translation: X:17.80, Y:0.67, Z:0.75 [[ 9.90416197e-01 -1.29339961e-01 -4.84451345e-02 1.78041674e+01] [ 1.29235664e-01 9.91599786e-01 -5.29221689e-03 6.73492491e-01] [ 4.87226801e-02 -1.01934181e-03 9.98811825e-01 7.48308615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.918040942 meters 0.021412052052095218 Centerline is valid? [True, True] Translation: X:17.83, Y:0.68, Z:0.75 [[ 9.90525722e-01 -1.28348171e-01 -4.88420051e-02 1.78328449e+01] [ 1.28240414e-01 9.91728698e-01 -5.34653821e-03 6.78419444e-01] [ 4.91242365e-02 -9.67635358e-04 9.98792207e-01 7.49126670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.948040942 meters 0.021100387912724054 Centerline is valid? [True, True] Translation: X:17.86, Y:0.69, Z:0.75 [[ 9.90737893e-01 -1.26523926e-01 -4.92962851e-02 1.78602822e+01] [ 1.26411385e-01 9.91963170e-01 -5.40659995e-03 6.85320464e-01] [ 4.95841634e-02 -8.75088232e-04 9.98769565e-01 7.49104181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.978040942 meters 0.02014332772465081 Centerline is valid? [True, True] Translation: X:17.89, Y:0.69, Z:0.75 [[ 9.90799228e-01 -1.26015228e-01 -4.93665125e-02 1.78880730e+01] [ 1.25901503e-01 9.92027946e-01 -5.41897603e-03 6.92287311e-01] [ 4.96558335e-02 -8.46200847e-04 9.98766030e-01 7.50743284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.008040942 meters 0.019265574830427828 Centerline is valid? [True, True] Translation: X:17.92, Y:0.70, Z:0.75 [[ 9.90922569e-01 -1.25273669e-01 -4.87746928e-02 1.79162038e+01] [ 1.25161207e-01 9.92121911e-01 -5.36523229e-03 6.98772743e-01] [ 4.90625637e-02 -7.88169637e-04 9.98795396e-01 7.53347000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.038040942 meters 0.019313938680714494 Centerline is valid? [True, True] Translation: X:17.94, Y:0.70, Z:0.75 [[ 9.90846313e-01 -1.25960281e-01 -4.85550456e-02 1.79443452e+01] [ 1.25849064e-01 9.92034958e-01 -5.35311873e-03 7.01603319e-01] [ 4.88425829e-02 -8.06489074e-04 9.98806163e-01 7.54697643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.068040942 meters 0.019618386321336823 Centerline is valid? [True, True] Translation: X:17.97, Y:0.70, Z:0.76 [[ 9.90746539e-01 -1.26660052e-01 -4.87701516e-02 1.79718122e+01] [ 1.26548052e-01 9.91945835e-01 -5.38990187e-03 7.03723770e-01] [ 4.90600340e-02 -8.31741053e-04 9.98795485e-01 7.55742696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.098040942 meters 0.019721389394871756 Centerline is valid? [True, True] Translation: X:18.00, Y:0.71, Z:0.76 [[ 9.90643064e-01 -1.27561987e-01 -4.85207128e-02 1.80002100e+01] [ 1.27451880e-01 9.91830223e-01 -5.36911117e-03 7.06099018e-01] [ 4.88092039e-02 -8.65183311e-04 9.98807746e-01 7.57251311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.128040942 meters 0.020052939948490948 Centerline is valid? [True, True] Translation: X:18.03, Y:0.71, Z:0.76 [[ 9.90504382e-01 -1.28849349e-01 -4.79470078e-02 1.80291373e+01] [ 1.28742786e-01 9.91663766e-01 -5.31704414e-03 7.07833322e-01] [ 4.82324080e-02 -9.06275855e-04 9.98835729e-01 7.58879222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.158040942 meters 0.02014663362675293 Centerline is valid? [True, True] Translation: X:18.06, Y:0.71, Z:0.76 [[ 9.90588049e-01 -1.28201921e-01 -4.79539938e-02 1.80568581e+01] [ 1.28094043e-01 9.91747710e-01 -5.32871617e-03 7.11741296e-01] [ 4.82414152e-02 -8.64058411e-04 9.98835331e-01 7.60445159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.188040942 meters 0.019969981205425858 Centerline is valid? [True, True] Translation: X:18.09, Y:0.72, Z:0.76 [[ 9.90658985e-01 -1.27525270e-01 -4.82916251e-02 1.80855801e+01] [ 1.27414835e-01 9.91834973e-01 -5.37095392e-03 7.16144486e-01] [ 4.85822551e-02 -8.32285664e-04 9.98818838e-01 7.61796311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.218040942 meters 0.019969981205425858 Centerline is valid? [True, True] Translation: X:18.11, Y:0.72, Z:0.76 [[ 9.90625289e-01 -1.27787234e-01 -4.82903665e-02 1.81129353e+01] [ 1.27676559e-01 9.91801254e-01 -5.38224810e-03 7.19303050e-01] [ 4.85822286e-02 -8.33756736e-04 9.98818838e-01 7.63020280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.248040942 meters 0.019884834678589848 Centerline is valid? [True, True] Translation: X:18.14, Y:0.72, Z:0.76 [[ 9.90696280e-01 -1.27165342e-01 -4.84753105e-02 1.81419189e+01] [ 1.27052446e-01 9.91881216e-01 -5.41572366e-03 7.23371012e-01] [ 4.87704422e-02 -7.93569452e-04 9.98809699e-01 7.64433057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.278040942 meters 0.019761734927860493 Centerline is valid? [True, True] Translation: X:18.17, Y:0.73, Z:0.77 [[ 9.90716546e-01 -1.27076901e-01 -4.82927211e-02 1.81694567e+01] [ 1.26964198e-01 9.91892565e-01 -5.40663609e-03 7.26837515e-01] [ 4.85882496e-02 -7.75002788e-04 9.98818593e-01 7.65922125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.308040941999998 meters 0.020012084008904377 Centerline is valid? [True, True] Translation: X:18.20, Y:0.73, Z:0.77 [[ 9.90730995e-01 -1.27149409e-01 -4.78029611e-02 1.81965212e+01] [ 1.27038486e-01 9.91883286e-01 -5.36383710e-03 7.28888340e-01] [ 4.80969668e-02 -7.58696145e-04 9.98842383e-01 7.67419966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.338040942 meters 0.020130399145126807 Centerline is valid? [True, True] Translation: X:18.22, Y:0.73, Z:0.77 [[ 9.90651903e-01 -1.27778043e-01 -4.77658796e-02 1.82246410e+01] [ 1.27667734e-01 9.91802480e-01 -5.36568369e-03 7.32290593e-01] [ 4.80599344e-02 -7.82636852e-04 9.98844147e-01 7.68646164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.368040942 meters 0.0199922550152437 Centerline is valid? [True, True] Translation: X:18.25, Y:0.74, Z:0.77 [[ 9.90595401e-01 -1.27991628e-01 -4.83621282e-02 1.82522735e+01] [ 1.27878179e-01 9.91774933e-01 -5.44542975e-03 7.36848509e-01] [ 4.86613159e-02 -7.90243210e-04 9.98815024e-01 7.69329052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.398040942 meters 0.01938951750535999 Centerline is valid? [True, True] Translation: X:18.28, Y:0.74, Z:0.77 [[ 9.90577999e-01 -1.28142947e-01 -4.83178265e-02 1.82803740e+01] [ 1.28029264e-01 9.91755398e-01 -5.45321181e-03 7.41980123e-01] [ 4.86182559e-02 -7.84264095e-04 9.98817125e-01 7.70632305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.428040942 meters 0.01923216340303857 Centerline is valid? [True, True] Translation: X:18.31, Y:0.75, Z:0.77 [[ 9.90573659e-01 -1.27827631e-01 -4.92333563e-02 1.83083738e+01] [ 1.27708516e-01 9.91796100e-01 -5.57049286e-03 7.45497827e-01] [ 4.95415137e-02 -7.69535388e-04 9.98771769e-01 7.71450989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.458040942 meters 0.020244722978646514 Centerline is valid? [True, True] Translation: X:18.34, Y:0.75, Z:0.77 [[ 9.90621762e-01 -1.27048993e-01 -5.02700425e-02 1.83367148e+01] [ 1.26923135e-01 9.91896172e-01 -5.70102644e-03 7.47190733e-01] [ 5.05869724e-02 -7.32870515e-04 9.98719391e-01 7.70037758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.488040942 meters 0.020217140237915977 Centerline is valid? [True, True] Translation: X:18.36, Y:0.75, Z:0.77 [[ 9.90719462e-01 -1.26306824e-01 -5.02148748e-02 1.83644240e+01] [ 1.26180071e-01 9.91990983e-01 -5.69908532e-03 7.51397258e-01] [ 5.05325364e-02 -6.89921718e-04 9.98722177e-01 7.70560929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.518040942 meters 0.02027086145967722 Centerline is valid? [True, True] Translation: X:18.39, Y:0.76, Z:0.77 [[ 9.90757688e-01 -1.26104150e-01 -4.99694643e-02 1.83923586e+01] [ 1.25978179e-01 9.92016780e-01 -5.67512376e-03 7.55439242e-01] [ 5.02862037e-02 -6.72389637e-04 9.98734622e-01 7.71556097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.548040942 meters 0.01902799754921618 Centerline is valid? [True, True] Translation: X:18.42, Y:0.76, Z:0.77 [[ 9.90811282e-01 -1.25859515e-01 -4.95215746e-02 1.84194512e+01] [ 1.25735243e-01 9.92047862e-01 -5.62918820e-03 7.63519818e-01] [ 4.98362592e-02 -6.49144029e-04 9.98757191e-01 7.74881761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.578040942 meters 0.019171228849834247 Centerline is valid? [True, True] Translation: X:18.45, Y:0.77, Z:0.78 [[ 9.90766973e-01 -1.26246801e-01 -4.94221689e-02 1.84477191e+01] [ 1.26122799e-01 9.91998649e-01 -5.63213018e-03 7.66595445e-01] [ 4.97377632e-02 -6.53133718e-04 9.98762098e-01 7.76068117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.608040942 meters 0.019686195887619617 Centerline is valid? [True, True] Translation: X:18.48, Y:0.77, Z:0.78 [[ 9.90515398e-01 -1.28248954e-01 -4.93097650e-02 1.84763365e+01] [ 1.28127297e-01 9.91741731e-01 -5.63335946e-03 7.68185748e-01] [ 4.96250242e-02 -7.37997621e-04 9.98767647e-01 7.76936853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.638040942 meters 0.01997985728683722 Centerline is valid? [True, True] Translation: X:18.51, Y:0.77, Z:0.78 [[ 9.90329017e-01 -1.29796465e-01 -4.90032277e-02 1.85052007e+01] [ 1.29677604e-01 9.91540337e-01 -5.61058058e-03 7.70666828e-01] [ 4.93169104e-02 -7.98300425e-04 9.98782862e-01 7.78355261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.668040942 meters 0.020439116959607324 Centerline is valid? [True, True] Translation: X:18.53, Y:0.77, Z:0.78 [[ 9.90143114e-01 -1.31480480e-01 -4.82648602e-02 1.85338663e+01] [ 1.31366594e-01 9.91318389e-01 -5.53796273e-03 7.73420307e-01] [ 4.85739775e-02 -8.57014654e-04 9.98819220e-01 7.79638157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.698040942 meters 0.022436006325236908 Centerline is valid? [True, True] Translation: X:18.56, Y:0.78, Z:0.78 [[ 9.89903456e-01 -1.33729764e-01 -4.69840165e-02 1.85611744e+01] [ 1.33623854e-01 9.91017398e-01 -5.40199163e-03 7.75625913e-01] [ 4.72843848e-02 -9.30735191e-04 9.98881034e-01 7.79306418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.728040942 meters 0.021496182653918016 Centerline is valid? [True, True] Translation: X:18.59, Y:0.78, Z:0.78 [[ 9.89812290e-01 -1.34872597e-01 -4.56181289e-02 1.85897167e+01] [ 1.34773746e-01 9.90862491e-01 -5.24982606e-03 7.78529699e-01] [ 4.59093505e-02 -9.51783753e-04 9.98945156e-01 7.82210276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.758040942 meters 0.021997246596208567 Centerline is valid? [True, True] Translation: X:18.62, Y:0.78, Z:0.78 [[ 9.89723408e-01 -1.35897807e-01 -4.44900194e-02 1.86175814e+01] [ 1.35804347e-01 9.90722391e-01 -5.13058012e-03 7.80519943e-01] [ 4.47744930e-02 -9.64082774e-04 9.98996654e-01 7.84131354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.788040942 meters 0.02236807374624382 Centerline is valid? [True, True] Translation: X:18.65, Y:0.78, Z:0.79 [[ 9.89737473e-01 -1.36700234e-01 -4.16266762e-02 1.86450142e+01] [ 1.36618987e-01 9.90612021e-01 -4.80374252e-03 7.82132717e-01] [ 4.18925586e-02 -9.32550369e-04 9.99121686e-01 7.86814227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.818040942 meters 0.022794701963086146 Centerline is valid? [True, True] Translation: X:18.67, Y:0.79, Z:0.79 [[ 9.89615113e-01 -1.37842539e-01 -4.07598099e-02 1.86737787e+01] [ 1.37765491e-01 9.90453693e-01 -4.70660089e-03 7.85108268e-01] [ 4.10194740e-02 -9.57571849e-04 9.99157888e-01 7.88444636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.848040942 meters 0.023035950903782878 Centerline is valid? [True, True] Translation: X:18.70, Y:0.79, Z:0.79 [[ 9.89640609e-01 -1.37916508e-01 -3.98810949e-02 1.87019284e+01] [ 1.37842438e-01 9.90443421e-01 -4.61430805e-03 7.88284770e-01] [ 4.01363573e-02 -9.30800740e-04 9.99193778e-01 7.88986152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.878040942 meters 0.023588222785904774 Centerline is valid? [True, True] Translation: X:18.73, Y:0.79, Z:0.79 [[ 9.89656722e-01 -1.37795001e-01 -3.99012499e-02 1.87299601e+01] [ 1.37720322e-01 9.90460347e-01 -4.62747561e-03 7.93348879e-01] [ 4.01582488e-02 -9.15600643e-04 9.99192913e-01 7.88227599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.908040942 meters 0.022350718608715556 Centerline is valid? [True, True] Translation: X:18.76, Y:0.80, Z:0.79 [[ 9.89779463e-01 -1.37206682e-01 -3.88708216e-02 1.87586346e+01] [ 1.37134928e-01 9.90542069e-01 -4.51892860e-03 7.97353151e-01] [ 3.91232113e-02 -8.57804618e-04 9.99234026e-01 7.90522020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.938040942 meters 0.022064223764563188 Centerline is valid? [True, True] Translation: X:18.79, Y:0.80, Z:0.79 [[ 9.90065745e-01 -1.35329173e-01 -3.81554198e-02 1.87868275e+01] [ 1.35258288e-01 9.90800402e-01 -4.44502760e-03 8.02006230e-01] [ 3.84059472e-02 -7.59967204e-04 9.99261930e-01 7.91162060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.968040942 meters 0.02209400780808248 Centerline is valid? [True, True] Translation: X:18.81, Y:0.80, Z:0.79 [[ 9.90226782e-01 -1.34262849e-01 -3.77413143e-02 1.88140536e+01] [ 1.34192327e-01 9.90945506e-01 -4.40710817e-03 8.04813681e-01] [ 3.79912967e-02 -7.00558256e-04 9.99277825e-01 7.92626005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.998040942 meters 0.021881604930859517 Centerline is valid? [True, True] Translation: X:18.84, Y:0.81, Z:0.79 [[ 9.90349582e-01 -1.33617345e-01 -3.67982368e-02 1.88417017e+01] [ 1.33549796e-01 9.91032781e-01 -4.29868605e-03 8.08474540e-01] [ 3.70426380e-02 -6.57195087e-04 9.99313470e-01 7.93738818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.028040942 meters 0.021663775394345455 Centerline is valid? [True, True] Translation: X:18.87, Y:0.81, Z:0.79 [[ 9.90694542e-01 -1.31145033e-01 -3.64047317e-02 1.88692447e+01] [ 1.31076824e-01 9.91363042e-01 -4.26443585e-03 8.11878477e-01] [ 3.66495651e-02 -5.47063267e-04 9.99328029e-01 7.94231613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.058040941999998 meters 0.021505040766114873 Centerline is valid? [True, True] Translation: X:18.90, Y:0.82, Z:0.80 [[ 9.90844473e-01 -1.30035218e-01 -3.63052761e-02 1.88981109e+01] [ 1.29966565e-01 9.91509248e-01 -4.25472606e-03 8.15341858e-01] [ 3.65502812e-02 -5.02700217e-04 9.99331689e-01 7.95092916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.088040942 meters 0.02120526370281453 Centerline is valid? [True, True] Translation: X:18.93, Y:0.82, Z:0.80 [[ 9.91179744e-01 -1.27522621e-01 -3.60651790e-02 1.89271255e+01] [ 1.27452892e-01 9.91835582e-01 -4.23532836e-03 8.18732791e-01] [ 3.63108280e-02 -3.98639688e-04 9.99340465e-01 7.96010389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.118040942 meters 0.021064514637662787 Centerline is valid? [True, True] Translation: X:18.96, Y:0.82, Z:0.80 [[ 9.91305574e-01 -1.26521107e-01 -3.61340451e-02 1.89556157e+01] [ 1.26450123e-01 9.91963852e-01 -4.25230487e-03 8.22265265e-01] [ 3.63816729e-02 -3.53820948e-04 9.99337905e-01 7.96585526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.148040941999998 meters 0.02104291632765731 Centerline is valid? [True, True] Translation: X:18.98, Y:0.82, Z:0.80 [[ 9.91506253e-01 -1.25045559e-01 -3.57625161e-02 1.89829934e+01] [ 1.24974699e-01 9.92150959e-01 -4.21883112e-03 8.24583302e-01] [ 3.60093607e-02 -2.86412242e-04 9.99351412e-01 7.98386306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.178040942 meters 0.020964308826015035 Centerline is valid? [True, True] Translation: X:19.01, Y:0.83, Z:0.80 [[ 9.91915656e-01 -1.21729699e-01 -3.58498574e-02 1.90116031e+01] [ 1.21656256e-01 9.92563274e-01 -4.23109749e-03 8.28710082e-01] [ 3.60983021e-02 -1.64467578e-04 9.99348230e-01 7.99015167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.208040942 meters 0.02080852913409744 Centerline is valid? [True, True] Translation: X:19.04, Y:0.83, Z:0.80 [[ 9.92149094e-01 -1.19877911e-01 -3.56294930e-02 1.90394933e+01] [ 1.19803886e-01 9.92788637e-01 -4.21310276e-03 8.32739501e-01] [ 3.58776137e-02 -8.85256272e-05 9.99356187e-01 7.99526135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.238040942 meters 0.020862593919090795 Centerline is valid? [True, True] Translation: X:19.07, Y:0.83, Z:0.80 [[ 9.92561020e-01 -1.16551395e-01 -3.51908255e-02 1.90676891e+01] [ 1.16476749e-01 9.93184661e-01 -4.17089451e-03 8.34665097e-01] [ 3.54371117e-02 4.09543708e-05 9.99371907e-01 8.01091835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.268040942 meters 0.02107878617014883 Centerline is valid? [True, True] Translation: X:19.10, Y:0.84, Z:0.80 [[ 9.92662187e-01 -1.15906470e-01 -3.44597306e-02 1.90966946e+01] [ 1.15834155e-01 9.93260130e-01 -4.09434282e-03 8.37555389e-01] [ 3.47020373e-02 7.26855186e-05 9.99397700e-01 8.01909854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.298040942 meters 0.021193937540602545 Centerline is valid? [True, True] Translation: X:19.12, Y:0.84, Z:0.80 [[ 9.92778899e-01 -1.14884228e-01 -3.45206011e-02 1.91242638e+01] [ 1.14810742e-01 9.93378881e-01 -4.11013750e-03 8.40852873e-01] [ 3.47642261e-02 1.17121963e-04 9.99395535e-01 8.03026251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.328040942 meters 0.021376771302877663 Centerline is valid? [True, True] Translation: X:19.15, Y:0.84, Z:0.80 [[ 9.92950329e-01 -1.13496251e-01 -3.41796027e-02 1.91521050e+01] [ 1.13422977e-01 9.93538409e-01 -4.08143685e-03 8.44280799e-01] [ 3.44219759e-02 1.75911770e-04 9.99407373e-01 8.04613561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.358040942 meters 0.021496483387291727 Centerline is valid? [True, True] Translation: X:19.18, Y:0.85, Z:0.81 [[ 9.92957660e-01 -1.13348622e-01 -3.44554115e-02 1.91804746e+01] [ 1.13274028e-01 9.93555261e-01 -4.11563458e-03 8.46797578e-01] [ 3.46998569e-02 1.83747622e-04 9.99397762e-01 8.05511775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.388040942 meters 0.021421391552052974 Centerline is valid? [True, True] Translation: X:19.21, Y:0.85, Z:0.81 [[ 9.92923874e-01 -1.13712658e-01 -3.42288093e-02 1.92084140e+01] [ 1.13638925e-01 9.93513663e-01 -4.09822370e-03 8.49034757e-01] [ 3.44728097e-02 1.79499059e-04 9.99405620e-01 8.06382578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.418040942 meters 0.021379936195902095 Centerline is valid? [True, True] Translation: X:19.24, Y:0.85, Z:0.81 [[ 9.92864944e-01 -1.13818067e-01 -3.55619185e-02 1.92364831e+01] [ 1.13738116e-01 9.93501590e-01 -4.26980114e-03 8.49796033e-01] [ 3.58168031e-02 1.94590267e-04 9.99358354e-01 8.06930970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.448040942 meters 0.021391555568649582 Centerline is valid? [True, True] Translation: X:19.26, Y:0.85, Z:0.81 [[ 9.92809675e-01 -1.14228101e-01 -3.57895135e-02 1.92647062e+01] [ 1.14147264e-01 9.93454532e-01 -4.30061413e-03 8.51967492e-01] [ 3.60465054e-02 1.84416286e-04 9.99350097e-01 8.07292943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.478040942 meters 0.021485596475790965 Centerline is valid? [True, True] Translation: X:19.29, Y:0.85, Z:0.81 [[ 9.92708611e-01 -1.15007628e-01 -3.60951319e-02 1.92929925e+01] [ 1.14925537e-01 9.93364594e-01 -4.34785150e-03 8.53472240e-01] [ 3.63556622e-02 1.67897228e-04 9.99338900e-01 8.07846031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.508040942 meters 0.02143639241610343 Centerline is valid? [True, True] Translation: X:19.32, Y:0.86, Z:0.81 [[ 9.92631318e-01 -1.15567733e-01 -3.64302915e-02 1.93205481e+01] [ 1.15484097e-01 9.93299589e-01 -4.39880691e-03 8.55773860e-01] [ 3.66945537e-02 1.59274169e-04 9.99326515e-01 8.09299821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.538040942 meters 0.021486992580443304 Centerline is valid? [True, True] Translation: X:19.35, Y:0.86, Z:0.81 [[ 9.92598981e-01 -1.15734890e-01 -3.67790419e-02 1.93476599e+01] [ 1.15649322e-01 9.93280125e-01 -4.45270658e-03 8.58049584e-01] [ 3.70472248e-02 1.66280750e-04 9.99313502e-01 8.11202840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.568040942 meters 0.02150241231591984 Centerline is valid? [True, True] Translation: X:19.38, Y:0.86, Z:0.81 [[ 9.92479858e-01 -1.16768482e-01 -3.67267450e-02 1.93753362e+01] [ 1.16683740e-01 9.93159154e-01 -4.44974542e-03 8.60493041e-01] [ 3.69950930e-02 1.30868715e-04 9.99315439e-01 8.12844914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.598040942 meters 0.021520897213246903 Centerline is valid? [True, True] Translation: X:19.40, Y:0.86, Z:0.81 [[ 9.92345731e-01 -1.17803787e-01 -3.70434488e-02 1.94034984e+01] [ 1.17717912e-01 9.93036886e-01 -4.49844704e-03 8.62756095e-01] [ 3.73154451e-02 1.03337273e-04 9.99303531e-01 8.13204225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.628040942 meters 0.02152811726019218 Centerline is valid? [True, True] Translation: X:19.43, Y:0.87, Z:0.81 [[ 9.92257389e-01 -1.18417592e-01 -3.74505957e-02 1.94306253e+01] [ 1.18329798e-01 9.92963879e-01 -4.55999549e-03 8.65368062e-01] [ 3.77270725e-02 9.31677878e-05 9.99288076e-01 8.14345517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.658040942 meters 0.021518647955001767 Centerline is valid? [True, True] Translation: X:19.46, Y:0.86, Z:0.82 [[ 9.92045626e-01 -1.19867174e-01 -3.84361324e-02 1.94593639e+01] [ 1.19775627e-01 9.92789937e-01 -4.68405424e-03 8.64961562e-01] [ 3.87204698e-02 4.30836590e-05 9.99250080e-01 8.15596817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.688040942 meters 0.02162118037053695 Centerline is valid? [True, True] Translation: X:19.49, Y:0.87, Z:0.82 [[ 9.91834478e-01 -1.21291862e-01 -3.94037177e-02 1.94873584e+01] [ 1.21196313e-01 9.92616887e-01 -4.81346782e-03 8.66146810e-01] [ 3.96966300e-02 -1.42195572e-06 9.99211778e-01 8.16294422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.718040942 meters 0.021554647279360364 Centerline is valid? [True, True] Translation: X:19.51, Y:0.87, Z:0.82 [[ 9.91664211e-01 -1.22409603e-01 -4.02241309e-02 1.95147622e+01] [ 1.22310450e-01 9.92479666e-01 -4.92606436e-03 8.67681691e-01] [ 4.05246296e-02 -3.48298051e-05 9.99178539e-01 8.17848460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.748040942 meters 0.02170036383147637 Centerline is valid? [True, True] Translation: X:19.54, Y:0.87, Z:0.82 [[ 9.91365904e-01 -1.24258130e-01 -4.18755437e-02 1.95430959e+01] [ 1.24151954e-01 9.92249921e-01 -5.13678528e-03 8.69283580e-01] [ 4.21892922e-02 -1.06496784e-04 9.99109630e-01 8.17878673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.778040942 meters 0.021900755793036263 Centerline is valid? [True, True] Translation: X:19.57, Y:0.87, Z:0.82 [[ 9.91221032e-01 -1.25080751e-01 -4.28447334e-02 1.95709907e+01] [ 1.24969840e-01 9.92146556e-01 -5.26793095e-03 8.72594250e-01] [ 4.31671714e-02 -1.32615517e-04 9.99067854e-01 8.17842101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.808040941999998 meters 0.021866682325490567 Centerline is valid? [True, True] Translation: X:19.60, Y:0.88, Z:0.82 [[ 9.91190985e-01 -1.25046306e-01 -4.36331498e-02 1.95983026e+01] [ 1.24930678e-01 9.92150899e-01 -5.37763854e-03 8.75589027e-01] [ 4.39631226e-02 -1.20852133e-04 9.99033147e-01 8.18378084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.838040942 meters 0.021919043961267447 Centerline is valid? [True, True] Translation: X:19.63, Y:0.88, Z:0.82 [[ 9.91120801e-01 -1.24863088e-01 -4.57030317e-02 1.96266545e+01] [ 1.24735745e-01 9.92173975e-01 -5.63889621e-03 8.77405783e-01] [ 4.60494486e-02 -1.11974370e-04 9.98939155e-01 8.18395347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.868040942 meters 0.021951307888732154 Centerline is valid? [True, True] Translation: X:19.65, Y:0.88, Z:0.82 [[ 9.91027777e-01 -1.25420955e-01 -4.61901511e-02 1.96549350e+01] [ 1.25290870e-01 9.92103608e-01 -5.71224242e-03 8.79094093e-01] [ 4.65418504e-02 -1.26213313e-04 9.98916333e-01 8.20181631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.898040941999998 meters 0.022022564816778608 Centerline is valid? [True, True] Translation: X:19.68, Y:0.88, Z:0.82 [[ 9.90843581e-01 -1.26879921e-01 -4.61571629e-02 1.96817241e+01] [ 1.26750990e-01 9.91918068e-01 -5.72133074e-03 8.78532133e-01] [ 4.65100458e-02 -1.81522267e-04 9.98917806e-01 8.22649314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.928040942 meters 0.02207336358470567 Centerline is valid? [True, True] Translation: X:19.71, Y:0.88, Z:0.82 [[ 9.90710553e-01 -1.28051085e-01 -4.57768451e-02 1.97091339e+01] [ 1.27925102e-01 9.91767548e-01 -5.68326036e-03 8.81086972e-01] [ 4.61277371e-02 -2.25541563e-04 9.98935524e-01 8.24913009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.958040942 meters 0.02213971772042534 Centerline is valid? [True, True] Translation: X:19.74, Y:0.88, Z:0.83 [[ 9.90588230e-01 -1.29083211e-01 -4.55245251e-02 1.97365898e+01] [ 1.28959116e-01 9.91633732e-01 -5.66471346e-03 8.83502294e-01] [ 4.58748741e-02 -2.59404019e-04 9.98947160e-01 8.26607111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.988040942 meters 0.02218017992880196 Centerline is valid? [True, True] Translation: X:19.76, Y:0.89, Z:0.83 [[ 9.90472086e-01 -1.29938242e-01 -4.56190774e-02 1.97644236e+01] [ 1.29814336e-01 9.91522045e-01 -5.68084485e-03 8.86344058e-01] [ 4.59704799e-02 -2.95291989e-04 9.98942755e-01 8.28649230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.018040942 meters 0.022085121971861126 Centerline is valid? [True, True] Translation: X:19.79, Y:0.89, Z:0.83 [[ 9.90295514e-01 -1.30913922e-01 -4.66512665e-02 1.97928338e+01] [ 1.30784779e-01 9.91393682e-01 -5.82310914e-03 8.86924466e-01] [ 4.70120969e-02 -3.34676742e-04 9.98894264e-01 8.30023086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.048040942 meters 0.02207075521822538 Centerline is valid? [True, True] Translation: X:19.82, Y:0.89, Z:0.83 [[ 9.90287101e-01 -1.30855728e-01 -4.69918737e-02 1.98204009e+01] [ 1.30723983e-01 9.91401370e-01 -5.87918694e-03 8.89096045e-01] [ 4.73571332e-02 -3.20881887e-04 9.98877970e-01 8.31423106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.078040942 meters 0.021772102250173304 Centerline is valid? [True, True] Translation: X:19.85, Y:0.89, Z:0.83 [[ 9.90335947e-01 -1.30666506e-01 -4.64862924e-02 1.98482183e+01] [ 1.30536750e-01 9.91426335e-01 -5.82922922e-03 8.90628155e-01] [ 4.68494195e-02 -2.95274273e-04 9.98901919e-01 8.33726823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.108040942 meters 0.021663381890382197 Centerline is valid? [True, True] Translation: X:19.88, Y:0.89, Z:0.84 [[ 9.90377833e-01 -1.30435304e-01 -4.62426237e-02 1.98755483e+01] [ 1.30306041e-01 9.91456786e-01 -5.81178233e-03 8.93437778e-01] [ 4.66056247e-02 -2.69832851e-04 9.98913331e-01 8.35638171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.138040942 meters 0.021663381890382197 Centerline is valid? [True, True] Translation: X:19.90, Y:0.90, Z:0.84 [[ 9.90340744e-01 -1.30716877e-01 -4.62418570e-02 1.99028726e+01] [ 1.30587637e-01 9.91419700e-01 -5.81787662e-03 8.96959002e-01] [ 4.66055826e-02 -2.76934590e-04 9.98913331e-01 8.36863894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.168040942 meters 0.021570977780868045 Centerline is valid? [True, True] Translation: X:19.93, Y:0.90, Z:0.84 [[ 9.90355580e-01 -1.30539281e-01 -4.64254280e-02 1.99294703e+01] [ 1.30408204e-01 9.91443105e-01 -5.85406229e-03 8.99485537e-01] [ 4.67923556e-02 -2.56653438e-04 9.98904605e-01 8.38156658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.198040942 meters 0.021326727370028102 Centerline is valid? [True, True] Translation: X:19.96, Y:0.90, Z:0.84 [[ 9.90358133e-01 -1.30053417e-01 -4.77166319e-02 1.99576860e+01] [ 1.29914056e-01 9.91506961e-01 -6.02359149e-03 9.01784304e-01] [ 4.80947614e-02 -2.33548389e-04 9.98842750e-01 8.39738290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.228040942 meters 0.02122597103840459 Centerline is valid? [True, True] Translation: X:19.99, Y:0.90, Z:0.84 [[ 9.90332770e-01 -1.30051489e-01 -4.82453520e-02 1.99854858e+01] [ 1.29908329e-01 9.91507217e-01 -6.10452469e-03 9.04482058e-01] [ 4.86295173e-02 -2.21962209e-04 9.98816860e-01 8.40890645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.258040942 meters 0.021084120342635633 Centerline is valid? [True, True] Translation: X:20.01, Y:0.91, Z:0.84 [[ 9.90297122e-01 -1.29835090e-01 -4.95424959e-02 2.00138017e+01] [ 1.29683108e-01 9.91535581e-01 -6.28355446e-03 9.06278810e-01] [ 4.99389733e-02 -2.02238949e-04 9.98752251e-01 8.42170336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.288040942 meters 0.020992687274810556 Centerline is valid? [True, True] Translation: X:20.04, Y:0.91, Z:0.84 [[ 9.90345179e-01 -1.29490479e-01 -4.94837645e-02 2.00417865e+01] [ 1.29337702e-01 9.91580651e-01 -6.29060793e-03 9.09638244e-01] [ 4.98817173e-02 -1.70243180e-04 9.98755118e-01 8.43574481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.318040942 meters 0.020891416783469192 Centerline is valid? [True, True] Translation: X:20.07, Y:0.91, Z:0.84 [[ 9.90376499e-01 -1.29236594e-01 -4.95206339e-02 2.00681261e+01] [ 1.29082576e-01 9.91613777e-01 -6.30923411e-03 9.13010919e-01] [ 4.99207268e-02 -1.43733801e-04 9.98753173e-01 8.44699789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.348040942 meters 0.02067297060354099 Centerline is valid? [True, True] Translation: X:20.10, Y:0.92, Z:0.85 [[ 9.90438250e-01 -1.29246651e-01 -4.82428957e-02 2.00963060e+01] [ 1.29100024e-01 9.91612468e-01 -6.15611735e-03 9.16528110e-01] [ 4.86339144e-02 -1.30904900e-04 9.98816662e-01 8.47042011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.378040942 meters 0.020561487865165394 Centerline is valid? [True, True] Translation: X:20.12, Y:0.92, Z:0.85 [[ 9.90423017e-01 -1.29707987e-01 -4.73084027e-02 2.01237662e+01] [ 1.29566878e-01 9.91552227e-01 -6.05019689e-03 9.19244717e-01] [ 4.76935109e-02 -1.37347759e-04 9.98862008e-01 8.48872011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.408040942 meters 0.020567470359490983 Centerline is valid? [True, True] Translation: X:20.15, Y:0.92, Z:0.85 [[ 9.90288823e-01 -1.31051870e-01 -4.64053272e-02 2.01515107e+01] [ 1.30916963e-01 9.91375496e-01 -5.94774558e-03 9.19721675e-01] [ 4.67845674e-02 -1.85258527e-04 9.98904985e-01 8.51872811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.438040942 meters 0.020661465438978555 Centerline is valid? [True, True] Translation: X:20.18, Y:0.92, Z:0.85 [[ 9.90189928e-01 -1.31699996e-01 -4.66799486e-02 2.01789832e+01] [ 1.31563588e-01 9.91289599e-01 -5.99608783e-03 9.21588316e-01] [ 4.70630323e-02 -2.04115726e-04 9.98891901e-01 8.53228318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.468040942 meters 0.020883717375484983 Centerline is valid? [True, True] Translation: X:20.21, Y:0.92, Z:0.85 [[ 9.89991976e-01 -1.32959687e-01 -4.73033780e-02 2.02065665e+01] [ 1.32820734e-01 9.91121412e-01 -6.08268732e-03 9.24735759e-01] [ 4.76921430e-02 -2.61057766e-04 9.98862048e-01 8.53390293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.498040942 meters 0.020485741528033726 Centerline is valid? [True, True] Translation: X:20.23, Y:0.93, Z:0.85 [[ 9.89913060e-01 -1.32615999e-01 -4.98510745e-02 2.02347940e+01] [ 1.32460522e-01 9.91167462e-01 -6.42438456e-03 9.27409953e-01] [ 5.02627392e-02 -2.43717186e-04 9.98736000e-01 8.52644050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.528040942 meters 0.02045019296771468 Centerline is valid? [True, True] Translation: X:20.26, Y:0.93, Z:0.85 [[ 9.89848247e-01 -1.32638020e-01 -5.10647032e-02 2.02626688e+01] [ 1.32474593e-01 9.91164515e-01 -6.58684953e-03 9.31219382e-01] [ 5.14871885e-02 -2.44794307e-04 9.98673625e-01 8.53388283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.558040941999998 meters 0.020370073520057444 Centerline is valid? [True, True] Translation: X:20.29, Y:0.93, Z:0.85 [[ 9.89828764e-01 -1.32489565e-01 -5.18221331e-02 2.02897954e+01] [ 1.32320299e-01 9.91184374e-01 -6.69885253e-03 9.34544725e-01] [ 5.22528166e-02 -2.26403234e-04 9.98633863e-01 8.52876657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.588040942 meters 0.020242270748644143 Centerline is valid? [True, True] Translation: X:20.32, Y:0.94, Z:0.85 [[ 9.89820124e-01 -1.32629170e-01 -5.16296989e-02 2.03173613e+01] [ 1.32460793e-01 9.91165705e-01 -6.68464114e-03 9.37822485e-01] [ 5.20601653e-02 -2.22318560e-04 9.98643925e-01 8.54748499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.618040942 meters 0.020326936948020347 Centerline is valid? [True, True] Translation: X:20.34, Y:0.94, Z:0.86 [[ 9.89790948e-01 -1.32855639e-01 -5.16067757e-02 2.03445794e+01] [ 1.32687019e-01 9.91135374e-01 -6.69511290e-03 9.40608121e-01] [ 5.20387844e-02 -2.20787071e-04 9.98645040e-01 8.56047618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.648040941999998 meters 0.020193248538804314 Centerline is valid? [True, True] Translation: X:20.37, Y:0.94, Z:0.86 [[ 9.89747554e-01 -1.33388654e-01 -5.10612075e-02 2.03725714e+01] [ 1.33223916e-01 9.91063777e-01 -6.63161739e-03 9.43302545e-01] [ 5.14894957e-02 -2.38946951e-04 9.98673508e-01 8.58162389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.678040942 meters 0.020234254062798974 Centerline is valid? [True, True] Translation: X:20.40, Y:0.95, Z:0.86 [[ 9.89742231e-01 -1.33521979e-01 -5.08153299e-02 2.03996259e+01] [ 1.33358337e-01 9.91045825e-01 -6.61260448e-03 9.46157711e-01] [ 5.12432485e-02 -2.31873980e-04 9.98686175e-01 8.59277879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.708040942 meters 0.02011448655950445 Centerline is valid? [True, True] Translation: X:20.43, Y:0.95, Z:0.86 [[ 9.89688260e-01 -1.33897390e-01 -5.08786461e-02 2.04273450e+01] [ 1.33733471e-01 9.90995171e-01 -6.62795726e-03 9.48889823e-01] [ 5.13079587e-02 -2.44566431e-04 9.98682849e-01 8.60714842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.738040942 meters 0.02003433939116846 Centerline is valid? [True, True] Translation: X:20.46, Y:0.95, Z:0.86 [[ 9.89709648e-01 -1.33949958e-01 -5.03211850e-02 2.04552150e+01] [ 1.33788990e-01 9.90988070e-01 -6.56893371e-03 9.50144797e-01] [ 5.07476024e-02 -2.31083457e-04 9.98711484e-01 8.63385238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.768040942 meters 0.020003973881748866 Centerline is valid? [True, True] Translation: X:20.48, Y:0.95, Z:0.86 [[ 9.89729045e-01 -1.33892290e-01 -5.00926443e-02 2.04823339e+01] [ 1.33732020e-01 9.90995867e-01 -6.55269509e-03 9.52907388e-01] [ 5.05189589e-02 -2.13597854e-04 9.98723079e-01 8.64220247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.798040942 meters 0.019816247651525086 Centerline is valid? [True, True] Translation: X:20.51, Y:0.96, Z:0.87 [[ 9.89980666e-01 -1.32158548e-01 -4.97232157e-02 2.05101296e+01] [ 1.31997948e-01 9.91228584e-01 -6.51435476e-03 9.59399206e-01] [ 5.01480003e-02 -1.14277151e-04 9.98741791e-01 8.65521618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.828040942 meters 0.019671547258569975 Centerline is valid? [True, True] Translation: X:20.54, Y:0.96, Z:0.87 [[ 9.90105118e-01 -1.31203547e-01 -4.97743328e-02 2.05379218e+01] [ 1.31040710e-01 9.91355449e-01 -6.53497019e-03 9.64701760e-01] [ 5.02014673e-02 -5.21564927e-05 9.98739110e-01 8.66644044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.858040942 meters 0.01968393902657852 Centerline is valid? [True, True] Translation: X:20.56, Y:0.97, Z:0.87 [[ 9.90351192e-01 -1.29396715e-01 -4.96085422e-02 2.05642182e+01] [ 1.29232032e-01 9.91592904e-01 -6.52644633e-03 9.69475182e-01] [ 5.00359791e-02 5.24611773e-05 9.98747415e-01 8.67097327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.888040942 meters 0.019756766953278642 Centerline is valid? [True, True] Translation: X:20.59, Y:0.97, Z:0.87 [[ 9.90572233e-01 -1.27512531e-01 -5.00719980e-02 2.05916658e+01] [ 1.27342045e-01 9.91836948e-01 -6.59342083e-03 9.74167112e-01] [ 5.05040015e-02 1.54988995e-04 9.98723847e-01 8.68136870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.918040942 meters 0.019976874647908358 Centerline is valid? [True, True] Translation: X:20.62, Y:0.98, Z:0.87 [[ 9.90993517e-01 -1.24263417e-01 -4.99044297e-02 2.06203280e+01] [ 1.24089698e-01 9.92249212e-01 -6.57639869e-03 9.78920360e-01] [ 5.03348368e-02 3.24542846e-04 9.98732346e-01 8.70598307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.948040942 meters 0.020133637771786478 Centerline is valid? [True, True] Translation: X:20.65, Y:0.98, Z:0.87 [[ 9.91176277e-01 -1.22501335e-01 -5.06261940e-02 2.06487550e+01] [ 1.22319617e-01 9.92468254e-01 -6.68395691e-03 9.82944459e-01] [ 5.10636840e-02 4.32402841e-04 9.98695305e-01 8.72376831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.978040942 meters 0.02009879574651496 Centerline is valid? [True, True] Translation: X:20.68, Y:0.99, Z:0.87 [[ 9.91176944e-01 -1.22075078e-01 -5.16327470e-02 2.06776434e+01] [ 1.21884781e-01 9.92520754e-01 -6.83024341e-03 9.88399193e-01] [ 5.20803755e-02 4.76733737e-04 9.98642783e-01 8.72501463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.008040942 meters 0.020515006656064566 Centerline is valid? [True, True] Translation: X:20.71, Y:1.00, Z:0.87 [[ 9.91247763e-01 -1.21387712e-01 -5.18931180e-02 2.07053307e+01] [ 1.21193918e-01 9.92605030e-01 -6.87669638e-03 9.95233133e-01] [ 5.23441164e-02 5.27379606e-04 9.98628968e-01 8.71447077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.038040942 meters 0.020596537436725123 Centerline is valid? [True, True] Translation: X:20.73, Y:1.00, Z:0.87 [[ 9.91293683e-01 -1.20882462e-01 -5.21944890e-02 2.07336010e+01] [ 1.20685396e-01 9.92666668e-01 -6.92256152e-03 1.00054695e+00] [ 5.26485458e-02 5.63178910e-04 9.98612945e-01 8.71933224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.068040942 meters 0.020548674262704736 Centerline is valid? [True, True] Translation: X:20.76, Y:1.00, Z:0.87 [[ 9.91267446e-01 -1.20891132e-01 -5.26705359e-02 2.07611148e+01] [ 1.20689779e-01 9.92665602e-01 -6.99858718e-03 1.00470266e+00] [ 5.31302963e-02 5.80676322e-04 9.98587420e-01 8.73549011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.098040942 meters 0.020434662936724107 Centerline is valid? [True, True] Translation: X:20.79, Y:1.01, Z:0.88 [[ 9.91224258e-01 -1.21361763e-01 -5.24003229e-02 2.07887914e+01] [ 1.21162464e-01 9.92608182e-01 -6.97526006e-03 1.00796590e+00] [ 5.28595191e-02 5.65094766e-04 9.98601798e-01 8.75337695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.128040942 meters 0.02006113425943105 Centerline is valid? [True, True] Translation: X:20.82, Y:1.01, Z:0.88 [[ 9.91087834e-01 -1.22658739e-01 -5.19590116e-02 2.08179488e+01] [ 1.22464271e-01 9.92448783e-01 -6.92211708e-03 1.01010298e+00] [ 5.24157159e-02 4.97303525e-04 9.98625228e-01 8.78031442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.158040942 meters 0.01966611217276549 Centerline is valid? [True, True] Translation: X:20.85, Y:1.01, Z:0.88 [[ 9.90713345e-01 -1.26098381e-01 -5.08553410e-02 2.08468876e+01] [ 1.25915986e-01 9.92017689e-01 -6.78741346e-03 1.01265409e+00] [ 5.13052797e-02 3.20880681e-04 9.98682965e-01 8.80448649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.188040942 meters 0.019536180921993062 Centerline is valid? [True, True] Translation: X:20.87, Y:1.02, Z:0.88 [[ 9.90497403e-01 -1.27894332e-01 -5.05760315e-02 2.08748420e+01] [ 1.27715683e-01 9.91787771e-01 -6.76175240e-03 1.01674537e+00] [ 5.10254793e-02 2.38145807e-04 9.98697323e-01 8.81445527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.218040942 meters 0.019372718030122645 Centerline is valid? [True, True] Translation: X:20.90, Y:1.02, Z:0.88 [[ 9.89947498e-01 -1.32317240e-01 -4.99609696e-02 2.09030752e+01] [ 1.32148271e-01 9.91207419e-01 -6.68481100e-03 1.01969789e+00] [ 5.04061995e-02 1.53562005e-05 9.98728799e-01 8.82690938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.248040942 meters 0.019353338611466576 Centerline is valid? [True, True] Translation: X:20.93, Y:1.02, Z:0.88 [[ 9.89677145e-01 -1.34330060e-01 -4.99457998e-02 2.09307527e+01] [ 1.34163134e-01 9.90936642e-01 -6.69508850e-03 1.02295446e+00] [ 5.03924748e-02 -7.49089569e-05 9.98729489e-01 8.84647266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.278040942 meters 0.019385904021634277 Centerline is valid? [True, True] Translation: X:20.96, Y:1.03, Z:0.89 [[ 9.89421204e-01 -1.35977025e-01 -5.05562079e-02 2.09586911e+01] [ 1.35807462e-01 9.90711980e-01 -6.79015140e-03 1.02592487e+00] [ 5.10099454e-02 -1.47590531e-04 9.98698134e-01 8.85953384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.308040941999998 meters 0.019512651069793507 Centerline is valid? [True, True] Translation: X:20.99, Y:1.03, Z:0.89 [[ 9.89182766e-01 -1.37458058e-01 -5.12126647e-02 2.09876773e+01] [ 1.37285751e-01 9.90507564e-01 -6.88398433e-03 1.02921368e+00] [ 5.16727908e-02 -2.21250454e-04 9.98664044e-01 8.87507133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.338040942 meters 0.019658746537825365 Centerline is valid? [True, True] Translation: X:21.02, Y:1.03, Z:0.89 [[ 9.88770402e-01 -1.39815450e-01 -5.27705639e-02 2.10158546e+01] [ 1.39635140e-01 9.90177521e-01 -7.10666853e-03 1.03412154e+00] [ 5.32458482e-02 -3.41761560e-04 9.98581375e-01 8.87129569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.368040942 meters 0.019649287516308563 Centerline is valid? [True, True] Translation: X:21.04, Y:1.04, Z:0.89 [[ 9.88618935e-01 -1.40832986e-01 -5.29024785e-02 2.10437249e+01] [ 1.40652514e-01 9.90033294e-01 -7.13778204e-03 1.03967477e+00] [ 5.33804502e-02 -3.84320118e-04 9.98574173e-01 8.87556479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.398040941999998 meters 0.019941109580177478 Centerline is valid? [True, True] Translation: X:21.07, Y:1.05, Z:0.89 [[ 9.88355124e-01 -1.42960152e-01 -5.21204770e-02 2.10705426e+01] [ 1.42787243e-01 9.89728329e-01 -7.04538072e-03 1.04503801e+00] [ 5.25923213e-02 -4.78801096e-04 9.98615951e-01 8.89805853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.428040942 meters 0.020023189778666337 Centerline is valid? [True, True] Translation: X:21.10, Y:1.05, Z:0.89 [[ 9.88144802e-01 -1.44643627e-01 -5.14594137e-02 2.10989245e+01] [ 1.44477029e-01 9.89483660e-01 -6.96237362e-03 1.04942408e+00] [ 5.19253120e-02 -5.54869922e-04 9.98650817e-01 8.91799276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.458040942 meters 0.020186360891501068 Centerline is valid? [True, True] Translation: X:21.13, Y:1.05, Z:0.89 [[ 9.87853558e-01 -1.46775755e-01 -5.10120202e-02 2.11276188e+01] [ 1.46614250e-01 9.89169579e-01 -6.91413387e-03 1.05348186e+00] [ 5.14743657e-02 -6.48937318e-04 9.98674105e-01 8.93154003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.488040942 meters 0.020632979707787116 Centerline is valid? [True, True] Translation: X:21.16, Y:1.06, Z:0.89 [[ 9.87236434e-01 -1.50557189e-01 -5.19303064e-02 2.11565439e+01] [ 1.50394363e-01 9.88600937e-01 -7.05144567e-03 1.05595058e+00] [ 5.23999954e-02 -8.48581275e-04 9.98625816e-01 8.94946386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.518040942 meters 0.021040127462351458 Centerline is valid? [True, True] Translation: X:21.18, Y:1.06, Z:0.90 [[ 9.86985752e-01 -1.52204074e-01 -5.18945662e-02 2.11845419e+01] [ 1.52043131e-01 9.88348656e-01 -7.05831568e-03 1.05942971e+00] [ 5.23642291e-02 -9.23755315e-04 9.98627625e-01 8.96806466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.548040942 meters 0.0214647617678039 Centerline is valid? [True, True] Translation: X:21.21, Y:1.07, Z:0.90 [[ 9.86693768e-01 -1.54470804e-01 -5.07363615e-02 2.12124440e+01] [ 1.54319595e-01 9.87996834e-01 -6.90791120e-03 1.06568360e+00] [ 5.11944352e-02 -1.01362183e-03 9.98688191e-01 8.99199201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.578040942 meters 0.021682383487068312 Centerline is valid? [True, True] Translation: X:21.24, Y:1.07, Z:0.90 [[ 9.86520402e-01 -1.55632693e-01 -5.05565102e-02 2.12410050e+01] [ 1.55483466e-01 9.87814428e-01 -6.89541297e-03 1.07124392e+00] [ 5.10136019e-02 -1.05823586e-03 9.98697398e-01 9.00772368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.608040942 meters 0.020474192450393953 Centerline is valid? [True, True] Translation: X:21.27, Y:1.08, Z:0.90 [[ 9.86519754e-01 -1.55660470e-01 -5.04835931e-02 2.12682716e+01] [ 1.55511085e-01 9.87810065e-01 -6.89771808e-03 1.08011247e+00] [ 5.09419034e-02 -1.04602321e-03 9.98701071e-01 9.03288283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.638040942 meters 0.021413310328531127 Centerline is valid? [True, True] Translation: X:21.30, Y:1.08, Z:0.90 [[ 9.86611267e-01 -1.55043040e-01 -5.05951037e-02 2.12963664e+01] [ 1.54891492e-01 9.87907207e-01 -6.92646316e-03 1.08247262e+00] [ 5.10571675e-02 -1.00302451e-03 9.98695229e-01 9.04143385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.668040942 meters 0.021042021850859582 Centerline is valid? [True, True] Translation: X:21.32, Y:1.09, Z:0.91 [[ 9.86787073e-01 -1.53934176e-01 -5.05523772e-02 2.13248720e+01] [ 1.53781055e-01 9.88080660e-01 -6.92795066e-03 1.08871753e+00] [ 5.10162746e-02 -9.37585770e-04 9.98697382e-01 9.06109367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.698040942 meters 0.019363078148680903 Centerline is valid? [True, True] Translation: X:21.35, Y:1.10, Z:0.91 [[ 9.87332134e-01 -1.50312412e-01 -5.08078400e-02 2.13521216e+01] [ 1.50152335e-01 9.88638269e-01 -6.97484535e-03 1.10269272e+00] [ 5.12789809e-02 -7.42426899e-04 9.98684092e-01 9.07368374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.728040942 meters 0.019445855090581412 Centerline is valid? [True, True] Translation: X:21.38, Y:1.11, Z:0.91 [[ 9.87617492e-01 -1.48151992e-01 -5.16011334e-02 2.13797320e+01] [ 1.47983324e-01 9.88964404e-01 -7.09534868e-03 1.10900271e+00] [ 5.20828742e-02 -6.28616747e-04 9.98642568e-01 9.06264254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.758040942 meters 0.018519312564967493 Centerline is valid? [True, True] Translation: X:21.41, Y:1.12, Z:0.91 [[ 9.87797975e-01 -1.46710982e-01 -5.22594395e-02 2.14073629e+01] [ 1.46535651e-01 9.89179246e-01 -7.19178359e-03 1.11836424e+00] [ 5.27490666e-02 -5.53841739e-04 9.98607645e-01 9.08394809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.788040942 meters 0.018638598124368373 Centerline is valid? [True, True] Translation: X:21.43, Y:1.12, Z:0.91 [[ 9.88101261e-01 -1.44123532e-01 -5.37057319e-02 2.14347590e+01] [ 1.43933874e-01 9.89559617e-01 -7.40301810e-03 1.12482787e+00] [ 5.42119726e-02 -4.15142530e-04 9.98529363e-01 9.07712702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.818040942 meters 0.018004469331302907 Centerline is valid? [True, True] Translation: X:21.46, Y:1.13, Z:0.91 [[ 9.88159767e-01 -1.43769532e-01 -5.35779547e-02 2.14617239e+01] [ 1.43579899e-01 9.89611121e-01 -7.39199716e-03 1.13206672e+00] [ 5.40840838e-02 -3.88243112e-04 9.98536309e-01 9.11771189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.848040942 meters 0.017905031436132954 Centerline is valid? [True, True] Translation: X:21.49, Y:1.14, Z:0.91 [[ 9.88270799e-01 -1.43501303e-01 -5.22322152e-02 2.14884016e+01] [ 1.43320026e-01 9.89650066e-01 -7.21924748e-03 1.13975006e+00] [ 5.27275866e-02 -3.51350961e-04 9.98608871e-01 9.14677267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.878040942 meters 0.017868721566517077 Centerline is valid? [True, True] Translation: X:21.51, Y:1.15, Z:0.92 [[ 9.88221158e-01 -1.43867077e-01 -5.21651974e-02 2.15148503e+01] [ 1.43686519e-01 9.89596954e-01 -7.21482846e-03 1.14574574e+00] [ 5.26604967e-02 -3.65589471e-04 9.98612407e-01 9.16629416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.908040942 meters 0.01788069507609018 Centerline is valid? [True, True] Translation: X:21.54, Y:1.15, Z:0.92 [[ 9.88164489e-01 -1.44432124e-01 -5.16749950e-02 2.15422694e+01] [ 1.44255332e-01 9.89514635e-01 -7.15440655e-03 1.15191671e+00] [ 5.21664899e-02 -3.84663097e-04 9.98638328e-01 9.18201523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.938040942 meters 0.017781594166640418 Centerline is valid? [True, True] Translation: X:21.57, Y:1.16, Z:0.92 [[ 9.88022543e-01 -1.45545888e-01 -5.12625515e-02 2.15695088e+01] [ 1.45372678e-01 9.89351410e-01 -7.11136343e-03 1.15878063e+00] [ 5.17517073e-02 -4.25986997e-04 9.98659892e-01 9.19926415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.968040942 meters 0.01784252197324203 Centerline is valid? [True, True] Translation: X:21.60, Y:1.16, Z:0.92 [[ 9.87888940e-01 -1.46357330e-01 -5.15264362e-02 2.15967989e+01] [ 1.46182677e-01 9.89231683e-01 -7.16250448e-03 1.16368197e+00] [ 5.20198682e-02 -4.56513403e-04 9.98645946e-01 9.21663039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.998040942 meters 0.0179164619627816 Centerline is valid? [True, True] Translation: X:21.62, Y:1.17, Z:0.92 [[ 9.87705687e-01 -1.47337635e-01 -5.22407567e-02 2.16242811e+01] [ 1.47158771e-01 9.89086128e-01 -7.27510173e-03 1.17073579e+00] [ 5.27425041e-02 -5.02026178e-04 9.98608019e-01 9.21753161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.028040942 meters 0.0179164619627816 Centerline is valid? [True, True] Translation: X:21.65, Y:1.17, Z:0.92 [[ 9.87665639e-01 -1.47606150e-01 -5.22399236e-02 2.16515412e+01] [ 1.47427345e-01 9.89046088e-01 -7.28107912e-03 1.17463293e+00] [ 5.27424241e-02 -5.10321553e-04 9.98608019e-01 9.22979022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.058040941999998 meters 0.017926883530670876 Centerline is valid? [True, True] Translation: X:21.68, Y:1.18, Z:0.92 [[ 9.87618497e-01 -1.47787446e-01 -5.26172437e-02 2.16788031e+01] [ 1.47605523e-01 9.89019015e-01 -7.34833937e-03 1.18122009e+00] [ 5.31254469e-02 -5.09239887e-04 9.98587717e-01 9.23506572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.088040942 meters 0.017980159698800378 Centerline is valid? [True, True] Translation: X:21.71, Y:1.19, Z:0.92 [[ 9.87559609e-01 -1.47865274e-01 -5.34965282e-02 2.17059604e+01] [ 1.47676593e-01 9.89007382e-01 -7.48477349e-03 1.18766050e+00] [ 5.40151994e-02 -5.08525041e-04 9.98539984e-01 9.23560743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.118040942 meters 0.0179670067566259 Centerline is valid? [True, True] Translation: X:21.73, Y:1.19, Z:0.92 [[ 9.87486734e-01 -1.48158750e-01 -5.40271709e-02 2.17334769e+01] [ 1.47966281e-01 9.88963454e-01 -7.56748647e-03 1.19364819e+00] [ 5.45520869e-02 -5.21407044e-04 9.98510790e-01 9.24202685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.148040941999998 meters 0.017852055702472645 Centerline is valid? [True, True] Translation: X:21.76, Y:1.20, Z:0.93 [[ 9.87451836e-01 -1.48257024e-01 -5.43941831e-02 2.17606846e+01] [ 1.48061261e-01 9.88948729e-01 -7.63374916e-03 1.20110034e+00] [ 5.49248152e-02 -5.15711729e-04 9.98490360e-01 9.25574665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.178040942 meters 0.017784645864980138 Centerline is valid? [True, True] Translation: X:21.79, Y:1.21, Z:0.93 [[ 9.87427892e-01 -1.48425323e-01 -5.43698662e-02 2.17886330e+01] [ 1.48229180e-01 9.88923487e-01 -7.64506747e-03 1.20699388e+00] [ 5.49023593e-02 -5.10247811e-04 9.98491598e-01 9.27296356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.208040942 meters 0.017188579653161076 Centerline is valid? [True, True] Translation: X:21.82, Y:1.22, Z:0.93 [[ 9.87614885e-01 -1.46747127e-01 -5.55168436e-02 2.18158422e+01] [ 1.46539098e-01 9.89173954e-01 -7.82180292e-03 1.21724295e+00] [ 5.60636429e-02 -4.10459193e-04 9.98427113e-01 9.30279833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.238040942 meters 0.017084473292042882 Centerline is valid? [True, True] Translation: X:21.84, Y:1.22, Z:0.93 [[ 9.87704227e-01 -1.46019375e-01 -5.58453466e-02 2.18430330e+01] [ 1.45806796e-01 9.89281667e-01 -7.88429851e-03 1.22374728e+00] [ 5.63980379e-02 -3.55276104e-04 9.98408301e-01 9.30977682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.268040942 meters 0.017257415986650964 Centerline is valid? [True, True] Translation: X:21.87, Y:1.23, Z:0.93 [[ 9.87749982e-01 -1.45228327e-01 -5.70850717e-02 2.18697293e+01] [ 1.45004011e-01 9.89398121e-01 -8.07434975e-03 1.23116656e+00] [ 5.76524870e-02 -3.02125522e-04 9.98336666e-01 9.29681397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.298040942 meters 0.016984423222898344 Centerline is valid? [True, True] Translation: X:21.90, Y:1.24, Z:0.93 [[ 9.87691329e-01 -1.45480066e-01 -5.74577140e-02 2.18973009e+01] [ 1.45252612e-01 9.89361135e-01 -8.13777682e-03 1.23742282e+00] [ 5.80303134e-02 -3.08271437e-04 9.98314774e-01 9.32409693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.328040942 meters 0.016771996858687202 Centerline is valid? [True, True] Translation: X:21.92, Y:1.24, Z:0.94 [[ 9.87586894e-01 -1.46218672e-01 -5.73779333e-02 2.19244774e+01] [ 1.45992164e-01 9.89252237e-01 -8.14251591e-03 1.24324562e+00] [ 5.79518367e-02 -3.35286621e-04 9.98319324e-01 9.35609063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.358040942 meters 0.016778735346725866 Centerline is valid? [True, True] Translation: X:21.95, Y:1.25, Z:0.94 [[ 9.87556711e-01 -1.46744667e-01 -5.65486128e-02 2.19516337e+01] [ 1.46524736e-01 9.89174344e-01 -8.03862861e-03 1.24835535e+00] [ 5.71160629e-02 -3.47168929e-04 9.98367485e-01 9.37275908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.388040942 meters 0.01665120114230583 Centerline is valid? [True, True] Translation: X:21.98, Y:1.26, Z:0.94 [[ 9.87411366e-01 -1.47908581e-01 -5.60521784e-02 2.19786168e+01] [ 1.47693951e-01 9.89000955e-01 -7.97546429e-03 1.25541899e+00] [ 5.66152976e-02 -4.03503607e-04 9.98395986e-01 9.39426245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.418040942 meters 0.016730872356840266 Centerline is valid? [True, True] Translation: X:22.01, Y:1.26, Z:0.94 [[ 9.87337472e-01 -1.48617180e-01 -5.54765707e-02 2.20062978e+01] [ 1.48407164e-01 9.88894713e-01 -7.90944733e-03 1.26112479e+00] [ 5.60359673e-02 -4.23826806e-04 9.98428661e-01 9.41116287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.448040942 meters 0.016523165281322007 Centerline is valid? [True, True] Translation: X:22.03, Y:1.27, Z:0.94 [[ 9.87228787e-01 -1.49825091e-01 -5.41457641e-02 2.20336975e+01] [ 1.49626012e-01 9.88712408e-01 -7.73504778e-03 1.26892132e+00] [ 5.46934930e-02 -4.65352918e-04 9.98503082e-01 9.44647935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.478040942 meters 0.017369044216208034 Centerline is valid? [True, True] Translation: X:22.06, Y:1.27, Z:0.94 [[ 9.87190395e-01 -1.50177356e-01 -5.38691603e-02 2.20603605e+01] [ 1.49980055e-01 9.88658962e-01 -7.70977033e-03 1.27148752e+00] [ 5.44160610e-02 -4.68288421e-04 9.98518239e-01 9.42762725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.508040942 meters 0.017506124192571592 Centerline is valid? [True, True] Translation: X:22.09, Y:1.28, Z:0.94 [[ 9.87112160e-01 -1.50842084e-01 -5.34438820e-02 2.20875249e+01] [ 1.50648432e-01 9.88557749e-01 -7.65684688e-03 1.27696453e+00] [ 5.39873384e-02 -4.93070372e-04 9.98541498e-01 9.44648320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.538040942 meters 0.016886724090711618 Centerline is valid? [True, True] Translation: X:22.12, Y:1.29, Z:0.95 [[ 9.86875636e-01 -1.51898713e-01 -5.48020138e-02 2.21157597e+01] [ 1.51695946e-01 9.88395911e-01 -7.86529440e-03 1.28520793e+00] [ 5.53608145e-02 -5.51175907e-04 9.98466262e-01 9.47344172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.568040942 meters 0.016717771910849125 Centerline is valid? [True, True] Translation: X:22.14, Y:1.29, Z:0.95 [[ 9.86776261e-01 -1.52120841e-01 -5.59630332e-02 2.21444300e+01] [ 1.51908957e-01 9.88361742e-01 -8.04578535e-03 1.29082973e+00] [ 5.65356526e-02 -5.61896046e-04 9.98400423e-01 9.47838690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.598040942 meters 0.0182214450804511 Centerline is valid? [True, True] Translation: X:22.17, Y:1.29, Z:0.94 [[ 9.86658587e-01 -1.52485353e-01 -5.70355071e-02 2.21722232e+01] [ 1.52265171e-01 9.88305559e-01 -8.21214593e-03 1.29351683e+00] [ 5.76207407e-02 -5.81936935e-04 9.98338375e-01 9.43921292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.628040942 meters 0.016434740057712935 Centerline is valid? [True, True] Translation: X:22.20, Y:1.30, Z:0.95 [[ 9.86726476e-01 -1.51577041e-01 -5.82688753e-02 2.21982596e+01] [ 1.51345165e-01 9.88445303e-01 -8.39783778e-03 1.30483419e+00] [ 5.88685155e-02 -5.32343678e-04 9.98265603e-01 9.49108883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.658040942 meters 0.01645420216501788 Centerline is valid? [True, True] Translation: X:22.23, Y:1.31, Z:0.95 [[ 9.86820829e-01 -1.51060690e-01 -5.80113666e-02 2.22258480e+01] [ 1.50829098e-01 9.88524371e-01 -8.37557565e-03 1.31087724e+00] [ 5.86108700e-02 -4.84609575e-04 9.98280788e-01 9.50103026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.688040942 meters 0.016381551331764808 Centerline is valid? [True, True] Translation: X:22.25, Y:1.32, Z:0.95 [[ 9.87045314e-01 -1.49834353e-01 -5.73691059e-02 2.22532636e+01] [ 1.49605340e-01 9.88711033e-01 -8.29065605e-03 1.31801371e+00] [ 5.79636930e-02 -3.99471388e-04 9.98318612e-01 9.50491115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.718040942 meters 0.01634112161653952 Centerline is valid? [True, True] Translation: X:22.28, Y:1.32, Z:0.95 [[ 9.87045140e-01 -1.49726788e-01 -5.76522304e-02 2.22808263e+01] [ 1.49494746e-01 9.88727334e-01 -8.34147539e-03 1.32348976e+00] [ 5.82512783e-02 -3.85292809e-04 9.98301878e-01 9.51775396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.748040942 meters 0.016328753791579612 Centerline is valid? [True, True] Translation: X:22.31, Y:1.33, Z:0.95 [[ 9.87113383e-01 -1.49016087e-01 -5.83213106e-02 2.23083599e+01] [ 1.48776552e-01 9.88834715e-01 -8.45239043e-03 1.32793374e+00] [ 5.89296788e-02 -3.33375818e-04 9.98262081e-01 9.52494528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.778040942 meters 0.016260869080415165 Centerline is valid? [True, True] Translation: X:22.33, Y:1.33, Z:0.95 [[ 9.87215095e-01 -1.48219395e-01 -5.86290651e-02 2.23349865e+01] [ 1.47975579e-01 9.88954464e-01 -8.50274254e-03 1.33175090e+00] [ 5.92417470e-02 -2.81634033e-04 9.98243626e-01 9.53530938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.808040941999998 meters 0.016270805147810156 Centerline is valid? [True, True] Translation: X:22.36, Y:1.34, Z:0.95 [[ 9.87411527e-01 -1.46840465e-01 -5.87907588e-02 2.23612280e+01] [ 1.46592425e-01 9.89160169e-01 -8.53347285e-03 1.33630045e+00] [ 5.94065361e-02 -1.92230417e-04 9.98233854e-01 9.54712674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.838040942 meters 0.016310084166182223 Centerline is valid? [True, True] Translation: X:22.39, Y:1.34, Z:0.96 [[ 9.87471150e-01 -1.46289815e-01 -5.91609523e-02 2.23883676e+01] [ 1.46037073e-01 9.89241764e-01 -8.59685919e-03 1.34133331e+00] [ 5.97821177e-02 -1.50541871e-04 9.98211438e-01 9.55568086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.868040942 meters 0.01620912994062603 Centerline is valid? [True, True] Translation: X:22.42, Y:1.35, Z:0.96 [[ 9.87694365e-01 -1.44762515e-01 -5.91916883e-02 2.24158717e+01] [ 1.44505768e-01 9.89466428e-01 -8.61803116e-03 1.34679388e+00] [ 5.98157563e-02 -4.15595568e-05 9.98209434e-01 9.58161561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.898040941999998 meters 0.016298696217065613 Centerline is valid? [True, True] Translation: X:22.44, Y:1.35, Z:0.96 [[ 9.87891006e-01 -1.43439990e-01 -5.91297755e-02 2.24429300e+01] [ 1.43180530e-01 9.89659015e-01 -8.62377759e-03 1.35097858e+00] [ 5.97553100e-02 5.31197358e-05 9.98213053e-01 9.59432005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.928040942 meters 0.016457780048287546 Centerline is valid? [True, True] Translation: X:22.47, Y:1.35, Z:0.96 [[ 9.88078936e-01 -1.42227629e-01 -5.89178989e-02 2.24693853e+01] [ 1.41967431e-01 9.89833968e-01 -8.60026588e-03 1.35496771e+00] [ 5.95421331e-02 1.33318791e-04 9.98225784e-01 9.61516517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.958040942 meters 0.016552523160824614 Centerline is valid? [True, True] Translation: X:22.50, Y:1.36, Z:0.96 [[ 9.88550152e-01 -1.39476713e-01 -5.75746750e-02 2.24968500e+01] [ 1.39223055e-01 9.90225305e-01 -8.41340318e-03 1.36027911e+00] [ 5.81853739e-02 3.01348865e-04 9.98305750e-01 9.64843890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.988040942 meters 0.016554866724338962 Centerline is valid? [True, True] Translation: X:22.52, Y:1.36, Z:0.97 [[ 9.88791872e-01 -1.38177011e-01 -5.65486291e-02 2.25242356e+01] [ 1.37929271e-01 9.90407474e-01 -8.27964258e-03 1.36469948e+00] [ 5.71502411e-02 3.87132097e-04 9.98365514e-01 9.67087949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.018040942 meters 0.017062137457267538 Centerline is valid? [True, True] Translation: X:22.55, Y:1.37, Z:0.97 [[ 9.89212597e-01 -1.35451792e-01 -5.57785889e-02 2.25515974e+01] [ 1.35205640e-01 9.90783785e-01 -8.18086693e-03 1.36980099e+00] [ 5.63726345e-02 5.51036835e-04 9.98409647e-01 9.67257462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.048040942 meters 0.017200570468153056 Centerline is valid? [True, True] Translation: X:22.58, Y:1.37, Z:0.97 [[ 9.89285533e-01 -1.34912514e-01 -5.57920023e-02 2.25806746e+01] [ 1.34664991e-01 9.90857339e-01 -8.18983382e-03 1.37366036e+00] [ 5.63868260e-02 5.88854619e-04 9.98408824e-01 9.68404085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.078040942 meters 0.017270327944563103 Centerline is valid? [True, True] Translation: X:22.61, Y:1.38, Z:0.97 [[ 9.89310222e-01 -1.34700794e-01 -5.58657385e-02 2.26088607e+01] [ 1.34451461e-01 9.90886127e-01 -8.21512124e-03 1.37696410e+00] [ 5.64631686e-02 6.16073263e-04 9.98404493e-01 9.69330715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.108040942 meters 0.017211726916812314 Centerline is valid? [True, True] Translation: X:22.64, Y:1.38, Z:0.97 [[ 9.89310473e-01 -1.34891991e-01 -5.53980060e-02 2.26366059e+01] [ 1.34646235e-01 9.90860117e-01 -8.16208450e-03 1.37793143e+00] [ 5.59926745e-02 6.15702734e-04 9.98430990e-01 9.70428272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.138040942 meters 0.017242514899460142 Centerline is valid? [True, True] Translation: X:22.66, Y:1.38, Z:0.97 [[ 9.89265800e-01 -1.35110922e-01 -5.56616166e-02 2.26633318e+01] [ 1.34862368e-01 9.90830285e-01 -8.21508659e-03 1.38068002e+00] [ 5.62611634e-02 6.20246779e-04 9.98415894e-01 9.71034584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.168040942 meters 0.01684276774665647 Centerline is valid? [True, True] Translation: X:22.69, Y:1.38, Z:0.97 [[ 9.89268972e-01 -1.35385747e-01 -5.49326947e-02 2.26919845e+01] [ 1.35143607e-01 9.90792780e-01 -8.11617359e-03 1.38130272e+00] [ 5.55257316e-02 6.05276201e-04 9.98457073e-01 9.73538488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.198040942 meters 0.01717405151457012 Centerline is valid? [True, True] Translation: X:22.72, Y:1.39, Z:0.97 [[ 9.89307706e-01 -1.35362217e-01 -5.42893370e-02 2.27194720e+01] [ 1.35124918e-01 9.90795990e-01 -8.03507273e-03 1.38513929e+00] [ 5.48773026e-02 6.13317141e-04 9.98492917e-01 9.74106808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.228040942 meters 0.01735075097742961 Centerline is valid? [True, True] Translation: X:22.75, Y:1.39, Z:0.97 [[ 9.89320543e-01 -1.35160682e-01 -5.45568799e-02 2.27477185e+01] [ 1.34920454e-01 9.90823491e-01 -8.07968157e-03 1.38775151e+00] [ 5.51482934e-02 6.32555956e-04 9.98477975e-01 9.74396320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.258040942 meters 0.01697123377040444 Centerline is valid? [True, True] Translation: X:22.78, Y:1.39, Z:0.98 [[ 9.89262210e-01 -1.35452972e-01 -5.48887189e-02 2.27756441e+01] [ 1.35209864e-01 9.90783578e-01 -8.13593186e-03 1.38925705e+00] [ 5.54848775e-02 6.27073711e-04 9.98459331e-01 9.76103942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.288040942 meters 0.0170947941262687 Centerline is valid? [True, True] Translation: X:22.80, Y:1.39, Z:0.98 [[ 9.89278921e-01 -1.35064584e-01 -5.55407423e-02 2.28036550e+01] [ 1.34814246e-01 9.90836570e-01 -8.24687394e-03 1.39168474e+00] [ 5.61456592e-02 6.70775260e-04 9.98422363e-01 9.76470889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.318040942 meters 0.017536694474657097 Centerline is valid? [True, True] Translation: X:22.83, Y:1.39, Z:0.98 [[ 9.89243660e-01 -1.34832627e-01 -5.67198747e-02 2.28318858e+01] [ 1.34570852e-01 9.90868138e-01 -8.42724702e-03 1.39285753e+00] [ 5.73381845e-02 7.03758828e-04 9.98354565e-01 9.76779691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.348040942 meters 0.017369281734493425 Centerline is valid? [True, True] Translation: X:22.86, Y:1.40, Z:0.98 [[ 9.89202101e-01 -1.35179499e-01 -5.66189544e-02 2.28597236e+01] [ 1.34918783e-01 9.90820885e-01 -8.41993380e-03 1.39524984e+00] [ 5.72374450e-02 6.90055799e-04 9.98360355e-01 9.78397878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.378040942 meters 0.017572937494334025 Centerline is valid? [True, True] Translation: X:22.89, Y:1.40, Z:0.98 [[ 9.89174731e-01 -1.35400435e-01 -5.65691996e-02 2.28871005e+01] [ 1.35139594e-01 9.90790715e-01 -8.42901799e-03 1.39850848e+00] [ 5.71895305e-02 6.93032958e-04 9.98363099e-01 9.79451557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.408040942 meters 0.018009641564752737 Centerline is valid? [True, True] Translation: X:22.92, Y:1.40, Z:0.98 [[ 9.89134399e-01 -1.36294713e-01 -5.51080058e-02 2.29150615e+01] [ 1.36047822e-01 9.90668130e-01 -8.22472774e-03 1.39967291e+00] [ 5.57147320e-02 6.38036967e-04 9.98446524e-01 9.81004522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.438040942 meters 0.017868862772334418 Centerline is valid? [True, True] Translation: X:22.94, Y:1.40, Z:0.98 [[ 9.88988377e-01 -1.37503891e-01 -5.47235828e-02 2.29438400e+01] [ 1.37261914e-01 9.90501061e-01 -8.17403776e-03 1.40178064e+00] [ 5.53277288e-02 5.72564625e-04 9.98468084e-01 9.83457110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.468040942 meters 0.01816798001712734 Centerline is valid? [True, True] Translation: X:22.97, Y:1.40, Z:0.98 [[ 9.88756750e-01 -1.39215572e-01 -5.45812569e-02 2.29719976e+01] [ 1.38976754e-01 9.90261979e-01 -8.16552848e-03 1.40190825e+00] [ 5.51865122e-02 4.88195515e-04 9.98475944e-01 9.84771514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.498040942 meters 0.018260449400145568 Centerline is valid? [True, True] Translation: X:23.00, Y:1.40, Z:0.99 [[ 9.88522179e-01 -1.40696252e-01 -5.50314954e-02 2.29990482e+01] [ 1.40455307e-01 9.90052721e-01 -8.24111522e-03 1.40392106e+00] [ 5.56435758e-02 4.17059588e-04 9.98450609e-01 9.85626983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.528040942 meters 0.01821519359294227 Centerline is valid? [True, True] Translation: X:23.03, Y:1.41, Z:0.99 [[ 9.88325194e-01 -1.42028460e-01 -5.51473189e-02 2.30268396e+01] [ 1.41787906e-01 9.89862511e-01 -8.27035926e-03 1.40604511e+00] [ 5.57628900e-02 3.54581554e-04 9.98443977e-01 9.86683798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.558040941999998 meters 0.018062475735053825 Centerline is valid? [True, True] Translation: X:23.05, Y:1.41, Z:0.99 [[ 9.88126700e-01 -1.43485666e-01 -5.49316666e-02 2.30544323e+01] [ 1.43248370e-01 9.89652354e-01 -8.25367826e-03 1.40834695e+00] [ 5.55475377e-02 2.86808174e-04 9.98456002e-01 9.88311820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.588040942 meters 0.017978872565441603 Centerline is valid? [True, True] Translation: X:23.08, Y:1.41, Z:0.99 [[ 9.87752241e-01 -1.46346635e-01 -5.41125984e-02 2.30831070e+01] [ 1.46119837e-01 9.89233361e-01 -8.14555259e-03 1.41011938e+00] [ 5.47220618e-02 1.38863767e-04 9.98501616e-01 9.89829235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.618040942 meters 0.017981413477401703 Centerline is valid? [True, True] Translation: X:23.11, Y:1.41, Z:0.99 [[ 9.87557232e-01 -1.47505463e-01 -5.45238634e-02 2.31106291e+01] [ 1.47276191e-01 9.89061237e-01 -8.22150363e-03 1.41343763e+00] [ 5.51401565e-02 8.91384197e-05 9.98478620e-01 9.90661211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.648040941999998 meters 0.018039928738040726 Centerline is valid? [True, True] Translation: X:23.14, Y:1.42, Z:0.99 [[ 9.87300222e-01 -1.48910788e-01 -5.53520437e-02 2.31394079e+01] [ 1.48675830e-01 9.88850634e-01 -8.36187994e-03 1.41515460e+00] [ 5.59800776e-02 2.61748742e-05 9.98431886e-01 9.91219617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.678040942 meters 0.018008653063455057 Centerline is valid? [True, True] Translation: X:23.17, Y:1.42, Z:0.99 [[ 9.87149192e-01 -1.49591512e-01 -5.62036581e-02 2.31678973e+01] [ 1.49349566e-01 9.88747885e-01 -8.50457918e-03 1.41759526e+00] [ 5.68434609e-02 1.29655753e-06 9.98383103e-01 9.92191247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.708040942 meters 0.01810554581488792 Centerline is valid? [True, True] Translation: X:23.20, Y:1.42, Z:0.99 [[ 9.86993421e-01 -1.50027457e-01 -5.77559418e-02 2.31973888e+01] [ 1.49771840e-01 9.88681831e-01 -8.75407413e-03 1.41846136e+00] [ 5.84156017e-02 -1.00000972e-05 9.98292351e-01 9.93935431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.738040941999998 meters 0.018081884362533933 Centerline is valid? [True, True] Translation: X:23.22, Y:1.42, Z:0.99 [[ 9.86930991e-01 -1.50392131e-01 -5.78742258e-02 2.32244089e+01] [ 1.50135333e-01 9.88626424e-01 -8.78494349e-03 1.42138613e+00] [ 5.85371753e-02 -1.88331929e-05 9.98285229e-01 9.94529758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.768040942 meters 0.018049331453876286 Centerline is valid? [True, True] Translation: X:23.25, Y:1.42, Z:1.00 [[ 9.86854972e-01 -1.50971248e-01 -5.76623541e-02 2.32521417e+01] [ 1.50716764e-01 9.88538153e-01 -8.76222581e-03 1.42425634e+00] [ 5.83242812e-02 -4.36373293e-05 9.98297689e-01 9.96267846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.798040942 meters 0.01799889850170585 Centerline is valid? [True, True] Translation: X:23.28, Y:1.43, Z:1.00 [[ 9.86728723e-01 -1.52154251e-01 -5.67054857e-02 2.32815513e+01] [ 1.51909214e-01 9.88356755e-01 -8.63226792e-03 1.42551345e+00] [ 5.73586861e-02 -9.63790576e-05 9.98353631e-01 9.99137600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.828040942 meters 0.01865459560692408 Centerline is valid? [True, True] Translation: X:23.31, Y:1.43, Z:1.00 [[ 9.86573148e-01 -1.53046246e-01 -5.70111416e-02 2.33099013e+01] [ 1.52799228e-01 9.88219018e-01 -8.69295367e-03 1.42820030e+00] [ 5.76699183e-02 -1.35023778e-04 9.98335696e-01 1.00108398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.858040942 meters 0.01798774544984226 Centerline is valid? [True, True] Translation: X:23.34, Y:1.43, Z:1.00 [[ 9.86679220e-01 -1.52717419e-01 -5.60491374e-02 2.33379521e+01] [ 1.52477366e-01 9.88269892e-01 -8.55996501e-03 1.42942690e+00] [ 5.66989307e-02 -1.00285225e-04 9.98391317e-01 1.00321172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.888040942 meters 0.01795803825499271 Centerline is valid? [True, True] Translation: X:23.37, Y:1.43, Z:1.01 [[ 9.86656646e-01 -1.52930691e-01 -5.58647116e-02 2.33657714e+01] [ 1.52692138e-01 9.88236911e-01 -8.53921671e-03 1.43286477e+00] [ 5.65134783e-02 -1.04827340e-04 9.98401831e-01 1.00594570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.918040942 meters 0.01813334698892939 Centerline is valid? [True, True] Translation: X:23.39, Y:1.44, Z:1.01 [[ 9.86597443e-01 -1.53479758e-01 -5.54026076e-02 2.33926456e+01] [ 1.53245208e-01 9.88151784e-01 -8.48275050e-03 1.43608120e+00] [ 5.60481161e-02 -1.21124175e-04 9.98428062e-01 1.00640871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.948040942 meters 0.01813334698892939 Centerline is valid? [True, True] Translation: X:23.42, Y:1.44, Z:1.01 [[ 9.86555888e-01 -1.53747119e-01 -5.54013018e-02 2.34198489e+01] [ 1.53512511e-01 9.88110220e-01 -8.49127081e-03 1.44035161e+00] [ 5.60481009e-02 -1.27679756e-04 9.98428062e-01 1.00763405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.978040942 meters 0.01797922877224633 Centerline is valid? [True, True] Translation: X:23.45, Y:1.44, Z:1.01 [[ 9.86432091e-01 -1.54725998e-01 -5.48779992e-02 2.34477535e+01] [ 1.54496471e-01 9.87957407e-01 -8.42631527e-03 1.44391025e+00] [ 5.55208958e-02 -1.66469411e-04 9.98457512e-01 1.00999538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.008040942 meters 0.01813328847547702 Centerline is valid? [True, True] Translation: X:23.47, Y:1.44, Z:1.01 [[ 9.86197951e-01 -1.56422069e-01 -5.42746580e-02 2.34745337e+01] [ 1.56199362e-01 9.87690273e-01 -8.34763753e-03 1.44482543e+00] [ 5.49123065e-02 -2.45243931e-04 9.98491151e-01 1.01065459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.038040942 meters 0.017883164525059597 Centerline is valid? [True, True] Translation: X:23.50, Y:1.45, Z:1.01 [[ 9.86062943e-01 -1.57416049e-01 -5.38522009e-02 2.35022221e+01] [ 1.57197825e-01 9.87532330e-01 -8.29099855e-03 1.44795335e+00] [ 5.44859257e-02 -2.90002408e-04 9.98514497e-01 1.01348990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.068040942 meters 0.017914450072445787 Centerline is valid? [True, True] Translation: X:23.53, Y:1.45, Z:1.02 [[ 9.85972267e-01 -1.58186273e-01 -5.32521492e-02 2.35297195e+01] [ 1.57973274e-01 9.87409238e-01 -8.21225647e-03 1.44974836e+00] [ 5.38807303e-02 -3.15359233e-04 9.98547329e-01 1.01541254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.098040942 meters 0.018053168193766567 Centerline is valid? [True, True] Translation: X:23.56, Y:1.45, Z:1.02 [[ 9.85957992e-01 -1.58410499e-01 -5.28483855e-02 2.35570648e+01] [ 1.58200692e-01 9.87373289e-01 -8.15650453e-03 1.45286743e+00] [ 5.34731602e-02 -3.18680356e-04 9.98569236e-01 1.01602335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.128040942 meters 0.017657183365421898 Centerline is valid? [True, True] Translation: X:23.58, Y:1.46, Z:1.02 [[ 9.85934661e-01 -1.58689081e-01 -5.24463589e-02 2.35848774e+01] [ 1.58482438e-01 9.87328553e-01 -8.10223140e-03 1.45794826e+00] [ 5.30675233e-02 -3.23556052e-04 9.98590874e-01 1.01836470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.158040942 meters 0.01775681136801016 Centerline is valid? [True, True] Translation: X:23.61, Y:1.46, Z:1.02 [[ 9.85933250e-01 -1.58554260e-01 -5.28788525e-02 2.36113268e+01] [ 1.58343260e-01 9.87350218e-01 -8.18281775e-03 1.46216625e+00] [ 5.35073671e-02 -3.05297779e-04 9.98567408e-01 1.01855831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.188040942 meters 0.01763771266184181 Centerline is valid? [True, True] Translation: X:23.64, Y:1.47, Z:1.02 [[ 9.85863598e-01 -1.59042981e-01 -5.27095501e-02 2.36391932e+01] [ 1.58833608e-01 9.87271607e-01 -8.16449918e-03 1.46631040e+00] [ 5.33371485e-02 -3.22965479e-04 9.98576509e-01 1.01980656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.218040942 meters 0.01771127007024741 Centerline is valid? [True, True] Translation: X:23.67, Y:1.47, Z:1.02 [[ 9.85789463e-01 -1.59406556e-01 -5.29970288e-02 2.36672988e+01] [ 1.59194707e-01 9.87212966e-01 -8.22223701e-03 1.46947581e+00] [ 5.36300325e-02 -3.31451865e-04 9.98560819e-01 1.02056577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.248040942 meters 0.017559697937851816 Centerline is valid? [True, True] Translation: X:23.69, Y:1.47, Z:1.02 [[ 9.85587498e-01 -1.60883065e-01 -5.22869234e-02 2.36947162e+01] [ 1.60678607e-01 9.86973393e-01 -8.11824800e-03 1.47211862e+00] [ 5.29118909e-02 -4.00146267e-04 9.98599105e-01 1.02294537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.278040942 meters 0.017646863217605932 Centerline is valid? [True, True] Translation: X:23.72, Y:1.48, Z:1.02 [[ 9.85258056e-01 -1.62886255e-01 -5.22937082e-02 2.37235440e+01] [ 1.62683774e-01 9.86644731e-01 -8.13418015e-03 1.47573292e+00] [ 5.29202578e-02 -4.93071298e-04 9.98598620e-01 1.02404435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.308040941999998 meters 0.017612667855116167 Centerline is valid? [True, True] Translation: X:23.75, Y:1.48, Z:1.03 [[ 9.85107221e-01 -1.63908925e-01 -5.19386951e-02 2.37515079e+01] [ 1.63709894e-01 9.86475333e-01 -8.09248268e-03 1.48001561e+00] [ 5.25626717e-02 -5.30915126e-04 9.98617486e-01 1.02546826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.338040942 meters 0.01757608297181045 Centerline is valid? [True, True] Translation: X:23.78, Y:1.48, Z:1.03 [[ 9.85006341e-01 -1.64685786e-01 -5.13916355e-02 2.37790363e+01] [ 1.64491207e-01 9.86345927e-01 -8.02217301e-03 1.48415214e+00] [ 5.20110683e-02 -5.51580883e-04 9.98646356e-01 1.02672093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.368040942 meters 0.018257732963745738 Centerline is valid? [True, True] Translation: X:23.81, Y:1.49, Z:1.03 [[ 9.84953050e-01 -1.64938495e-01 -5.16021445e-02 2.38063430e+01] [ 1.64741939e-01 9.86303699e-01 -8.06890520e-03 1.48579396e+00] [ 5.22262591e-02 -5.53544538e-04 9.98635124e-01 1.02680746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.398040941999998 meters 0.01754897802205483 Centerline is valid? [True, True] Translation: X:23.83, Y:1.49, Z:1.03 [[ 9.84968149e-01 -1.65088754e-01 -5.08276401e-02 2.38344137e+01] [ 1.64897911e-01 9.86278563e-01 -7.95450992e-03 1.48991126e+00] [ 5.14434120e-02 -5.46432773e-04 9.98675762e-01 1.03112575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.428040942 meters 0.017334242797590105 Centerline is valid? [True, True] Translation: X:23.86, Y:1.49, Z:1.03 [[ 9.84999854e-01 -1.65064803e-01 -5.02881578e-02 2.38624307e+01] [ 1.64877470e-01 9.86282581e-01 -7.87971433e-03 1.49344570e+00] [ 5.08989976e-02 -5.29866766e-04 9.98703665e-01 1.03396930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.458040942 meters 0.017233209816728958 Centerline is valid? [True, True] Translation: X:23.89, Y:1.50, Z:1.04 [[ 9.85319447e-01 -1.63401914e-01 -4.94510093e-02 2.38897854e+01] [ 1.63218018e-01 9.86559494e-01 -7.76165576e-03 1.49784298e+00] [ 5.00546321e-02 -4.23585377e-04 9.98746391e-01 1.03614753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.488040941999998 meters 0.01708692265209816 Centerline is valid? [True, True] Translation: X:23.92, Y:1.50, Z:1.04 [[ 9.85421199e-01 -1.62704991e-01 -4.97206788e-02 2.39175292e+01] [ 1.62517913e-01 9.86674687e-01 -7.80962885e-03 1.50363526e+00] [ 5.03288008e-02 -3.84727106e-04 9.98732629e-01 1.03712030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.518040942 meters 0.018139473146884858 Centerline is valid? [True, True] Translation: X:23.95, Y:1.51, Z:1.04 [[ 9.85584223e-01 -1.61568673e-01 -5.01926588e-02 2.39451911e+01] [ 1.61375810e-01 9.86861421e-01 -7.89833165e-03 1.50946184e+00] [ 5.08093216e-02 -3.15409908e-04 9.98708322e-01 1.03768655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.548040942 meters 0.016718065356296295 Centerline is valid? [True, True] Translation: X:23.97, Y:1.51, Z:1.04 [[ 9.85841482e-01 -1.60012243e-01 -5.01263768e-02 2.39721819e+01] [ 1.59817208e-01 9.87115005e-01 -7.90109686e-03 1.51457654e+00] [ 5.07447709e-02 -2.21828529e-04 9.98711630e-01 1.03995392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.578040942 meters 0.01667235443335424 Centerline is valid? [True, True] Translation: X:24.00, Y:1.52, Z:1.04 [[ 9.85870019e-01 -1.59751457e-01 -5.03961990e-02 2.40004030e+01] [ 1.59553679e-01 9.87157247e-01 -7.94939972e-03 1.51831217e+00] [ 5.10189012e-02 -2.03824103e-04 9.98697667e-01 1.04138193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.608040942 meters 0.016626627834857893 Centerline is valid? [True, True] Translation: X:24.03, Y:1.52, Z:1.04 [[ 9.85939481e-01 -1.59017735e-01 -5.13488037e-02 2.40283092e+01] [ 1.58810636e-01 9.87275714e-01 -8.11455272e-03 1.52127308e+00] [ 5.19857846e-02 -1.54278260e-04 9.98647813e-01 1.04389644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.638040942 meters 0.016649538894274764 Centerline is valid? [True, True] Translation: X:24.06, Y:1.53, Z:1.05 [[ 9.86132629e-01 -1.57995783e-01 -5.07914386e-02 2.40560813e+01] [ 1.57791065e-01 9.87439783e-01 -8.04080135e-03 1.52605523e+00] [ 5.14238998e-02 -8.51386098e-05 9.98676912e-01 1.04593718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.668040942 meters 0.016562968590975564 Centerline is valid? [True, True] Translation: X:24.08, Y:1.53, Z:1.05 [[ 9.86317230e-01 -1.57134954e-01 -4.98691089e-02 2.40831593e+01] [ 1.56935803e-01 9.87577139e-01 -7.90873546e-03 1.53150572e+00] [ 5.04923307e-02 -2.57266078e-05 9.98724448e-01 1.04867584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.698040942 meters 0.01657654672367418 Centerline is valid? [True, True] Translation: X:24.11, Y:1.54, Z:1.05 [[ 9.86708258e-01 -1.54949871e-01 -4.89627475e-02 2.41092239e+01] [ 1.54754552e-01 9.87922329e-01 -7.77821868e-03 1.53953438e+00] [ 4.95766255e-02 9.76245324e-05 9.98770318e-01 1.05027127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.728040942 meters 0.016580519760223098 Centerline is valid? [True, True] Translation: X:24.14, Y:1.55, Z:1.05 [[ 9.86856696e-01 -1.54120236e-01 -4.85882088e-02 2.41354114e+01] [ 1.53926575e-01 9.88052090e-01 -7.72512170e-03 1.54559555e+00] [ 4.91982788e-02 1.44571520e-04 9.98789021e-01 1.05120182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.758040942 meters 0.01654733457585316 Centerline is valid? [True, True] Translation: X:24.16, Y:1.55, Z:1.05 [[ 9.86881454e-01 -1.53893007e-01 -4.88051046e-02 2.41628210e+01] [ 1.53696849e-01 9.88087504e-01 -7.76942954e-03 1.55044374e+00] [ 4.94193749e-02 1.66315130e-04 9.98778102e-01 1.05239910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.788040942 meters 0.01662308891924604 Centerline is valid? [True, True] Translation: X:24.19, Y:1.55, Z:1.05 [[ 9.86864085e-01 -1.53767569e-01 -4.95460727e-02 2.41902938e+01] [ 1.53564603e-01 9.88107028e-01 -7.90021183e-03 1.55286380e+00] [ 5.01716191e-02 1.87912344e-04 9.98740594e-01 1.05448094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.818040942 meters 0.016613443003963394 Centerline is valid? [True, True] Translation: X:24.22, Y:1.56, Z:1.06 [[ 9.86744150e-01 -1.54489036e-01 -4.96902499e-02 2.42184203e+01] [ 1.54285527e-01 9.87994490e-01 -7.92861894e-03 1.55568198e+00] [ 5.03185778e-02 1.57031967e-04 9.98733206e-01 1.05712153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.848040942 meters 0.016549422799427595 Centerline is valid? [True, True] Translation: X:24.25, Y:1.56, Z:1.06 [[ 9.86424604e-01 -1.56232537e-01 -5.05756291e-02 2.42455083e+01] [ 1.56023274e-01 9.87720298e-01 -8.08397996e-03 1.55912775e+00] [ 5.12175562e-02 8.32615101e-05 9.98687516e-01 1.05858755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.878040942 meters 0.016485435122012268 Centerline is valid? [True, True] Translation: X:24.27, Y:1.56, Z:1.06 [[ 9.86367361e-01 -1.56588469e-01 -5.05913060e-02 2.42730035e+01] [ 1.56379007e-01 9.87663934e-01 -8.09693133e-03 1.56418971e+00] [ 5.12350944e-02 7.51305709e-05 9.98686617e-01 1.05939644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.908040942 meters 0.01657764535179212 Centerline is valid? [True, True] Translation: X:24.30, Y:1.57, Z:1.06 [[ 9.86241830e-01 -1.57089370e-01 -5.14779749e-02 2.43009791e+01] [ 1.56872400e-01 9.87584389e-01 -8.25376533e-03 1.56937745e+00] [ 5.21354232e-02 6.47351844e-05 9.98640022e-01 1.05945889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.938040942 meters 0.016699108244860063 Centerline is valid? [True, True] Translation: X:24.33, Y:1.57, Z:1.06 [[ 9.85999800e-01 -1.57999912e-01 -5.32956065e-02 2.43282297e+01] [ 1.57767918e-01 9.87439126e-01 -8.55903325e-03 1.57344570e+00] [ 5.39784936e-02 3.08681946e-05 9.98542098e-01 1.05904089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.968040942 meters 0.016640962366490177 Centerline is valid? [True, True] Translation: X:24.36, Y:1.58, Z:1.06 [[ 9.85801872e-01 -1.59204985e-01 -5.33708034e-02 2.43565439e+01] [ 1.58973746e-01 9.87245548e-01 -8.57765509e-03 1.57646820e+00] [ 5.40556935e-02 -2.86881090e-05 9.98537922e-01 1.06058956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.998040942 meters 0.016805216209791182 Centerline is valid? [True, True] Translation: X:24.38, Y:1.58, Z:1.06 [[ 9.85380100e-01 -1.62053865e-01 -5.25794960e-02 2.43840985e+01] [ 1.61832710e-01 9.86781899e-01 -8.46506344e-03 1.57846843e+00] [ 5.32562912e-02 -1.67777272e-04 9.98580863e-01 1.06319343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.028040942 meters 0.016763962330430593 Centerline is valid? [True, True] Translation: X:24.41, Y:1.58, Z:1.07 [[ 9.85104625e-01 -1.63906915e-01 -5.19942404e-02 2.44117227e+01] [ 1.63692471e-01 9.86475778e-01 -8.38538468e-03 1.58329825e+00] [ 5.26654813e-02 -2.50584439e-04 9.98612179e-01 1.06575893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.058040941999998 meters 0.01722433952876039 Centerline is valid? [True, True] Translation: X:24.44, Y:1.59, Z:1.07 [[ 9.84584526e-01 -1.67185619e-01 -5.14031092e-02 2.44394907e+01] [ 1.66979779e-01 9.85925353e-01 -8.30366484e-03 1.58706408e+00] [ 5.20678819e-02 -4.07619884e-04 9.98643465e-01 1.06558770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.088040942 meters 0.017149283472185285 Centerline is valid? [True, True] Translation: X:24.47, Y:1.59, Z:1.07 [[ 9.84388731e-01 -1.68494649e-01 -5.08761147e-02 2.44667738e+01] [ 1.68294446e-01 9.85702458e-01 -8.22454582e-03 1.59159427e+00] [ 5.15345033e-02 -4.66017321e-04 9.98671106e-01 1.06764176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.118040942 meters 0.017369897562296642 Centerline is valid? [True, True] Translation: X:24.49, Y:1.60, Z:1.07 [[ 9.84215716e-01 -1.69551496e-01 -5.07120828e-02 2.44941110e+01] [ 1.69353299e-01 9.85521199e-01 -8.21134672e-03 1.59511798e+00] [ 5.13700788e-02 -5.06522058e-04 9.98679557e-01 1.06900657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.148040941999998 meters 0.01768872143908759 Centerline is valid? [True, True] Translation: X:24.52, Y:1.60, Z:1.07 [[ 9.84080753e-01 -1.70345819e-01 -5.06692511e-02 2.45220625e+01] [ 1.70148777e-01 9.85384193e-01 -8.20895199e-03 1.59827664e+00] [ 5.13270397e-02 -5.43039424e-04 9.98681751e-01 1.07000410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.178040942 meters 0.017591446492063352 Centerline is valid? [True, True] Translation: X:24.55, Y:1.60, Z:1.07 [[ 9.83935241e-01 -1.71285427e-01 -5.03263732e-02 2.45492262e+01] [ 1.71091978e-01 9.85221276e-01 -8.15914351e-03 1.60394210e+00] [ 5.09801561e-02 -5.82369926e-04 9.98699497e-01 1.07096145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.208040942 meters 0.017427944727370914 Centerline is valid? [True, True] Translation: X:24.58, Y:1.61, Z:1.07 [[ 9.83961441e-01 -1.71104518e-01 -5.04294130e-02 2.45762235e+01] [ 1.70909288e-01 9.85252724e-01 -8.19051054e-03 1.60986054e+00] [ 5.10871499e-02 -5.59708535e-04 9.98694042e-01 1.07162310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.238040941999998 meters 0.017527237940244456 Centerline is valid? [True, True] Translation: X:24.60, Y:1.62, Z:1.07 [[ 9.84150472e-01 -1.70152064e-01 -4.99612261e-02 2.46033593e+01] [ 1.69958542e-01 9.85417695e-01 -8.12781102e-03 1.61665522e+00] [ 5.06156401e-02 -4.92348074e-04 9.98718086e-01 1.07153903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.268040942 meters 0.01763286714623698 Centerline is valid? [True, True] Translation: X:24.63, Y:1.62, Z:1.07 [[ 9.84286675e-01 -1.69644370e-01 -4.89951892e-02 2.46302345e+01] [ 1.69457417e-01 9.85505242e-01 -7.97502913e-03 1.62188120e+00] [ 4.96379346e-02 -4.52883329e-04 9.98767175e-01 1.07252526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.298040942 meters 0.017641291824045967 Centerline is valid? [True, True] Translation: X:24.66, Y:1.63, Z:1.07 [[ 9.84459454e-01 -1.68813349e-01 -4.83904671e-02 2.46579251e+01] [ 1.68629771e-01 9.85647955e-01 -7.88089709e-03 1.62770930e+00] [ 4.90263656e-02 -4.01649719e-04 9.98797404e-01 1.07338879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.328040942 meters 0.0177211330130807 Centerline is valid? [True, True] Translation: X:24.69, Y:1.63, Z:1.07 [[ 9.84848757e-01 -1.67043613e-01 -4.65763542e-02 2.46854287e+01] [ 1.66871380e-01 9.85949463e-01 -7.58944977e-03 1.63477726e+00] [ 4.71897005e-02 -2.97800338e-04 9.98885901e-01 1.07452182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.358040942 meters 0.017707360009766606 Centerline is valid? [True, True] Translation: X:24.71, Y:1.64, Z:1.08 [[ 9.84899183e-01 -1.66872822e-01 -4.61200580e-02 2.47127470e+01] [ 1.66703552e-01 9.85978388e-01 -7.51958623e-03 1.64056456e+00] [ 4.67281950e-02 -2.82343141e-04 9.98907601e-01 1.07590940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.388040942 meters 0.01806435393574582 Centerline is valid? [True, True] Translation: X:24.74, Y:1.65, Z:1.08 [[ 9.84960222e-01 -1.66714100e-01 -4.53846797e-02 2.47391572e+01] [ 1.66549425e-01 9.86005245e-01 -7.41260588e-03 1.64532835e+00] [ 4.59853181e-02 -2.57670350e-04 9.98942082e-01 1.07665929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.418040942 meters 0.01814227362402253 Centerline is valid? [True, True] Translation: X:24.77, Y:1.65, Z:1.08 [[ 9.84880136e-01 -1.67330426e-01 -4.48513905e-02 2.47666086e+01] [ 1.67169973e-01 9.85900833e-01 -7.33133262e-03 1.65052027e+00] [ 4.54457782e-02 -2.77321869e-04 9.98966768e-01 1.07786229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.448040942 meters 0.018252654121406 Centerline is valid? [True, True] Translation: X:24.79, Y:1.66, Z:1.08 [[ 9.84756140e-01 -1.68406704e-01 -4.35261599e-02 2.47946314e+01] [ 1.68256109e-01 9.85717550e-01 -7.12691785e-03 1.65583668e+00] [ 4.41047204e-02 -3.05266189e-04 9.99026867e-01 1.07937563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.478040942 meters 0.018639964795797673 Centerline is valid? [True, True] Translation: X:24.82, Y:1.66, Z:1.08 [[ 9.84544511e-01 -1.70155163e-01 -4.14647492e-02 2.48220618e+01] [ 1.70019551e-01 9.85417219e-01 -6.80123879e-03 1.65994745e+00] [ 4.20173437e-02 -3.53695706e-04 9.99116819e-01 1.08103459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.508040942 meters 0.0188708334970831 Centerline is valid? [True, True] Translation: X:24.85, Y:1.66, Z:1.08 [[ 9.84316656e-01 -1.71421048e-01 -4.16598741e-02 2.48508524e+01] [ 1.71285147e-01 9.85197777e-01 -6.83661920e-03 1.66416200e+00] [ 4.22151558e-02 -4.06319510e-04 9.99108460e-01 1.08189291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.538040942 meters 0.0191366651121472 Centerline is valid? [True, True] Translation: X:24.88, Y:1.67, Z:1.08 [[ 9.84090131e-01 -1.72688551e-01 -4.17765277e-02 2.48784643e+01] [ 1.72552577e-01 9.84976376e-01 -6.86641828e-03 1.66782798e+00] [ 4.23346447e-02 -4.51473043e-04 9.99103385e-01 1.08240286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.568040942 meters 0.019401795076651348 Centerline is valid? [True, True] Translation: X:24.91, Y:1.67, Z:1.08 [[ 9.83872394e-01 -1.73836265e-01 -4.21433984e-02 2.49058524e+01] [ 1.73698700e-01 9.84774443e-01 -6.93241129e-03 1.67106328e+00] [ 4.27068462e-02 -4.99645421e-04 9.99087522e-01 1.08248574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.598040942 meters 0.01938559856117203 Centerline is valid? [True, True] Translation: X:24.93, Y:1.68, Z:1.08 [[ 9.83800966e-01 -1.74267493e-01 -4.20297593e-02 2.49338337e+01] [ 1.74130923e-01 9.84698216e-01 -6.91698067e-03 1.67628498e+00] [ 4.25920339e-02 -5.13748521e-04 9.99092416e-01 1.08372773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.628040942 meters 0.01952320106647994 Centerline is valid? [True, True] Translation: X:24.96, Y:1.68, Z:1.09 [[ 9.83887889e-01 -1.73992127e-01 -4.11261579e-02 2.49610202e+01] [ 1.73860652e-01 9.84746927e-01 -6.77968290e-03 1.68292526e+00] [ 4.16784690e-02 -4.79772722e-04 9.99130960e-01 1.08542028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.658040942 meters 0.019375408761025087 Centerline is valid? [True, True] Translation: X:24.99, Y:1.69, Z:1.09 [[ 9.83993069e-01 -1.73593427e-01 -4.02860160e-02 2.49880121e+01] [ 1.73466482e-01 9.84817306e-01 -6.65230564e-03 1.68972160e+00] [ 4.08291623e-02 -4.42450824e-04 9.99166044e-01 1.08658709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.688040942 meters 0.019360339551591926 Centerline is valid? [True, True] Translation: X:25.01, Y:1.70, Z:1.09 [[ 9.84150261e-01 -1.72754674e-01 -4.00510598e-02 2.50149606e+01] [ 1.72628019e-01 9.84964805e-01 -6.62564843e-03 1.69534472e+00] [ 4.05934961e-02 -3.93301470e-04 9.99175667e-01 1.08804064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.718040942 meters 0.019258951237543814 Centerline is valid? [True, True] Translation: X:25.04, Y:1.70, Z:1.09 [[ 9.84346308e-01 -1.71407146e-01 -4.10114270e-02 2.50435659e+01] [ 1.71273038e-01 9.85200220e-01 -6.78776203e-03 1.70152165e+00] [ 4.15679378e-02 -3.42643176e-04 9.99135621e-01 1.08906496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.748040942 meters 0.019207537716293452 Centerline is valid? [True, True] Translation: X:25.07, Y:1.71, Z:1.09 [[ 9.84376044e-01 -1.71024242e-01 -4.18869015e-02 2.50708860e+01] [ 1.70883521e-01 9.85266768e-01 -6.94386510e-03 1.70534127e+00] [ 4.24573413e-02 -3.22406761e-04 9.99098229e-01 1.09007534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.778040942 meters 0.01932520666811328 Centerline is valid? [True, True] Translation: X:25.10, Y:1.71, Z:1.09 [[ 9.84372011e-01 -1.70705791e-01 -4.32582639e-02 2.50971917e+01] [ 1.70555219e-01 9.85321995e-01 -7.17520423e-03 1.70971125e+00] [ 4.38481678e-02 -3.14852474e-04 9.99038157e-01 1.09099084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.808040941999998 meters 0.019383720787890996 Centerline is valid? [True, True] Translation: X:25.13, Y:1.71, Z:1.09 [[ 9.84303619e-01 -1.71144695e-01 -4.30799180e-02 2.51252107e+01] [ 1.70995560e-01 9.85245850e-01 -7.15070966e-03 1.71498572e+00] [ 4.36681165e-02 -3.28005303e-04 9.99046039e-01 1.09206405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.838040942 meters 0.019383720787890996 Centerline is valid? [True, True] Translation: X:25.15, Y:1.72, Z:1.09 [[ 9.84257527e-01 -1.71410059e-01 -4.30779868e-02 2.51523561e+01] [ 1.71260670e-01 9.85199718e-01 -7.16232489e-03 1.71960570e+00] [ 4.36681150e-02 -3.27992710e-04 9.99046039e-01 1.09328744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.868040942 meters 0.019488294646151767 Centerline is valid? [True, True] Translation: X:25.18, Y:1.72, Z:1.09 [[ 9.84108934e-01 -1.72276125e-01 -4.30179413e-02 2.51798973e+01] [ 1.72127461e-01 9.85048634e-01 -7.16422377e-03 1.72489852e+00] [ 4.36089891e-02 -3.54192391e-04 9.99048613e-01 1.09468096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.898040941999998 meters 0.019523802025219722 Centerline is valid? [True, True] Translation: X:25.21, Y:1.73, Z:1.10 [[ 9.83944214e-01 -1.73364349e-01 -4.24097334e-02 2.52076080e+01] [ 1.73220344e-01 9.84857682e-01 -7.07514356e-03 1.72896788e+00] [ 4.29941294e-02 -3.84682045e-04 9.99075251e-01 1.09716064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.928040942 meters 0.019842507530481005 Centerline is valid? [True, True] Translation: X:25.23, Y:1.73, Z:1.10 [[ 9.83831777e-01 -1.73935745e-01 -4.26777643e-02 2.52348817e+01] [ 1.73790200e-01 9.84756920e-01 -7.12564909e-03 1.73212328e+00] [ 4.32666288e-02 -4.06537194e-04 9.99063478e-01 1.09877942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.958040942 meters 0.020137704992613716 Centerline is valid? [True, True] Translation: X:25.26, Y:1.74, Z:1.10 [[ 9.83490936e-01 -1.76014661e-01 -4.20049729e-02 2.52638183e+01] [ 1.75875423e-01 9.84387425e-01 -7.01666027e-03 1.73505823e+00] [ 4.25842021e-02 -4.86820595e-04 9.99092763e-01 1.10117898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.988040941999998 meters 0.020117595183056235 Centerline is valid? [True, True] Translation: X:25.29, Y:1.74, Z:1.10 [[ 9.83289966e-01 -1.77156405e-01 -4.19100332e-02 2.52920253e+01] [ 1.77018419e-01 9.84182570e-01 -7.01052045e-03 1.74022815e+00] [ 4.24890828e-02 -5.25473383e-04 9.99096793e-01 1.10265372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.018040942 meters 0.020345446300127114 Centerline is valid? [True, True] Translation: X:25.32, Y:1.74, Z:1.10 [[ 9.83081055e-01 -1.78160919e-01 -4.25479272e-02 2.53191269e+01] [ 1.78019176e-01 9.84001202e-01 -7.12792685e-03 1.74410559e+00] [ 4.31371295e-02 -5.67017109e-04 9.99069000e-01 1.10387561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.048040942 meters 0.020602902494919514 Centerline is valid? [True, True] Translation: X:25.35, Y:1.75, Z:1.10 [[ 9.82779762e-01 -1.79828294e-01 -4.24938066e-02 2.53475362e+01] [ 1.79688321e-01 9.83697809e-01 -7.12228952e-03 1.74850929e+00] [ 4.30818536e-02 -6.35998767e-04 9.99071343e-01 1.10435408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.078040942 meters 0.020690405690841556 Centerline is valid? [True, True] Translation: X:25.38, Y:1.75, Z:1.11 [[ 9.82676481e-01 -1.80408830e-01 -4.24215417e-02 2.53753318e+01] [ 1.80269440e-01 9.83591496e-01 -7.12027111e-03 1.75319417e+00] [ 4.30100275e-02 -6.50384596e-04 9.99074429e-01 1.10551898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.108040942 meters 0.02072783516320621 Centerline is valid? [True, True] Translation: X:25.40, Y:1.76, Z:1.11 [[ 9.82742778e-01 -1.80167436e-01 -4.19085481e-02 2.54016758e+01] [ 1.80030685e-01 9.83635761e-01 -7.04577254e-03 1.75721348e+00] [ 4.24921653e-02 -6.20642522e-04 9.99096607e-01 1.10748886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.138040942 meters 0.02087857890954097 Centerline is valid? [True, True] Translation: X:25.43, Y:1.76, Z:1.11 [[ 9.82913440e-01 -1.79179120e-01 -4.21427644e-02 2.54293887e+01] [ 1.79039713e-01 9.83816299e-01 -7.09015294e-03 1.76110755e+00] [ 4.27311458e-02 -5.76221801e-04 9.99086441e-01 1.10902374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.168040942 meters 0.020157499389701624 Centerline is valid? [True, True] Translation: X:25.46, Y:1.77, Z:1.11 [[ 9.83021041e-01 -1.78452642e-01 -4.27116851e-02 2.54571174e+01] [ 1.78308532e-01 9.83948350e-01 -7.19110853e-03 1.76828134e+00] [ 4.33093644e-02 -5.46846856e-04 9.99061560e-01 1.10975756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.198040942 meters 0.019869852219571656 Centerline is valid? [True, True] Translation: X:25.48, Y:1.77, Z:1.11 [[ 9.83315523e-01 -1.76494263e-01 -4.40494925e-02 2.54846620e+01] [ 1.76338530e-01 9.84301559e-01 -7.42719899e-03 1.77346931e+00] [ 4.46688421e-02 -4.64342679e-04 9.99001741e-01 1.10960667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.228040942 meters 0.01981694076411112 Centerline is valid? [True, True] Translation: X:25.51, Y:1.78, Z:1.11 [[ 9.83418731e-01 -1.75962766e-01 -4.38714470e-02 2.55124612e+01] [ 1.75807597e-01 9.84396727e-01 -7.40087742e-03 1.77863064e+00] [ 4.44891877e-02 -4.34772179e-04 9.99009771e-01 1.11095289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.258040942 meters 0.01958757763354092 Centerline is valid? [True, True] Translation: X:25.54, Y:1.78, Z:1.11 [[ 9.83714358e-01 -1.74443816e-01 -4.33060824e-02 2.55399265e+01] [ 1.74290636e-01 9.84667067e-01 -7.31720837e-03 1.78370128e+00] [ 4.39185149e-02 -3.49801709e-04 9.99035055e-01 1.11331661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.288040942 meters 0.019582133746508523 Centerline is valid? [True, True] Translation: X:25.57, Y:1.79, Z:1.12 [[ 9.83865197e-01 -1.73688597e-01 -4.29132296e-02 2.55677733e+01] [ 1.73537311e-01 9.84800576e-01 -7.25440318e-03 1.78814939e+00] [ 4.35209804e-02 -3.09691675e-04 9.99052465e-01 1.11537359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.318040942 meters 0.01946909839003571 Centerline is valid? [True, True] Translation: X:25.60, Y:1.79, Z:1.12 [[ 9.83883040e-01 -1.73770537e-01 -4.21659079e-02 2.55951552e+01] [ 1.73624418e-01 9.84786123e-01 -7.13117412e-03 1.79272004e+00] [ 4.27635889e-02 -3.04789957e-04 9.99085173e-01 1.11718245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.348040942 meters 0.019557443066309143 Centerline is valid? [True, True] Translation: X:25.62, Y:1.80, Z:1.12 [[ 9.83858940e-01 -1.73849445e-01 -4.24023240e-02 2.56219493e+01] [ 1.73701261e-01 9.84772198e-01 -7.18264607e-03 1.79592587e+00] [ 4.30053289e-02 -2.98626622e-04 9.99074798e-01 1.11884382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.378040942 meters 0.019615387963951444 Centerline is valid? [True, True] Translation: X:25.65, Y:1.80, Z:1.12 [[ 9.83760713e-01 -1.74465813e-01 -4.21490094e-02 2.56499973e+01] [ 1.74319767e-01 9.84663180e-01 -7.14428261e-03 1.80001433e+00] [ 4.27490107e-02 -3.19140949e-04 9.99085792e-01 1.12029641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.408040942 meters 0.01961983082753125 Centerline is valid? [True, True] Translation: X:25.68, Y:1.80, Z:1.12 [[ 9.83663759e-01 -1.75049386e-01 -4.19919193e-02 2.56777209e+01] [ 1.74904496e-01 9.84559598e-01 -7.12849367e-03 1.80435560e+00] [ 4.25913856e-02 -3.32534602e-04 9.99092520e-01 1.12139481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.438040942 meters 0.020086986372636142 Centerline is valid? [True, True] Translation: X:25.71, Y:1.81, Z:1.12 [[ 9.83397830e-01 -1.76626541e-01 -4.16145802e-02 2.57052699e+01] [ 1.76485168e-01 9.84277865e-01 -7.07596858e-03 1.80567620e+00] [ 4.22101140e-02 -3.85864047e-04 9.99108681e-01 1.12297701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.468040942 meters 0.020129186804703852 Centerline is valid? [True, True] Translation: X:25.73, Y:1.81, Z:1.12 [[ 9.83197052e-01 -1.77777697e-01 -4.14565795e-02 2.57342750e+01] [ 1.77638289e-01 9.84070579e-01 -7.05218805e-03 1.80977399e+00] [ 4.20499219e-02 -4.30585328e-04 9.99115418e-01 1.12428420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.498040942 meters 0.020737232884141078 Centerline is valid? [True, True] Translation: X:25.76, Y:1.81, Z:1.13 [[ 9.82886069e-01 -1.79371804e-01 -4.19610595e-02 2.57618530e+01] [ 1.79230001e-01 9.83781231e-01 -7.14812709e-03 1.81136547e+00] [ 4.25626753e-02 -4.94886212e-04 9.99093676e-01 1.12581196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.528040942 meters 0.020676364073741575 Centerline is valid? [True, True] Translation: X:25.79, Y:1.82, Z:1.13 [[ 9.82723181e-01 -1.80333940e-01 -4.16511739e-02 2.57907045e+01] [ 1.80194958e-01 9.83605302e-01 -7.09840661e-03 1.81663899e+00] [ 4.22483991e-02 -5.29562816e-04 9.99106997e-01 1.12691231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.558040941999998 meters 0.02075363594384497 Centerline is valid? [True, True] Translation: X:25.82, Y:1.82, Z:1.13 [[ 9.82595886e-01 -1.81030832e-01 -4.16312693e-02 2.58181002e+01] [ 1.80892211e-01 9.83477267e-01 -7.10441133e-03 1.82100196e+00] [ 4.22295245e-02 -5.50006993e-04 9.99107784e-01 1.12786758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.588040942 meters 0.021209263562204782 Centerline is valid? [True, True] Translation: X:25.85, Y:1.82, Z:1.13 [[ 9.82351567e-01 -1.82280476e-01 -4.19431403e-02 2.58459293e+01] [ 1.82140429e-01 9.83246394e-01 -7.16887542e-03 1.82460356e+00] [ 4.25471875e-02 -5.97185561e-04 9.99094280e-01 1.12847851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.618040942 meters 0.021254821738664314 Centerline is valid? [True, True] Translation: X:25.87, Y:1.83, Z:1.13 [[ 9.82242796e-01 -1.82797514e-01 -4.22392959e-02 2.58734271e+01] [ 1.82655749e-01 9.83150388e-01 -7.22438751e-03 1.82909729e+00] [ 4.28481802e-02 -6.19147633e-04 9.99081403e-01 1.12942973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.648040941999998 meters 0.02164189654760585 Centerline is valid? [True, True] Translation: X:25.90, Y:1.83, Z:1.13 [[ 9.82039227e-01 -1.83651311e-01 -4.32568187e-02 2.59011534e+01] [ 1.83502957e-01 9.82991230e-01 -7.40983644e-03 1.83242097e+00] [ 4.38818996e-02 -6.61004103e-04 9.99036507e-01 1.12936903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.678040942 meters 0.021977023026540022 Centerline is valid? [True, True] Translation: X:25.93, Y:1.84, Z:1.13 [[ 9.81854718e-01 -1.84406763e-01 -4.42205672e-02 2.59301945e+01] [ 1.84252244e-01 9.82849759e-01 -7.58033951e-03 1.83662099e+00] [ 4.48600397e-02 -7.04946630e-04 9.98993033e-01 1.12978242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.708040942 meters 0.022483613494156566 Centerline is valid? [True, True] Translation: X:25.96, Y:1.84, Z:1.13 [[ 9.81558450e-01 -1.85628386e-01 -4.56630336e-02 2.59578124e+01] [ 1.85464468e-01 9.82619713e-01 -7.83773812e-03 1.84015136e+00] [ 4.63243036e-02 -7.75672173e-04 9.98926152e-01 1.12967056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.738040941999998 meters 0.02282091567795742 Centerline is valid? [True, True] Translation: X:25.99, Y:1.84, Z:1.13 [[ 9.81445527e-01 -1.86242461e-01 -4.55897298e-02 2.59855543e+01] [ 1.86079553e-01 9.82503489e-01 -7.82900940e-03 1.84411689e+00] [ 4.62501626e-02 -7.99570294e-04 9.98929569e-01 1.13111545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.768040942 meters 0.023067213539409704 Centerline is valid? [True, True] Translation: X:26.01, Y:1.85, Z:1.13 [[ 9.81349352e-01 -1.86820013e-01 -4.52960447e-02 2.60134805e+01] [ 1.86659299e-01 9.82393824e-01 -7.78974768e-03 1.84821911e+00] [ 4.59538354e-02 -8.10464138e-04 9.98943236e-01 1.13270780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.798040942 meters 0.023731250372945954 Centerline is valid? [True, True] Translation: X:26.04, Y:1.85, Z:1.13 [[ 9.81139050e-01 -1.87872602e-01 -4.54978103e-02 2.60414252e+01] [ 1.87711074e-01 9.82193035e-01 -7.83546162e-03 1.85159725e+00] [ 4.61597010e-02 -8.52765477e-04 9.98933709e-01 1.13423046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.828040941999998 meters 0.025114594231803705 Centerline is valid? [True, True] Translation: X:26.07, Y:1.86, Z:1.13 [[ 9.80917935e-01 -1.88834821e-01 -4.62754290e-02 2.60698508e+01] [ 1.88668606e-01 9.82008444e-01 -7.97331068e-03 1.85569797e+00] [ 4.69485007e-02 -9.09557260e-04 9.98896897e-01 1.13453854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.858040942 meters 0.024576587475744812 Centerline is valid? [True, True] Translation: X:26.10, Y:1.86, Z:1.14 [[ 9.80920074e-01 -1.89082351e-01 -4.52069945e-02 2.60967084e+01] [ 1.88923564e-01 9.81960829e-01 -7.79848861e-03 1.86034628e+00] [ 4.58660544e-02 -8.90972487e-04 9.98947201e-01 1.13680230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.888040942 meters 0.02461927147461875 Centerline is valid? [True, True] Translation: X:26.12, Y:1.87, Z:1.14 [[ 9.80880011e-01 -1.89309576e-01 -4.51252464e-02 2.61246368e+01] [ 1.89151376e-01 9.81917045e-01 -7.78932507e-03 1.86549021e+00] [ 4.57838425e-02 -8.95109193e-04 9.98950969e-01 1.13818925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.918040942 meters 0.024826400055863375 Centerline is valid? [True, True] Translation: X:26.15, Y:1.87, Z:1.14 [[ 9.80822000e-01 -1.89592559e-01 -4.51980686e-02 2.61526299e+01] [ 1.89433649e-01 9.81862441e-01 -7.81275856e-03 1.87040436e+00] [ 4.58595269e-02 -8.99109605e-04 9.98947494e-01 1.13930884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.948040942 meters 0.024882695375483592 Centerline is valid? [True, True] Translation: X:26.18, Y:1.88, Z:1.14 [[ 9.80840567e-01 -1.89624377e-01 -4.46584631e-02 2.61798029e+01] [ 1.89468796e-01 9.81856314e-01 -7.73000419e-03 1.87512105e+00] [ 4.53139913e-02 -8.79483576e-04 9.98972406e-01 1.14085890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.978040942 meters 0.024582192600394757 Centerline is valid? [True, True] Translation: X:26.21, Y:1.88, Z:1.14 [[ 9.80997787e-01 -1.88777597e-01 -4.47924151e-02 2.62065060e+01] [ 1.88619722e-01 9.82019514e-01 -7.76368410e-03 1.88103989e+00] [ 4.54526353e-02 -8.32575946e-04 9.98966148e-01 1.14290108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.008040942 meters 0.024227434390900374 Centerline is valid? [True, True] Translation: X:26.23, Y:1.89, Z:1.14 [[ 9.81043801e-01 -1.88532119e-01 -4.48185338e-02 2.62336685e+01] [ 1.88373647e-01 9.82066683e-01 -7.77166115e-03 1.88731105e+00] [ 4.54799966e-02 -8.18290654e-04 9.98964914e-01 1.14402615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.038040942 meters 0.02358344160346337 Centerline is valid? [True, True] Translation: X:26.26, Y:1.89, Z:1.15 [[ 9.81306608e-01 -1.87111141e-01 -4.50195799e-02 2.62609009e+01] [ 1.86949269e-01 9.82338468e-01 -7.81700398e-03 1.89454405e+00] [ 4.56871136e-02 -7.45499911e-04 9.98955520e-01 1.14523939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.068040942 meters 0.023392212142282005 Centerline is valid? [True, True] Translation: X:26.29, Y:1.90, Z:1.15 [[ 9.81410217e-01 -1.86476819e-01 -4.53914350e-02 2.62885188e+01] [ 1.86311426e-01 9.82459098e-01 -7.88497466e-03 1.90050717e+00] [ 4.60655932e-02 -7.18548286e-04 9.98938159e-01 1.14643137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.098040942 meters 0.022972969507154068 Centerline is valid? [True, True] Translation: X:26.32, Y:1.91, Z:1.15 [[ 9.81526527e-01 -1.85793970e-01 -4.56757915e-02 2.63163123e+01] [ 1.85625519e-01 9.82588485e-01 -7.93953857e-03 1.90743324e+00] [ 4.63556251e-02 -6.85724786e-04 9.98924765e-01 1.14765625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.128040942 meters 0.022490906344785976 Centerline is valid? [True, True] Translation: X:26.34, Y:1.92, Z:1.15 [[ 9.81683227e-01 -1.84911065e-01 -4.58905101e-02 2.63447219e+01] [ 1.84739629e-01 9.82755051e-01 -7.98614001e-03 1.91539836e+00] [ 4.65758563e-02 -6.37936128e-04 9.98914552e-01 1.14867308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.158040942 meters 0.020395729570367716 Centerline is valid? [True, True] Translation: X:26.37, Y:1.93, Z:1.15 [[ 9.81634162e-01 -1.85225802e-01 -4.56702855e-02 2.63709950e+01] [ 1.85055948e-01 9.82695777e-01 -7.95645954e-03 1.92637008e+00] [ 4.63537383e-02 -6.41225465e-04 9.98924882e-01 1.15105957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.188040942 meters 0.02045781400629573 Centerline is valid? [True, True] Translation: X:26.40, Y:1.93, Z:1.15 [[ 9.81353198e-01 -1.86552755e-01 -4.63030371e-02 2.63993022e+01] [ 1.86379017e-01 9.82444695e-01 -8.07982643e-03 1.93175805e+00] [ 4.69974871e-02 -7.00751045e-04 9.98894762e-01 1.15246886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.218040942 meters 0.020307289429048525 Centerline is valid? [True, True] Translation: X:26.43, Y:1.94, Z:1.15 [[ 9.81171628e-01 -1.87313034e-01 -4.70750805e-02 2.64280030e+01] [ 1.87133756e-01 9.82299996e-01 -8.22644578e-03 1.93741400e+00] [ 4.77827719e-02 -7.37781417e-04 9.98857479e-01 1.15315741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.248040942 meters 0.02062787750768724 Centerline is valid? [True, True] Translation: X:26.46, Y:1.94, Z:1.15 [[ 9.80968527e-01 -1.88325935e-01 -4.72661834e-02 2.64552382e+01] [ 1.88145826e-01 9.82106275e-01 -8.27121502e-03 1.94210588e+00] [ 4.79780997e-02 -7.79133496e-04 9.98848084e-01 1.15379694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.278040942 meters 0.021171865389184946 Centerline is valid? [True, True] Translation: X:26.48, Y:1.95, Z:1.16 [[ 9.80787159e-01 -1.89226658e-01 -4.74322758e-02 2.64828098e+01] [ 1.89046128e-01 9.81933092e-01 -8.30451350e-03 1.94580627e+00] [ 4.81467566e-02 -8.21927882e-04 9.98839934e-01 1.15506795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.308040941999998 meters 0.020900963993866286 Centerline is valid? [True, True] Translation: X:26.51, Y:1.95, Z:1.16 [[ 9.80685925e-01 -1.89719790e-01 -4.75554255e-02 2.65105610e+01] [ 1.89538664e-01 9.81837914e-01 -8.33096911e-03 1.95145386e+00] [ 4.82722695e-02 -8.43527667e-04 9.98833858e-01 1.15651757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.338040942 meters 0.020882534907455664 Centerline is valid? [True, True] Translation: X:26.54, Y:1.96, Z:1.16 [[ 9.80649899e-01 -1.89896885e-01 -4.75914755e-02 2.65379641e+01] [ 1.89715049e-01 9.81803681e-01 -8.35058379e-03 1.95630096e+00] [ 4.83112357e-02 -8.39819959e-04 9.98831977e-01 1.15764784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.368040942 meters 0.021390853778018033 Centerline is valid? [True, True] Translation: X:26.56, Y:1.96, Z:1.16 [[ 9.80613535e-01 -1.90113488e-01 -4.74758455e-02 2.65640485e+01] [ 1.89932170e-01 9.81761765e-01 -8.34313761e-03 1.96155866e+00] [ 4.81961128e-02 -8.35796674e-04 9.98837542e-01 1.15813218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.398040941999998 meters 0.02062359378627761 Centerline is valid? [True, True] Translation: X:26.59, Y:1.97, Z:1.16 [[ 9.80720688e-01 -1.89749829e-01 -4.67111713e-02 2.65918300e+01] [ 1.89573475e-01 9.81832149e-01 -8.21760998e-03 1.97043251e+00] [ 4.74218198e-02 -7.96018927e-04 9.98874635e-01 1.15924685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.428040942 meters 0.02088769660511242 Centerline is valid? [True, True] Translation: X:26.62, Y:1.97, Z:1.16 [[ 9.80790413e-01 -1.89266388e-01 -4.72059343e-02 2.66191572e+01] [ 1.89085181e-01 9.81925477e-01 -8.31579458e-03 1.97461050e+00] [ 4.79266100e-02 -7.69891065e-04 9.98850563e-01 1.16005519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.458040942 meters 0.020277084716367348 Centerline is valid? [True, True] Translation: X:26.65, Y:1.98, Z:1.16 [[ 9.80875649e-01 -1.88880332e-01 -4.69806415e-02 2.66475861e+01] [ 1.88700192e-01 9.81999831e-01 -8.28066156e-03 1.98152069e+00] [ 4.76990361e-02 -7.42956788e-04 9.98861477e-01 1.16123601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.488040941999998 meters 0.019968514727257997 Centerline is valid? [True, True] Translation: X:26.68, Y:1.99, Z:1.16 [[ 9.80887030e-01 -1.88848263e-01 -4.68718363e-02 2.66753055e+01] [ 1.88668363e-01 9.82006010e-01 -8.27317379e-03 1.98799937e+00] [ 4.75907994e-02 -7.28183754e-04 9.98866651e-01 1.16252421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.518040942 meters 0.020282683542264673 Centerline is valid? [True, True] Translation: X:26.70, Y:1.99, Z:1.16 [[ 9.80938656e-01 -1.88429382e-01 -4.74733739e-02 2.67029765e+01] [ 1.88243701e-01 9.82086489e-01 -8.39264524e-03 1.99251450e+00] [ 4.82043801e-02 -7.03893451e-04 9.98837245e-01 1.16297590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.548040942 meters 0.01995965541238157 Centerline is valid? [True, True] Translation: X:26.73, Y:2.00, Z:1.16 [[ 9.80929656e-01 -1.88533131e-01 -4.72468952e-02 2.67307243e+01] [ 1.88349102e-01 9.82066580e-01 -8.35751930e-03 1.99897179e+00] [ 4.79752661e-02 -7.00771784e-04 9.98848278e-01 1.16404541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.578040941999998 meters 0.019953269017511984 Centerline is valid? [True, True] Translation: X:26.76, Y:2.00, Z:1.16 [[ 9.81109702e-01 -1.87657032e-01 -4.69956457e-02 2.67584950e+01] [ 1.87473321e-01 9.82234405e-01 -8.32627132e-03 2.00493344e+00] [ 4.77232234e-02 -6.41444211e-04 9.98860392e-01 1.16468401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.608040942 meters 0.01986402974602328 Centerline is valid? [True, True] Translation: X:26.79, Y:2.01, Z:1.17 [[ 9.81186242e-01 -1.87294667e-01 -4.68429991e-02 2.67861497e+01] [ 1.87111182e-01 9.82303586e-01 -8.31086300e-03 2.01075165e+00] [ 4.75706263e-02 -6.10344478e-04 9.98867690e-01 1.16609052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.638040942 meters 0.0196728518815714 Centerline is valid? [True, True] Translation: X:26.81, Y:2.02, Z:1.17 [[ 9.81348755e-01 -1.86510059e-01 -4.65684262e-02 2.68144642e+01] [ 1.86327222e-01 9.82452894e-01 -8.27512702e-03 2.01674523e+00] [ 4.72946795e-02 -5.56179904e-04 9.98880826e-01 1.16752290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.668040942 meters 0.019279778823121638 Centerline is valid? [True, True] Translation: X:26.84, Y:2.02, Z:1.17 [[ 9.81807012e-01 -1.84409231e-01 -4.52573397e-02 2.68425930e+01] [ 1.84233817e-01 9.82849454e-01 -8.05304119e-03 2.02455414e+00] [ 4.59662067e-02 -4.31400112e-04 9.98942902e-01 1.16967436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.698040942 meters 0.019349751250332406 Centerline is valid? [True, True] Translation: X:26.87, Y:2.03, Z:1.17 [[ 9.82005736e-01 -1.83388828e-01 -4.50918140e-02 2.68696607e+01] [ 1.83213099e-01 9.83040386e-01 -8.03492973e-03 2.02980421e+00] [ 4.58005905e-02 -3.71063910e-04 9.98950533e-01 1.17060183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.728040942 meters 0.019206666500367963 Centerline is valid? [True, True] Translation: X:26.90, Y:2.04, Z:1.17 [[ 9.82336789e-01 -1.81676216e-01 -4.48127895e-02 2.68967672e+01] [ 1.81500689e-01 9.83358363e-01 -7.98930021e-03 2.03790117e+00] [ 4.55184972e-02 -2.85368650e-04 9.98963455e-01 1.17105176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.758040942 meters 0.019206666500367963 Centerline is valid? [True, True] Translation: X:26.92, Y:2.04, Z:1.17 [[ 9.82288293e-01 -1.81938496e-01 -4.48117632e-02 2.69238522e+01] [ 1.81762979e-01 9.83309869e-01 -7.99505283e-03 2.04284020e+00] [ 4.55184568e-02 -2.91672756e-04 9.98963455e-01 1.17227691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.788040942 meters 0.019127594295179323 Centerline is valid? [True, True] Translation: X:26.95, Y:2.05, Z:1.17 [[ 9.82397801e-01 -1.81405840e-01 -4.45699696e-02 2.69514149e+01] [ 1.81231111e-01 9.83408286e-01 -7.96412765e-03 2.04927017e+00] [ 4.52752167e-02 -2.53523634e-04 9.98974519e-01 1.17300596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.818040942 meters 0.019111234657388124 Centerline is valid? [True, True] Translation: X:26.98, Y:2.05, Z:1.17 [[ 9.82435149e-01 -1.81271348e-01 -4.42930761e-02 2.69785878e+01] [ 1.81098105e-01 9.83433091e-01 -7.92671830e-03 2.05442326e+00] [ 4.49961636e-02 -2.33905463e-04 9.98987132e-01 1.17412754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.848040942 meters 0.019157767410115295 Centerline is valid? [True, True] Translation: X:27.01, Y:2.06, Z:1.18 [[ 9.82314358e-01 -1.81930149e-01 -4.42710119e-02 2.70065588e+01] [ 1.81757202e-01 9.83311424e-01 -7.93486059e-03 2.05783071e+00] [ 4.49757822e-02 -2.52047770e-04 9.98988046e-01 1.17620145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.878040942 meters 0.01911135142567497 Centerline is valid? [True, True] Translation: X:27.03, Y:2.06, Z:1.18 [[ 9.82209945e-01 -1.82454147e-01 -4.44309367e-02 2.70341997e+01] [ 1.82279902e-01 9.83214328e-01 -7.97640200e-03 2.06256475e+00] [ 4.51404612e-02 -2.64365410e-04 9.98980615e-01 1.17748729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.908040942 meters 0.019635254181374358 Centerline is valid? [True, True] Translation: X:27.06, Y:2.07, Z:1.18 [[ 9.82042044e-01 -1.83438103e-01 -4.40895328e-02 2.70611366e+01] [ 1.83266941e-01 9.83031218e-01 -7.92797223e-03 2.06738360e+00] [ 4.47956793e-02 -2.94551738e-04 9.98996126e-01 1.17800037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.938040942 meters 0.01936458561298273 Centerline is valid? [True, True] Translation: X:27.09, Y:2.07, Z:1.18 [[ 9.81846820e-01 -1.84438116e-01 -4.42651534e-02 2.70884501e+01] [ 1.84266384e-01 9.82844071e-01 -7.96441344e-03 2.07317683e+00] [ 4.49746850e-02 -3.36745759e-04 9.98988070e-01 1.17868359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.968040942 meters 0.019383342326936927 Centerline is valid? [True, True] Translation: X:27.12, Y:2.08, Z:1.18 [[ 9.81656357e-01 -1.85459948e-01 -4.42199506e-02 2.71159972e+01] [ 1.85289423e-01 9.82651751e-01 -7.96027728e-03 2.07777924e+00] [ 4.49291245e-02 -3.79232337e-04 9.98990105e-01 1.17962548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.998040942 meters 0.019529936607884987 Centerline is valid? [True, True] Translation: X:27.14, Y:2.08, Z:1.18 [[ 9.81210062e-01 -1.87763351e-01 -4.44042675e-02 2.71442616e+01] [ 1.87593184e-01 9.82214182e-01 -8.00613115e-03 2.08075818e+00] [ 4.51177593e-02 -4.74241500e-04 9.98981563e-01 1.18099405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.028040942 meters 0.019688641472760154 Centerline is valid? [True, True] Translation: X:27.17, Y:2.08, Z:1.18 [[ 9.80890706e-01 -1.89410224e-01 -4.44655955e-02 2.71726529e+01] [ 1.89241089e-01 9.81897891e-01 -8.02135765e-03 2.08460374e+00] [ 4.51800016e-02 -5.46642538e-04 9.98978713e-01 1.18268822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.058040941999998 meters 0.019653148402993315 Centerline is valid? [True, True] Translation: X:27.20, Y:2.09, Z:1.18 [[ 9.80618557e-01 -1.90862174e-01 -4.42591968e-02 2.72008497e+01] [ 1.90695577e-01 9.81616662e-01 -7.99536826e-03 2.08911896e+00] [ 4.49715784e-02 -5.99626596e-04 9.98988087e-01 1.18394591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.088040942 meters 0.01976029092911129 Centerline is valid? [True, True] Translation: X:27.23, Y:2.09, Z:1.19 [[ 9.80385081e-01 -1.92186902e-01 -4.36953915e-02 2.72281552e+01] [ 1.92025336e-01 9.81358132e-01 -7.90483725e-03 2.09275362e+00] [ 4.44000339e-02 -6.40837706e-04 9.99013627e-01 1.18547124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.118040942 meters 0.020208214170457737 Centerline is valid? [True, True] Translation: X:27.26, Y:2.10, Z:1.19 [[ 9.79923629e-01 -1.94525759e-01 -4.36967971e-02 2.72554565e+01] [ 1.94366325e-01 9.80897129e-01 -7.90914118e-03 2.09644192e+00] [ 4.44005945e-02 -7.42831532e-04 9.99013531e-01 1.18600804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.148040941999998 meters 0.020588351682722435 Centerline is valid? [True, True] Translation: X:27.28, Y:2.10, Z:1.19 [[ 9.79846219e-01 -1.94814621e-01 -4.41435234e-02 2.72816722e+01] [ 1.94652017e-01 9.80839786e-01 -7.99410076e-03 2.10048236e+00] [ 4.48550918e-02 -7.59636480e-04 9.98993215e-01 1.18703517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.178040942 meters 0.020394838881973593 Centerline is valid? [True, True] Translation: X:27.31, Y:2.11, Z:1.19 [[ 9.79704645e-01 -1.95405300e-01 -4.46718757e-02 2.73089632e+01] [ 1.95239126e-01 9.80722256e-01 -8.09566339e-03 2.10590162e+00] [ 4.53926383e-02 -7.90338936e-04 9.98968910e-01 1.18760130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.208040942 meters 0.02041338950968259 Centerline is valid? [True, True] Translation: X:27.34, Y:2.11, Z:1.19 [[ 9.79701007e-01 -1.95441156e-01 -4.45947450e-02 2.73366026e+01] [ 1.95275012e-01 9.80715121e-01 -8.09447774e-03 2.10988945e+00] [ 4.53167349e-02 -7.78071368e-04 9.98972366e-01 1.18899433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.238040941999998 meters 0.020406052959596004 Centerline is valid? [True, True] Translation: X:27.36, Y:2.11, Z:1.19 [[ 9.79672353e-01 -1.95604597e-01 -4.45075622e-02 2.73646109e+01] [ 1.95438697e-01 9.80682541e-01 -8.09133131e-03 2.11408974e+00] [ 4.52304908e-02 -7.71646380e-04 9.98976280e-01 1.19069686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.268040942 meters 0.02011843312284181 Centerline is valid? [True, True] Translation: X:27.39, Y:2.12, Z:1.19 [[ 9.79840026e-01 -1.94799373e-01 -4.43478065e-02 2.73928412e+01] [ 1.94633270e-01 9.80842845e-01 -8.07485636e-03 2.11922555e+00] [ 4.50712056e-02 -7.19491135e-04 9.98983518e-01 1.19260210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.298040942 meters 0.020053010049858756 Centerline is valid? [True, True] Translation: X:27.42, Y:2.13, Z:1.19 [[ 9.79950047e-01 -1.94293450e-01 -4.41357115e-02 2.74209030e+01] [ 1.94127930e-01 9.80943214e-01 -8.04716240e-03 2.12503817e+00] [ 4.48581377e-02 -6.82157143e-04 9.98993134e-01 1.19420816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.328040941999998 meters 0.019404682534656555 Centerline is valid? [True, True] Translation: X:27.45, Y:2.13, Z:1.20 [[ 9.80523994e-01 -1.91455314e-01 -4.37899463e-02 2.74484884e+01] [ 1.91289070e-01 9.81501184e-01 -7.99485128e-03 2.13264077e+00] [ 4.45105408e-02 -5.37394598e-04 9.99008770e-01 1.19558977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.358040942 meters 0.019348393349750862 Centerline is valid? [True, True] Translation: X:27.48, Y:2.14, Z:1.20 [[ 9.80841730e-01 -1.89736358e-01 -4.41544503e-02 2.74757139e+01] [ 1.89565097e-01 9.81834971e-01 -8.07242220e-03 2.13768137e+00] [ 4.48840154e-02 -4.52374120e-04 9.98992102e-01 1.19662830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.388040942 meters 0.01861731643411589 Centerline is valid? [True, True] Translation: X:27.50, Y:2.15, Z:1.20 [[ 9.81524411e-01 -1.86153495e-01 -4.42346801e-02 2.75038979e+01] [ 1.85977793e-01 9.82520633e-01 -8.09107443e-03 2.14533047e+00] [ 4.49676677e-02 -2.85081116e-04 9.98988402e-01 1.19802428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.418040942 meters 0.018541641213470753 Centerline is valid? [True, True] Translation: X:27.53, Y:2.15, Z:1.20 [[ 9.81832078e-01 -1.84396835e-01 -4.47613333e-02 2.75308908e+01] [ 1.84214601e-01 9.82851855e-01 -8.19828827e-03 2.15042255e+00] [ 4.55054979e-02 -1.96348757e-04 9.98964069e-01 1.19950784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.448040942 meters 0.018327086180186823 Centerline is valid? [True, True] Translation: X:27.56, Y:2.16, Z:1.20 [[ 9.82044564e-01 -1.83212886e-01 -4.49612407e-02 2.75582599e+01] [ 1.83027591e-01 9.83073252e-01 -8.23902622e-03 2.15657342e+00] [ 4.57096889e-02 -1.38056656e-04 9.98954756e-01 1.20088454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.478040942 meters 0.018312156581969635 Centerline is valid? [True, True] Translation: X:27.58, Y:2.16, Z:1.20 [[ 9.82580401e-01 -1.80154480e-01 -4.56083107e-02 2.75841532e+01] [ 1.79959927e-01 9.83638329e-01 -8.37029099e-03 2.16363400e+00] [ 4.63700280e-02 1.68156292e-05 9.98924332e-01 1.20176648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.508040942 meters 0.020336639035092825 Centerline is valid? [True, True] Translation: X:27.61, Y:2.17, Z:1.20 [[ 9.82844044e-01 -1.78495324e-01 -4.64435662e-02 2.76116219e+01] [ 1.78291291e-01 9.83940754e-01 -8.53272813e-03 2.16971334e+00] [ 4.72207696e-02 1.05857657e-04 9.98884472e-01 1.20129123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.538040942 meters 0.018237022876873156 Centerline is valid? [True, True] Translation: X:27.64, Y:2.18, Z:1.20 [[ 9.82966700e-01 -1.78010390e-01 -4.57030331e-02 2.76385808e+01] [ 1.77811716e-01 9.84028598e-01 -8.40904463e-03 2.17519599e+00] [ 4.64699889e-02 1.39276108e-04 9.98919677e-01 1.20396168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.568040942 meters 0.01827508437213113 Centerline is valid? [True, True] Translation: X:27.67, Y:2.18, Z:1.21 [[ 9.83338350e-01 -1.76016608e-01 -4.54295431e-02 2.76661316e+01] [ 1.75817594e-01 9.84387167e-01 -8.37135830e-03 2.17845164e+00] [ 4.61937573e-02 2.44564686e-04 9.98932469e-01 1.20613189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.598040942 meters 0.01833207283112693 Centerline is valid? [True, True] Translation: X:27.69, Y:2.18, Z:1.21 [[ 9.83415307e-01 -1.75656603e-01 -4.51563074e-02 2.76936163e+01] [ 1.75459402e-01 9.84451466e-01 -8.32527450e-03 2.18225776e+00] [ 4.59165825e-02 2.64103696e-04 9.98945243e-01 1.20827092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.628040942 meters 0.018475589125729296 Centerline is valid? [True, True] Translation: X:27.72, Y:2.19, Z:1.21 [[ 9.83475274e-01 -1.75410571e-01 -4.48053181e-02 2.77198952e+01] [ 1.75215589e-01 9.84495327e-01 -8.27330978e-03 2.18776953e+00] [ 4.55618523e-02 2.86005429e-04 9.98961479e-01 1.20916478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.658040942 meters 0.01824553977574319 Centerline is valid? [True, True] Translation: X:27.75, Y:2.19, Z:1.21 [[ 9.83392668e-01 -1.75810348e-01 -4.50508937e-02 2.77478931e+01] [ 1.75613369e-01 9.84424017e-01 -8.32456972e-03 2.19086276e+00] [ 4.58127273e-02 2.74781580e-04 9.98950008e-01 1.21002054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.688040942 meters 0.018251826367758097 Centerline is valid? [True, True] Translation: X:27.78, Y:2.19, Z:1.21 [[ 9.83319859e-01 -1.76084073e-01 -4.55681236e-02 2.77751251e+01] [ 1.75882219e-01 9.84375092e-01 -8.43345306e-03 2.19487252e+00] [ 4.63411227e-02 2.78159195e-04 9.98925634e-01 1.21091190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.718040942 meters 0.018189685657386618 Centerline is valid? [True, True] Translation: X:27.80, Y:2.20, Z:1.21 [[ 9.83217900e-01 -1.76596936e-01 -4.57829943e-02 2.78026375e+01] [ 1.76393437e-01 9.84283218e-01 -8.47946560e-03 2.19798173e+00] [ 4.65608806e-02 2.61342626e-04 9.98915420e-01 1.21244677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.748040942 meters 0.018265269948064784 Centerline is valid? [True, True] Translation: X:27.83, Y:2.20, Z:1.21 [[ 9.82983753e-01 -1.77717675e-01 -4.64690168e-02 2.78294670e+01] [ 1.77508629e-01 9.84081489e-01 -8.62029067e-03 2.20100326e+00] [ 4.72612773e-02 2.24954229e-04 9.98882536e-01 1.21295527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.778040942 meters 0.018142213243074738 Centerline is valid? [True, True] Translation: X:27.86, Y:2.20, Z:1.22 [[ 9.82801118e-01 -1.78681526e-01 -4.66355441e-02 2.78579903e+01] [ 1.78471748e-01 9.83906946e-01 -8.65779434e-03 2.20270251e+00] [ 4.74320237e-02 1.85762886e-04 9.98874451e-01 1.21508963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.808040941999998 meters 0.018161583151299576 Centerline is valid? [True, True] Translation: X:27.89, Y:2.20, Z:1.22 [[ 9.82495369e-01 -1.80067538e-01 -4.77339691e-02 2.78857268e+01] [ 1.79848670e-01 9.83654240e-01 -8.87651433e-03 2.20433435e+00] [ 4.85520931e-02 1.36243360e-04 9.98820642e-01 1.21575266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.838040942 meters 0.018121197717587904 Centerline is valid? [True, True] Translation: X:27.91, Y:2.21, Z:1.22 [[ 9.82271724e-01 -1.81068846e-01 -4.85420809e-02 2.79133635e+01] [ 1.80842989e-01 9.83470418e-01 -9.04162735e-03 2.20743030e+00] [ 4.93768576e-02 1.02839905e-04 9.98780214e-01 1.21717671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.868040942 meters 0.018234976754347775 Centerline is valid? [True, True] Translation: X:27.94, Y:2.21, Z:1.22 [[ 9.81806056e-01 -1.83497716e-01 -4.88411282e-02 2.79417626e+01] [ 1.83271332e-01 9.83020136e-01 -9.11211945e-03 2.20897717e+00] [ 4.96838656e-02 -4.84457444e-06 9.98764994e-01 1.21887077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.898040941999998 meters 0.018252878520343786 Centerline is valid? [True, True] Translation: X:27.97, Y:2.21, Z:1.22 [[ 9.81545814e-01 -1.84889167e-01 -4.88242966e-02 2.79687628e+01] [ 1.84663961e-01 9.82759377e-01 -9.12301295e-03 2.21183575e+00] [ 4.96692816e-02 -6.14328157e-05 9.98765718e-01 1.21994208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.928040942 meters 0.01836109021623843 Centerline is valid? [True, True] Translation: X:28.00, Y:2.21, Z:1.22 [[ 9.81293522e-01 -1.86230548e-01 -4.87976008e-02 2.79963466e+01] [ 1.86006881e-01 9.82506065e-01 -9.12534067e-03 2.21471047e+00] [ 4.96433560e-02 -1.22051864e-04 9.98767001e-01 1.22230630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.958040942 meters 0.01836825954872136 Centerline is valid? [True, True] Translation: X:28.02, Y:2.22, Z:1.22 [[ 9.81054407e-01 -1.87492150e-01 -4.87744177e-02 2.80245672e+01] [ 1.87269519e-01 9.82266086e-01 -9.13578521e-03 2.21716442e+00] [ 4.96223444e-02 -1.71259414e-04 9.98768038e-01 1.22439720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.988040941999998 meters 0.019787516747471347 Centerline is valid? [True, True] Translation: X:28.05, Y:2.22, Z:1.22 [[ 9.80599416e-01 -1.89853163e-01 -4.87910041e-02 2.80527549e+01] [ 1.89632620e-01 9.81812456e-01 -9.15258843e-03 2.21599457e+00] [ 4.96412634e-02 -2.77343087e-04 9.98767074e-01 1.22467470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.018040942 meters 0.01854795983261913 Centerline is valid? [True, True] Translation: X:28.08, Y:2.22, Z:1.23 [[ 9.80274061e-01 -1.91709168e-01 -4.80662038e-02 2.80798307e+01] [ 1.91497100e-01 9.81451713e-01 -9.02194330e-03 2.22070370e+00] [ 4.89042473e-02 -3.60561665e-04 9.98803406e-01 1.22807330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.048040942 meters 0.01881195009226843 Centerline is valid? [True, True] Translation: X:28.11, Y:2.22, Z:1.23 [[ 9.79793574e-01 -1.94016278e-01 -4.86028506e-02 2.81078568e+01] [ 1.93801606e-01 9.80998198e-01 -9.13630783e-03 2.22189236e+00] [ 4.94519014e-02 -4.67614822e-04 9.98776397e-01 1.22856104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.078040941999998 meters 0.01888941158033689 Centerline is valid? [True, True] Translation: X:28.14, Y:2.22, Z:1.23 [[ 9.79617439e-01 -1.94791254e-01 -4.90514065e-02 2.81359035e+01] [ 1.94573331e-01 9.80844590e-01 -9.22542689e-03 2.22476435e+00] [ 4.99088392e-02 -5.06706468e-04 9.98753649e-01 1.22950759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.108040942 meters 0.01915038104816361 Centerline is valid? [True, True] Translation: X:28.16, Y:2.23, Z:1.23 [[ 9.79429218e-01 -1.95609383e-01 -4.95517487e-02 2.81639781e+01] [ 1.95387703e-01 9.80681737e-01 -9.32609962e-03 2.22722259e+00] [ 5.04187676e-02 -5.47547899e-04 9.98728015e-01 1.23017686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.138040942 meters 0.019347292845096203 Centerline is valid? [True, True] Translation: X:28.19, Y:2.23, Z:1.23 [[ 9.79107748e-01 -1.96943671e-01 -5.06083804e-02 2.81927947e+01] [ 1.96713916e-01 9.80414607e-01 -9.53067899e-03 2.22942968e+00] [ 5.14942023e-02 -6.23811073e-04 9.98673099e-01 1.23154310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.168040942 meters 0.019401710630854597 Centerline is valid? [True, True] Translation: X:28.22, Y:2.23, Z:1.23 [[ 9.78994706e-01 -1.97447376e-01 -5.08320695e-02 2.82207167e+01] [ 1.97215595e-01 9.80313278e-01 -9.58570790e-03 2.23363838e+00] [ 5.17240256e-02 -6.40519543e-04 9.98661211e-01 1.23274615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.198040942 meters 0.01912098509234397 Centerline is valid? [True, True] Translation: X:28.25, Y:2.24, Z:1.23 [[ 9.78856775e-01 -1.98006823e-01 -5.13099697e-02 2.82484915e+01] [ 1.97770654e-01 9.80200418e-01 -9.69063696e-03 2.23852299e+00] [ 5.22128660e-02 -6.61860613e-04 9.98635759e-01 1.23446664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.228040942 meters 0.019326041162226065 Centerline is valid? [True, True] Translation: X:28.28, Y:2.24, Z:1.24 [[ 9.78711372e-01 -1.98638293e-01 -5.16418374e-02 2.82768909e+01] [ 1.98399208e-01 9.80072629e-01 -9.76714822e-03 2.24054570e+00] [ 5.25528810e-02 -6.86480587e-04 9.98617907e-01 1.23534381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.258040942 meters 0.01927804568032678 Centerline is valid? [True, True] Translation: X:28.31, Y:2.24, Z:1.24 [[ 9.78561491e-01 -1.99544322e-01 -5.09850053e-02 2.83051364e+01] [ 1.99312194e-01 9.79888537e-01 -9.64904225e-03 2.24444938e+00] [ 5.18850338e-02 -7.19752082e-04 9.98652805e-01 1.23713785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.288040942 meters 0.01950107263955363 Centerline is valid? [True, True] Translation: X:28.33, Y:2.25, Z:1.24 [[ 9.78465065e-01 -2.00206492e-01 -5.02342162e-02 2.83333265e+01] [ 1.99981274e-01 9.79753453e-01 -9.52162659e-03 2.24688505e+00] [ 5.11234382e-02 -7.29323546e-04 9.98692076e-01 1.23876691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.318040942 meters 0.01941759999451711 Centerline is valid? [True, True] Translation: X:28.36, Y:2.25, Z:1.24 [[ 9.78458053e-01 -2.00226575e-01 -5.02907217e-02 2.83610892e+01] [ 2.00000117e-01 9.79749358e-01 -9.54715110e-03 2.25148737e+00] [ 5.11838957e-02 -7.16663333e-04 9.98688988e-01 1.24028229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.348040942 meters 0.019644556158549053 Centerline is valid? [True, True] Translation: X:28.39, Y:2.26, Z:1.24 [[ 9.78523520e-01 -1.99916291e-01 -5.02513401e-02 2.83885456e+01] [ 1.99689089e-01 9.79812740e-01 -9.55314137e-03 2.25529220e+00] [ 5.11467318e-02 -6.86670816e-04 9.98690913e-01 1.24097446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.378040942 meters 0.01940107011946246 Centerline is valid? [True, True] Translation: X:28.42, Y:2.26, Z:1.24 [[ 9.78738769e-01 -1.98691931e-01 -5.09110914e-02 2.84168625e+01] [ 1.98456762e-01 9.80061797e-01 -9.68441375e-03 2.25910616e+00] [ 5.18202306e-02 -6.25139166e-04 9.98656234e-01 1.24184659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.408040942 meters 0.019442194745470157 Centerline is valid? [True, True] Translation: X:28.44, Y:2.26, Z:1.24 [[ 9.78784812e-01 -1.98400764e-01 -5.11608167e-02 2.84446032e+01] [ 1.98162194e-01 9.80120797e-01 -9.74513685e-03 2.26397677e+00] [ 5.20772231e-02 -5.99747731e-04 9.98642881e-01 1.24288584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.438040942 meters 0.0193312092782904 Centerline is valid? [True, True] Translation: X:28.47, Y:2.27, Z:1.24 [[ 9.78902601e-01 -1.97957602e-01 -5.06209955e-02 2.84735072e+01] [ 1.97722727e-01 9.80210426e-01 -9.65633265e-03 2.26922592e+00] [ 5.15307720e-02 -5.56312139e-04 9.98671252e-01 1.24420855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.468040942 meters 0.019297881058969266 Centerline is valid? [True, True] Translation: X:28.50, Y:2.27, Z:1.25 [[ 9.79038370e-01 -1.97467018e-01 -4.99063853e-02 2.85014558e+01] [ 1.97237556e-01 9.80309397e-01 -9.53060897e-03 2.27318424e+00] [ 5.08056794e-02 -5.12581582e-04 9.98708426e-01 1.24544024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.498040942 meters 0.019212899908226517 Centerline is valid? [True, True] Translation: X:28.53, Y:2.28, Z:1.25 [[ 9.79061657e-01 -1.97282880e-01 -5.01770651e-02 2.85282988e+01] [ 1.97050439e-01 9.80346476e-01 -9.58700368e-03 2.27737893e+00] [ 5.10822607e-02 -5.01144990e-04 9.98694323e-01 1.24667884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.528040942 meters 0.019231956503312192 Centerline is valid? [True, True] Translation: X:28.56, Y:2.28, Z:1.25 [[ 9.78990872e-01 -1.97490126e-01 -5.07397627e-02 2.85556959e+01] [ 1.97252366e-01 9.80304743e-01 -9.70129749e-03 2.27943376e+00] [ 5.16563404e-02 -5.11056553e-04 9.98664789e-01 1.24785995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.558040941999998 meters 0.019244875013463458 Centerline is valid? [True, True] Translation: X:28.58, Y:2.28, Z:1.25 [[ 9.78982401e-01 -1.97502398e-01 -5.08552933e-02 2.85835319e+01] [ 1.97263034e-01 9.80302275e-01 -9.73373433e-03 2.28329989e+00] [ 5.17759956e-02 -5.02714820e-04 9.98658597e-01 1.24932770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.588040942 meters 0.019257488379322063 Centerline is valid? [True, True] Translation: X:28.61, Y:2.29, Z:1.25 [[ 9.79012594e-01 -1.97329814e-01 -5.09439496e-02 2.86109669e+01] [ 1.97088647e-01 9.80337041e-01 -9.76481806e-03 2.28788185e+00] [ 5.18691305e-02 -4.80594253e-04 9.98653775e-01 1.25005516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.618040942 meters 0.01915890309557645 Centerline is valid? [True, True] Translation: X:28.64, Y:2.29, Z:1.25 [[ 9.79201386e-01 -1.96394487e-01 -5.09298560e-02 2.86380008e+01] [ 1.96151517e-01 9.80524875e-01 -9.77507558e-03 2.29304851e+00] [ 5.18577617e-02 -4.18200950e-04 9.98654394e-01 1.25038658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.648040941999998 meters 0.01915890309557645 Centerline is valid? [True, True] Translation: X:28.67, Y:2.30, Z:1.25 [[ 9.79149995e-01 -1.96650907e-01 -5.09284523e-02 2.86650352e+01] [ 1.96407903e-01 9.80473478e-01 -9.78238368e-03 2.29835405e+00] [ 5.18577114e-02 -4.24329581e-04 9.98654394e-01 1.25161217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.678040942 meters 0.01919107653195211 Centerline is valid? [True, True] Translation: X:28.69, Y:2.30, Z:1.25 [[ 9.79073488e-01 -1.97033771e-01 -5.09195202e-02 2.86929426e+01] [ 1.96790652e-01 9.80396607e-01 -9.79448121e-03 2.30397212e+00] [ 5.18511684e-02 -4.30968703e-04 9.98654730e-01 1.25265435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.708040942 meters 0.019246478899153565 Centerline is valid? [True, True] Translation: X:28.72, Y:2.31, Z:1.25 [[ 9.79056265e-01 -1.97493660e-01 -4.94477878e-02 2.87206258e+01] [ 1.97264383e-01 9.80304070e-01 -9.52334627e-03 2.30733680e+00] [ 5.03546682e-02 -4.30395548e-04 9.98731306e-01 1.25486695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.738040941999998 meters 0.018966383374049905 Centerline is valid? [True, True] Translation: X:28.75, Y:2.31, Z:1.26 [[ 9.78857795e-01 -1.98596529e-01 -4.89574803e-02 2.87477869e+01] [ 1.98372900e-01 9.80081216e-01 -9.43408252e-03 2.31255534e+00] [ 4.98558829e-02 -4.77212119e-04 9.98756308e-01 1.25817210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.768040942 meters 0.019231010393545935 Centerline is valid? [True, True] Translation: X:28.78, Y:2.32, Z:1.26 [[ 9.78729862e-01 -1.99399286e-01 -4.82471041e-02 2.87755488e+01] [ 1.99182433e-01 9.79918199e-01 -9.31027713e-03 2.31598464e+00] [ 4.91346779e-02 -4.97729317e-04 9.98792038e-01 1.25989001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.798040942 meters 0.01954390204613339 Centerline is valid? [True, True] Translation: X:28.80, Y:2.32, Z:1.26 [[ 9.78278820e-01 -2.01661677e-01 -4.79908159e-02 2.88046526e+01] [ 2.01449595e-01 9.79455055e-01 -9.26586398e-03 2.31921547e+00] [ 4.88734169e-02 -6.03131957e-04 9.98804798e-01 1.26143715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.828040941999998 meters 0.01975857298302055 Centerline is valid? [True, True] Translation: X:28.83, Y:2.32, Z:1.26 [[ 9.78129665e-01 -2.02448488e-01 -4.77175776e-02 2.88324963e+01] [ 2.02239157e-01 9.79292712e-01 -9.22532806e-03 2.32398192e+00] [ 4.85971297e-02 -6.26795614e-04 9.98818265e-01 1.26216114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.858040942 meters 0.020105504502011057 Centerline is valid? [True, True] Translation: X:28.86, Y:2.33, Z:1.26 [[ 9.77951025e-01 -2.03265458e-01 -4.79055984e-02 2.88599297e+01] [ 2.03054812e-01 9.79123446e-01 -9.27477298e-03 2.32856890e+00] [ 4.87907356e-02 -6.57188555e-04 9.98808807e-01 1.26282151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.888040942 meters 0.020396724772554064 Centerline is valid? [True, True] Translation: X:28.89, Y:2.33, Z:1.26 [[ 9.77711345e-01 -2.04735390e-01 -4.65182245e-02 2.88888272e+01] [ 2.04538222e-01 9.78817104e-01 -9.01068394e-03 2.33372422e+00] [ 4.73776397e-02 -7.04907041e-04 9.98876800e-01 1.26365120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.918040942 meters 0.020288560848076904 Centerline is valid? [True, True] Translation: X:28.92, Y:2.34, Z:1.26 [[ 9.77680327e-01 -2.04991496e-01 -4.60398175e-02 2.89159584e+01] [ 2.04798107e-01 9.78763505e-01 -8.92954762e-03 2.33919067e+00] [ 4.68925744e-02 -6.98624427e-04 9.98899694e-01 1.26477892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.948040942 meters 0.020304633890256024 Centerline is valid? [True, True] Translation: X:28.94, Y:2.34, Z:1.27 [[ 9.77524838e-01 -2.05807379e-01 -4.57002699e-02 2.89433189e+01] [ 2.05617111e-01 9.78592257e-01 -8.87684107e-03 2.34371201e+00] [ 4.65488497e-02 -7.19424859e-04 9.98915756e-01 1.26605613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.978040942 meters 0.020231281922272353 Centerline is valid? [True, True] Translation: X:28.97, Y:2.35, Z:1.27 [[ 9.77386822e-01 -2.06436886e-01 -4.58127955e-02 2.89713188e+01] [ 2.06245741e-01 9.78459640e-01 -8.91217551e-03 2.34913379e+00] [ 4.66657732e-02 -7.38051071e-04 9.98910287e-01 1.26714835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.008040942 meters 0.020238936845573544 Centerline is valid? [True, True] Translation: X:29.00, Y:2.35, Z:1.27 [[ 9.77235828e-01 -2.07119732e-01 -4.59516471e-02 2.89986293e+01] [ 2.06927535e-01 9.78315307e-01 -8.95295393e-03 2.35429160e+00] [ 4.68095331e-02 -7.59513710e-04 9.98903544e-01 1.26850243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.038040941999995 meters 0.02049079635617854 Centerline is valid? [True, True] Translation: X:29.03, Y:2.36, Z:1.27 [[ 9.77186740e-01 -2.07390602e-01 -4.57734897e-02 2.90250525e+01] [ 2.07199568e-01 9.78257924e-01 -8.93158099e-03 2.35927447e+00] [ 4.66306050e-02 -7.56424784e-04 9.98911915e-01 1.26957477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.068040941999996 meters 0.020751323800506052 Centerline is valid? [True, True] Translation: X:29.05, Y:2.36, Z:1.27 [[ 9.77136059e-01 -2.07830286e-01 -4.48519217e-02 2.90524358e+01] [ 2.07646933e-01 9.78164610e-01 -8.76049568e-03 2.36458376e+00] [ 4.56932588e-02 -7.53167741e-04 9.98955234e-01 1.27152150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.098040942 meters 0.020208204176947873 Centerline is valid? [True, True] Translation: X:29.08, Y:2.37, Z:1.27 [[ 9.77112686e-01 -2.08079022e-01 -4.42031563e-02 2.90795540e+01] [ 2.07901011e-01 9.78111731e-01 -8.63777516e-03 2.37173350e+00] [ 4.50329655e-02 -7.49801178e-04 9.98985220e-01 1.27291343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.128040942 meters 0.02017438881161996 Centerline is valid? [True, True] Translation: X:29.11, Y:2.38, Z:1.27 [[ 9.77076166e-01 -2.08305464e-01 -4.39431443e-02 2.91074826e+01] [ 2.08129187e-01 9.78063537e-01 -8.59999657e-03 2.37694806e+00] [ 4.47706134e-02 -7.42999225e-04 9.98997017e-01 1.27410008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.15804094199999 meters 0.020297041505026234 Centerline is valid? [True, True] Translation: X:29.13, Y:2.38, Z:1.28 [[ 9.77095020e-01 -2.08209692e-01 -4.39777822e-02 2.91338476e+01] [ 2.08032449e-01 9.78083942e-01 -8.61995293e-03 2.38169300e+00] [ 4.48087203e-02 -7.26292634e-04 9.98995321e-01 1.27535208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.18804094199999 meters 0.020315648997615097 Centerline is valid? [True, True] Translation: X:29.16, Y:2.39, Z:1.28 [[ 9.77183651e-01 -2.07789302e-01 -4.39967875e-02 2.91609663e+01] [ 2.07611078e-01 9.78173358e-01 -8.63262406e-03 2.38698838e+00] [ 4.48302523e-02 -6.98561396e-04 9.98994375e-01 1.27610347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.218040941999995 meters 0.02008923422778655 Centerline is valid? [True, True] Translation: X:29.19, Y:2.39, Z:1.28 [[ 9.77469961e-01 -2.06395161e-01 -4.41985671e-02 2.91892530e+01] [ 2.06213594e-01 9.78468517e-01 -8.67839962e-03 2.39299088e+00] [ 4.50380861e-02 -6.31470435e-04 9.98985071e-01 1.27694565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.248040941999996 meters 0.019938664305251878 Centerline is valid? [True, True] Translation: X:29.22, Y:2.40, Z:1.28 [[ 9.77674555e-01 -2.05426408e-01 -4.41865908e-02 2.92179183e+01] [ 2.05243442e-01 9.78672396e-01 -8.68736382e-03 2.39905524e+00] [ 4.50288107e-02 -5.75593419e-04 9.98985523e-01 1.27785533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.278040942 meters 0.019866941354649118 Centerline is valid? [True, True] Translation: X:29.25, Y:2.41, Z:1.28 [[ 9.77850627e-01 -2.04519516e-01 -4.44962827e-02 2.92462841e+01] [ 2.04332508e-01 9.78862345e-01 -8.75988249e-03 2.40533322e+00] [ 4.53473026e-02 -5.26180465e-04 9.98971143e-01 1.27899729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.308040942 meters 0.01972688525747875 Centerline is valid? [True, True] Translation: X:29.27, Y:2.41, Z:1.28 [[ 9.78321087e-01 -2.02351737e-01 -4.40638751e-02 2.92740132e+01] [ 2.02165642e-01 9.79312823e-01 -8.68603781e-03 2.41256636e+00] [ 4.49099528e-02 -4.10467626e-04 9.98990955e-01 1.27952583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.338040942 meters 0.01970451202610594 Centerline is valid? [True, True] Translation: X:29.30, Y:2.42, Z:1.28 [[ 9.78480690e-01 -2.01506275e-01 -4.43932577e-02 2.93016106e+01] [ 2.01315998e-01 9.79487156e-01 -8.76240734e-03 2.41856528e+00] [ 4.52483058e-02 -3.63226586e-04 9.98975705e-01 1.28044688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.36804094199999 meters 0.019706651281741067 Centerline is valid? [True, True] Translation: X:29.33, Y:2.42, Z:1.28 [[ 9.78729840e-01 -2.00053261e-01 -4.54597868e-02 2.93289390e+01] [ 1.99851862e-01 9.79784979e-01 -8.97933135e-03 2.42371407e+00] [ 4.63371608e-02 -2.96883526e-04 9.98925813e-01 1.28136892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.398040941999994 meters 0.01975284757292325 Centerline is valid? [True, True] Translation: X:29.36, Y:2.43, Z:1.28 [[ 9.78733198e-01 -1.99994093e-01 -4.56474457e-02 2.93566663e+01] [ 1.99790330e-01 9.79797062e-01 -9.02999333e-03 2.42851134e+00] [ 4.65311785e-02 -2.81963988e-04 9.98916798e-01 1.28254930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.428040941999996 meters 0.019822139903402248 Centerline is valid? [True, True] Translation: X:29.38, Y:2.43, Z:1.28 [[ 9.78758274e-01 -1.99910530e-01 -4.54754988e-02 2.93831363e+01] [ 1.99707595e-01 9.79814120e-01 -9.00922804e-03 2.43339043e+00] [ 4.63585754e-02 -2.63946015e-04 9.98924828e-01 1.28357929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.458040942 meters 0.019907779261423078 Centerline is valid? [True, True] Translation: X:29.41, Y:2.44, Z:1.28 [[ 9.78579562e-01 -2.00827313e-01 -4.52816770e-02 2.94106817e+01] [ 2.00626660e-01 9.79626614e-01 -8.98004768e-03 2.43861851e+00] [ 4.61625747e-02 -2.97020480e-04 9.98933896e-01 1.28471646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.488040942 meters 0.02009595456297193 Centerline is valid? [True, True] Translation: X:29.44, Y:2.44, Z:1.29 [[ 9.78230957e-01 -2.02696268e-01 -4.44794139e-02 2.94379886e+01] [ 2.02504023e-01 9.79241589e-01 -8.83354848e-03 2.44225137e+00] [ 4.53466192e-02 -3.66009687e-04 9.98971246e-01 1.28603557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.518040942 meters 0.020264397534785702 Centerline is valid? [True, True] Translation: X:29.47, Y:2.45, Z:1.29 [[ 9.77904514e-01 -2.04284117e-01 -4.43932439e-02 2.94652979e+01] [ 2.04094070e-01 9.78911544e-01 -8.82044092e-03 2.44577996e+00] [ 4.52589349e-02 -4.34848861e-04 9.98975195e-01 1.28736088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.54804094199999 meters 0.020830448832166927 Centerline is valid? [True, True] Translation: X:29.49, Y:2.45, Z:1.29 [[ 9.77118880e-01 -2.07854490e-01 -4.51132421e-02 2.94944067e+01] [ 2.07661826e-01 9.78159570e-01 -8.96781646e-03 2.44634147e+00] [ 4.59919504e-02 -6.05675452e-04 9.98941627e-01 1.28881765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.578040941999994 meters 0.02095425409418756 Centerline is valid? [True, True] Translation: X:29.52, Y:2.45, Z:1.29 [[ 9.76734854e-01 -2.09685676e-01 -4.49548967e-02 2.95232021e+01] [ 2.09495786e-01 9.77768611e-01 -8.94754528e-03 2.44974312e+00] [ 4.58316590e-02 -6.78482083e-04 9.98948947e-01 1.29071953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.608040941999995 meters 0.02139358915181426 Centerline is valid? [True, True] Translation: X:29.55, Y:2.45, Z:1.29 [[ 9.76069041e-01 -2.12609765e-01 -4.56762012e-02 2.95526755e+01] [ 2.12416380e-01 9.77136848e-01 -9.10284326e-03 2.45163040e+00] [ 4.65672526e-02 -8.17369795e-04 9.98914823e-01 1.29206106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.638040941999996 meters 0.02158220201054336 Centerline is valid? [True, True] Translation: X:29.58, Y:2.46, Z:1.29 [[ 9.75833096e-01 -2.13632505e-01 -4.59447642e-02 2.95810881e+01] [ 2.13437426e-01 9.76913718e-01 -9.16797927e-03 2.45648738e+00] [ 4.68426488e-02 -8.59914637e-04 9.98901910e-01 1.29256425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.668040942 meters 0.021323800745747527 Centerline is valid? [True, True] Translation: X:29.61, Y:2.46, Z:1.29 [[ 9.75542005e-01 -2.14828800e-01 -4.65444255e-02 2.96093005e+01] [ 2.14629389e-01 9.76651291e-01 -9.29950342e-03 2.46349452e+00] [ 4.74554744e-02 -9.17745399e-04 9.98872933e-01 1.29326348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.698040942 meters 0.021499571122560936 Centerline is valid? [True, True] Translation: X:29.64, Y:2.47, Z:1.29 [[ 9.75277346e-01 -2.15940440e-01 -4.69449039e-02 2.96382313e+01] [ 2.15738270e-01 9.76406058e-01 -9.39198927e-03 2.46807321e+00] [ 4.78653988e-02 -9.68017971e-04 9.98853326e-01 1.29399821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.72804094199999 meters 0.021760511892499782 Centerline is valid? [True, True] Translation: X:29.67, Y:2.47, Z:1.30 [[ 9.75113735e-01 -2.16500377e-01 -4.77576164e-02 2.96659823e+01] [ 2.16291225e-01 9.76282021e-01 -9.56666972e-03 2.47194818e+00] [ 4.86960899e-02 -1.00096233e-03 9.98813140e-01 1.29541667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.758040941999994 meters 0.021855084252233502 Centerline is valid? [True, True] Translation: X:29.69, Y:2.48, Z:1.30 [[ 9.74991279e-01 -2.17038840e-01 -4.78136859e-02 2.96939947e+01] [ 2.16829584e-01 9.76162432e-01 -9.58320533e-03 2.47683123e+00] [ 4.87538517e-02 -1.02388002e-03 9.98810299e-01 1.29668380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.788040941999995 meters 0.021835453511993338 Centerline is valid? [True, True] Translation: X:29.72, Y:2.48, Z:1.30 [[ 9.74900260e-01 -2.17425734e-01 -4.79117213e-02 2.97214186e+01] [ 2.17215392e-01 9.76076322e-01 -9.61703359e-03 2.48245445e+00] [ 4.88564873e-02 -1.03151477e-03 9.98805276e-01 1.29785770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.818040941999996 meters 0.02200983338102037 Centerline is valid? [True, True] Translation: X:29.75, Y:2.49, Z:1.30 [[ 9.74770081e-01 -2.18013862e-01 -4.78878432e-02 2.97492634e+01] [ 2.17803745e-01 9.75945111e-01 -9.62641804e-03 2.48775056e+00] [ 4.88345990e-02 -1.04660731e-03 9.98806331e-01 1.29840933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.848040942 meters 0.022076727882521813 Centerline is valid? [True, True] Translation: X:29.78, Y:2.49, Z:1.30 [[ 9.74637273e-01 -2.18704652e-01 -4.74390159e-02 2.97774312e+01] [ 2.18498611e-01 9.75790529e-01 -9.54990199e-03 2.49293717e+00] [ 4.83791504e-02 -1.05766863e-03 9.98828483e-01 1.29954268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.878040942 meters 0.02245993639379434 Centerline is valid? [True, True] Translation: X:29.81, Y:2.50, Z:1.30 [[ 9.74435295e-01 -2.19798996e-01 -4.65215708e-02 2.98050313e+01] [ 2.19601561e-01 9.75544584e-01 -9.37648459e-03 2.49703430e+00] [ 4.74448083e-02 -1.07943202e-03 9.98873278e-01 1.30165428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.90804094199999 meters 0.02271303887689374 Centerline is valid? [True, True] Translation: X:29.83, Y:2.50, Z:1.30 [[ 9.74264152e-01 -2.20597662e-01 -4.63252991e-02 2.98326916e+01] [ 2.20402587e-01 9.75364261e-01 -9.34124209e-03 2.50177808e+00] [ 4.72446973e-02 -1.10937845e-03 9.98882730e-01 1.30333575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.93804094199999 meters 0.022544717508648872 Centerline is valid? [True, True] Translation: X:29.86, Y:2.51, Z:1.30 [[ 9.74039839e-01 -2.21603776e-01 -4.62402264e-02 2.98609604e+01] [ 2.21410242e-01 9.75136116e-01 -9.33060739e-03 2.50843957e+00] [ 4.71582126e-02 -1.14967638e-03 9.98886771e-01 1.30472119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.968040941999995 meters 0.02338831974033288 Centerline is valid? [True, True] Translation: X:29.89, Y:2.51, Z:1.31 [[ 9.74048723e-01 -2.21555851e-01 -4.62827149e-02 2.98881108e+01] [ 2.21361361e-01 9.75147021e-01 -9.35072961e-03 2.51240701e+00] [ 4.72041604e-02 -1.13713854e-03 9.98884615e-01 1.30607112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.998040941999996 meters 0.024157154402065287 Centerline is valid? [True, True] Translation: X:29.92, Y:2.52, Z:1.31 [[ 9.74058557e-01 -2.21606190e-01 -4.58325589e-02 2.99154490e+01] [ 2.21415234e-01 9.75135599e-01 -9.26593503e-03 2.52048730e+00] [ 4.67463484e-02 -1.12246347e-03 9.98906161e-01 1.30597957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.028040942 meters 0.022730839408380363 Centerline is valid? [True, True] Translation: X:29.94, Y:2.53, Z:1.31 [[ 9.74472375e-01 -2.19714567e-01 -4.61421540e-02 2.99422324e+01] [ 2.19518280e-01 9.75563661e-01 -9.34174070e-03 2.52657193e+00] [ 4.70671252e-02 -1.02577802e-03 9.98891202e-01 1.30867042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.058040942 meters 0.02213538324665298 Centerline is valid? [True, True] Translation: X:29.97, Y:2.54, Z:1.31 [[ 9.75213267e-01 -2.16386280e-01 -4.62175585e-02 2.99693835e+01] [ 2.16185307e-01 9.76307451e-01 -9.36348576e-03 2.53570429e+00] [ 4.71486766e-02 -8.60161566e-04 9.98887512e-01 1.30994820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.088040942 meters 0.023365156091397044 Centerline is valid? [True, True] Translation: X:30.00, Y:2.54, Z:1.31 [[ 9.75471734e-01 -2.15238407e-01 -4.61229196e-02 2.99974694e+01] [ 2.15036460e-01 9.76561212e-01 -9.35522897e-03 2.54347579e+00] [ 4.70554589e-02 -7.92347953e-04 9.98891964e-01 1.30946846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.11804094199999 meters 0.02081805323256045 Centerline is valid? [True, True] Translation: X:30.02, Y:2.56, Z:1.31 [[ 9.75892620e-01 -2.13287839e-01 -4.62805857e-02 3.00244366e+01] [ 2.13081785e-01 9.76989162e-01 -9.39844949e-03 2.55502909e+00] [ 4.72202056e-02 -6.89672299e-04 9.98884266e-01 1.31281501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.148040941999994 meters 0.020349248663530096 Centerline is valid? [True, True] Translation: X:30.05, Y:2.56, Z:1.31 [[ 9.76656605e-01 -2.09770482e-01 -4.62408898e-02 3.00509070e+01] [ 2.09560288e-01 9.77750524e-01 -9.40205886e-03 2.56444784e+00] [ 4.71843287e-02 -5.07671305e-04 9.98886070e-01 1.31350828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.178040941999996 meters 0.02023657963924464 Centerline is valid? [True, True] Translation: X:30.08, Y:2.57, Z:1.31 [[ 9.77017532e-01 -2.08002385e-01 -4.66020420e-02 3.00780553e+01] [ 2.07786586e-01 9.78128229e-01 -9.48172123e-03 2.57106787e+00] [ 4.75549934e-02 -4.19471312e-04 9.98868533e-01 1.31493799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.208040942 meters 0.019881315224766317 Centerline is valid? [True, True] Translation: X:30.11, Y:2.58, Z:1.32 [[ 9.77540769e-01 -2.05502730e-01 -4.67190860e-02 3.01058247e+01] [ 2.05282763e-01 9.78656498e-01 -9.51029909e-03 2.57947703e+00] [ 4.76763295e-02 -2.93917965e-04 9.98862794e-01 1.31692948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.238040942 meters 0.019816123431382542 Centerline is valid? [True, True] Translation: X:30.13, Y:2.59, Z:1.32 [[ 9.77651808e-01 -2.04921323e-01 -4.69488398e-02 3.01330209e+01] [ 2.04697927e-01 9.78778415e-01 -9.56933926e-03 2.58680335e+00] [ 4.79134727e-02 -2.54848334e-04 9.98851458e-01 1.31787403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.268040942 meters 0.019917078822658092 Centerline is valid? [True, True] Translation: X:30.16, Y:2.59, Z:1.32 [[ 9.77813397e-01 -2.04282188e-01 -4.63653843e-02 3.01597163e+01] [ 2.04062955e-01 9.78912021e-01 -9.46390224e-03 2.59442631e+00] [ 4.73209387e-02 -2.07526953e-04 9.98879715e-01 1.31884486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.29804094199999 meters 0.020459649795606782 Centerline is valid? [True, True] Translation: X:30.19, Y:2.60, Z:1.32 [[ 9.77871991e-01 -2.04114613e-01 -4.58649556e-02 3.01871062e+01] [ 2.03899281e-01 9.78946981e-01 -9.37510892e-03 2.60164135e+00] [ 4.68129565e-02 -1.84175025e-04 9.98903656e-01 1.31914782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.328040941999994 meters 0.01966830692970948 Centerline is valid? [True, True] Translation: X:30.21, Y:2.61, Z:1.32 [[ 9.78055331e-01 -2.03179923e-01 -4.61051846e-02 3.02127531e+01] [ 2.02960654e-01 9.79141411e-01 -9.43770279e-03 2.60856674e+00] [ 4.70610473e-02 -1.26942875e-04 9.98892007e-01 1.32095469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.358040941999995 meters 0.019715506194089013 Centerline is valid? [True, True] Translation: X:30.24, Y:2.61, Z:1.32 [[ 9.78011010e-01 -2.03342669e-01 -4.63273397e-02 3.02400585e+01] [ 2.03121007e-01 9.79107626e-01 -9.49281270e-03 2.61386590e+00] [ 4.72897454e-02 -1.25980551e-04 9.98881206e-01 1.32188296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.388040941999996 meters 0.020935442973799782 Centerline is valid? [True, True] Translation: X:30.27, Y:2.62, Z:1.32 [[ 9.77834637e-01 -2.04180340e-01 -4.63660576e-02 3.02673488e+01] [ 2.03958624e-01 9.78933279e-01 -9.51391279e-03 2.61772466e+00] [ 4.73318307e-02 -1.53723837e-04 9.98879209e-01 1.32178077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.418040942 meters 0.019678724707040195 Centerline is valid? [True, True] Translation: X:30.29, Y:2.62, Z:1.32 [[ 9.77890279e-01 -2.04027196e-01 -4.58639992e-02 3.02937577e+01] [ 2.03809819e-01 9.78965211e-01 -9.41666936e-03 2.62326258e+00] [ 4.68205163e-02 -1.39063949e-04 9.98903309e-01 1.32472541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.448040942 meters 0.019714996174004417 Centerline is valid? [True, True] Translation: X:30.32, Y:2.63, Z:1.33 [[ 9.77759099e-01 -2.04688479e-01 -4.57140023e-02 3.03216793e+01] [ 2.04472960e-01 9.78827155e-01 -9.39196583e-03 2.62910058e+00] [ 4.66685340e-02 -1.64197293e-04 9.98910417e-01 1.32618190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.47804094199999 meters 0.019633761471800938 Centerline is valid? [True, True] Translation: X:30.35, Y:2.64, Z:1.33 [[ 9.77493480e-01 -2.05749577e-01 -4.66219740e-02 3.03493906e+01] [ 2.05525984e-01 9.78604654e-01 -9.59169519e-03 2.63517030e+00] [ 4.75979679e-02 -2.06207582e-04 9.98866553e-01 1.32623983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.508040941999994 meters 0.01965479564460284 Centerline is valid? [True, True] Translation: X:30.38, Y:2.64, Z:1.33 [[ 9.77382256e-01 -2.06304629e-01 -4.65008164e-02 3.03769328e+01] [ 2.06082600e-01 9.78487786e-01 -9.57151213e-03 2.64133519e+00] [ 4.74751281e-02 -2.27983042e-04 9.98872394e-01 1.32678542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.538040941999995 meters 0.01967692040122999 Centerline is valid? [True, True] Translation: X:30.40, Y:2.65, Z:1.33 [[ 9.77192727e-01 -2.07219261e-01 -4.64171527e-02 3.04038013e+01] [ 2.06998438e-01 9.78294491e-01 -9.56743365e-03 2.64600754e+00] [ 4.73922013e-02 -2.59051527e-04 9.98876325e-01 1.32822524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.568040941999996 meters 0.01967692040122999 Centerline is valid? [True, True] Translation: X:30.43, Y:2.65, Z:1.33 [[ 9.77135873e-01 -2.07487604e-01 -4.64152978e-02 3.04307677e+01] [ 2.07266657e-01 9.78237612e-01 -9.57642426e-03 2.65166999e+00] [ 4.73921794e-02 -2.62875915e-04 9.98876325e-01 1.32944998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.598040942 meters 0.019659522447305074 Centerline is valid? [True, True] Translation: X:30.46, Y:2.66, Z:1.33 [[ 9.76927002e-01 -2.08414864e-01 -4.66570213e-02 3.04571605e+01] [ 2.08192038e-01 9.78040468e-01 -9.63943326e-03 2.65576733e+00] [ 4.76414561e-02 -2.96597740e-04 9.98864457e-01 1.33073446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.628040942 meters 0.019677852619538003 Centerline is valid? [True, True] Translation: X:30.49, Y:2.66, Z:1.33 [[ 9.76655284e-01 -2.09595894e-01 -4.70533496e-02 3.04850456e+01] [ 2.09370176e-01 9.77788034e-01 -9.73083943e-03 2.66010995e+00] [ 4.80477462e-02 -3.47892324e-04 9.98844979e-01 1.33245963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.65804094199999 meters 0.019745290269370105 Centerline is valid? [True, True] Translation: X:30.51, Y:2.66, Z:1.33 [[ 9.76232322e-01 -2.11599966e-01 -4.68605192e-02 3.05126983e+01] [ 2.11377795e-01 9.77356264e-01 -9.70362203e-03 2.66397931e+00] [ 4.78527081e-02 -4.32283775e-04 9.98854309e-01 1.33356924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.68804094199999 meters 0.019553677945028103 Centerline is valid? [True, True] Translation: X:30.54, Y:2.67, Z:1.33 [[ 9.76009729e-01 -2.12530061e-01 -4.72861680e-02 3.05396164e+01] [ 2.12304592e-01 9.77154413e-01 -9.79863402e-03 2.67102387e+00] [ 4.82883920e-02 -4.75508484e-04 9.98833322e-01 1.33450699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.718040941999995 meters 0.01962388312460872 Centerline is valid? [True, True] Translation: X:30.57, Y:2.68, Z:1.33 [[ 9.75881624e-01 -2.13056727e-01 -4.75593091e-02 3.05671650e+01] [ 2.12828571e-01 9.77039708e-01 -9.86959334e-03 2.67682250e+00] [ 4.85701167e-02 -4.90425003e-04 9.98819655e-01 1.33493702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.748040941999996 meters 0.02101940554386728 Centerline is valid? [True, True] Translation: X:30.59, Y:2.68, Z:1.33 [[ 9.75748913e-01 -2.13557462e-01 -4.80340427e-02 3.05947619e+01] [ 2.13324655e-01 9.76930373e-01 -9.98189678e-03 2.67995280e+00] [ 4.90576238e-02 -5.07020662e-04 9.98795821e-01 1.33389383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.778040942 meters 0.01983447870831264 Centerline is valid? [True, True] Translation: X:30.62, Y:2.69, Z:1.34 [[ 9.75790529e-01 -2.13440841e-01 -4.77058775e-02 3.06217242e+01] [ 2.13210710e-01 9.76955867e-01 -9.92100767e-03 2.68738675e+00] [ 4.87240851e-02 -4.90578683e-04 9.98812156e-01 1.33675096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.808040942 meters 0.019507530594113465 Centerline is valid? [True, True] Translation: X:30.65, Y:2.69, Z:1.34 [[ 9.76000927e-01 -2.12610686e-01 -4.71050522e-02 3.06487512e+01] [ 2.12384727e-01 9.77136895e-01 -9.80902722e-03 2.69256185e+00] [ 4.81135884e-02 -4.30773986e-04 9.98841778e-01 1.33859781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.838040942 meters 0.01945557210747163 Centerline is valid? [True, True] Translation: X:30.68, Y:2.70, Z:1.34 [[ 9.76062404e-01 -2.12369125e-01 -4.69205429e-02 3.06760965e+01] [ 2.12144418e-01 9.77189431e-01 -9.77553451e-03 2.69805293e+00] [ 4.79262803e-02 -4.12399559e-04 9.98850790e-01 1.33985403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.86804094199999 meters 0.019356842725855986 Centerline is valid? [True, True] Translation: X:30.70, Y:2.70, Z:1.34 [[ 9.76273870e-01 -2.11371071e-01 -4.70276703e-02 3.07034508e+01] [ 2.11143548e-01 9.77405825e-01 -9.81097168e-03 2.70431218e+00] [ 4.80388745e-02 -3.51393891e-04 9.98845405e-01 1.34000082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.898040941999994 meters 0.019166089274203726 Centerline is valid? [True, True] Translation: X:30.73, Y:2.71, Z:1.34 [[ 9.76491704e-01 -2.10455886e-01 -4.66076479e-02 3.07308718e+01] [ 2.10231141e-01 9.77603309e-01 -9.72814779e-03 2.71101971e+00] [ 4.76111368e-02 -2.98923372e-04 9.98865902e-01 1.34054839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.928040941999996 meters 0.019134461054007235 Centerline is valid? [True, True] Translation: X:30.76, Y:2.72, Z:1.34 [[ 9.76654937e-01 -2.09741680e-01 -4.64064785e-02 3.07581243e+01] [ 2.09517427e-01 9.77756803e-01 -9.69960560e-03 2.71761350e+00] [ 4.74086616e-02 -2.49798264e-04 9.98875546e-01 1.34140918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.958040942 meters 0.018936280640724903 Centerline is valid? [True, True] Translation: X:30.79, Y:2.72, Z:1.34 [[ 9.76903589e-01 -2.08858195e-01 -4.51401339e-02 3.07859345e+01] [ 2.08644491e-01 9.77945918e-01 -9.44762038e-03 2.72409336e+00] [ 4.61178226e-02 -1.88826008e-04 9.98935989e-01 1.34290565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.988040942 meters 0.02014605245456248 Centerline is valid? [True, True] Translation: X:30.81, Y:2.73, Z:1.34 [[ 9.77080251e-01 -2.07978118e-01 -4.53793410e-02 3.08125704e+01] [ 2.07760625e-01 9.78133469e-01 -9.50993855e-03 2.72928559e+00] [ 4.63649114e-02 -1.36067073e-04 9.98924560e-01 1.34281256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.018040942 meters 0.018734945809379223 Centerline is valid? [True, True] Translation: X:30.84, Y:2.74, Z:1.35 [[ 9.77366541e-01 -2.06838054e-01 -4.44146716e-02 3.08387506e+01] [ 2.06628286e-01 9.78375191e-01 -9.31329588e-03 2.73528788e+00] [ 4.53805568e-02 -7.48236828e-05 9.98969769e-01 1.34537649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.04804094199999 meters 0.018693560413431246 Centerline is valid? [True, True] Translation: X:30.87, Y:2.74, Z:1.35 [[ 9.77482813e-01 -2.06488363e-01 -4.34730561e-02 3.08662140e+01] [ 2.06286817e-01 9.78449055e-01 -9.12117591e-03 2.74023582e+00] [ 4.44195873e-02 -5.21256776e-05 9.99012962e-01 1.34681366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.078040941999994 meters 0.018678286002613627 Centerline is valid? [True, True] Translation: X:30.89, Y:2.75, Z:1.35 [[ 9.77474484e-01 -2.06561143e-01 -4.33142975e-02 3.08930607e+01] [ 2.06360579e-01 9.78433693e-01 -9.10048010e-03 2.74532062e+00] [ 4.42599737e-02 -4.28764569e-05 9.99020046e-01 1.34811484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.108040941999995 meters 0.018665719541653872 Centerline is valid? [True, True] Translation: X:30.92, Y:2.75, Z:1.35 [[ 9.77445562e-01 -2.06891051e-01 -4.23823875e-02 3.09200920e+01] [ 2.06699121e-01 9.78363987e-01 -8.90971339e-03 2.75121324e+00] [ 4.33087416e-02 -5.16424294e-05 9.99061735e-01 1.34918065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.138040941999996 meters 0.018670258968546995 Centerline is valid? [True, True] Translation: X:30.95, Y:2.76, Z:1.35 [[ 9.77629186e-01 -2.06209389e-01 -4.14591709e-02 3.09467105e+01] [ 2.06024599e-01 9.78507888e-01 -8.72793741e-03 2.75772442e+00] [ 4.23679085e-02 -8.92271277e-06 9.99102077e-01 1.34963227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.168040942 meters 0.018662177862448382 Centerline is valid? [True, True] Translation: X:30.97, Y:2.76, Z:1.35 [[ 9.77748350e-01 -2.05711178e-01 -4.11226789e-02 3.09744621e+01] [ 2.05528733e-01 9.78612748e-01 -8.66192805e-03 2.76373584e+00] [ 4.20250332e-02 1.72937696e-05 9.99116558e-01 1.35089982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.198040942 meters 0.01868938333500247 Centerline is valid? [True, True] Translation: X:31.00, Y:2.77, Z:1.35 [[ 9.77814312e-01 -2.05469046e-01 -4.07632397e-02 3.10020219e+01] [ 2.05289092e-01 9.78663614e-01 -8.59763215e-03 2.76958216e+00] [ 4.16600468e-02 3.86393132e-05 9.99131843e-01 1.35196323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.22804094199999 meters 0.01882489889206924 Centerline is valid? [True, True] Translation: X:31.03, Y:2.78, Z:1.35 [[ 9.77890614e-01 -2.05054583e-01 -4.10190793e-02 3.10285665e+01] [ 2.04871476e-01 9.78750537e-01 -8.66402996e-03 2.77642927e+00] [ 4.19240450e-02 6.88342637e-05 9.99120798e-01 1.35182249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.258040941999994 meters 0.018775030947742202 Centerline is valid? [True, True] Translation: X:31.06, Y:2.78, Z:1.35 [[ 9.77832485e-01 -2.05323906e-01 -4.10575674e-02 3.10557447e+01] [ 2.05140492e-01 9.78694074e-01 -8.67692775e-03 2.78311854e+00] [ 4.19643786e-02 6.20122714e-05 9.99119106e-01 1.35172428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.288040941999995 meters 0.018737143172460013 Centerline is valid? [True, True] Translation: X:31.08, Y:2.79, Z:1.35 [[ 9.77759599e-01 -2.05669054e-01 -4.10658809e-02 3.10834516e+01] [ 2.05485361e-01 9.78621600e-01 -8.69078389e-03 2.78955870e+00] [ 4.19753834e-02 5.90600127e-05 9.99118643e-01 1.35202620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.318040941999996 meters 0.018673549671354962 Centerline is valid? [True, True] Translation: X:31.11, Y:2.79, Z:1.35 [[ 9.77466135e-01 -2.07064377e-01 -4.10402076e-02 3.11113117e+01] [ 2.06881638e-01 9.78327319e-01 -8.69737870e-03 2.79398628e+00] [ 4.19516736e-02 1.09277720e-05 9.99119641e-01 1.35265462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.348040942 meters 0.018612563500846797 Centerline is valid? [True, True] Translation: X:31.14, Y:2.80, Z:1.35 [[ 9.77221853e-01 -2.08215874e-01 -4.10316832e-02 3.11383003e+01] [ 2.08033707e-01 9.78082895e-01 -8.70790542e-03 2.79807927e+00] [ 4.19455116e-02 -2.64176787e-05 9.99119899e-01 1.35385092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.378040942 meters 0.018611001185275103 Centerline is valid? [True, True] Translation: X:31.17, Y:2.80, Z:1.35 [[ 9.76529448e-01 -2.11392449e-01 -4.12731183e-02 3.11666819e+01] [ 2.11210759e-01 9.77401252e-01 -8.76401817e-03 2.80197865e+00] [ 4.21930448e-02 -1.59004823e-04 9.99109464e-01 1.35403352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.40804094199999 meters 0.019681808719148156 Centerline is valid? [True, True] Translation: X:31.20, Y:2.81, Z:1.35 [[ 9.76022566e-01 -2.13637171e-01 -4.17026415e-02 3.11951969e+01] [ 2.13453211e-01 9.76913045e-01 -8.86726512e-03 2.80737155e+00] [ 4.26342320e-02 -2.46911890e-04 9.99090717e-01 1.35377162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.43804094199999 meters 0.01874886662975216 Centerline is valid? [True, True] Translation: X:31.22, Y:2.81, Z:1.36 [[ 9.75708167e-01 -2.15304070e-01 -4.04688855e-02 3.12236410e+01] [ 2.15131866e-01 9.76547012e-01 -8.61472547e-03 2.81337265e+00] [ 4.13745547e-02 -3.00688858e-04 9.99143661e-01 1.35549585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.468040941999995 meters 0.019207185723349566 Centerline is valid? [True, True] Translation: X:31.25, Y:2.82, Z:1.36 [[ 9.74942986e-01 -2.19056102e-01 -3.87375623e-02 3.12515567e+01] [ 2.18900883e-01 9.75712170e-01 -8.25616282e-03 2.81774172e+00] [ 3.96052738e-02 -4.30398554e-04 9.99215311e-01 1.35649700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.498040941999996 meters 0.019617154384404936 Centerline is valid? [True, True] Translation: X:31.28, Y:2.82, Z:1.36 [[ 9.74466183e-01 -2.21329815e-01 -3.77990754e-02 3.12787776e+01] [ 2.21183613e-01 9.75198880e-01 -8.05938381e-03 2.82244926e+00] [ 3.86453979e-02 -5.06939058e-04 9.99252859e-01 1.35764495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.528040942 meters 0.020651193062780446 Centerline is valid? [True, True] Translation: X:31.31, Y:2.82, Z:1.36 [[ 9.73625176e-01 -2.25348387e-01 -3.56668146e-02 3.13067592e+01] [ 2.25220805e-01 9.74278047e-01 -7.60764563e-03 2.82496965e+00] [ 3.64637651e-02 -6.25913389e-04 9.99334780e-01 1.35906049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.558040942 meters 0.021239456302674067 Centerline is valid? [True, True] Translation: X:31.33, Y:2.83, Z:1.36 [[ 9.73174347e-01 -2.27355009e-01 -3.52333726e-02 3.13348092e+01] [ 2.27231716e-01 9.73811699e-01 -7.51816771e-03 2.82912387e+00] [ 3.60199635e-02 -6.89651765e-04 9.99350833e-01 1.36003804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.588040942 meters 0.021935002619075928 Centerline is valid? [True, True] Translation: X:31.36, Y:2.83, Z:1.36 [[ 9.72767607e-01 -2.29167536e-01 -3.47192010e-02 3.13622910e+01] [ 2.29048866e-01 9.73386711e-01 -7.41137362e-03 2.83382300e+00] [ 3.54936551e-02 -7.42849438e-04 9.99369626e-01 1.36096356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.61804094199999 meters 0.021069054724245764 Centerline is valid? [True, True] Translation: X:31.39, Y:2.84, Z:1.36 [[ 9.72389737e-01 -2.30830129e-01 -3.42877528e-02 3.13900537e+01] [ 2.30715378e-01 9.72993743e-01 -7.32056326e-03 2.84276811e+00] [ 3.50515755e-02 -7.92271268e-04 9.99385191e-01 1.36010539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.648040941999994 meters 0.021998970522562902 Centerline is valid? [True, True] Translation: X:31.42, Y:2.85, Z:1.36 [[ 9.71917151e-01 -2.33004464e-01 -3.29540810e-02 3.14175922e+01] [ 2.32899389e-01 9.72475313e-01 -7.04552784e-03 2.84871943e+00] [ 3.36886697e-02 -8.27315960e-04 9.99432033e-01 1.35993813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.678040941999996 meters 0.021841698726063567 Centerline is valid? [True, True] Translation: X:31.45, Y:2.86, Z:1.36 [[ 9.71801135e-01 -2.33548765e-01 -3.25196580e-02 3.14456179e+01] [ 2.33446710e-01 9.72344733e-01 -6.95374251e-03 2.85553780e+00] [ 3.32443561e-02 -8.33952308e-04 9.99446906e-01 1.36033088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.708040942 meters 0.02229496692934433 Centerline is valid? [True, True] Translation: X:31.47, Y:2.86, Z:1.36 [[ 9.71692241e-01 -2.34122624e-01 -3.16352066e-02 3.14735524e+01] [ 2.34026039e-01 9.72206728e-01 -6.77423091e-03 2.86021125e+00] [ 3.23419615e-02 -8.20994492e-04 9.99476525e-01 1.36147862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.738040942 meters 0.02221086538244615 Centerline is valid? [True, True] Translation: X:31.50, Y:2.87, Z:1.36 [[ 9.71701692e-01 -2.34156996e-01 -3.10857339e-02 3.15009290e+01] [ 2.34063746e-01 9.72198462e-01 -6.65687935e-03 2.86641601e+00] [ 3.17802576e-02 -8.07542395e-04 9.99494554e-01 1.36267242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.768040942 meters 0.021467341723760334 Centerline is valid? [True, True] Translation: X:31.53, Y:2.87, Z:1.36 [[ 9.71784121e-01 -2.33810903e-01 -3.11140532e-02 3.15290288e+01] [ 2.33717013e-01 9.72281770e-01 -6.67211743e-03 2.87470071e+00] [ 3.18116405e-02 -7.88025798e-04 9.99493571e-01 1.36249790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.79804094199999 meters 0.021556599039423745 Centerline is valid? [True, True] Translation: X:31.56, Y:2.88, Z:1.36 [[ 9.72315504e-01 -2.31527056e-01 -3.15877178e-02 3.15566344e+01] [ 2.31428816e-01 9.72828201e-01 -6.78186234e-03 2.88189770e+00] [ 3.22996073e-02 -7.16198236e-04 9.99477975e-01 1.36214424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.828040941999994 meters 0.021253603924020304 Centerline is valid? [True, True] Translation: X:31.58, Y:2.89, Z:1.36 [[ 9.72725278e-01 -2.29774905e-01 -3.17651703e-02 3.15836505e+01] [ 2.29674300e-01 9.73243581e-01 -6.82991041e-03 2.88917651e+00] [ 3.24845902e-02 -6.52016775e-04 9.99472024e-01 1.36283010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.858040941999995 meters 0.019498966666173338 Centerline is valid? [True, True] Translation: X:31.61, Y:2.90, Z:1.36 [[ 9.73190843e-01 -2.27865639e-01 -3.12543506e-02 3.16109942e+01] [ 2.27767245e-01 9.73692413e-01 -6.72056686e-03 2.89990166e+00] [ 3.19635103e-02 -5.78323191e-04 9.99488869e-01 1.36200164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.888040941999996 meters 0.019046904919183906 Centerline is valid? [True, True] Translation: X:31.64, Y:2.91, Z:1.36 [[ 9.74111161e-01 -2.24057258e-01 -3.00963604e-02 3.16379152e+01] [ 2.23963906e-01 9.74575889e-01 -6.48122365e-03 2.90783764e+00] [ 3.07833524e-02 -4.27066133e-04 9.99525989e-01 1.36447134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.918040942 meters 0.018732592982576707 Centerline is valid? [True, True] Translation: X:31.66, Y:2.92, Z:1.37 [[ 9.74430099e-01 -2.22791363e-01 -2.91545915e-02 3.16649011e+01] [ 2.22703206e-01 9.74866077e-01 -6.27810009e-03 2.91509092e+00] [ 2.98205288e-02 -3.75251306e-04 9.99555199e-01 1.36557439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.948040942 meters 0.01849200255708478 Centerline is valid? [True, True] Translation: X:31.69, Y:2.92, Z:1.37 [[ 9.74766736e-01 -2.21421853e-01 -2.83226754e-02 3.16906630e+01] [ 2.21337776e-01 9.75178068e-01 -6.10938065e-03 2.92184988e+00] [ 2.89724022e-02 -3.13656935e-04 9.99580163e-01 1.36659857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.97804094199999 meters 0.018618572003722005 Centerline is valid? [True, True] Translation: X:31.72, Y:2.93, Z:1.37 [[ 9.74732053e-01 -2.21662032e-01 -2.76291332e-02 3.17185893e+01] [ 2.21582080e-01 9.75123503e-01 -5.96117364e-03 2.92789412e+00] [ 2.82631830e-02 -3.11573787e-04 9.99600468e-01 1.36855642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.008040941999994 meters 0.0186340410619094 Centerline is valid? [True, True] Translation: X:31.75, Y:2.93, Z:1.37 [[ 9.74723387e-01 -2.21853755e-01 -2.63672386e-02 3.17466394e+01] [ 2.21780845e-01 9.75079906e-01 -5.69501104e-03 2.93372363e+00] [ 2.69736241e-02 -2.96688018e-04 9.99636102e-01 1.37030795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.038040941999995 meters 0.018698444960055613 Centerline is valid? [True, True] Translation: X:31.77, Y:2.94, Z:1.37 [[ 9.74655683e-01 -2.22230669e-01 -2.56871418e-02 3.17745848e+01] [ 2.22161386e-01 9.74994074e-01 -5.55638392e-03 2.93759384e+00] [ 2.62796099e-02 -2.91129849e-04 9.99654589e-01 1.37306290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.068040941999996 meters 0.018636697983719135 Centerline is valid? [True, True] Translation: X:31.80, Y:2.94, Z:1.37 [[ 9.74521588e-01 -2.22746253e-01 -2.63017460e-02 3.18017910e+01] [ 2.22673775e-01 9.74876408e-01 -5.69034559e-03 2.94287372e+00] [ 2.69084548e-02 -3.11344445e-04 9.99637853e-01 1.37380818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.098040942 meters 0.018570085478868886 Centerline is valid? [True, True] Translation: X:31.83, Y:2.95, Z:1.37 [[ 9.74486789e-01 -2.22789133e-01 -2.72121378e-02 3.18298620e+01] [ 2.22711323e-01 9.74866608e-01 -5.89608341e-03 2.94914896e+00] [ 2.78417878e-02 -3.14795812e-04 9.99612293e-01 1.37423097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.128040942 meters 0.018079004467636075 Centerline is valid? [True, True] Translation: X:31.86, Y:2.96, Z:1.37 [[ 9.74405056e-01 -2.22921097e-01 -2.89995261e-02 3.18581993e+01] [ 2.22832555e-01 9.74836435e-01 -6.29110615e-03 2.95700468e+00] [ 2.96722149e-02 -3.31952847e-04 9.99559628e-01 1.37148846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.15804094199999 meters 0.018075076213559305 Centerline is valid? [True, True] Translation: X:31.89, Y:2.96, Z:1.37 [[ 9.74233242e-01 -2.23497367e-01 -3.03070502e-02 3.18868216e+01] [ 2.23400683e-01 9.74704468e-01 -6.58296539e-03 2.96280685e+00] [ 3.10116927e-02 -3.57272012e-04 9.99518958e-01 1.37142430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.18804094199999 meters 0.01796353057257714 Centerline is valid? [True, True] Translation: X:31.92, Y:2.97, Z:1.37 [[ 9.73743984e-01 -2.25455967e-01 -3.15001835e-02 3.19150224e+01] [ 2.25352286e-01 9.74253265e-01 -6.85007792e-03 2.96742348e+00] [ 3.22335476e-02 -4.28416203e-04 9.99480272e-01 1.37091334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.218040941999995 meters 0.018187536549412138 Centerline is valid? [True, True] Translation: X:31.94, Y:2.97, Z:1.37 [[ 9.73508734e-01 -2.26490791e-01 -3.13475250e-02 3.19423889e+01] [ 2.26388276e-01 9.74013203e-01 -6.82850968e-03 2.97194315e+00] [ 3.20794978e-02 -4.49098320e-04 9.99485220e-01 1.37212486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.248040941999996 meters 0.018705744885134545 Centerline is valid? [True, True] Translation: X:31.97, Y:2.98, Z:1.37 [[ 9.73244202e-01 -2.27629867e-01 -3.13108219e-02 3.19701920e+01] [ 2.27528089e-01 9.73747611e-01 -6.82337301e-03 2.97604762e+00] [ 3.20420415e-02 -4.83283241e-04 9.99486405e-01 1.37428725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.278040942 meters 0.018970311962474576 Centerline is valid? [True, True] Translation: X:32.00, Y:2.98, Z:1.38 [[ 9.72746746e-01 -2.29684780e-01 -3.17595702e-02 3.19987545e+01] [ 2.29581123e-01 9.73264913e-01 -6.92222926e-03 2.97938386e+00] [ 3.25004061e-02 -5.57821803e-04 9.99471567e-01 1.37547421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.308040942 meters 0.018597757772773577 Centerline is valid? [True, True] Translation: X:32.03, Y:2.99, Z:1.38 [[ 9.72527627e-01 -2.30514406e-01 -3.24518662e-02 3.20264933e+01] [ 2.30406385e-01 9.73068733e-01 -7.08084135e-03 2.98551168e+00] [ 3.32101323e-02 -5.90803345e-04 9.99448217e-01 1.37560216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.33804094199999 meters 0.01893085359574926 Centerline is valid? [True, True] Translation: X:32.05, Y:2.99, Z:1.38 [[ 9.72543478e-01 -2.30310913e-01 -3.34075725e-02 3.20535395e+01] [ 2.30195910e-01 9.73116918e-01 -7.30118052e-03 2.99043370e+00] [ 3.41910155e-02 -5.89571055e-04 9.99415142e-01 1.37704161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.36804094199999 meters 0.018585958577821353 Centerline is valid? [True, True] Translation: X:32.08, Y:3.00, Z:1.38 [[ 9.72838622e-01 -2.28990024e-01 -3.38907832e-02 3.20812960e+01] [ 2.28870742e-01 9.73428615e-01 -7.41041955e-03 2.99811442e+00] [ 3.46871703e-02 -5.47466351e-04 9.99398069e-01 1.37786646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.398040941999994 meters 0.01790562056476214 Centerline is valid? [True, True] Translation: X:32.11, Y:3.01, Z:1.38 [[ 9.73136494e-01 -2.27652662e-01 -3.43457437e-02 3.21093846e+01] [ 2.27529015e-01 9.73742275e-01 -7.51862639e-03 3.00726146e+00] [ 3.51555379e-02 -4.98003518e-04 9.99381729e-01 1.37807149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.428040941999996 meters 0.017296510172174016 Centerline is valid? [True, True] Translation: X:32.14, Y:3.02, Z:1.38 [[ 9.73794769e-01 -2.24693415e-01 -3.51655585e-02 3.21366153e+01] [ 2.24561558e-01 9.74429431e-01 -7.70656932e-03 3.01687164e+00] [ 3.59979706e-02 -3.92215707e-04 9.99351786e-01 1.37864726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.458040942 meters 0.017296510172174016 Centerline is valid? [True, True] Translation: X:32.16, Y:3.02, Z:1.38 [[ 9.73731317e-01 -2.24968522e-01 -3.51637202e-02 3.21635157e+01] [ 2.24836542e-01 9.74365952e-01 -7.71494718e-03 3.02286488e+00] [ 3.59979520e-02 -3.93803576e-04 9.99351786e-01 1.37987129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.488040942 meters 0.017509538692275818 Centerline is valid? [True, True] Translation: X:32.19, Y:3.03, Z:1.38 [[ 9.73950864e-01 -2.23941350e-01 -3.56368597e-02 3.21911622e+01] [ 2.23804703e-01 9.74602560e-01 -7.82978531e-03 3.02901760e+00] [ 3.64851874e-02 -3.49870623e-04 9.99334133e-01 1.38185948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.518040942 meters 0.016962647391787038 Centerline is valid? [True, True] Translation: X:32.22, Y:3.04, Z:1.38 [[ 9.74065985e-01 -2.23443486e-01 -3.56155334e-02 3.22176937e+01] [ 2.23306350e-01 9.74716833e-01 -7.83388765e-03 3.03740498e+00] [ 3.64654910e-02 -3.22451255e-04 9.99334861e-01 1.38147586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.54804094199999 meters 0.017069982776049084 Centerline is valid? [True, True] Translation: X:32.24, Y:3.04, Z:1.38 [[ 9.74084670e-01 -2.23435415e-01 -3.51521051e-02 3.22442981e+01] [ 2.23301392e-01 9.74718688e-01 -7.74380436e-03 3.04311260e+00] [ 3.59936539e-02 -3.06392902e-04 9.99351972e-01 1.38425294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.578040941999994 meters 0.017135598233590267 Centerline is valid? [True, True] Translation: X:32.27, Y:3.05, Z:1.39 [[ 9.73924396e-01 -2.24090281e-01 -3.54233847e-02 3.22705896e+01] [ 2.23954445e-01 9.74568334e-01 -7.80825278e-03 3.04816214e+00] [ 3.62722626e-02 -3.28576580e-04 9.99341891e-01 1.38602187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.608040941999995 meters 0.01750447365668876 Centerline is valid? [True, True] Translation: X:32.30, Y:3.05, Z:1.39 [[ 9.73144597e-01 -2.27291597e-01 -3.64434106e-02 3.22987615e+01] [ 2.27149917e-01 9.73826638e-01 -8.03703936e-03 3.05250339e+00] [ 3.73163155e-02 -4.56916275e-04 9.99303399e-01 1.38695354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.638040941999996 meters 0.017892660554545654 Centerline is valid? [True, True] Translation: X:32.33, Y:3.06, Z:1.39 [[ 9.72617330e-01 -2.29528974e-01 -3.64963044e-02 3.23272970e+01] [ 2.29388105e-01 9.73301682e-01 -8.05808554e-03 3.05831293e+00] [ 3.73714785e-02 -5.34384477e-04 9.99301299e-01 1.38777533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.668040942 meters 0.018331422423361773 Centerline is valid? [True, True] Translation: X:32.36, Y:3.06, Z:1.39 [[ 9.72028518e-01 -2.32072191e-01 -3.60979001e-02 3.23557855e+01] [ 2.31935796e-01 9.72698370e-01 -7.97923629e-03 3.06393377e+00] [ 3.69641274e-02 -6.16349969e-04 9.99316403e-01 1.38921078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.698040942 meters 0.019054466368067416 Centerline is valid? [True, True] Translation: X:32.38, Y:3.07, Z:1.39 [[ 9.70821383e-01 -2.36959151e-01 -3.68266712e-02 3.23844644e+01] [ 2.36820338e-01 9.71519277e-01 -8.14995202e-03 3.06829580e+00] [ 3.77090267e-02 -8.09157009e-04 9.99288434e-01 1.38983685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.72804094199999 meters 0.01976812600839473 Centerline is valid? [True, True] Translation: X:32.41, Y:3.07, Z:1.39 [[ 9.70213528e-01 -2.39281925e-01 -3.78136355e-02 3.24116015e+01] [ 2.39136917e-01 9.70949703e-01 -8.37906064e-03 3.07248784e+00] [ 3.87200959e-02 -9.13158233e-04 9.99249679e-01 1.39062631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.758040941999994 meters 0.020366275984408554 Centerline is valid? [True, True] Translation: X:32.44, Y:3.08, Z:1.39 [[ 9.69472059e-01 -2.42124817e-01 -3.87233769e-02 3.24396805e+01] [ 2.41974750e-01 9.70244547e-01 -8.58717586e-03 3.07760221e+00] [ 3.96503137e-02 -1.04505236e-03 9.99213071e-01 1.39037676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.788040941999995 meters 0.020378180509052393 Centerline is valid? [True, True] Translation: X:32.47, Y:3.08, Z:1.39 [[ 9.69211907e-01 -2.43075030e-01 -3.92786095e-02 3.24680384e+01] [ 2.42921205e-01 9.70006872e-01 -8.71530254e-03 3.08479543e+00] [ 4.02189935e-02 -1.09463215e-03 9.99190289e-01 1.39104722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.818040941999996 meters 0.02109953176970342 Centerline is valid? [True, True] Translation: X:32.49, Y:3.09, Z:1.39 [[ 9.69142022e-01 -2.43321597e-01 -3.94758289e-02 3.24948694e+01] [ 2.43165991e-01 9.69945045e-01 -8.76986115e-03 3.09005762e+00] [ 4.04232813e-02 -1.09993807e-03 9.99182040e-01 1.39191198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.848040942 meters 0.020792302403191586 Centerline is valid? [True, True] Translation: X:32.52, Y:3.10, Z:1.39 [[ 9.69010738e-01 -2.43727575e-01 -4.01877893e-02 3.25223369e+01] [ 2.43566458e-01 9.69843073e-01 -8.93274026e-03 3.09697646e+00] [ 4.11530042e-02 -1.13247626e-03 9.99152215e-01 1.39304214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.878040942 meters 0.02025604076099472 Centerline is valid? [True, True] Translation: X:32.55, Y:3.10, Z:1.39 [[ 9.68965923e-01 -2.43816698e-01 -4.07241588e-02 3.25496926e+01] [ 2.43650827e-01 9.69820663e-01 -9.06396751e-03 3.10368889e+00] [ 4.17050773e-02 -1.13979934e-03 9.99129315e-01 1.39480264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.90804094199999 meters 0.020257445306018782 Centerline is valid? [True, True] Translation: X:32.58, Y:3.11, Z:1.40 [[ 9.69004522e-01 -2.43530378e-01 -4.15113376e-02 3.25777474e+01] [ 2.43357232e-01 9.69892603e-01 -9.25177102e-03 3.10999403e+00] [ 4.25146266e-02 -1.13707626e-03 9.99095197e-01 1.39655024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.93804094199999 meters 0.019490485940656423 Centerline is valid? [True, True] Translation: X:32.60, Y:3.12, Z:1.40 [[ 9.69703027e-01 -2.40554384e-01 -4.25397142e-02 3.26043914e+01] [ 2.40369192e-01 9.70635126e-01 -9.49234165e-03 3.11791507e+00] [ 4.35739652e-02 -1.02048429e-03 9.99049683e-01 1.39753869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.968040941999995 meters 0.01860869501628841 Centerline is valid? [True, True] Translation: X:32.63, Y:3.13, Z:1.40 [[ 9.70273160e-01 -2.38061906e-01 -4.35490904e-02 3.26317904e+01] [ 2.37865126e-01 9.71249541e-01 -9.72165644e-03 3.12617713e+00] [ 4.46113901e-02 -9.26147570e-04 9.99003987e-01 1.39830497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.998040941999996 meters 0.01753877017408994 Centerline is valid? [True, True] Translation: X:32.66, Y:3.14, Z:1.40 [[ 9.71718867e-01 -2.31814790e-01 -4.49927344e-02 3.26587861e+01] [ 2.31597502e-01 9.72759725e-01 -1.00555976e-02 3.13603557e+00] [ 4.60981561e-02 -6.48990932e-04 9.98936704e-01 1.39913768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.028040942 meters 0.016775707934877034 Centerline is valid? [True, True] Translation: X:32.69, Y:3.15, Z:1.40 [[ 9.72298258e-01 -2.29148710e-01 -4.61190347e-02 3.26859091e+01] [ 2.28917218e-01 9.73391281e-01 -1.03112342e-02 3.14539477e+00] [ 4.72546723e-02 -5.31846057e-04 9.98882732e-01 1.39999208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.058040942 meters 0.016583639588935852 Centerline is valid? [True, True] Translation: X:32.71, Y:3.15, Z:1.40 [[ 9.72945886e-01 -2.26244596e-01 -4.67940820e-02 3.27122216e+01] [ 2.26002359e-01 9.74070446e-01 -1.04737378e-02 3.15355957e+00] [ 4.79503589e-02 -3.85192783e-04 9.98849646e-01 1.40010744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.08804094199999 meters 0.016032207366658627 Centerline is valid? [True, True] Translation: X:32.74, Y:3.16, Z:1.40 [[ 9.73940711e-01 -2.21279629e-01 -4.97475302e-02 3.27394516e+01] [ 2.20999057e-01 9.75210390e-01 -1.11405355e-02 3.16390847e+00] [ 5.09794819e-02 -1.43936198e-04 9.98699690e-01 1.39919816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.11804094199999 meters 0.01603699807227463 Centerline is valid? [True, True] Translation: X:32.77, Y:3.17, Z:1.40 [[ 9.74324657e-01 -2.19117375e-01 -5.17594277e-02 3.27675724e+01] [ 2.18809884e-01 9.75698507e-01 -1.16042638e-02 3.17101999e+00] [ 5.30442921e-02 -1.91539832e-05 9.98592160e-01 1.40013763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.148040941999994 meters 0.016076424097728893 Centerline is valid? [True, True] Translation: X:32.80, Y:3.18, Z:1.40 [[ 9.75139961e-01 -2.15308437e-01 -5.23863898e-02 3.27953232e+01] [ 2.14987243e-01 9.76546074e-01 -1.17579686e-02 3.17757433e+00] [ 5.36893132e-02 2.03259526e-04 9.98557668e-01 1.40406610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.178040941999996 meters 0.0162184319841193 Centerline is valid? [True, True] Translation: X:32.82, Y:3.18, Z:1.41 [[ 9.75503647e-01 -2.13488014e-01 -5.30613126e-02 3.28229358e+01] [ 2.13155027e-01 9.76945630e-01 -1.19235076e-02 3.18448224e+00] [ 5.43835434e-02 3.21139600e-04 9.98520068e-01 1.40582438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.208040942 meters 0.01633697301892537 Centerline is valid? [True, True] Translation: X:32.85, Y:3.19, Z:1.41 [[ 9.75830131e-01 -2.11937976e-01 -5.32714658e-02 3.28512646e+01] [ 2.11599273e-01 9.77283027e-01 -1.19846586e-02 3.19217097e+00] [ 5.46013036e-02 4.22787601e-04 9.98508147e-01 1.40723795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.238040942 meters 0.016820080936831742 Centerline is valid? [True, True] Translation: X:32.88, Y:3.20, Z:1.41 [[ 9.76339841e-01 -2.09101305e-01 -5.51104250e-02 3.28786921e+01] [ 2.08733446e-01 9.77893790e-01 -1.24130376e-02 3.20022437e+00] [ 5.64877247e-02 6.15954221e-04 9.98403104e-01 1.40837810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.268040942 meters 0.017794166435279375 Centerline is valid? [True, True] Translation: X:32.91, Y:3.21, Z:1.41 [[ 9.76550704e-01 -2.07880481e-01 -5.59859687e-02 3.29051895e+01] [ 2.07498107e-01 9.78153976e-01 -1.26227511e-02 3.20847425e+00] [ 5.73869215e-02 7.09773968e-04 9.98351760e-01 1.40772176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.29804094199999 meters 0.017687547081252048 Centerline is valid? [True, True] Translation: X:32.93, Y:3.21, Z:1.41 [[ 9.76707559e-01 -2.06812128e-01 -5.71934322e-02 3.29338593e+01] [ 2.06410794e-01 9.78380350e-01 -1.29025245e-02 3.21116978e+00] [ 5.86253287e-02 7.96651491e-04 9.98279738e-01 1.41076644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.328040941999994 meters 0.01780404518483449 Centerline is valid? [True, True] Translation: X:32.96, Y:3.22, Z:1.41 [[ 9.76630159e-01 -2.07060219e-01 -5.76159547e-02 3.29612725e+01] [ 2.06652459e-01 9.78327870e-01 -1.30130315e-02 3.21622831e+00] [ 5.90617754e-02 8.02440330e-04 9.98254007e-01 1.41219960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.358040941999995 meters 0.01805873667066859 Centerline is valid? [True, True] Translation: X:32.99, Y:3.22, Z:1.41 [[ 9.76626719e-01 -2.06931784e-01 -5.81333781e-02 3.29883446e+01] [ 2.06515599e-01 9.78355020e-01 -1.31438750e-02 3.22153506e+00] [ 5.95949679e-02 8.31210112e-04 9.98222294e-01 1.41347626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.388040941999996 meters 0.018218134068033305 Centerline is valid? [True, True] Translation: X:33.02, Y:3.23, Z:1.42 [[ 9.76468766e-01 -2.07437906e-01 -5.89768195e-02 3.30155220e+01] [ 2.07010144e-01 9.78247846e-01 -1.33398994e-02 3.22597657e+00] [ 6.04611474e-02 8.17195183e-04 9.98170217e-01 1.41516140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.418040942 meters 0.017960762829973078 Centerline is valid? [True, True] Translation: X:33.04, Y:3.23, Z:1.42 [[ 9.76357345e-01 -2.07828456e-01 -5.94446651e-02 3.30435743e+01] [ 2.07394074e-01 9.78164956e-01 -1.34542851e-02 3.23057004e+00] [ 6.09428715e-02 8.07718860e-04 9.98140929e-01 1.41788181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.448040942 meters 0.01792535799533764 Centerline is valid? [True, True] Translation: X:33.07, Y:3.24, Z:1.42 [[ 9.76126402e-01 -2.08700952e-01 -6.01760713e-02 3.30715693e+01] [ 2.08256365e-01 9.77979194e-01 -1.36375316e-02 3.23539157e+00] [ 6.16971115e-02 7.79904812e-04 9.98094614e-01 1.41974257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.47804094199999 meters 0.01788331255823203 Centerline is valid? [True, True] Translation: X:33.10, Y:3.24, Z:1.42 [[ 9.75986485e-01 -2.09233268e-01 -6.05955528e-02 3.30986455e+01] [ 2.08782374e-01 9.77865455e-01 -1.37503341e-02 3.24080904e+00] [ 6.21313252e-02 7.68856840e-04 9.98067687e-01 1.42128028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.508040941999994 meters 0.017844321866524977 Centerline is valid? [True, True] Translation: X:33.13, Y:3.25, Z:1.42 [[ 9.75833843e-01 -2.09710220e-01 -6.13997993e-02 3.31269361e+01] [ 2.09247099e-01 9.77763283e-01 -1.39504075e-02 3.24706842e+00] [ 6.29600123e-02 7.65549850e-04 9.98015757e-01 1.42244239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.538040941999995 meters 0.017995990351609998 Centerline is valid? [True, True] Translation: X:33.15, Y:3.25, Z:1.42 [[ 9.75548243e-01 -2.10442560e-01 -6.33999605e-02 3.31542917e+01] [ 2.09949410e-01 9.77605932e-01 -1.44182602e-02 3.25277030e+00] [ 6.50143930e-02 7.54924132e-04 9.97884041e-01 1.42185763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.568040941999996 meters 0.0183899028373892 Centerline is valid? [True, True] Translation: X:33.18, Y:3.26, Z:1.42 [[ 9.75426924e-01 -2.10860010e-01 -6.38777934e-02 3.31818195e+01] [ 2.10359902e-01 9.77515990e-01 -1.45327452e-02 3.25879179e+00] [ 6.55059393e-02 7.38304613e-04 9.97851906e-01 1.42223271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.598040942 meters 0.01819342942763948 Centerline is valid? [True, True] Translation: X:33.21, Y:3.26, Z:1.42 [[ 9.75169562e-01 -2.11776634e-01 -6.47686902e-02 3.32104349e+01] [ 2.11263865e-01 9.77317847e-01 -1.47446740e-02 3.26406526e+00] [ 6.64221742e-02 6.95273488e-04 9.97791367e-01 1.42488076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.628040942 meters 0.018020335374624996 Centerline is valid? [True, True] Translation: X:33.24, Y:3.27, Z:1.43 [[ 9.74717906e-01 -2.14015241e-01 -6.42065401e-02 3.32378113e+01] [ 2.13515307e-01 9.76830166e-01 -1.46301293e-02 3.26988376e+00] [ 6.58499558e-02 5.51169847e-04 9.97829384e-01 1.42603474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.65804094199999 meters 0.017669774394836316 Centerline is valid? [True, True] Translation: X:33.27, Y:3.28, Z:1.43 [[ 9.74345910e-01 -2.15682541e-01 -6.42735486e-02 3.32650312e+01] [ 2.15184421e-01 9.76463434e-01 -1.46569538e-02 3.27592564e+00] [ 6.59220190e-02 4.50276686e-04 9.97824676e-01 1.42831667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.68804094199999 meters 0.01704917989995367 Centerline is valid? [True, True] Translation: X:33.29, Y:3.28, Z:1.43 [[ 9.73483459e-01 -2.19320856e-01 -6.50255128e-02 3.32920784e+01] [ 2.18817840e-01 9.75652762e-01 -1.48472716e-02 3.28205111e+00] [ 6.66986374e-02 2.24831052e-04 9.97773141e-01 1.43175974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.718040941999995 meters 0.01716193719565643 Centerline is valid? [True, True] Translation: X:33.32, Y:3.29, Z:1.43 [[ 9.72961523e-01 -2.21588471e-01 -6.51492415e-02 3.33181320e+01] [ 2.21087554e-01 9.75140268e-01 -1.48913169e-02 3.28772281e+00] [ 6.68293930e-02 8.49919762e-05 9.97764414e-01 1.43122383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.748040941999996 meters 0.017719574664662358 Centerline is valid? [True, True] Translation: X:33.35, Y:3.29, Z:1.43 [[ 9.72354117e-01 -2.24119046e-01 -6.55600850e-02 3.33458941e+01] [ 2.23616945e-01 9.74561772e-01 -1.49938409e-02 3.29265868e+00] [ 6.72527579e-02 -8.10229869e-05 9.97735967e-01 1.43101427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.778040942 meters 0.01749103266100563 Centerline is valid? [True, True] Translation: X:33.37, Y:3.30, Z:1.44 [[ 9.71272249e-01 -2.29205749e-01 -6.39917353e-02 3.33746136e+01] [ 2.28737709e-01 9.73377910e-01 -1.46460200e-02 3.29525657e+00] [ 6.56450935e-02 -4.12050149e-04 9.97842950e-01 1.43736214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.808040942 meters 0.017863508488486172 Centerline is valid? [True, True] Translation: X:33.40, Y:3.30, Z:1.44 [[ 9.70750455e-01 -2.31615201e-01 -6.32293582e-02 3.34009094e+01] [ 2.31162501e-01 9.72807324e-01 -1.44847504e-02 3.29978906e+00] [ 6.48648712e-02 -5.55178483e-04 9.97893902e-01 1.43943891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.83804094199999 meters 0.01810117812659824 Centerline is valid? [True, True] Translation: X:33.43, Y:3.31, Z:1.44 [[ 9.70013157e-01 -2.34966691e-01 -6.21701630e-02 3.34286037e+01] [ 2.34535276e-01 9.72003129e-01 -1.42520908e-02 3.30598536e+00] [ 6.37783596e-02 -7.56380792e-04 9.97963801e-01 1.44248514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.86804094199999 meters 0.01800950475261947 Centerline is valid? [True, True] Translation: X:33.46, Y:3.31, Z:1.44 [[ 9.69664461e-01 -2.36361002e-01 -6.23242332e-02 3.34565584e+01] [ 2.35929314e-01 9.71664952e-01 -1.43031242e-02 3.31424955e+00] [ 6.39389738e-02 -8.34882351e-04 9.97953461e-01 1.44445454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.898040941999994 meters 0.01798300654460017 Centerline is valid? [True, True] Translation: X:33.48, Y:3.32, Z:1.45 [[ 9.69509432e-01 -2.36934448e-01 -6.25581986e-02 3.34839152e+01] [ 2.36499662e-01 9.71525258e-01 -1.43729716e-02 3.32234145e+00] [ 6.41823221e-02 -8.60261320e-04 9.97937818e-01 1.44588703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.928040941999996 meters 0.018050269528119993 Centerline is valid? [True, True] Translation: X:33.51, Y:3.33, Z:1.45 [[ 9.69675193e-01 -2.36406683e-01 -6.19830714e-02 3.35118790e+01] [ 2.35977773e-01 9.71653867e-01 -1.42567147e-02 3.33071028e+00] [ 6.35964737e-02 -8.02244593e-04 9.97975373e-01 1.44737726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.958040942 meters 0.017979346676382586 Centerline is valid? [True, True] Translation: X:33.54, Y:3.34, Z:1.45 [[ 9.69825270e-01 -2.35944660e-01 -6.13926970e-02 3.35402517e+01] [ 2.35521979e-01 9.71766204e-01 -1.41365343e-02 3.33728757e+00] [ 6.29947879e-02 -7.49361270e-04 9.98013575e-01 1.44949244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.988040942 meters 0.01790022916300836 Centerline is valid? [True, True] Translation: X:33.57, Y:3.34, Z:1.45 [[ 9.70049760e-01 -2.35231131e-01 -6.05787027e-02 3.35674377e+01] [ 2.34817379e-01 9.71939222e-01 -1.39623329e-02 3.34378287e+00] [ 6.21631925e-02 -6.80774544e-04 9.98065766e-01 1.45188569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.018040942 meters 0.01748296541784872 Centerline is valid? [True, True] Translation: X:33.59, Y:3.35, Z:1.45 [[ 9.70691604e-01 -2.32830712e-01 -5.95623214e-02 3.35947720e+01] [ 2.32425623e-01 9.72517147e-01 -1.37378648e-02 3.35460532e+00] [ 6.11239757e-02 -5.08579569e-04 9.98130052e-01 1.45414612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.04804094199999 meters 0.01710957821045834 Centerline is valid? [True, True] Translation: X:33.62, Y:3.36, Z:1.46 [[ 9.71087637e-01 -2.31242438e-01 -5.92936512e-02 3.36224439e+01] [ 2.30837133e-01 9.72896079e-01 -1.36907591e-02 3.36425124e+00] [ 6.08524453e-02 -3.92249597e-04 9.98146696e-01 1.45540656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.078040941999994 meters 0.01679188678038136 Centerline is valid? [True, True] Translation: X:33.65, Y:3.37, Z:1.46 [[ 9.71710852e-01 -2.28767114e-01 -5.86824343e-02 3.36495047e+01] [ 2.28364727e-01 9.73481155e-01 -1.35643747e-02 3.37399464e+00] [ 6.02293267e-02 -2.20347995e-04 9.98184542e-01 1.45662806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.108040941999995 meters 0.016936702639356798 Centerline is valid? [True, True] Translation: X:33.68, Y:3.38, Z:1.46 [[ 9.71919804e-01 -2.27927773e-01 -5.84878105e-02 3.36770074e+01] [ 2.27525800e-01 9.73678030e-01 -1.35316203e-02 3.38058268e+00] [ 6.00325281e-02 -1.55836069e-04 9.98196409e-01 1.45825700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.138040941999996 meters 0.016734733898009228 Centerline is valid? [True, True] Translation: X:33.70, Y:3.39, Z:1.46 [[ 9.71996806e-01 -2.27687893e-01 -5.81414788e-02 3.37044029e+01] [ 2.27289751e-01 9.73734156e-01 -1.34596968e-02 3.38718122e+00] [ 5.96789538e-02 -1.32179890e-04 9.98217614e-01 1.46155213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.168040942 meters 0.01687967445897078 Centerline is valid? [True, True] Translation: X:33.73, Y:3.39, Z:1.46 [[ 9.72091889e-01 -2.27518669e-01 -5.72067621e-02 3.37311787e+01] [ 2.27132129e-01 9.73773713e-01 -1.32571544e-02 3.39408112e+00] [ 5.87226912e-02 -1.06321380e-04 9.98274328e-01 1.46340107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.198040942 meters 0.016701213602211575 Centerline is valid? [True, True] Translation: X:33.76, Y:3.40, Z:1.47 [[ 9.72049924e-01 -2.27902902e-01 -5.63845083e-02 3.37591038e+01] [ 2.27527628e-01 9.73683857e-01 -1.30738502e-02 3.40141813e+00] [ 5.78802539e-02 -1.20598294e-04 9.98323526e-01 1.46607422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.22804094199999 meters 0.016570963923651497 Centerline is valid? [True, True] Translation: X:33.79, Y:3.41, Z:1.47 [[ 9.72065357e-01 -2.28006259e-01 -5.56963952e-02 3.37852374e+01] [ 2.27639426e-01 9.73659660e-01 -1.29289536e-02 3.41069862e+00] [ 5.71772156e-02 -1.10907526e-04 9.98364039e-01 1.46779950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.258040941999994 meters 0.01670915269222594 Centerline is valid? [True, True] Translation: X:33.81, Y:3.42, Z:1.47 [[ 9.72117655e-01 -2.27891155e-01 -5.52529291e-02 3.38117304e+01] [ 2.27529172e-01 9.73686609e-01 -1.28398672e-02 3.41847579e+00] [ 5.67251293e-02 -8.97915990e-05 9.98389829e-01 1.46810624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.288040941999995 meters 0.016635638535022736 Centerline is valid? [True, True] Translation: X:33.84, Y:3.43, Z:1.47 [[ 9.72089019e-01 -2.28072317e-01 -5.50086980e-02 3.38391756e+01] [ 2.27713402e-01 9.73644190e-01 -1.27905054e-02 3.42584821e+00] [ 5.64760595e-02 -9.27079127e-05 9.98403949e-01 1.46948831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.318040941999996 meters 0.0166200204125923 Centerline is valid? [True, True] Translation: X:33.87, Y:3.43, Z:1.47 [[ 9.71962211e-01 -2.28684244e-01 -5.47081025e-02 3.38664971e+01] [ 2.28329308e-01 9.73500644e-01 -1.27366882e-02 3.43269248e+00] [ 5.61710530e-02 -1.11883509e-04 9.98421154e-01 1.47079484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.348040942 meters 0.01688136297112035 Centerline is valid? [True, True] Translation: X:33.89, Y:3.44, Z:1.47 [[ 9.71831285e-01 -2.28989026e-01 -5.57492595e-02 3.38934321e+01] [ 2.28620088e-01 9.73428997e-01 -1.29939650e-02 3.43900359e+00] [ 5.72434212e-02 -1.17458927e-04 9.98360244e-01 1.47030433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.378040942 meters 0.01688136297112035 Centerline is valid? [True, True] Translation: X:33.92, Y:3.45, Z:1.47 [[ 9.71771186e-01 -2.29244442e-01 -5.57471751e-02 3.39202344e+01] [ 2.28875412e-01 9.73368877e-01 -1.30029019e-02 3.44536832e+00] [ 5.72434083e-02 -1.23312283e-04 9.98360244e-01 1.47152976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.40804094199999 meters 0.016756100521124796 Centerline is valid? [True, True] Translation: X:33.95, Y:3.45, Z:1.47 [[ 9.71691755e-01 -2.29509903e-01 -5.60387134e-02 3.39477318e+01] [ 2.29136528e-01 9.73306318e-01 -1.30867438e-02 3.45255646e+00] [ 5.75463711e-02 -1.24235124e-04 9.98342827e-01 1.47430146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.43804094199999 meters 0.016697778356021962 Centerline is valid? [True, True] Translation: X:33.97, Y:3.46, Z:1.48 [[ 9.71659891e-01 -2.29740410e-01 -5.56453097e-02 3.39732625e+01] [ 2.29371766e-01 9.73251935e-01 -1.30101492e-02 3.46144791e+00] [ 5.71458624e-02 -1.22022793e-04 9.98365833e-01 1.47504223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.468040941999995 meters 0.01663899591430962 Centerline is valid? [True, True] Translation: X:34.00, Y:3.47, Z:1.48 [[ 9.71601829e-01 -2.30107217e-01 -5.51412188e-02 3.40000240e+01] [ 2.29745131e-01 9.73165275e-01 -1.29043805e-02 3.46977768e+00] [ 5.66309104e-02 -1.30506901e-04 9.98395174e-01 1.47624617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.498040941999996 meters 0.016519790199878093 Centerline is valid? [True, True] Translation: X:34.03, Y:3.48, Z:1.48 [[ 9.71595160e-01 -2.30258920e-01 -5.46230178e-02 3.40268635e+01] [ 2.29902963e-01 9.73129393e-01 -1.27989411e-02 3.47797579e+00] [ 5.61023345e-02 -1.22604400e-04 9.98425016e-01 1.47833358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.528040942 meters 0.01660491880147127 Centerline is valid? [True, True] Translation: X:34.05, Y:3.49, Z:1.48 [[ 9.71791984e-01 -2.29581601e-01 -5.39687639e-02 3.40534286e+01] [ 2.29232313e-01 9.73289414e-01 -1.26595103e-02 3.48701528e+00] [ 5.54336173e-02 -6.89739482e-05 9.98462373e-01 1.47947420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.558040942 meters 0.01658301034702181 Centerline is valid? [True, True] Translation: X:34.08, Y:3.49, Z:1.48 [[ 9.71766287e-01 -2.29795771e-01 -5.35180944e-02 3.40804620e+01] [ 2.29452234e-01 9.73238870e-01 -1.25608222e-02 3.49474787e+00] [ 5.49723135e-02 -7.36627096e-05 9.98487876e-01 1.48144082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.58804094199999 meters 0.016706097993881716 Centerline is valid? [True, True] Translation: X:34.11, Y:3.50, Z:1.48 [[ 9.71573929e-01 -2.30725290e-01 -5.30088871e-02 3.41072259e+01] [ 2.30388791e-01 9.73018925e-01 -1.24569845e-02 3.50295005e+00] [ 5.44527917e-02 -1.09772024e-04 9.98516340e-01 1.48291333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.61804094199999 meters 0.016821755587300292 Centerline is valid? [True, True] Translation: X:34.13, Y:3.51, Z:1.48 [[ 9.71480606e-01 -2.31260592e-01 -5.23829189e-02 3.41333356e+01] [ 2.30931983e-01 9.72891835e-01 -1.23246047e-02 3.50979989e+00] [ 5.38131095e-02 -1.23776919e-04 9.98551017e-01 1.48390073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.648040941999994 meters 0.01691284654490985 Centerline is valid? [True, True] Translation: X:34.16, Y:3.52, Z:1.49 [[ 9.71426650e-01 -2.31664468e-01 -5.15930057e-02 3.41603793e+01] [ 2.31345678e-01 9.72795742e-01 -1.21499373e-02 3.51756918e+00] [ 5.30041651e-02 -1.33045943e-04 9.98594282e-01 1.48536984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.678040941999996 meters 0.01707638326964872 Centerline is valid? [True, True] Translation: X:34.19, Y:3.53, Z:1.49 [[ 9.71514663e-01 -2.31689726e-01 -4.97908662e-02 3.41866669e+01] [ 2.31392191e-01 9.72789729e-01 -1.17386684e-02 3.52747129e+00] [ 5.11557721e-02 -1.16929136e-04 9.98690679e-01 1.48620009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.708040942 meters 0.017053307395556917 Centerline is valid? [True, True] Translation: X:34.21, Y:3.54, Z:1.49 [[ 9.71405786e-01 -2.32302343e-01 -4.90552720e-02 3.42134346e+01] [ 2.32014036e-01 9.72643615e-01 -1.15708945e-02 3.53532100e+00] [ 5.04012430e-02 -1.41477784e-04 9.98729040e-01 1.48782580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.738040942 meters 0.01722483087103597 Centerline is valid? [True, True] Translation: X:34.24, Y:3.54, Z:1.49 [[ 9.71048618e-01 -2.34125311e-01 -4.74333175e-02 3.42390505e+01] [ 2.33857308e-01 9.72206404e-01 -1.12012154e-02 3.54281712e+00] [ 4.87374630e-02 -2.15703217e-04 9.98811600e-01 1.48963364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.768040942 meters 0.017530865133591544 Centerline is valid? [True, True] Translation: X:34.27, Y:3.55, Z:1.49 [[ 9.70637463e-01 -2.35931949e-01 -4.68938244e-02 3.42665609e+01] [ 2.35671802e-01 9.71769534e-01 -1.10803532e-02 3.55030223e+00] [ 4.81841992e-02 -2.96546192e-04 9.98838423e-01 1.49055857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.79804094199999 meters 0.017648183669611326 Centerline is valid? [True, True] Translation: X:34.29, Y:3.56, Z:1.49 [[ 9.70353709e-01 -2.36951565e-01 -4.76196958e-02 3.42930671e+01] [ 2.36683859e-01 9.71521405e-01 -1.12654309e-02 3.55788353e+00] [ 4.89329153e-02 -3.39360708e-04 9.98802010e-01 1.49062504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.828040941999994 meters 0.017945251971020544 Centerline is valid? [True, True] Translation: X:34.32, Y:3.57, Z:1.49 [[ 9.69717344e-01 -2.39850199e-01 -4.60451439e-02 3.43206903e+01] [ 2.39602871e-01 9.70809800e-01 -1.08993975e-02 3.56667260e+00] [ 4.73152996e-02 -4.63213895e-04 9.98879897e-01 1.49201975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.858040941999995 meters 0.01825886599348199 Centerline is valid? [True, True] Translation: X:34.35, Y:3.57, Z:1.49 [[ 9.69423348e-01 -2.40981232e-01 -4.63294615e-02 3.43477266e+01] [ 2.40731564e-01 9.70529642e-01 -1.09785422e-02 3.57392434e+00] [ 4.76097383e-02 -5.10108576e-04 9.98865883e-01 1.49252420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.888040941999996 meters 0.0187554956099799 Centerline is valid? [True, True] Translation: X:34.38, Y:3.58, Z:1.49 [[ 9.68643348e-01 -2.44213296e-01 -4.57157640e-02 3.43753623e+01] [ 2.43973488e-01 9.69721320e-01 -1.08396823e-02 3.58365444e+00] [ 4.69787455e-02 -6.53648270e-04 9.98895675e-01 1.49276838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.918040942 meters 0.01959925092015949 Centerline is valid? [True, True] Translation: X:34.40, Y:3.59, Z:1.49 [[ 9.68074959e-01 -2.46619568e-01 -4.48292624e-02 3.44023284e+01] [ 2.46391034e-01 9.69112086e-01 -1.06406735e-02 3.58876513e+00] [ 4.60687783e-02 -7.44558799e-04 9.98937993e-01 1.49363173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.948040942 meters 0.01970899279780095 Centerline is valid? [True, True] Translation: X:34.43, Y:3.60, Z:1.50 [[ 9.67401870e-01 -2.49261104e-01 -4.47495662e-02 3.44303454e+01] [ 2.49035869e-01 9.68435935e-01 -1.06290345e-02 3.59617353e+00] [ 4.59864929e-02 -8.61699248e-04 9.98941690e-01 1.49540986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.97804094199999 meters 0.021313718435619525 Centerline is valid? [True, True] Translation: X:34.46, Y:3.60, Z:1.50 [[ 9.66845960e-01 -2.51566021e-01 -4.38568864e-02 3.44577702e+01] [ 2.51351562e-01 9.67839683e-01 -1.04279127e-02 3.60003045e+00] [ 4.50697435e-02 -9.41311610e-04 9.98983399e-01 1.49697457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.008040941999994 meters 0.02204225646559605 Centerline is valid? [True, True] Translation: X:34.49, Y:3.61, Z:1.50 [[ 9.65650215e-01 -2.56425680e-01 -4.20182585e-02 3.44862258e+01] [ 2.56233261e-01 9.66563307e-01 -9.99444913e-03 3.60949797e+00] [ 4.31761403e-02 -1.11533347e-03 9.99066853e-01 1.49863387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.038040941999995 meters 0.02303433899292393 Centerline is valid? [True, True] Translation: X:34.51, Y:3.62, Z:1.50 [[ 9.65025942e-01 -2.58973294e-01 -4.07156570e-02 3.45137535e+01] [ 2.58794852e-01 9.65883749e-01 -9.68546572e-03 3.61730514e+00] [ 4.18348684e-02 -1.19027676e-03 9.99123830e-01 1.49979251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.068040941999996 meters 0.0222379509502555 Centerline is valid? [True, True] Translation: X:34.54, Y:3.63, Z:1.50 [[ 9.64301760e-01 -2.61933070e-01 -3.88996439e-02 3.45408449e+01] [ 2.61772197e-01 9.65085232e-01 -9.26350865e-03 3.63000483e+00] [ 3.99678911e-02 -1.25002755e-03 9.99200183e-01 1.50022904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.098040942 meters 0.022905842058672292 Centerline is valid? [True, True] Translation: X:34.57, Y:3.64, Z:1.50 [[ 9.64037249e-01 -2.62952865e-01 -3.85742556e-02 3.45676544e+01] [ 2.62795409e-01 9.64807832e-01 -9.18801085e-03 3.63609902e+00] [ 3.96327577e-02 -1.27955257e-03 9.99213494e-01 1.50165444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.128040942 meters 0.023211559620113214 Centerline is valid? [True, True] Translation: X:34.60, Y:3.64, Z:1.50 [[ 9.63788153e-01 -2.63909774e-01 -3.82626040e-02 3.45952524e+01] [ 2.63755498e-01 9.64546488e-01 -9.11648158e-03 3.64311432e+00] [ 3.93119889e-02 -1.30561524e-03 9.99226132e-01 1.50290469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.15804094199999 meters 0.023691976556869998 Centerline is valid? [True, True] Translation: X:34.62, Y:3.65, Z:1.50 [[ 9.63640201e-01 -2.64672605e-01 -3.66875295e-02 3.46223248e+01] [ 2.64530981e-01 9.64337489e-01 -8.75031730e-03 3.65229763e+00] [ 3.76951293e-02 -1.27283064e-03 9.99288475e-01 1.50417803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.18804094199999 meters 0.025457527929801427 Centerline is valid? [True, True] Translation: X:34.65, Y:3.66, Z:1.51 [[ 9.63671791e-01 -2.64567451e-01 -3.66161711e-02 3.46495966e+01] [ 2.64425901e-01 9.64366365e-01 -8.74394205e-03 3.65867683e+00] [ 3.76247663e-02 -1.25597373e-03 9.99291149e-01 1.50546287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.218040941999995 meters 0.02475077483581107 Centerline is valid? [True, True] Translation: X:34.68, Y:3.68, Z:1.50 [[ 9.64238676e-01 -2.62202852e-01 -3.86450631e-02 3.46759081e+01] [ 2.62043156e-01 9.65012002e-01 -9.23152272e-03 3.67500480e+00] [ 3.97134813e-02 -1.22528308e-03 9.99210357e-01 1.50243042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.248040941999996 meters 0.023779163093034867 Centerline is valid? [True, True] Translation: X:34.70, Y:3.68, Z:1.51 [[ 9.64647348e-01 -2.60812606e-01 -3.78454572e-02 3.47030316e+01] [ 2.60658011e-01 9.65388780e-01 -9.05008681e-03 3.68178838e+00] [ 3.88959565e-02 -1.13457934e-03 9.99242622e-01 1.50532547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.278040942 meters 0.022841224002450734 Centerline is valid? [True, True] Translation: X:34.73, Y:3.69, Z:1.51 [[ 9.65437693e-01 -2.57860489e-01 -3.79213507e-02 3.47305080e+01] [ 2.57702814e-01 9.66181630e-01 -9.07289554e-03 3.69307704e+00] [ 3.89784537e-02 -1.01312346e-03 9.99239538e-01 1.50657953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.308040942 meters 0.02207282412254848 Centerline is valid? [True, True] Translation: X:34.76, Y:3.70, Z:1.51 [[ 9.65843164e-01 -2.56364565e-01 -3.77384878e-02 3.47574098e+01] [ 2.56206921e-01 9.66579706e-01 -9.03805486e-03 3.70283682e+00] [ 3.87942935e-02 -9.39518271e-04 9.99246776e-01 1.50834816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.33804094199999 meters 0.022983813465825818 Centerline is valid? [True, True] Translation: X:34.78, Y:3.71, Z:1.51 [[ 9.66330897e-01 -2.54435383e-01 -3.83044965e-02 3.47843195e+01] [ 2.54271024e-01 9.67089390e-01 -9.18462577e-03 3.71148769e+00] [ 3.93807660e-02 -8.64335909e-04 9.99223903e-01 1.50907027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.36804094199999 meters 0.023073539669403748 Centerline is valid? [True, True] Translation: X:34.81, Y:3.72, Z:1.51 [[ 9.66847160e-01 -2.52450431e-01 -3.84102683e-02 3.48114377e+01] [ 2.52283410e-01 9.67609513e-01 -9.21473399e-03 3.72262704e+00] [ 3.94924046e-02 -7.81034064e-04 9.99219565e-01 1.50948009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.398040941999994 meters 0.020048333555990408 Centerline is valid? [True, True] Translation: X:34.84, Y:3.74, Z:1.51 [[ 9.68086423e-01 -2.47500165e-01 -3.93998217e-02 3.48383368e+01] [ 2.47319887e-01 9.68887675e-01 -9.46286122e-03 3.73680472e+00] [ 4.05160614e-02 -5.83491994e-04 9.99178717e-01 1.51064147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.428040941999996 meters 0.022375827465127705 Centerline is valid? [True, True] Translation: X:34.87, Y:3.74, Z:1.51 [[ 9.68478933e-01 -2.45532490e-01 -4.19803934e-02 3.48665931e+01] [ 2.45325492e-01 9.69388221e-01 -1.00936017e-02 3.74480996e+00] [ 4.31736061e-02 -5.23420033e-04 9.99067448e-01 1.50896953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.458040942 meters 0.019483082345090517 Centerline is valid? [True, True] Translation: X:34.89, Y:3.75, Z:1.51 [[ 9.69330539e-01 -2.42478548e-01 -4.00307354e-02 3.48933819e+01] [ 2.42287296e-01 9.70156701e-01 -9.63543005e-03 3.75227533e+00] [ 4.11724713e-02 -3.59022035e-04 9.99151990e-01 1.51400341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.488040942 meters 0.020067330415158853 Centerline is valid? [True, True] Translation: X:34.92, Y:3.76, Z:1.52 [[ 9.69489044e-01 -2.41903249e-01 -3.96712886e-02 3.49206654e+01] [ 2.41714816e-01 9.70300320e-01 -9.55183199e-03 3.75957608e+00] [ 4.08036832e-02 -3.28741763e-04 9.99167129e-01 1.51592147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.518040942 meters 0.019368514500392238 Centerline is valid? [True, True] Translation: X:34.95, Y:3.77, Z:1.52 [[ 9.69670702e-01 -2.41328159e-01 -3.87227372e-02 3.49464971e+01] [ 2.41147691e-01 9.70443527e-01 -9.33556797e-03 3.76739212e+00] [ 3.98311651e-02 -2.85471934e-04 9.99206383e-01 1.51856027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.54804094199999 meters 0.019309142145577073 Centerline is valid? [True, True] Translation: X:34.97, Y:3.78, Z:1.52 [[ 9.69852650e-01 -2.40655764e-01 -3.83489230e-02 3.49732201e+01] [ 2.40478077e-01 9.70610499e-01 -9.24957003e-03 3.77781438e+00] [ 3.94478296e-02 -2.51355231e-04 9.99221600e-01 1.51976558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.578040941999994 meters 0.02060311353137338 Centerline is valid? [True, True] Translation: X:35.00, Y:3.79, Z:1.52 [[ 9.69862254e-01 -2.40390090e-01 -3.97468655e-02 3.50000781e+01] [ 2.40198449e-01 9.70676336e-01 -9.59980330e-03 3.78514072e+00] [ 4.08890394e-02 -2.36648598e-04 9.99163666e-01 1.51943809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.608040941999995 meters 0.019191855584804816 Centerline is valid? [True, True] Translation: X:35.03, Y:3.79, Z:1.52 [[ 9.69763923e-01 -2.41010199e-01 -3.83668733e-02 3.50280720e+01] [ 2.40832023e-01 9.70522550e-01 -9.26907734e-03 3.79254285e+00] [ 3.94698579e-02 -2.51154923e-04 9.99220730e-01 1.52167578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.638040941999996 meters 0.019201118372647184 Centerline is valid? [True, True] Translation: X:35.06, Y:3.80, Z:1.52 [[ 9.69302658e-01 -2.42875720e-01 -3.82588894e-02 3.50557602e+01] [ 2.42699570e-01 9.70057362e-01 -9.25384892e-03 3.79562096e+00] [ 3.93608525e-02 -3.15635661e-04 9.99225012e-01 1.52449277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.668040942 meters 0.0192875154724713 Centerline is valid? [True, True] Translation: X:35.08, Y:3.80, Z:1.53 [[ 9.69056167e-01 -2.43873648e-01 -3.81548051e-02 3.50831868e+01] [ 2.43699090e-01 9.69806950e-01 -9.23220908e-03 3.80047603e+00] [ 3.92542877e-02 -3.51762136e-04 9.99229192e-01 1.52648971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.698040942 meters 0.01917430266862329 Centerline is valid? [True, True] Translation: X:35.11, Y:3.81, Z:1.53 [[ 9.68487091e-01 -2.46014410e-01 -3.88543961e-02 3.51106549e+01] [ 2.45834964e-01 9.69266070e-01 -9.40512016e-03 3.80765247e+00] [ 3.99740428e-02 -4.43031608e-04 9.99200620e-01 1.52710525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.72804094199999 meters 0.01922462367412829 Centerline is valid? [True, True] Translation: X:35.14, Y:3.81, Z:1.53 [[ 9.68315361e-01 -2.46602318e-01 -3.94037977e-02 3.51371637e+01] [ 2.46418098e-01 9.69116647e-01 -9.54176958e-03 3.81378807e+00] [ 4.05398988e-02 -4.70366853e-04 9.99177810e-01 1.52793018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.758040941999994 meters 0.022315145523096224 Centerline is valid? [True, True] Translation: X:35.16, Y:3.82, Z:1.53 [[ 9.67857042e-01 -2.48005248e-01 -4.17868714e-02 3.51644713e+01] [ 2.47799127e-01 9.68758529e-01 -1.01244495e-02 3.81917979e+00] [ 4.29923047e-02 -5.55730526e-04 9.99075249e-01 1.52600785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.788040941999995 meters 0.022541849073131677 Centerline is valid? [True, True] Translation: X:35.19, Y:3.82, Z:1.53 [[ 9.67605053e-01 -2.48866007e-01 -4.24990868e-02 3.51918613e+01] [ 2.48653052e-01 9.68537744e-01 -1.03101524e-02 3.82392503e+00] [ 4.37278161e-02 -5.91372047e-04 9.99043307e-01 1.52686736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.818040941999996 meters 0.01948988506513425 Centerline is valid? [True, True] Translation: X:35.22, Y:3.83, Z:1.53 [[ 9.67385062e-01 -2.49936997e-01 -4.12024240e-02 3.52207384e+01] [ 2.49737671e-01 9.68261905e-01 -9.99895068e-03 3.82776842e+00] [ 4.23938453e-02 -6.16961891e-04 9.99100786e-01 1.53156917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.848040942 meters 0.020943998374005877 Centerline is valid? [True, True] Translation: X:35.25, Y:3.83, Z:1.53 [[ 9.67238729e-01 -2.50437249e-01 -4.15983810e-02 3.52489513e+01] [ 2.50234072e-01 9.68132626e-01 -1.01058139e-02 3.83262392e+00] [ 4.28036221e-02 -6.34597666e-04 9.99083303e-01 1.53199687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.878040942 meters 0.019372034388107834 Centerline is valid? [True, True] Translation: X:35.28, Y:3.84, Z:1.54 [[ 9.67280409e-01 -2.50512658e-01 -4.01499602e-02 3.52761368e+01] [ 2.50322984e-01 9.68113135e-01 -9.76530622e-03 3.83770140e+00] [ 4.13160367e-02 -6.04668455e-04 9.99145945e-01 1.53507971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.90804094199999 meters 0.020688203024749635 Centerline is valid? [True, True] Translation: X:35.30, Y:3.84, Z:1.53 [[ 9.67093400e-01 -2.51066775e-01 -4.11804478e-02 3.53040722e+01] [ 2.50867207e-01 9.67969563e-01 -1.00284492e-02 3.84338544e+00] [ 4.23792305e-02 -6.32376908e-04 9.99101397e-01 1.53450454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.93804094199999 meters 0.021445117107632868 Centerline is valid? [True, True] Translation: X:35.33, Y:3.85, Z:1.53 [[ 9.67044927e-01 -2.51021585e-01 -4.25708016e-02 3.53319674e+01] [ 2.50807697e-01 9.67981278e-01 -1.03799689e-02 3.84921565e+00] [ 4.38133352e-02 -6.39188462e-04 9.99039530e-01 1.53431309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.968040941999995 meters 0.019025411164170645 Centerline is valid? [True, True] Translation: X:35.36, Y:3.85, Z:1.54 [[ 9.67382612e-01 -2.49747486e-01 -4.23919161e-02 3.53599126e+01] [ 2.49533624e-01 9.68310834e-01 -1.03488415e-02 3.85271319e+00] [ 4.36331488e-02 -5.66919169e-04 9.99047460e-01 1.53755984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.998040941999996 meters 0.018841525415089988 Centerline is valid? [True, True] Translation: X:35.39, Y:3.86, Z:1.54 [[ 9.67568275e-01 -2.48998384e-01 -4.25609866e-02 3.53881561e+01] [ 2.48781923e-01 9.68503754e-01 -1.03938681e-02 3.85766214e+00] [ 4.38085317e-02 -5.31627103e-04 9.99039804e-01 1.53978441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.028040942 meters 0.018370785460226267 Centerline is valid? [True, True] Translation: X:35.42, Y:3.86, Z:1.54 [[ 9.68151698e-01 -2.46672970e-01 -4.28338140e-02 3.54154228e+01] [ 2.46450967e-01 9.69098690e-01 -1.04714022e-02 3.86190500e+00] [ 4.40932049e-02 -4.18529084e-04 9.99027334e-01 1.54169843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.058040942 meters 0.01813059994284894 Centerline is valid? [True, True] Translation: X:35.44, Y:3.87, Z:1.54 [[ 9.68471103e-01 -2.45377367e-01 -4.30542638e-02 3.54432880e+01] [ 2.45151622e-01 9.69427573e-01 -1.05291221e-02 3.86852106e+00] [ 4.43215987e-02 -3.57672082e-04 9.99017251e-01 1.54295036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.08804094199999 meters 0.01786341944955097 Centerline is valid? [True, True] Translation: X:35.47, Y:3.88, Z:1.54 [[ 9.68840939e-01 -2.43868036e-01 -4.33083928e-02 3.54708501e+01] [ 2.43637627e-01 9.69808385e-01 -1.06020662e-02 3.87537708e+00] [ 4.45863475e-02 -2.79838306e-04 9.99005495e-01 1.54403278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.11804094199999 meters 0.01745990947391683 Centerline is valid? [True, True] Translation: X:35.50, Y:3.88, Z:1.55 [[ 9.69561114e-01 -2.40984292e-01 -4.33337855e-02 3.54978617e+01] [ 2.40750256e-01 9.70529006e-01 -1.06189402e-02 3.88127231e+00] [ 4.46156936e-02 -1.36908522e-04 9.99004215e-01 1.54549169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.148040941999994 meters 0.01740180127203512 Centerline is valid? [True, True] Translation: X:35.53, Y:3.89, Z:1.55 [[ 9.69690195e-01 -2.40453779e-01 -4.33924746e-02 3.55259582e+01] [ 2.40218407e-01 9.70660584e-01 -1.06371416e-02 3.88612197e+00] [ 4.46771056e-02 -1.08939224e-04 9.99001474e-01 1.54711962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.178040941999996 meters 0.01731340589390927 Centerline is valid? [True, True] Translation: X:35.55, Y:3.89, Z:1.55 [[ 9.69804806e-01 -2.39820603e-01 -4.43251321e-02 3.55546943e+01] [ 2.39573762e-01 9.70817219e-01 -1.08783721e-02 3.88837052e+00] [ 4.56404592e-02 -6.92411371e-05 9.98957929e-01 1.54802067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.208040942 meters 0.017206242882976317 Centerline is valid? [True, True] Translation: X:35.58, Y:3.89, Z:1.55 [[ 9.69815617e-01 -2.39652834e-01 -4.49909851e-02 3.55811148e+01] [ 2.39397724e-01 9.70858649e-01 -1.10550159e-02 3.89321671e+00] [ 4.63292530e-02 -4.94123908e-05 9.98926222e-01 1.54876102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.238040942 meters 0.017114105891239906 Centerline is valid? [True, True] Translation: X:35.61, Y:3.90, Z:1.55 [[ 9.69725108e-01 -2.40024320e-01 -4.49615403e-02 3.56085322e+01] [ 2.39769660e-01 9.70766873e-01 -1.10538567e-02 3.89884313e+00] [ 4.63003684e-02 -6.12108286e-05 9.98927561e-01 1.55012564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.268040942 meters 0.017114105891239906 Centerline is valid? [True, True] Translation: X:35.64, Y:3.91, Z:1.55 [[ 9.69656542e-01 -2.40301757e-01 -4.49583768e-02 3.56352543e+01] [ 2.40046800e-01 9.70698234e-01 -1.10667090e-02 3.90550883e+00] [ 4.63003666e-02 -6.12076499e-05 9.98927561e-01 1.55134898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.29804094199999 meters 0.016996191164657445 Centerline is valid? [True, True] Translation: X:35.66, Y:3.91, Z:1.55 [[ 9.69444922e-01 -2.41081684e-01 -4.53449529e-02 3.56622798e+01] [ 2.40822543e-01 9.70504824e-01 -1.11753605e-02 3.90871757e+00] [ 4.67016703e-02 -8.61903202e-05 9.98908878e-01 1.55279351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.328040941999994 meters 0.016954950552086925 Centerline is valid? [True, True] Translation: X:35.69, Y:3.91, Z:1.55 [[ 9.69156467e-01 -2.42276433e-01 -4.51428044e-02 3.56887201e+01] [ 2.42020612e-01 9.70207252e-01 -1.11315672e-02 3.91283932e+00] [ 4.64947926e-02 -1.37258880e-04 9.98918523e-01 1.55443555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.358040941999995 meters 0.01702091034628163 Centerline is valid? [True, True] Translation: X:35.72, Y:3.91, Z:1.56 [[ 9.68551083e-01 -2.44998292e-01 -4.34124118e-02 3.57178432e+01] [ 2.44764081e-01 9.69523478e-01 -1.07130712e-02 3.91344316e+00] [ 4.47140366e-02 -2.49642366e-04 9.98999796e-01 1.55721426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.388040941999996 meters 0.017056329800450624 Centerline is valid? [True, True] Translation: X:35.75, Y:3.92, Z:1.56 [[ 9.68188482e-01 -2.46476911e-01 -4.31299949e-02 3.57455294e+01] [ 2.46246730e-01 9.69148616e-01 -1.06540594e-02 3.91701675e+00] [ 4.44253545e-02 -3.05482570e-04 9.99012660e-01 1.55895067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.418040942 meters 0.017068055150935416 Centerline is valid? [True, True] Translation: X:35.77, Y:3.92, Z:1.56 [[ 9.67797404e-01 -2.48024438e-01 -4.30355888e-02 3.57742977e+01] [ 2.47796626e-01 9.68753704e-01 -1.06344900e-02 3.92286057e+00] [ 4.43284995e-02 -3.72041875e-04 9.99016940e-01 1.56017823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.448040942 meters 0.017015684356998545 Centerline is valid? [True, True] Translation: X:35.80, Y:3.93, Z:1.56 [[ 9.67487048e-01 -2.49207158e-01 -4.31810564e-02 3.58029266e+01] [ 2.48978459e-01 9.68450112e-01 -1.06821250e-02 3.92819173e+00] [ 4.44807610e-02 -4.16335277e-04 9.99010154e-01 1.56097710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.47804094199999 meters 0.016988306582317352 Centerline is valid? [True, True] Translation: X:35.83, Y:3.93, Z:1.56 [[ 9.67220502e-01 -2.50141533e-01 -4.37460090e-02 3.58307935e+01] [ 2.49907229e-01 9.68209175e-01 -1.08337144e-02 3.93253522e+00] [ 4.50652492e-02 -4.53853194e-04 9.98983942e-01 1.56104541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.508040941999994 meters 0.016987918351966624 Centerline is valid? [True, True] Translation: X:35.86, Y:3.94, Z:1.56 [[ 9.67156955e-01 -2.50415194e-01 -4.35850251e-02 3.58580761e+01] [ 2.50182700e-01 9.68138429e-01 -1.07980559e-02 3.93872026e+00] [ 4.49003350e-02 -4.60804380e-04 9.98991365e-01 1.56186413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.538040941999995 meters 0.01697983624143438 Centerline is valid? [True, True] Translation: X:35.89, Y:3.94, Z:1.56 [[ 9.67208954e-01 -2.50249113e-01 -4.33845731e-02 3.58856627e+01] [ 2.50018002e-01 9.68181383e-01 -1.07614606e-02 3.94438555e+00] [ 4.46971819e-02 -4.38343204e-04 9.99000485e-01 1.56269305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.568040941999996 meters 0.01687952569563249 Centerline is valid? [True, True] Translation: X:35.91, Y:3.95, Z:1.56 [[ 9.67344125e-01 -2.49699227e-01 -4.35389447e-02 3.59127574e+01] [ 2.49465321e-01 9.68323363e-01 -1.08129049e-02 3.95028711e+00] [ 4.48597513e-02 -4.01656774e-04 9.98993214e-01 1.56426090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.598040942 meters 0.01709624888470427 Centerline is valid? [True, True] Translation: X:35.94, Y:3.95, Z:1.57 [[ 9.67499773e-01 -2.49021339e-01 -4.39609072e-02 3.59393327e+01] [ 2.48781577e-01 9.68497931e-01 -1.09309080e-02 3.95479018e+00] [ 4.52980770e-02 -3.61012770e-04 9.98973450e-01 1.56535788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.628040942 meters 0.01654988026009005 Centerline is valid? [True, True] Translation: X:35.97, Y:3.96, Z:1.57 [[ 9.68075602e-01 -2.46614605e-01 -4.48426689e-02 3.59672910e+01] [ 2.46362107e-01 9.69113604e-01 -1.11595388e-02 3.96135885e+00] [ 4.62097457e-02 -2.44257120e-04 9.98931729e-01 1.56689802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.65804094199999 meters 0.01646694999207593 Centerline is valid? [True, True] Translation: X:35.99, Y:3.97, Z:1.57 [[ 9.68410786e-01 -2.45285657e-01 -4.48942697e-02 3.59936504e+01] [ 2.45030620e-01 9.69450833e-01 -1.11838256e-02 3.96787992e+00] [ 4.62660192e-02 -1.69933353e-04 9.98929140e-01 1.56824477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.68804094199999 meters 0.016424934201141866 Centerline is valid? [True, True] Translation: X:36.02, Y:3.98, Z:1.57 [[ 9.68687082e-01 -2.44231172e-01 -4.46819049e-02 3.60209835e+01] [ 2.43977006e-01 9.69717032e-01 -1.11399407e-02 3.97572716e+00] [ 4.60495249e-02 -1.10240669e-04 9.98939152e-01 1.56908227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.718040941999995 meters 0.01624437327532561 Centerline is valid? [True, True] Translation: X:36.05, Y:3.98, Z:1.57 [[ 9.69334867e-01 -2.41490527e-01 -4.55218691e-02 3.60480196e+01] [ 2.41223052e-01 9.70403176e-01 -1.13628593e-02 3.98389385e+00] [ 4.69185893e-02 3.34915338e-05 9.98898716e-01 1.56941417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.748040941999996 meters 0.016295679436595514 Centerline is valid? [True, True] Translation: X:36.08, Y:3.99, Z:1.57 [[ 9.69639287e-01 -2.40238103e-01 -4.56651636e-02 3.60756323e+01] [ 2.39966894e-01 9.70713986e-01 -1.14125970e-02 3.99033565e+00] [ 4.70695536e-02 1.07974900e-04 9.98891608e-01 1.57063616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.778040942 meters 0.01629837294376682 Centerline is valid? [True, True] Translation: X:36.10, Y:4.00, Z:1.57 [[ 9.70031513e-01 -2.38743303e-01 -4.51718866e-02 3.61027843e+01] [ 2.38475690e-01 9.71082694e-01 -1.13024981e-02 3.99527262e+00] [ 4.65640331e-02 1.91382530e-04 9.98915289e-01 1.57296998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.808040942 meters 0.01635207211070234 Centerline is valid? [True, True] Translation: X:36.13, Y:4.00, Z:1.58 [[ 9.70105685e-01 -2.38534487e-01 -4.46795153e-02 3.61302234e+01] [ 2.38272251e-01 9.71134006e-01 -1.11837795e-02 4.00050226e+00] [ 4.60575138e-02 2.03559324e-04 9.98938769e-01 1.57508249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.83804094199999 meters 0.016471070201050028 Centerline is valid? [True, True] Translation: X:36.16, Y:4.01, Z:1.58 [[ 9.70108685e-01 -2.38621968e-01 -4.41440257e-02 3.61570902e+01] [ 2.38365477e-01 9.71112513e-01 -1.10628645e-02 4.00543425e+00] [ 4.55086582e-02 2.09769196e-04 9.98963922e-01 1.57710822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.86804094199999 meters 0.01645774093442182 Centerline is valid? [True, True] Translation: X:36.18, Y:4.01, Z:1.58 [[ 9.70073906e-01 -2.38918529e-01 -4.32961067e-02 3.61848753e+01] [ 2.38671846e-01 9.71039596e-01 -1.08559904e-02 4.01089688e+00] [ 4.46359312e-02 1.97551352e-04 9.99003301e-01 1.57940780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.898040941999994 meters 0.016431805668694302 Centerline is valid? [True, True] Translation: X:36.21, Y:4.02, Z:1.58 [[ 9.69839410e-01 -2.40038921e-01 -4.23418803e-02 3.62126783e+01] [ 2.39803532e-01 9.70763252e-01 -1.06289116e-02 4.01616329e+00] [ 4.36552939e-02 1.54604875e-04 9.99046641e-01 1.58046171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.928040941999996 meters 0.016495516080065827 Centerline is valid? [True, True] Translation: X:36.24, Y:4.02, Z:1.58 [[ 9.69722968e-01 -2.40497293e-01 -4.24077521e-02 3.62387785e+01] [ 2.40261021e-01 9.70649798e-01 -1.06588771e-02 4.02299082e+00] [ 4.37265070e-02 1.47228099e-04 9.99043528e-01 1.58100314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.958040942 meters 0.016292837085138793 Centerline is valid? [True, True] Translation: X:36.27, Y:4.03, Z:1.58 [[ 9.69468789e-01 -2.41136370e-01 -4.45367157e-02 3.62666373e+01] [ 2.40875976e-01 9.70491233e-01 -1.12040821e-02 4.02615906e+00] [ 4.59242038e-02 1.34183035e-04 9.98944918e-01 1.58096338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.988040942 meters 0.0162628335140897 Centerline is valid? [True, True] Translation: X:36.29, Y:4.03, Z:1.58 [[ 9.69350765e-01 -2.41463558e-01 -4.53259828e-02 3.62931665e+01] [ 2.41193557e-01 9.70409879e-01 -1.14164656e-02 4.03036354e+00] [ 4.67414419e-02 1.34224679e-04 9.98907012e-01 1.58160317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.018040942 meters 0.016350109413561083 Centerline is valid? [True, True] Translation: X:36.32, Y:4.03, Z:1.58 [[ 9.69130552e-01 -2.42444029e-01 -4.47980486e-02 3.63207488e+01] [ 2.42181045e-01 9.70165390e-01 -1.12896824e-02 4.03364745e+00] [ 4.61986324e-02 9.19379542e-05 9.98932269e-01 1.58346241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.04804094199999 meters 0.017954647383726527 Centerline is valid? [True, True] Translation: X:36.35, Y:4.04, Z:1.58 [[ 9.68847907e-01 -2.43657247e-01 -4.43269692e-02 3.63476829e+01] [ 2.43400428e-01 9.69861405e-01 -1.11842502e-02 4.04014455e+00] [ 4.57161403e-02 4.66341074e-05 9.98954470e-01 1.58270022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.078040941999994 meters 0.01631025478087241 Centerline is valid? [True, True] Translation: X:36.37, Y:4.05, Z:1.59 [[ 9.68762892e-01 -2.43986880e-01 -4.43718545e-02 3.63745476e+01] [ 2.43729271e-01 9.69778532e-01 -1.12090096e-02 4.04716388e+00] [ 4.57657231e-02 4.41527738e-05 9.98952199e-01 1.58572595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.108040941999995 meters 0.01625518191532305 Centerline is valid? [True, True] Translation: X:36.40, Y:4.05, Z:1.59 [[ 9.68539843e-01 -2.44775252e-01 -4.48959701e-02 3.64013810e+01] [ 2.44511733e-01 9.69579845e-01 -1.13550238e-02 4.05365626e+00] [ 4.63096565e-02 2.02014706e-05 9.98927132e-01 1.58589312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.138040941999996 meters 0.016281579719700495 Centerline is valid? [True, True] Translation: X:36.43, Y:4.06, Z:1.59 [[ 9.68165563e-01 -2.45998791e-01 -4.62605321e-02 3.64298567e+01] [ 2.45719748e-01 9.69270135e-01 -1.17137208e-02 4.05661886e+00] [ 4.77205133e-02 -2.63051731e-05 9.98860727e-01 1.58644532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.168040942 meters 0.016214867138055426 Centerline is valid? [True, True] Translation: X:36.46, Y:4.06, Z:1.59 [[ 9.67912085e-01 -2.46871023e-01 -4.69136726e-02 3.64578250e+01] [ 2.46584815e-01 9.69048344e-01 -1.18842549e-02 4.06064150e+00] [ 4.83954949e-02 -6.52853709e-05 9.98828249e-01 1.58788496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.198040942 meters 0.016295906619791706 Centerline is valid? [True, True] Translation: X:36.49, Y:4.06, Z:1.59 [[ 9.67377125e-01 -2.48991556e-01 -4.67408148e-02 3.64859876e+01] [ 2.48709266e-01 9.68505643e-01 -1.18541350e-02 4.06351683e+00] [ 4.82203224e-02 -1.57454692e-04 9.98836711e-01 1.58951505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.22804094199999 meters 0.016276292624227574 Centerline is valid? [True, True] Translation: X:36.51, Y:4.07, Z:1.59 [[ 9.67112791e-01 -2.50009732e-01 -4.67758776e-02 3.65129026e+01] [ 2.49727550e-01 9.68243304e-01 -1.18766720e-02 4.06991817e+00] [ 4.82597139e-02 -1.95143855e-04 9.98834802e-01 1.59068572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.258040941999994 meters 0.016336170685350187 Centerline is valid? [True, True] Translation: X:36.54, Y:4.08, Z:1.59 [[ 9.66956324e-01 -2.50622586e-01 -4.67310027e-02 3.65396722e+01] [ 2.50341005e-01 9.68084849e-01 -1.18788448e-02 4.07712395e+00] [ 4.82166825e-02 -2.12362118e-04 9.98836877e-01 1.59115994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.288040941999995 meters 0.0162488057078535 Centerline is valid? [True, True] Translation: X:36.57, Y:4.08, Z:1.59 [[ 9.66951865e-01 -2.50680718e-01 -4.65109519e-02 3.65658845e+01] [ 2.50401233e-01 9.68069800e-01 -1.18357866e-02 4.08254366e+00] [ 4.79928513e-02 -2.01763766e-04 9.98847659e-01 1.59189138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.318040941999996 meters 0.016331415151584247 Centerline is valid? [True, True] Translation: X:36.59, Y:4.09, Z:1.59 [[ 9.66864449e-01 -2.51022003e-01 -4.64875334e-02 3.65933741e+01] [ 2.50742887e-01 9.67981358e-01 -1.18361981e-02 4.08716956e+00] [ 4.79702119e-02 -2.12419167e-04 9.98848744e-01 1.59387651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.348040942 meters 0.016381287709276535 Centerline is valid? [True, True] Translation: X:36.62, Y:4.09, Z:1.60 [[ 9.66760919e-01 -2.51586028e-01 -4.55828502e-02 3.66205638e+01] [ 2.51317704e-01 9.67834914e-01 -1.16185594e-02 4.09200496e+00] [ 4.70397411e-02 -2.23408095e-04 9.98892994e-01 1.59607174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.378040942 meters 0.016430297439609866 Centerline is valid? [True, True] Translation: X:36.65, Y:4.10, Z:1.60 [[ 9.66549608e-01 -2.52422324e-01 -4.54403541e-02 3.66474182e+01] [ 2.52156009e-01 9.67617128e-01 -1.15948284e-02 4.09560957e+00] [ 4.68956584e-02 -2.51081518e-04 9.98899762e-01 1.59798297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.40804094199999 meters 0.016472081858661308 Centerline is valid? [True, True] Translation: X:36.67, Y:4.10, Z:1.60 [[ 9.66438530e-01 -2.52749416e-01 -4.59815298e-02 3.66745903e+01] [ 2.52476648e-01 9.67531738e-01 -1.17421271e-02 4.10139245e+00] [ 4.74564052e-02 -2.61218489e-04 9.98873276e-01 1.59893563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.43804094199999 meters 0.01660492486836845 Centerline is valid? [True, True] Translation: X:36.70, Y:4.11, Z:1.60 [[ 9.66356619e-01 -2.52854953e-01 -4.71090011e-02 3.67017850e+01] [ 2.52568141e-01 9.67504163e-01 -1.20428094e-02 4.10549202e+00] [ 4.86232387e-02 -2.60584199e-04 9.98817157e-01 1.59956408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.468040941999995 meters 0.01666282192777135 Centerline is valid? [True, True] Translation: X:36.73, Y:4.11, Z:1.60 [[ 9.66297534e-01 -2.53024469e-01 -4.74098577e-02 3.67296242e+01] [ 2.52733906e-01 9.67459843e-01 -1.21254047e-02 4.11128774e+00] [ 4.89351576e-02 -2.65329862e-04 9.98801922e-01 1.60070915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.498040941999996 meters 0.01669401416487476 Centerline is valid? [True, True] Translation: X:36.76, Y:4.12, Z:1.60 [[ 9.66514861e-01 -2.52140543e-01 -4.76882531e-02 3.67566798e+01] [ 2.51844830e-01 9.67690603e-01 -1.22097677e-02 4.11657281e+00] [ 4.92260519e-02 -2.09118118e-04 9.98787641e-01 1.60285275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.528040942 meters 0.016688093696777276 Centerline is valid? [True, True] Translation: X:36.78, Y:4.12, Z:1.60 [[ 9.66688171e-01 -2.51546319e-01 -4.73120447e-02 3.67825293e+01] [ 2.51253950e-01 9.67845247e-01 -1.21256142e-02 4.12287140e+00] [ 4.88408912e-02 -1.65650243e-04 9.98806558e-01 1.60392003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.558040942 meters 0.016659949058944194 Centerline is valid? [True, True] Translation: X:36.81, Y:4.13, Z:1.61 [[ 9.66723465e-01 -2.51402605e-01 -4.73547413e-02 3.68095948e+01] [ 2.51109230e-01 9.67882589e-01 -1.21428060e-02 4.12977866e+00] [ 4.88865626e-02 -1.52477151e-04 9.98804326e-01 1.60529707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.58804094199999 meters 0.016610817405687497 Centerline is valid? [True, True] Translation: X:36.84, Y:4.14, Z:1.61 [[ 9.66748479e-01 -2.51354509e-01 -4.70987171e-02 3.68364567e+01] [ 2.51063622e-01 9.67895083e-01 -1.20898986e-02 4.13657372e+00] [ 4.86254672e-02 -1.36883398e-04 9.98817073e-01 1.60745390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.61804094199999 meters 0.01671814841164229 Centerline is valid? [True, True] Translation: X:36.86, Y:4.14, Z:1.61 [[ 9.66810762e-01 -2.51238772e-01 -4.64330610e-02 3.68639413e+01] [ 2.50955268e-01 9.67925134e-01 -1.19326142e-02 4.14097318e+00] [ 4.79416622e-02 -1.16041417e-04 9.98850131e-01 1.60978427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.648040941999994 meters 0.016629144376395157 Centerline is valid? [True, True] Translation: X:36.89, Y:4.15, Z:1.61 [[ 9.66837719e-01 -2.51192537e-01 -4.61208727e-02 3.68910174e+01] [ 2.50912139e-01 9.67937136e-01 -1.18658947e-02 4.14664470e+00] [ 4.76227297e-02 -9.98922579e-05 9.98865389e-01 1.61164446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.678040941999996 meters 0.016639594655825134 Centerline is valid? [True, True] Translation: X:36.92, Y:4.15, Z:1.61 [[ 9.67049132e-01 -2.50499299e-01 -4.54541256e-02 3.69193209e+01] [ 2.50225568e-01 9.68116779e-01 -1.17075290e-02 4.15049659e+00] [ 4.69376295e-02 -5.20286377e-05 9.98897821e-01 1.61466567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.708040942 meters 0.01662473576066818 Centerline is valid? [True, True] Translation: X:36.95, Y:4.16, Z:1.62 [[ 9.67093834e-01 -2.50272053e-01 -4.57538677e-02 3.69459924e+01] [ 2.49993820e-01 9.68175552e-01 -1.17979507e-02 4.15560143e+00] [ 4.72504734e-02 -2.84587830e-05 9.98883072e-01 1.61625194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.738040942 meters 0.01673069317444511 Centerline is valid? [True, True] Translation: X:36.97, Y:4.16, Z:1.62 [[ 9.67051394e-01 -2.50373257e-01 -4.60959178e-02 3.69738268e+01] [ 2.50090652e-01 9.68149385e-01 -1.18926155e-02 4.16192143e+00] [ 4.76053273e-02 -2.73877483e-05 9.98866223e-01 1.61722665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.768040942 meters 0.016695679429945647 Centerline is valid? [True, True] Translation: X:37.00, Y:4.17, Z:1.62 [[ 9.66875595e-01 -2.50919160e-01 -4.68098143e-02 3.70000938e+01] [ 2.50627712e-01 9.68008044e-01 -1.20903409e-02 4.16804793e+00] [ 4.83459750e-02 -4.19811533e-05 9.98830649e-01 1.61642813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.79804094199999 meters 0.01669207204687284 Centerline is valid? [True, True] Translation: X:37.03, Y:4.17, Z:1.62 [[ 9.66706144e-01 -2.51521834e-01 -4.70743928e-02 3.70271448e+01] [ 2.51227318e-01 9.67851622e-01 -1.21684752e-02 4.17359001e+00] [ 4.86216647e-02 -6.30337426e-05 9.98817265e-01 1.61757656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.828040941999994 meters 0.016862248162325223 Centerline is valid? [True, True] Translation: X:37.05, Y:4.18, Z:1.62 [[ 9.66517862e-01 -2.52123470e-01 -4.77176850e-02 3.70544636e+01] [ 2.51820914e-01 9.67695070e-01 -1.23482076e-02 4.17779529e+00] [ 4.92894415e-02 -8.15478531e-05 9.98784533e-01 1.61851699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.858040941999995 meters 0.01697341011439725 Centerline is valid? [True, True] Translation: X:37.08, Y:4.18, Z:1.62 [[ 9.65912830e-01 -2.54269594e-01 -4.85734213e-02 3.70833277e+01] [ 2.53958518e-01 9.67133361e-01 -1.25751250e-02 4.17969927e+00] [ 5.01744481e-02 -1.89159450e-04 9.98740451e-01 1.62053769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.888040941999996 meters 0.017209037487227796 Centerline is valid? [True, True] Translation: X:37.11, Y:4.18, Z:1.62 [[ 9.65570654e-01 -2.55458218e-01 -4.91366539e-02 3.71104289e+01] [ 2.55140812e-01 9.66820066e-01 -1.27328529e-02 4.18451643e+00] [ 5.07590149e-02 -2.42296697e-04 9.98710901e-01 1.62074857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.918040942 meters 0.017472762175625687 Centerline is valid? [True, True] Translation: X:37.14, Y:4.19, Z:1.62 [[ 9.65015086e-01 -2.57637757e-01 -4.86689868e-02 3.71384707e+01] [ 2.57328868e-01 9.66241515e-01 -1.26170150e-02 4.19158478e+00] [ 5.02766150e-02 -3.48325499e-04 9.98735271e-01 1.62170991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.948040942 meters 0.017638156630716318 Centerline is valid? [True, True] Translation: X:37.17, Y:4.20, Z:1.62 [[ 9.64831429e-01 -2.58387743e-01 -4.83331007e-02 3.71654196e+01] [ 2.58083427e-01 9.66041218e-01 -1.25422934e-02 4.19946354e+00] [ 4.99325424e-02 -3.72773439e-04 9.98752523e-01 1.62278068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.97804094199999 meters 0.017528664466439525 Centerline is valid? [True, True] Translation: X:37.19, Y:4.21, Z:1.62 [[ 9.64707085e-01 -2.58863564e-01 -4.82689853e-02 3.71921735e+01] [ 2.58559952e-01 9.65913820e-01 -1.25396584e-02 4.20784621e+00] [ 4.98697406e-02 -3.83329246e-04 9.98755657e-01 1.62475843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.008040941999994 meters 0.01750624629941801 Centerline is valid? [True, True] Translation: X:37.22, Y:4.22, Z:1.63 [[ 9.64581168e-01 -2.59238078e-01 -4.87728269e-02 3.72188182e+01] [ 2.58927821e-01 9.65813370e-01 -1.26853716e-02 4.21557100e+00] [ 5.03939796e-02 -3.92571265e-04 9.98729339e-01 1.62595202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.038040941999995 meters 0.018067167447224284 Centerline is valid? [True, True] Translation: X:37.25, Y:4.22, Z:1.63 [[ 9.64094689e-01 -2.60955748e-01 -4.92293507e-02 3.72459839e+01] [ 2.60641186e-01 9.65350648e-01 -1.28179204e-02 4.22110780e+00] [ 5.08684956e-02 -4.73507380e-04 9.98705248e-01 1.62715069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.068040941999996 meters 0.017952318261170237 Centerline is valid? [True, True] Translation: X:37.27, Y:4.23, Z:1.63 [[ 9.63552737e-01 -2.63012697e-01 -4.88921664e-02 3.72734331e+01] [ 2.62704794e-01 9.64792202e-01 -1.27356923e-02 4.22875118e+00] [ 5.05204297e-02 -5.72695385e-04 9.98722864e-01 1.62940770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.098040942 meters 0.01844436413460008 Centerline is valid? [True, True] Translation: X:37.30, Y:4.23, Z:1.63 [[ 9.62627610e-01 -2.66243020e-01 -4.96259814e-02 3.73011565e+01] [ 2.65929458e-01 9.63905651e-01 -1.29390586e-02 4.23455263e+00] [ 5.12796980e-02 -7.41515250e-04 9.98684056e-01 1.63060539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.128040942 meters 0.019034434186129254 Centerline is valid? [True, True] Translation: X:37.33, Y:4.24, Z:1.63 [[ 9.62085198e-01 -2.68027715e-01 -5.05293539e-02 3.73286835e+01] [ 2.67704828e-01 9.63410829e-01 -1.31794812e-02 4.24128768e+00] [ 5.22129930e-02 -8.47168199e-04 9.98635612e-01 1.63057477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.15804094199999 meters 0.01907836037266818 Centerline is valid? [True, True] Translation: X:37.36, Y:4.25, Z:1.63 [[ 9.61602222e-01 -2.69583658e-01 -5.14375199e-02 3.73558418e+01] [ 2.69250935e-01 9.62976512e-01 -1.34227520e-02 4.25058968e+00] [ 5.31516781e-02 -9.42252215e-04 9.98586006e-01 1.63114826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.18804094199999 meters 0.01907836037266818 Centerline is valid? [True, True] Translation: X:37.38, Y:4.26, Z:1.63 [[ 9.61524553e-01 -2.69861207e-01 -5.14340536e-02 3.73825008e+01] [ 2.69528172e-01 9.62898768e-01 -1.34360225e-02 4.25763449e+00] [ 5.31516481e-02 -9.43860879e-04 9.98586006e-01 1.63237247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.218040941999995 meters 0.019968606923113575 Centerline is valid? [True, True] Translation: X:37.41, Y:4.27, Z:1.63 [[ 9.60859816e-01 -2.71963354e-01 -5.27669213e-02 3.74085361e+01] [ 2.71615193e-01 9.62307010e-01 -1.37987377e-02 4.26703997e+00] [ 5.45307293e-02 -1.07364496e-03 9.98511516e-01 1.63112959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.248040941999996 meters 0.020121540884109727 Centerline is valid? [True, True] Translation: X:37.44, Y:4.28, Z:1.63 [[ 9.60553026e-01 -2.73063205e-01 -5.26722854e-02 3.74361509e+01] [ 2.72717582e-01 9.61995434e-01 -1.37806323e-02 4.27528834e+00] [ 5.44334817e-02 -1.12763029e-03 9.98516762e-01 1.63217496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.278040942 meters 0.02124422085049257 Centerline is valid? [True, True] Translation: X:37.46, Y:4.28, Z:1.63 [[ 9.60017086e-01 -2.74889466e-01 -5.29431353e-02 3.74630931e+01] [ 2.74542370e-01 9.61475054e-01 -1.38638839e-02 4.28124401e+00] [ 5.47145395e-02 -1.22556846e-03 9.98501286e-01 1.63386841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.308040942 meters 0.021148234813920374 Centerline is valid? [True, True] Translation: X:37.49, Y:4.29, Z:1.64 [[ 9.59760406e-01 -2.75789919e-01 -5.29139306e-02 3.74910135e+01] [ 2.75444211e-01 9.61217097e-01 -1.38628414e-02 4.28958376e+00] [ 5.46850066e-02 -1.26982958e-03 9.98502848e-01 1.63602807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.33804094199999 meters 0.021137812450163572 Centerline is valid? [True, True] Translation: X:37.52, Y:4.30, Z:1.64 [[ 9.59741021e-01 -2.75890363e-01 -5.27416416e-02 3.75181046e+01] [ 2.75546287e-01 9.61188288e-01 -1.38317898e-02 4.29728757e+00] [ 5.45107057e-02 -1.25782746e-03 9.98512394e-01 1.63781996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.36804094199999 meters 0.020887381082118107 Centerline is valid? [True, True] Translation: X:37.54, Y:4.31, Z:1.64 [[ 9.59680002e-01 -2.76224042e-01 -5.21015628e-02 3.75447350e+01] [ 2.75887931e-01 9.61092464e-01 -1.36793411e-02 4.30632190e+00] [ 5.38529823e-02 -1.24640223e-03 9.98548097e-01 1.63990477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.398040941999994 meters 0.020495873359554672 Centerline is valid? [True, True] Translation: X:37.57, Y:4.32, Z:1.64 [[ 9.60084984e-01 -2.75163472e-01 -5.02183956e-02 3.75719271e+01] [ 2.74849027e-01 9.61396790e-01 -1.31994338e-02 4.31679168e+00] [ 5.19118063e-02 -1.12989895e-03 9.98651034e-01 1.64223332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.428040941999996 meters 0.02044811122321001 Centerline is valid? [True, True] Translation: X:37.60, Y:4.33, Z:1.64 [[ 9.60322133e-01 -2.74461955e-01 -4.95180455e-02 3.75997557e+01] [ 2.74154627e-01 9.61597370e-01 -1.30283477e-02 4.32568873e+00] [ 5.11922081e-02 -1.06419068e-03 9.98688252e-01 1.64369578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.458040942 meters 0.019860086660147422 Centerline is valid? [True, True] Translation: X:37.63, Y:4.34, Z:1.64 [[ 9.60977868e-01 -2.72188368e-01 -4.93460127e-02 3.76267464e+01] [ 2.71879512e-01 9.62243541e-01 -1.29960976e-02 4.33657075e+00] [ 5.10202686e-02 -9.27207731e-04 9.98697188e-01 1.64406651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.488040942 meters 0.019766130133065794 Centerline is valid? [True, True] Translation: X:37.65, Y:4.34, Z:1.64 [[ 9.61317651e-01 -2.70997031e-01 -4.92847206e-02 3.76533793e+01] [ 2.70686748e-01 9.62579807e-01 -1.29922838e-02 4.34425406e+00] [ 5.09613472e-02 -8.51008968e-04 9.98700264e-01 1.64478941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.518040942 meters 0.01955011277490094 Centerline is valid? [True, True] Translation: X:37.68, Y:4.35, Z:1.65 [[ 9.61626416e-01 -2.69881888e-01 -4.93801792e-02 3.76814114e+01] [ 2.69568538e-01 9.62893114e-01 -1.30251689e-02 4.35210477e+00] [ 5.10630917e-02 -7.85996258e-04 9.98695120e-01 1.64620096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.54804094199999 meters 0.01930201789231614 Centerline is valid? [True, True] Translation: X:37.71, Y:4.36, Z:1.65 [[ 9.62271295e-01 -2.67671573e-01 -4.88455017e-02 3.77082037e+01] [ 2.67361535e-01 9.63509993e-01 -1.28958674e-02 4.35928929e+00] [ 5.05149861e-02 -6.50085332e-04 9.98723092e-01 1.64849405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.578040941999994 meters 0.019260085285818192 Centerline is valid? [True, True] Translation: X:37.74, Y:4.37, Z:1.65 [[ 9.62585026e-01 -2.66607838e-01 -4.84801880e-02 3.77353029e+01] [ 2.66300849e-01 9.63804917e-01 -1.28038959e-02 4.36692625e+00] [ 5.01390625e-02 -5.85476790e-04 9.98742075e-01 1.64962263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.608040941999995 meters 0.019229387068510195 Centerline is valid? [True, True] Translation: X:37.76, Y:4.38, Z:1.65 [[ 9.62660129e-01 -2.66394548e-01 -4.81603714e-02 3.77624657e+01] [ 2.66091061e-01 9.63863904e-01 -1.27248573e-02 4.37552835e+00] [ 4.98098762e-02 -5.65331508e-04 9.98758558e-01 1.65059800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.638040941999996 meters 0.0191521964177844 Centerline is valid? [True, True] Translation: X:37.79, Y:4.38, Z:1.65 [[ 9.63005368e-01 -2.65243884e-01 -4.76061190e-02 3.77885066e+01] [ 2.64945304e-01 9.64181230e-01 -1.25913263e-02 4.38474711e+00] [ 4.92406987e-02 -4.87502861e-04 9.98786822e-01 1.65075371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.668040942 meters 0.018937691918642533 Centerline is valid? [True, True] Translation: X:37.82, Y:4.39, Z:1.65 [[ 9.63085835e-01 -2.64931783e-01 -4.77160960e-02 3.78156452e+01] [ 2.64631176e-01 9.64267044e-01 -1.26257068e-02 4.39291342e+00] [ 4.93560099e-02 -4.67527243e-04 9.98781140e-01 1.65182343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.698040942 meters 0.019214031154114273 Centerline is valid? [True, True] Translation: X:37.84, Y:4.40, Z:1.65 [[ 9.62885298e-01 -2.65705050e-01 -4.74629182e-02 3.78435069e+01] [ 2.65407932e-01 9.64054243e-01 -1.25716034e-02 4.39799861e+00] [ 4.90971662e-02 -4.92022854e-04 9.98793886e-01 1.65373629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.72804094199999 meters 0.019364193877167615 Centerline is valid? [True, True] Translation: X:37.87, Y:4.40, Z:1.66 [[ 9.62562943e-01 -2.66941730e-01 -4.70605206e-02 3.78718181e+01] [ 2.66650872e-01 9.63712517e-01 -1.24698717e-02 4.40395815e+00] [ 4.86815419e-02 -5.45692462e-04 9.98814202e-01 1.65576289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.758040941999994 meters 0.019334582527353227 Centerline is valid? [True, True] Translation: X:37.90, Y:4.41, Z:1.66 [[ 9.62182513e-01 -2.68445474e-01 -4.62800063e-02 3.79000189e+01] [ 2.68165384e-01 9.63294694e-01 -1.22743520e-02 4.41197752e+00] [ 4.78762787e-02 -6.00528775e-04 9.98853093e-01 1.65769992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.788040941999995 meters 0.02004564865576129 Centerline is valid? [True, True] Translation: X:37.93, Y:4.42, Z:1.66 [[ 9.61396146e-01 -2.71406156e-01 -4.53447855e-02 3.79273367e+01] [ 2.71140040e-01 9.62464637e-01 -1.20374917e-02 4.41852871e+00] [ 4.69098018e-02 -7.21988821e-04 9.98898868e-01 1.65808545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.818040941999996 meters 0.019861821555483432 Centerline is valid? [True, True] Translation: X:37.95, Y:4.43, Z:1.66 [[ 9.61124146e-01 -2.72387065e-01 -4.52290065e-02 3.79545921e+01] [ 2.72123198e-01 9.62187457e-01 -1.20109127e-02 4.42630219e+00] [ 4.67904000e-02 -7.63883669e-04 9.98904437e-01 1.65962670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.848040942 meters 0.020817973303720035 Centerline is valid? [True, True] Translation: X:37.98, Y:4.43, Z:1.66 [[ 9.60801246e-01 -2.73636792e-01 -4.45406694e-02 3.79821372e+01] [ 2.73382050e-01 9.61832757e-01 -1.18322419e-02 4.43092774e+00] [ 4.60784115e-02 -8.08186709e-04 9.98937499e-01 1.66103185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.878040942 meters 0.021137604329741967 Centerline is valid? [True, True] Translation: X:38.01, Y:4.44, Z:1.66 [[ 9.60489128e-01 -2.74948358e-01 -4.31744845e-02 3.80103718e+01] [ 2.74710158e-01 9.61458628e-01 -1.14732369e-02 4.43730344e+00] [ 4.46650283e-02 -8.40550103e-04 9.99001666e-01 1.66278559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.90804094199999 meters 0.02009561687447233 Centerline is valid? [True, True] Translation: X:38.04, Y:4.45, Z:1.66 [[ 9.60344600e-01 -2.75429944e-01 -4.33196951e-02 3.80370239e+01] [ 2.75190147e-01 9.61320766e-01 -1.15225237e-02 4.44732261e+00] [ 4.48177705e-02 -8.55559857e-04 9.98994813e-01 1.66406400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.93804094199999 meters 0.020355234108975294 Centerline is valid? [True, True] Translation: X:38.06, Y:4.45, Z:1.66 [[ 9.60259655e-01 -2.75689237e-01 -4.35527244e-02 3.80645435e+01] [ 2.75446925e-01 9.61246426e-01 -1.15888310e-02 4.45463003e+00] [ 4.50598166e-02 -8.68177164e-04 9.98983913e-01 1.66474578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.968040941999995 meters 0.022957777156878943 Centerline is valid? [True, True] Translation: X:38.09, Y:4.46, Z:1.66 [[ 9.60113187e-01 -2.76169439e-01 -4.37390983e-02 3.80914505e+01] [ 2.75924937e-01 9.61108560e-01 -1.16518582e-02 4.45698393e+00] [ 4.52559089e-02 -8.81605205e-04 9.98975037e-01 1.66465256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.998040941999996 meters 0.020655860427062387 Centerline is valid? [True, True] Translation: X:38.12, Y:4.47, Z:1.67 [[ 9.59951692e-01 -2.76586174e-01 -4.46412165e-02 3.81172820e+01] [ 2.76331418e-01 9.60988690e-01 -1.19031975e-02 4.46911904e+00] [ 4.61919640e-02 -9.09276074e-04 9.98932168e-01 1.66572836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.028040942 meters 0.02064773220746909 Centerline is valid? [True, True] Translation: X:38.14, Y:4.48, Z:1.67 [[ 9.59833410e-01 -2.76847584e-01 -4.55548114e-02 3.81445080e+01] [ 2.76581927e-01 9.60913396e-01 -1.21606931e-02 4.47715762e+00] [ 4.71408871e-02 -9.27398037e-04 9.98887820e-01 1.66610337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.058040942 meters 0.020408550573535408 Centerline is valid? [True, True] Translation: X:38.17, Y:4.49, Z:1.67 [[ 9.59697312e-01 -2.77244178e-01 -4.60079918e-02 3.81710100e+01] [ 2.76973000e-01 9.60799030e-01 -1.22955566e-02 4.48559452e+00] [ 4.76133054e-02 -9.42958913e-04 9.98865398e-01 1.66629171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.08804094199999 meters 0.020946951390155982 Centerline is valid? [True, True] Translation: X:38.20, Y:4.49, Z:1.67 [[ 9.59562166e-01 -2.77609074e-01 -4.66224301e-02 3.81978955e+01] [ 2.77330370e-01 9.60693645e-01 -1.24734567e-02 4.49083140e+00] [ 4.82526171e-02 -9.60758674e-04 9.98834702e-01 1.66777730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.11804094199999 meters 0.020660041337168034 Centerline is valid? [True, True] Translation: X:38.23, Y:4.50, Z:1.67 [[ 9.59357083e-01 -2.78451130e-01 -4.58143543e-02 3.82254817e+01] [ 2.78182705e-01 9.60449898e-01 -1.22627842e-02 4.49889216e+00] [ 4.74169781e-02 -9.80372171e-04 9.98874701e-01 1.66976671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.148040941999994 meters 0.02042076588665564 Centerline is valid? [True, True] Translation: X:38.25, Y:4.51, Z:1.67 [[ 9.59126239e-01 -2.79286192e-01 -4.55640279e-02 3.82534121e+01] [ 2.79021072e-01 9.60207381e-01 -1.22076706e-02 4.50735628e+00] [ 4.71603497e-02 -1.00462671e-03 9.98886826e-01 1.67143539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.178040941999996 meters 0.020961387240273393 Centerline is valid? [True, True] Translation: X:38.28, Y:4.51, Z:1.67 [[ 9.58855742e-01 -2.80233866e-01 -4.54383767e-02 3.82806784e+01] [ 2.79970718e-01 9.59931198e-01 -1.21857378e-02 4.51368155e+00] [ 4.70325718e-02 -1.03705029e-03 9.98892818e-01 1.67246150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.208040942 meters 0.021143414537303205 Centerline is valid? [True, True] Translation: X:38.31, Y:4.52, Z:1.67 [[ 9.58318972e-01 -2.82116655e-01 -4.51103122e-02 3.83082534e+01] [ 2.81859162e-01 9.59379459e-01 -1.21023691e-02 4.52114346e+00] [ 4.66921868e-02 -1.11682484e-03 9.98908701e-01 1.67367437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.238040942 meters 0.021428168832978874 Centerline is valid? [True, True] Translation: X:38.33, Y:4.53, Z:1.68 [[ 9.58162295e-01 -2.82738113e-01 -4.45440828e-02 3.83349549e+01] [ 2.82487187e-01 9.59196487e-01 -1.19619429e-02 4.52730183e+00] [ 4.61086250e-02 -1.12164995e-03 9.98935802e-01 1.67505322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.26804094199999 meters 0.02157649474384465 Centerline is valid? [True, True] Translation: X:38.36, Y:4.53, Z:1.68 [[ 9.58036937e-01 -2.83191369e-01 -4.43607565e-02 3.83625711e+01] [ 2.82942694e-01 9.59062754e-01 -1.19191481e-02 4.53399056e+00] [ 4.59201492e-02 -1.13256784e-03 9.98944472e-01 1.67685413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.29804094199999 meters 0.021567055822185276 Centerline is valid? [True, True] Translation: X:38.39, Y:4.54, Z:1.68 [[ 9.57956671e-01 -2.83682315e-01 -4.29343798e-02 3.83896966e+01] [ 2.83449320e-01 9.58917681e-01 -1.15483355e-02 4.54078548e+00] [ 4.44465945e-02 -1.10691579e-03 9.99011149e-01 1.67983631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.328040941999994 meters 0.021847308096152554 Centerline is valid? [True, True] Translation: X:38.42, Y:4.55, Z:1.68 [[ 9.58004193e-01 -2.83525909e-01 -4.29071689e-02 3.84169557e+01] [ 2.83292482e-01 9.58963961e-01 -1.15538668e-02 4.54825666e+00] [ 4.44222492e-02 -1.08662550e-03 9.99012254e-01 1.68147175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.358040941999995 meters 0.021673802210366775 Centerline is valid? [True, True] Translation: X:38.44, Y:4.56, Z:1.68 [[ 9.57950091e-01 -2.83753114e-01 -4.26121266e-02 3.84434437e+01] [ 2.83522941e-01 9.58896757e-01 -1.14782615e-02 4.55835299e+00] [ 4.41176224e-02 -1.08591386e-03 9.99025754e-01 1.68203221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.388040941999996 meters 0.02172650026685666 Centerline is valid? [True, True] Translation: X:38.47, Y:4.57, Z:1.68 [[ 9.57877691e-01 -2.83962974e-01 -4.28410925e-02 3.84700677e+01] [ 2.83729963e-01 9.58834628e-01 -1.15527073e-02 4.56595876e+00] [ 4.43580641e-02 -1.08922104e-03 9.99015103e-01 1.68305894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.418040942 meters 0.021926519460623586 Centerline is valid? [True, True] Translation: X:38.50, Y:4.57, Z:1.68 [[ 9.57764822e-01 -2.84249369e-01 -4.34608075e-02 3.84967711e+01] [ 2.84009274e-01 9.58749745e-01 -1.17328335e-02 4.57275489e+00] [ 4.50030886e-02 -1.10597719e-03 9.98986236e-01 1.68446463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.448040942 meters 0.022180235985898945 Centerline is valid? [True, True] Translation: X:38.53, Y:4.58, Z:1.69 [[ 9.57491479e-01 -2.85078039e-01 -4.40520057e-02 3.85253929e+01] [ 2.84831645e-01 9.58503622e-01 -1.19054800e-02 4.57899331e+00] [ 4.56179980e-02 -1.14800957e-03 9.98958298e-01 1.68621618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.47804094199999 meters 0.022224916343631138 Centerline is valid? [True, True] Translation: X:38.55, Y:4.59, Z:1.69 [[ 9.57268474e-01 -2.85784209e-01 -4.43221726e-02 3.85531618e+01] [ 2.85535015e-01 9.58293274e-01 -1.19898749e-02 4.58657343e+00] [ 4.59001568e-02 -1.17800298e-03 9.98945338e-01 1.68744624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.508040941999994 meters 0.023425127575623417 Centerline is valid? [True, True] Translation: X:38.58, Y:4.59, Z:1.69 [[ 9.57251124e-01 -2.85783404e-01 -4.47004739e-02 3.85797742e+01] [ 2.85529410e-01 9.58293515e-01 -1.21035420e-02 4.59338681e+00] [ 4.62951657e-02 -1.17717074e-03 9.98927110e-01 1.68724452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.538040941999995 meters 0.02271191743339961 Centerline is valid? [True, True] Translation: X:38.61, Y:4.60, Z:1.69 [[ 9.57125194e-01 -2.86099512e-01 -4.53699448e-02 3.86064748e+01] [ 2.85837912e-01 9.58199154e-01 -1.22910467e-02 4.60273267e+00] [ 4.69899051e-02 -1.20437983e-03 9.98894638e-01 1.68876499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.568040941999996 meters 0.021472819868342395 Centerline is valid? [True, True] Translation: X:38.63, Y:4.61, Z:1.69 [[ 9.57160324e-01 -2.86023457e-01 -4.51075982e-02 3.86326256e+01] [ 2.85764187e-01 9.58221888e-01 -1.22328797e-02 4.61364053e+00] [ 4.67219784e-02 -1.18130899e-03 9.98907234e-01 1.68997939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.598040942 meters 0.022915342311283556 Centerline is valid? [True, True] Translation: X:38.66, Y:4.62, Z:1.69 [[ 9.57449256e-01 -2.84989659e-01 -4.55172185e-02 3.86599735e+01] [ 2.84723853e-01 9.58529927e-01 -1.23574219e-02 4.61948550e+00] [ 4.71513536e-02 -1.12823341e-03 9.98887119e-01 1.69095240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.628040942 meters 0.0235257098968827 Centerline is valid? [True, True] Translation: X:38.69, Y:4.63, Z:1.69 [[ 9.57531195e-01 -2.84747779e-01 -4.53068766e-02 3.86876974e+01] [ 2.84483849e-01 9.58601837e-01 -1.23068284e-02 4.62770945e+00] [ 4.69355972e-02 -1.10490257e-03 9.98897306e-01 1.69111405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.65804094199999 meters 0.02295287716058816 Centerline is valid? [True, True] Translation: X:38.71, Y:4.63, Z:1.69 [[ 9.57519069e-01 -2.84790939e-01 -4.52918753e-02 3.87135542e+01] [ 2.84526725e-01 9.58589025e-01 -1.23135574e-02 4.63486118e+00] [ 4.69230842e-02 -1.09628297e-03 9.98897904e-01 1.69383210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.68804094199999 meters 0.02231304034102796 Centerline is valid? [True, True] Translation: X:38.74, Y:4.65, Z:1.69 [[ 9.57513632e-01 -2.84854332e-01 -4.50072686e-02 3.87401018e+01] [ 2.84593229e-01 9.58570200e-01 -1.22419780e-02 4.64576012e+00] [ 4.66298069e-02 -1.08690304e-03 9.98911648e-01 1.69484905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.718040941999995 meters 0.02196175019861482 Centerline is valid? [True, True] Translation: X:38.77, Y:4.65, Z:1.70 [[ 9.57271334e-01 -2.85654243e-01 -4.50915382e-02 3.87674030e+01] [ 2.85392432e-01 9.58332098e-01 -1.22780372e-02 4.65290801e+00] [ 4.67199419e-02 -1.11537070e-03 9.98907405e-01 1.69721555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.748040941999996 meters 0.02270253600806423 Centerline is valid? [True, True] Translation: X:38.80, Y:4.66, Z:1.70 [[ 9.57093704e-01 -2.86239998e-01 -4.51475890e-02 3.87954514e+01] [ 2.85977881e-01 9.58157276e-01 -1.22998182e-02 4.66150541e+00] [ 4.67791908e-02 -1.13913330e-03 9.98904605e-01 1.69737147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.778040942 meters 0.021749710316163493 Centerline is valid? [True, True] Translation: X:38.82, Y:4.67, Z:1.70 [[ 9.56867263e-01 -2.86967028e-01 -4.53317395e-02 3.88228735e+01] [ 2.86703021e-01 9.57939748e-01 -1.23619269e-02 4.66887720e+00] [ 4.69725406e-02 -1.16802350e-03 9.98895498e-01 1.70080570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.808040942 meters 0.022862833801866326 Centerline is valid? [True, True] Translation: X:38.85, Y:4.68, Z:1.70 [[ 9.56718715e-01 -2.87542257e-01 -4.48190807e-02 3.88496835e+01] [ 2.87284277e-01 9.57767236e-01 -1.22338042e-02 4.67771180e+00] [ 4.64439828e-02 -1.17150776e-03 9.98920209e-01 1.70113615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.83804094199999 meters 0.02214130208632295 Centerline is valid? [True, True] Translation: X:38.88, Y:4.69, Z:1.70 [[ 9.56696900e-01 -2.87632040e-01 -4.47085136e-02 3.88757219e+01] [ 2.87374814e-01 9.57740290e-01 -1.22169123e-02 4.68689639e+00] [ 4.63331202e-02 -1.16021870e-03 9.98925371e-01 1.70341860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.86804094199999 meters 0.0221910541403042 Centerline is valid? [True, True] Translation: X:38.90, Y:4.70, Z:1.70 [[ 9.56719474e-01 -2.87621176e-01 -4.42934245e-02 3.89018792e+01] [ 2.87368098e-01 9.57743581e-01 -1.21164681e-02 4.69621268e+00] [ 4.59066958e-02 -1.13645617e-03 9.98945085e-01 1.70426656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.898040941999994 meters 0.022153770899956352 Centerline is valid? [True, True] Translation: X:38.93, Y:4.71, Z:1.71 [[ 9.56702189e-01 -2.87814187e-01 -4.34040860e-02 3.89286949e+01] [ 2.87570808e-01 9.57685627e-01 -1.18857187e-02 4.70586010e+00] [ 4.49883478e-02 -1.11065494e-03 9.98986894e-01 1.70584203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.928040941999996 meters 0.02235136742324846 Centerline is valid? [True, True] Translation: X:38.95, Y:4.71, Z:1.71 [[ 9.56690524e-01 -2.87889591e-01 -4.31604610e-02 3.89544687e+01] [ 2.87648453e-01 9.57662979e-01 -1.18315464e-02 4.71287974e+00] [ 4.47393547e-02 -1.09591149e-03 9.98998093e-01 1.70736902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.958040942 meters 0.02282877011638995 Centerline is valid? [True, True] Translation: X:38.98, Y:4.72, Z:1.71 [[ 9.56419294e-01 -2.88678251e-01 -4.38976267e-02 3.89810510e+01] [ 2.88429375e-01 9.57425481e-01 -1.20392536e-02 4.72060607e+00] [ 4.55041770e-02 -1.14679058e-03 9.98963490e-01 1.70838344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.988040942 meters 0.022905272916050125 Centerline is valid? [True, True] Translation: X:39.01, Y:4.73, Z:1.71 [[ 9.56313198e-01 -2.88916976e-01 -4.46323723e-02 3.90076203e+01] [ 2.88659751e-01 9.57353437e-01 -1.22451708e-02 4.72898376e+00] [ 4.62667928e-02 -1.17335102e-03 9.98928429e-01 1.70876895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.01804094199999 meters 0.02167177076645063 Centerline is valid? [True, True] Translation: X:39.03, Y:4.74, Z:1.71 [[ 9.56181832e-01 -2.89325752e-01 -4.47985839e-02 3.90335521e+01] [ 2.89066456e-01 9.57229964e-01 -1.23036278e-02 4.74038177e+00] [ 4.64423032e-02 -1.18526256e-03 9.98920271e-01 1.70988302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.04804094199999 meters 0.023299333294507892 Centerline is valid? [True, True] Translation: X:39.06, Y:4.75, Z:1.71 [[ 9.56376932e-01 -2.88895064e-01 -4.33913040e-02 3.90606951e+01] [ 2.88650797e-01 9.57360119e-01 -1.19297794e-02 4.74656755e+00] [ 4.49875584e-02 -1.11556865e-03 9.98986924e-01 1.71128988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.078040941999994 meters 0.023299333294507892 Centerline is valid? [True, True] Translation: X:39.09, Y:4.75, Z:1.71 [[ 9.56301691e-01 -2.89144190e-01 -4.33902401e-02 3.90872367e+01] [ 2.88900004e-01 9.57284898e-01 -1.19336477e-02 4.75398093e+00] [ 4.49873665e-02 -1.12327305e-03 9.98986924e-01 1.71251634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.108040941999995 meters 0.024539012344602845 Centerline is valid? [True, True] Translation: X:39.11, Y:4.76, Z:1.71 [[ 9.56205400e-01 -2.89561521e-01 -4.27242118e-02 3.91140405e+01] [ 2.89324670e-01 9.57158756e-01 -1.17622617e-02 4.76259552e+00] [ 4.42997518e-02 -1.11403031e-03 9.99017663e-01 1.71283671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.138040941999996 meters 0.022909023778767173 Centerline is valid? [True, True] Translation: X:39.14, Y:4.77, Z:1.71 [[ 9.56164615e-01 -2.89748214e-01 -4.23698263e-02 3.91401191e+01] [ 2.89514943e-01 9.57102271e-01 -1.16764501e-02 4.77468233e+00] [ 4.39354876e-02 -1.10208950e-03 9.99033762e-01 1.71416475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.168040942 meters 0.02349639679010528 Centerline is valid? [True, True] Translation: X:39.17, Y:4.78, Z:1.71 [[ 9.56207465e-01 -2.89492492e-01 -4.31437283e-02 3.91673563e+01] [ 2.89249765e-01 9.57179655e-01 -1.19029691e-02 4.78435653e+00] [ 4.47421192e-02 -1.09760543e-03 9.98997967e-01 1.71481665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.198040942 meters 0.02257120787499103 Centerline is valid? [True, True] Translation: X:39.19, Y:4.79, Z:1.72 [[ 9.56308439e-01 -2.89077158e-01 -4.36871484e-02 3.91949065e+01] [ 2.88827309e-01 9.57305191e-01 -1.20646534e-02 4.79412742e+00] [ 4.53095497e-02 -1.08051169e-03 9.98972411e-01 1.71607505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.22804094199999 meters 0.02214416444320585 Centerline is valid? [True, True] Translation: X:39.22, Y:4.80, Z:1.72 [[ 9.56486110e-01 -2.88467878e-01 -4.38247186e-02 3.92226602e+01] [ 2.88215278e-01 9.57489005e-01 -1.21144161e-02 4.80396724e+00] [ 4.54563061e-02 -1.04368277e-03 9.98965783e-01 1.71700747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.258040941999994 meters 0.020718083246527186 Centerline is valid? [True, True] Translation: X:39.25, Y:4.81, Z:1.72 [[ 9.57110681e-01 -2.86344230e-01 -4.41149305e-02 3.92481326e+01] [ 2.86085719e-01 9.58126345e-01 -1.22011571e-02 4.81485562e+00] [ 4.57614081e-02 -9.42793832e-04 9.98951953e-01 1.71914763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.288040941999995 meters 0.02046062078212048 Centerline is valid? [True, True] Translation: X:39.28, Y:4.82, Z:1.72 [[ 9.57385204e-01 -2.85487403e-01 -4.37094242e-02 3.92754078e+01] [ 2.85232537e-01 9.58382049e-01 -1.20932990e-02 4.82492480e+00] [ 4.53428120e-02 -8.89404371e-04 9.98971090e-01 1.72035577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.318040941999996 meters 0.02050408011662828 Centerline is valid? [True, True] Translation: X:39.30, Y:4.83, Z:1.72 [[ 9.57557951e-01 -2.84964480e-01 -4.33360856e-02 3.93021747e+01] [ 2.84712902e-01 9.58537703e-01 -1.20014516e-02 4.83373570e+00] [ 4.49592594e-02 -8.46257261e-04 9.98988463e-01 1.72167066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.348040942 meters 0.019851955814242084 Centerline is valid? [True, True] Translation: X:39.33, Y:4.84, Z:1.72 [[ 9.57859732e-01 -2.84013265e-01 -4.29091959e-02 3.93286138e+01] [ 2.83765487e-01 9.58820026e-01 -1.18872684e-02 4.84486232e+00] [ 4.45183382e-02 -7.89813119e-04 9.99008255e-01 1.72363643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.378040942 meters 0.019954033320274876 Centerline is valid? [True, True] Translation: X:39.35, Y:4.85, Z:1.73 [[ 9.57892655e-01 -2.83900905e-01 -4.29178108e-02 3.93540622e+01] [ 2.83652393e-01 9.58853314e-01 -1.19013432e-02 4.85258848e+00] [ 4.45306872e-02 -7.73530448e-04 9.99007717e-01 1.72500008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.40804094199999 meters 0.019915632449774654 Centerline is valid? [True, True] Translation: X:39.38, Y:4.86, Z:1.73 [[ 9.57988397e-01 -2.83579686e-01 -4.29044646e-02 3.93804686e+01] [ 2.83330603e-01 9.58948382e-01 -1.19067137e-02 4.86282408e+00] [ 4.45196690e-02 -7.49654207e-04 9.99008227e-01 1.72603753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.43804094199999 meters 0.01990612682797934 Centerline is valid? [True, True] Translation: X:39.41, Y:4.87, Z:1.73 [[ 9.58002885e-01 -2.83618618e-01 -4.23196428e-02 3.94073391e+01] [ 2.83376151e-01 9.58936878e-01 -1.17482541e-02 4.87259585e+00] [ 4.39138897e-02 -7.37516128e-04 9.99035048e-01 1.72711393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.468040941999995 meters 0.01979866636726303 Centerline is valid? [True, True] Translation: X:39.43, Y:4.88, Z:1.73 [[ 9.58019540e-01 -2.83521475e-01 -4.25926583e-02 3.94336714e+01] [ 2.83275196e-01 9.58965613e-01 -1.18370835e-02 4.88228195e+00] [ 4.42009620e-02 -7.25286354e-04 9.99022397e-01 1.72795727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.498040941999996 meters 0.019694173877437837 Centerline is valid? [True, True] Translation: X:39.46, Y:4.89, Z:1.73 [[ 9.58234496e-01 -2.82672180e-01 -4.33945798e-02 3.94593836e+01] [ 2.82415060e-01 9.59216330e-01 -1.20733536e-02 4.89351918e+00] [ 4.50375908e-02 -6.86178976e-04 9.98985057e-01 1.72836338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.528040942 meters 0.0196308013950937 Centerline is valid? [True, True] Translation: X:39.49, Y:4.90, Z:1.73 [[ 9.58149323e-01 -2.82882375e-01 -4.39025801e-02 3.94856085e+01] [ 2.82619124e-01 9.59154354e-01 -1.22211355e-02 4.90255446e+00] [ 4.55664947e-02 -6.98035980e-04 9.98961064e-01 1.72873012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.558040942 meters 0.01961636585862908 Centerline is valid? [True, True] Translation: X:39.51, Y:4.91, Z:1.73 [[ 9.58053287e-01 -2.83109971e-01 -4.45268855e-02 3.95123792e+01] [ 2.82838789e-01 9.59087194e-01 -1.24085856e-02 4.91123667e+00] [ 4.62181600e-02 -7.05844214e-04 9.98931120e-01 1.72905506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.58804094199999 meters 0.019657463620334128 Centerline is valid? [True, True] Translation: X:39.54, Y:4.92, Z:1.73 [[ 9.57761423e-01 -2.83916467e-01 -4.56562889e-02 3.95393724e+01] [ 2.83631597e-01 9.58848725e-01 -1.27373501e-02 4.92096242e+00] [ 4.73938178e-02 -7.50223589e-04 9.98876000e-01 1.72937399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.61804094199999 meters 0.019609422557886936 Centerline is valid? [True, True] Translation: X:39.57, Y:4.93, Z:1.73 [[ 9.57505297e-01 -2.84782442e-01 -4.56351489e-02 3.95666099e+01] [ 2.84498247e-01 9.58591858e-01 -1.27435108e-02 4.93016923e+00] [ 4.73746103e-02 -7.81140733e-04 9.98876887e-01 1.73060240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.648040941999994 meters 0.019538920372458614 Centerline is valid? [True, True] Translation: X:39.59, Y:4.94, Z:1.73 [[ 9.57288076e-01 -2.85563231e-01 -4.53120290e-02 3.95937454e+01] [ 2.85283354e-01 9.58359534e-01 -1.26653228e-02 4.93944081e+00] [ 4.70419655e-02 -8.02405124e-04 9.98892592e-01 1.73189925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.678040941999996 meters 0.01955708796133492 Centerline is valid? [True, True] Translation: X:39.62, Y:4.95, Z:1.73 [[ 9.56972304e-01 -2.86655336e-01 -4.50857806e-02 3.96214709e+01] [ 2.86378890e-01 9.58033409e-01 -1.26142142e-02 4.94893666e+00] [ 4.68096158e-02 -8.40162182e-04 9.98903476e-01 1.73324376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.708040942 meters 0.020048109129121 Centerline is valid? [True, True] Translation: X:39.65, Y:4.96, Z:1.73 [[ 9.56570920e-01 -2.88055849e-01 -4.46755374e-02 3.96479900e+01] [ 2.87785394e-01 9.57613198e-01 -1.25111739e-02 4.95889868e+00] [ 4.63858011e-02 -8.89142001e-04 9.98923204e-01 1.73458240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.738040942 meters 0.021034037774927117 Centerline is valid? [True, True] Translation: X:39.67, Y:4.97, Z:1.74 [[ 9.56370415e-01 -2.88646440e-01 -4.51537540e-02 3.96746718e+01] [ 2.88370590e-01 9.57435314e-01 -1.26499652e-02 4.96817371e+00] [ 4.68831660e-02 -9.22962167e-04 9.98899953e-01 1.73561210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.76804094199999 meters 0.021093302033639533 Centerline is valid? [True, True] Translation: X:39.70, Y:4.98, Z:1.74 [[ 9.56012629e-01 -2.89929520e-01 -4.45053421e-02 3.97010427e+01] [ 2.89662328e-01 9.57047519e-01 -1.24812878e-02 4.97762116e+00] [ 4.62124210e-02 -9.59252224e-04 9.98931175e-01 1.73711364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.79804094199999 meters 0.020737172326115102 Centerline is valid? [True, True] Translation: X:39.73, Y:4.99, Z:1.74 [[ 9.55783793e-01 -2.90742110e-01 -4.41176469e-02 3.97287422e+01] [ 2.90480222e-01 9.56800948e-01 -1.23768849e-02 4.98689414e+00] [ 4.58102880e-02 -9.85677848e-04 9.98949671e-01 1.73876988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.828040941999994 meters 0.021105101093530913 Centerline is valid? [True, True] Translation: X:39.75, Y:5.00, Z:1.74 [[ 9.55724270e-01 -2.90939395e-01 -4.41065515e-02 3.97545626e+01] [ 2.90677323e-01 9.56740979e-01 -1.23852195e-02 4.99583490e+00] [ 4.58018935e-02 -9.83919488e-04 9.98950058e-01 1.74017848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.858040941999995 meters 0.02096029240585068 Centerline is valid? [True, True] Translation: X:39.78, Y:5.01, Z:1.74 [[ 9.55904846e-01 -2.90481415e-01 -4.32026870e-02 3.97804123e+01] [ 2.90229263e-01 9.56880175e-01 -1.21369238e-02 5.00829400e+00] [ 4.48653455e-02 -9.36939739e-04 9.98992604e-01 1.74149042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.888040941999996 meters 0.020621404978057895 Centerline is valid? [True, True] Translation: X:39.81, Y:5.02, Z:1.74 [[ 9.56071888e-01 -2.89951003e-01 -4.30692520e-02 3.98064922e+01] [ 2.89699692e-01 9.57041063e-01 -1.21034029e-02 5.01883917e+00] [ 4.47284366e-02 -9.05425747e-04 9.98998772e-01 1.74212531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.918040942 meters 0.021362021587002823 Centerline is valid? [True, True] Translation: X:39.83, Y:5.03, Z:1.74 [[ 9.56550782e-01 -2.88298931e-01 -4.35238753e-02 3.98315502e+01] [ 2.88040394e-01 9.57540094e-01 -1.22351725e-02 5.03148917e+00] [ 4.52032428e-02 -8.33070398e-04 9.98977464e-01 1.74160152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.948040942 meters 0.020009462502070148 Centerline is valid? [True, True] Translation: X:39.86, Y:5.04, Z:1.74 [[ 9.56953112e-01 -2.86998144e-01 -4.32759353e-02 3.98586951e+01] [ 2.86741037e-01 9.57930834e-01 -1.21694279e-02 5.04243008e+00] [ 4.49479560e-02 -7.63414710e-04 9.98989038e-01 1.74378894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.97804094199999 meters 0.019826426299463098 Centerline is valid? [True, True] Translation: X:39.89, Y:5.05, Z:1.75 [[ 9.57366390e-01 -2.85677729e-01 -4.28699132e-02 3.98850091e+01] [ 2.85423622e-01 9.58325501e-01 -1.20660468e-02 5.05241431e+00] [ 4.45303319e-02 -6.84458187e-04 9.99007798e-01 1.74502246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.008040941999994 meters 0.019242221060167878 Centerline is valid? [True, True] Translation: X:39.91, Y:5.07, Z:1.75 [[ 9.58247474e-01 -2.82698526e-01 -4.29339140e-02 3.99096804e+01] [ 2.82440496e-01 9.59208657e-01 -1.20879311e-02 5.06626536e+00] [ 4.45998223e-02 -5.43046540e-04 9.99004785e-01 1.74577134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.038040941999995 meters 0.018534311914316034 Centerline is valid? [True, True] Translation: X:39.94, Y:5.08, Z:1.75 [[ 9.58707019e-01 -2.81147458e-01 -4.28597619e-02 3.99361455e+01] [ 2.80888599e-01 9.59664467e-01 -1.20708615e-02 5.07834273e+00] [ 4.45246826e-02 -4.66398867e-04 9.99008176e-01 1.74695654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.068040941999996 meters 0.021373897225633782 Centerline is valid? [True, True] Translation: X:39.96, Y:5.09, Z:1.75 [[ 9.58945957e-01 -2.80256339e-01 -4.33478433e-02 3.99622431e+01] [ 2.79990144e-01 9.59925106e-01 -1.22192875e-02 5.08966479e+00] [ 4.50352158e-02 -4.19332507e-04 9.98985312e-01 1.74602483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.098040942 meters 0.017642987547013707 Centerline is valid? [True, True] Translation: X:39.99, Y:5.10, Z:1.75 [[ 9.60163665e-01 -2.76356547e-01 -4.13859394e-02 3.99880402e+01] [ 2.76110145e-01 9.61055154e-01 -1.16695400e-02 5.10422856e+00] [ 4.29991241e-02 -2.22409399e-04 9.99075085e-01 1.74961720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.128040942 meters 0.01763714042671282 Centerline is valid? [True, True] Translation: X:40.01, Y:5.12, Z:1.75 [[ 9.60526748e-01 -2.75188904e-01 -4.07361442e-02 4.00137145e+01] [ 2.74948718e-01 9.61390161e-01 -1.14961166e-02 5.11522189e+00] [ 4.23269319e-02 -1.58023137e-04 9.99103801e-01 1.75080836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.15804094199999 meters 0.01768343960611293 Centerline is valid? [True, True] Translation: X:40.04, Y:5.13, Z:1.75 [[ 9.60930167e-01 -2.73840518e-01 -4.03061272e-02 4.00388385e+01] [ 2.73603680e-01 9.61775111e-01 -1.13869579e-02 5.12513593e+00] [ 4.18836404e-02 -8.58333797e-05 9.99122492e-01 1.75201118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.18804094199999 meters 0.017562328453761933 Centerline is valid? [True, True] Translation: X:40.06, Y:5.14, Z:1.75 [[ 9.61711393e-01 -2.71096083e-01 -4.02257386e-02 4.00644628e+01] [ 2.70857456e-01 9.62552290e-01 -1.13721857e-02 5.13884952e+00] [ 4.18023319e-02 4.13193594e-05 9.99125900e-01 1.75231107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.218040941999995 meters 0.01755483501194588 Centerline is valid? [True, True] Translation: X:40.09, Y:5.15, Z:1.75 [[ 9.62060376e-01 -2.69880480e-01 -4.00544564e-02 4.00910959e+01] [ 2.69642336e-01 9.62893824e-01 -1.13355588e-02 5.14954645e+00] [ 4.16274347e-02 1.05114766e-04 9.99133197e-01 1.75301203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.248040941999996 meters 0.01754852156365551 Centerline is valid? [True, True] Translation: X:40.12, Y:5.16, Z:1.75 [[ 9.62708530e-01 -2.67557642e-01 -4.00648697e-02 4.01174702e+01] [ 2.67316852e-01 9.63541831e-01 -1.13507595e-02 5.16135073e+00] [ 4.16411603e-02 2.17458169e-04 9.99132607e-01 1.75336920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.278040942 meters 0.018011477661695655 Centerline is valid? [True, True] Translation: X:40.14, Y:5.17, Z:1.75 [[ 9.62866538e-01 -2.66996281e-01 -4.00126870e-02 4.01441316e+01] [ 2.66755198e-01 9.63697527e-01 -1.13464274e-02 5.16973468e+00] [ 4.15895814e-02 2.51503022e-04 9.99134747e-01 1.75376383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.308040942 meters 0.018696160657399468 Centerline is valid? [True, True] Translation: X:40.17, Y:5.18, Z:1.75 [[ 9.63089595e-01 -2.66164844e-01 -4.01834313e-02 4.01705643e+01] [ 2.65920432e-01 9.63927479e-01 -1.14078486e-02 5.17860020e+00] [ 4.17702819e-02 3.01184891e-04 9.99127196e-01 1.75481649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.33804094199999 meters 0.017763273862811898 Centerline is valid? [True, True] Translation: X:40.20, Y:5.19, Z:1.76 [[ 9.63305963e-01 -2.65465681e-01 -3.96180921e-02 4.01985239e+01] [ 2.65227379e-01 9.64120253e-01 -1.12505315e-02 5.18703839e+00] [ 4.11832350e-02 3.29901385e-04 9.99151556e-01 1.75690136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.36804094199999 meters 0.018010005393212597 Centerline is valid? [True, True] Translation: X:40.23, Y:5.20, Z:1.76 [[ 9.63555895e-01 -2.64663197e-01 -3.89028179e-02 4.02263580e+01] [ 2.64432362e-01 9.64340841e-01 -1.10575027e-02 5.19598127e+00] [ 4.04420902e-02 3.67357900e-04 9.99181816e-01 1.75860862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.398040941999994 meters 0.019570114559957417 Centerline is valid? [True, True] Translation: X:40.25, Y:5.20, Z:1.76 [[ 9.63541956e-01 -2.64721793e-01 -3.88493518e-02 4.02518773e+01] [ 2.64491208e-01 9.64324754e-01 -1.10530101e-02 5.20444356e+00] [ 4.03893643e-02 3.74727016e-04 9.99183946e-01 1.75822462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.428040941999996 meters 0.018367571991590566 Centerline is valid? [True, True] Translation: X:40.28, Y:5.21, Z:1.76 [[ 9.63922803e-01 -2.63266416e-01 -3.92889877e-02 4.02790110e+01] [ 2.63029179e-01 9.64723067e-01 -1.11828131e-02 5.21396738e+00] [ 4.08470519e-02 4.45218397e-04 9.99165312e-01 1.75877723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.458040942 meters 0.01826024673266835 Centerline is valid? [True, True] Translation: X:40.31, Y:5.22, Z:1.76 [[ 9.64030027e-01 -2.62836689e-01 -3.95345670e-02 4.03061041e+01] [ 2.62595696e-01 9.64840219e-01 -1.12628810e-02 5.22228414e+00] [ 4.11048386e-02 4.76148371e-04 9.99154726e-01 1.75934929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.488040942 meters 0.01842928210888859 Centerline is valid? [True, True] Translation: X:40.33, Y:5.23, Z:1.76 [[ 9.64443204e-01 -2.61266573e-01 -3.98633116e-02 4.03337938e+01] [ 2.61019700e-01 9.65266525e-01 -1.13688869e-02 5.22850634e+00] [ 4.14490304e-02 5.59536109e-04 9.99140463e-01 1.76008696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.51804094199999 meters 0.01930298094014913 Centerline is valid? [True, True] Translation: X:40.36, Y:5.24, Z:1.76 [[ 9.64707446e-01 -2.60329643e-01 -3.95982466e-02 4.03606828e+01] [ 2.60085017e-01 9.65519609e-01 -1.12990559e-02 5.23693570e+00] [ 4.11743627e-02 6.01372713e-04 9.99151795e-01 1.76161713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.54804094199999 meters 0.019716122249318183 Centerline is valid? [True, True] Translation: X:40.39, Y:5.24, Z:1.76 [[ 9.64876785e-01 -2.59743080e-01 -3.93233131e-02 4.03880677e+01] [ 2.59501225e-01 9.65677556e-01 -1.12237449e-02 5.24468410e+00] [ 4.08889310e-02 6.25082995e-04 9.99163502e-01 1.76295707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.578040941999994 meters 0.019972861614744524 Centerline is valid? [True, True] Translation: X:40.41, Y:5.25, Z:1.76 [[ 9.65059467e-01 -2.59144401e-01 -3.87866606e-02 4.04145300e+01] [ 2.58908205e-01 9.65838369e-01 -1.10809087e-02 5.25290967e+00] [ 4.03332005e-02 6.51551153e-04 9.99186073e-01 1.76445555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.608040941999995 meters 0.019844305162693 Centerline is valid? [True, True] Translation: X:40.44, Y:5.26, Z:1.77 [[ 9.65065630e-01 -2.59191798e-01 -3.83137248e-02 4.04411099e+01] [ 2.58961268e-01 9.65825656e-01 -1.09482717e-02 5.26035405e+00] [ 3.98420806e-02 6.44029929e-04 9.99205782e-01 1.76520171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.638040941999996 meters 0.020315490001488856 Centerline is valid? [True, True] Translation: X:40.47, Y:5.27, Z:1.77 [[ 9.65051908e-01 -2.59336737e-01 -3.76732149e-02 4.04671312e+01] [ 2.59113505e-01 9.65786751e-01 -1.07769491e-02 5.26858803e+00] [ 3.91791506e-02 6.38676515e-04 9.99231998e-01 1.76637307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.668040942 meters 0.019202865240612835 Centerline is valid? [True, True] Translation: X:40.50, Y:5.27, Z:1.77 [[ 9.64875343e-01 -2.59957702e-01 -3.79152336e-02 4.04955163e+01] [ 2.59731910e-01 9.65619805e-01 -1.08502556e-02 5.27323848e+00] [ 3.94323080e-02 6.21348070e-04 9.99222051e-01 1.76657625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.698040942 meters 0.02117050513896782 Centerline is valid? [True, True] Translation: X:40.52, Y:5.28, Z:1.77 [[ 9.64714587e-01 -2.60486625e-01 -3.83729591e-02 4.05228413e+01] [ 2.60255283e-01 9.65477258e-01 -1.09932964e-02 5.27918656e+00] [ 3.99118260e-02 6.18628062e-04 9.99203014e-01 1.76710363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.72804094199999 meters 0.01848109143668208 Centerline is valid? [True, True] Translation: X:40.55, Y:5.28, Z:1.77 [[ 9.64395900e-01 -2.61636929e-01 -3.85573020e-02 4.05521500e+01] [ 2.61404158e-01 9.65166196e-01 -1.10490252e-02 5.28278271e+00] [ 4.01050375e-02 5.76595533e-04 9.99195303e-01 1.76881420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.758040941999994 meters 0.01842509449017406 Centerline is valid? [True, True] Translation: X:40.58, Y:5.29, Z:1.77 [[ 9.63786803e-01 -2.63987474e-01 -3.77572654e-02 4.05791488e+01] [ 2.63765630e-01 9.64525989e-01 -1.08309127e-02 5.28825800e+00] [ 3.92770890e-02 4.79621804e-04 9.99228242e-01 1.76924200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.788040941999995 meters 0.0183141925569663 Centerline is valid? [True, True] Translation: X:40.61, Y:5.30, Z:1.77 [[ 9.63267952e-01 -2.65859098e-01 -3.78654501e-02 4.06076148e+01] [ 2.65637309e-01 9.64011812e-01 -1.08649126e-02 5.29548493e+00] [ 3.93912771e-02 4.07345887e-04 9.99223779e-01 1.76973207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.818040941999996 meters 0.01782846495586082 Centerline is valid? [True, True] Translation: X:40.64, Y:5.30, Z:1.77 [[ 9.62641343e-01 -2.68036052e-01 -3.84489170e-02 4.06357379e+01] [ 2.67808712e-01 9.63408825e-01 -1.10421634e-02 5.30173655e+00] [ 4.00017238e-02 3.32688053e-04 9.99199555e-01 1.77051611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.848040942 meters 0.017757441036219648 Centerline is valid? [True, True] Translation: X:40.66, Y:5.30, Z:1.77 [[ 9.61333865e-01 -2.72635826e-01 -3.88188903e-02 4.06641684e+01] [ 2.72407378e-01 9.62117292e-01 -1.11596312e-02 5.30259283e+00] [ 4.03908409e-02 1.53579223e-04 9.99183945e-01 1.77102933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.878040942 meters 0.017601126890816297 Centerline is valid? [True, True] Translation: X:40.69, Y:5.31, Z:1.77 [[ 9.60526754e-01 -2.75373267e-01 -3.94704851e-02 4.06926615e+01] [ 2.75139177e-01 9.61337382e-01 -1.13521578e-02 5.30653827e+00] [ 4.10705336e-02 4.41745239e-05 9.99156249e-01 1.77246235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.90804094199999 meters 0.01925011974984973 Centerline is valid? [True, True] Translation: X:40.72, Y:5.31, Z:1.77 [[ 9.59867108e-01 -2.77643743e-01 -3.96117034e-02 4.07209057e+01] [ 2.77409402e-01 9.60684105e-01 -1.14049608e-02 5.31096209e+00] [ 4.12208498e-02 -4.14122716e-05 9.99150059e-01 1.77239671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.93804094199999 meters 0.017864947328657944 Centerline is valid? [True, True] Translation: X:40.75, Y:5.31, Z:1.78 [[ 9.58569719e-01 -2.82085136e-01 -3.96493397e-02 4.07490257e+01] [ 2.81853615e-01 9.59389351e-01 -1.14285716e-02 5.31402312e+00] [ 4.12629845e-02 -2.20227093e-04 9.99148296e-01 1.77558945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.968040941999995 meters 0.017977269095095318 Centerline is valid? [True, True] Translation: X:40.78, Y:5.32, Z:1.78 [[ 9.58156341e-01 -2.83533310e-01 -3.93101677e-02 4.07771314e+01] [ 2.83306825e-01 9.58962348e-01 -1.13339027e-02 5.32086081e+00] [ 4.09105097e-02 -2.77188104e-04 9.99162776e-01 1.77722983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.998040941999996 meters 0.017977269095095318 Centerline is valid? [True, True] Translation: X:40.80, Y:5.33, Z:1.78 [[ 9.58077902e-01 -2.83798622e-01 -3.93074575e-02 4.08035581e+01] [ 2.83571975e-01 9.58883864e-01 -1.13432939e-02 5.32858699e+00] [ 4.09104979e-02 -2.78734105e-04 9.99162776e-01 1.77845362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.028040942 meters 0.017978074790784115 Centerline is valid? [True, True] Translation: X:40.83, Y:5.33, Z:1.78 [[ 9.57870839e-01 -2.84690303e-01 -3.78799121e-02 4.08303990e+01] [ 2.84480056e-01 9.58619500e-01 -1.09431474e-02 5.33392894e+00] [ 3.94278303e-02 -2.93957703e-04 9.99222378e-01 1.78102235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.058040942 meters 0.01803397888438213 Centerline is valid? [True, True] Translation: X:40.86, Y:5.34, Z:1.78 [[ 9.57936507e-01 -2.84502103e-01 -3.76324491e-02 4.08570558e+01] [ 2.84294328e-01 9.58675375e-01 -1.08747881e-02 5.34107519e+00] [ 3.91712023e-02 -2.81335260e-04 9.99232474e-01 1.78232411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.08804094199999 meters 0.01812952469644497 Centerline is valid? [True, True] Translation: X:40.88, Y:5.35, Z:1.78 [[ 9.58189618e-01 -2.83657697e-01 -3.75628294e-02 4.08839318e+01] [ 2.83449583e-01 9.58925574e-01 -1.08663918e-02 5.34710749e+00] [ 3.91022934e-02 -2.35104477e-04 9.99235185e-01 1.78440931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.11804094199999 meters 0.017671572347356987 Centerline is valid? [True, True] Translation: X:40.91, Y:5.35, Z:1.79 [[ 9.58590435e-01 -2.82311604e-01 -3.74771488e-02 4.09108520e+01] [ 2.82102956e-01 9.59322745e-01 -1.08532194e-02 5.35407864e+00] [ 3.90166710e-02 -1.68622146e-04 9.99238546e-01 1.78644322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.148040941999994 meters 0.017555354164313683 Centerline is valid? [True, True] Translation: X:40.94, Y:5.36, Z:1.79 [[ 9.59642398e-01 -2.78731182e-01 -3.73550074e-02 4.09374594e+01] [ 2.78520738e-01 9.60369163e-01 -1.08291473e-02 5.36220909e+00] [ 3.88930182e-02 -1.20353095e-05 9.99243380e-01 1.78848515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.178040941999996 meters 0.017739073308388427 Centerline is valid? [True, True] Translation: X:40.96, Y:5.37, Z:1.79 [[ 9.60303580e-01 -2.76452687e-01 -3.72953865e-02 4.09641399e+01] [ 2.76240760e-01 9.61027525e-01 -1.08230759e-02 5.37140358e+00] [ 3.88339614e-02 9.09325801e-05 9.99245673e-01 1.78968755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.208040942 meters 0.018477042684224055 Centerline is valid? [True, True] Translation: X:40.99, Y:5.38, Z:1.79 [[ 9.61867711e-01 -2.70954380e-01 -3.73394041e-02 4.09898993e+01] [ 2.70737325e-01 9.62592135e-01 -1.08481744e-02 5.38301703e+00] [ 3.88819770e-02 3.25338311e-04 9.99243757e-01 1.79003359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.238040942 meters 0.01973265383706264 Centerline is valid? [True, True] Translation: X:41.02, Y:5.39, Z:1.79 [[ 9.62651432e-01 -2.68074006e-01 -3.79281920e-02 4.10162097e+01] [ 2.67847679e-01 9.63398216e-01 -1.10226009e-02 5.39187994e+00] [ 3.94948253e-02 4.51944402e-04 9.99219673e-01 1.79011303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.26804094199999 meters 0.02031608809858385 Centerline is valid? [True, True] Translation: X:41.04, Y:5.40, Z:1.79 [[ 9.63752582e-01 -2.64030185e-01 -3.83278372e-02 4.10427816e+01] [ 2.63795649e-01 9.64514212e-01 -1.11440631e-02 5.39932732e+00] [ 3.99101128e-02 6.29402895e-04 9.99203076e-01 1.79423566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.29804094199999 meters 0.020783849498394527 Centerline is valid? [True, True] Translation: X:41.07, Y:5.41, Z:1.80 [[ 9.64097690e-01 -2.62735499e-01 -3.85448032e-02 4.10709001e+01] [ 2.62497070e-01 9.64867649e-01 -1.12119972e-02 5.40721193e+00] [ 4.01364233e-02 6.91562716e-04 9.99193970e-01 1.79581675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.328040941999994 meters 0.02002444572513454 Centerline is valid? [True, True] Translation: X:41.10, Y:5.41, Z:1.80 [[ 9.64366117e-01 -2.61738627e-01 -3.86119689e-02 4.10997424e+01] [ 2.61498190e-01 9.65138507e-01 -1.12409251e-02 5.41258798e+00] [ 4.02080823e-02 7.43407289e-04 9.99191052e-01 1.79544713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.358040941999995 meters 0.02017367681265697 Centerline is valid? [True, True] Translation: X:41.13, Y:5.42, Z:1.80 [[ 9.64456940e-01 -2.61378331e-01 -3.87837447e-02 4.11274611e+01] [ 2.61135034e-01 9.65236123e-01 -1.13013854e-02 5.41955556e+00] [ 4.03894086e-02 7.71905114e-04 9.99183717e-01 1.79530661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.388040941999996 meters 0.020106605586902283 Centerline is valid? [True, True] Translation: X:41.15, Y:5.43, Z:1.80 [[ 9.64282346e-01 -2.61988340e-01 -3.90085493e-02 4.11547225e+01] [ 2.61742291e-01 9.65070739e-01 -1.13772801e-02 5.42508728e+00] [ 4.06267242e-02 7.60723332e-04 9.99174104e-01 1.79636174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.418040942 meters 0.01967889229626669 Centerline is valid? [True, True] Translation: X:41.18, Y:5.43, Z:1.80 [[ 9.63962228e-01 -2.63119739e-01 -3.93042760e-02 4.11833199e+01] [ 2.62870378e-01 9.64762908e-01 -1.14758351e-02 5.43038445e+00] [ 4.09388264e-02 7.30341721e-04 9.99161388e-01 1.79821832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.448040942 meters 0.01894643689452973 Centerline is valid? [True, True] Translation: X:41.21, Y:5.43, Z:1.80 [[ 9.63030375e-01 -2.66449978e-01 -3.97102718e-02 4.12138492e+01] [ 2.66197816e-01 9.63848558e-01 -1.16051624e-02 5.43070561e+00] [ 4.13668835e-02 6.05336245e-04 9.99143841e-01 1.80016114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.47804094199999 meters 0.01907315957596703 Centerline is valid? [True, True] Translation: X:41.24, Y:5.44, Z:1.80 [[ 9.62410027e-01 -2.68736491e-01 -3.93400370e-02 4.12415567e+01] [ 2.68490499e-01 9.63213598e-01 -1.15072037e-02 5.43559735e+00] [ 4.09852642e-02 5.12222022e-04 9.99159620e-01 1.80178150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.508040941999994 meters 0.018116794477729337 Centerline is valid? [True, True] Translation: X:41.27, Y:5.44, Z:1.80 [[ 9.61147562e-01 -2.73206123e-01 -3.94179950e-02 4.12707675e+01] [ 2.72962692e-01 9.61955460e-01 -1.15352506e-02 5.43696955e+00] [ 4.10698566e-02 3.27436011e-04 9.99156224e-01 1.80391042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.538040941999995 meters 0.017985924579779104 Centerline is valid? [True, True] Translation: X:41.30, Y:5.44, Z:1.81 [[ 9.60551982e-01 -2.75241081e-01 -3.97773445e-02 4.12982285e+01] [ 2.74994463e-01 9.61375204e-01 -1.16517265e-02 5.44218202e+00] [ 4.14479864e-02 2.53539488e-04 9.99140631e-01 1.80503292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.568040941999996 meters 0.0177995364952724 Centerline is valid? [True, True] Translation: X:41.33, Y:5.45, Z:1.81 [[ 9.59917900e-01 -2.77420373e-01 -3.99444787e-02 4.13271520e+01] [ 2.77173422e-01 9.60748620e-01 -1.17040259e-02 5.44645729e+00] [ 4.16235380e-02 1.63356148e-04 9.99133352e-01 1.80621056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.598040942 meters 0.017699002928003645 Centerline is valid? [True, True] Translation: X:41.36, Y:5.45, Z:1.81 [[ 9.59270082e-01 -2.79593041e-01 -4.03564312e-02 4.13550964e+01] [ 2.79342415e-01 9.60118599e-01 -1.18359681e-02 5.45049849e+00] [ 4.20562145e-02 8.06270911e-05 9.99115243e-01 1.80797367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.628040942 meters 0.01760687605726564 Centerline is valid? [True, True] Translation: X:41.38, Y:5.45, Z:1.81 [[ 9.58180386e-01 -2.83114912e-01 -4.16688645e-02 4.13842951e+01] [ 2.82850785e-01 9.59085993e-01 -1.22266860e-02 5.45234452e+00] [ 4.34255814e-02 -7.07003336e-05 9.99056662e-01 1.80815608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.65804094199999 meters 0.017748128100328074 Centerline is valid? [True, True] Translation: X:41.41, Y:5.46, Z:1.81 [[ 9.57786621e-01 -2.84395136e-01 -4.20023122e-02 4.14111092e+01] [ 2.84127417e-01 9.58707146e-01 -1.23376681e-02 5.45733829e+00] [ 4.37766897e-02 -1.17155068e-04 9.99041334e-01 1.80859303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.68804094199999 meters 0.017679295539543012 Centerline is valid? [True, True] Translation: X:41.44, Y:5.46, Z:1.81 [[ 9.57318756e-01 -2.85882220e-01 -4.25694153e-02 4.14384306e+01] [ 2.85608434e-01 9.58264746e-01 -1.25099632e-02 5.46322415e+00] [ 4.43691460e-02 -1.82161669e-04 9.99015188e-01 1.80939892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.718040941999995 meters 0.01766534346063801 Centerline is valid? [True, True] Translation: X:41.47, Y:5.47, Z:1.81 [[ 9.56837229e-01 -2.87192945e-01 -4.45278462e-02 4.14664263e+01] [ 2.86894122e-01 9.57872723e-01 -1.30999368e-02 5.46659523e+00] [ 4.64142187e-02 -2.40270115e-04 9.98922251e-01 1.80973788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.748040941999996 meters 0.017804631388577696 Centerline is valid? [True, True] Translation: X:41.49, Y:5.47, Z:1.81 [[ 9.56673669e-01 -2.87530427e-01 -4.58447865e-02 4.14936081e+01] [ 2.87213350e-01 9.57771471e-01 -1.35018911e-02 5.47148148e+00] [ 4.77910331e-02 -2.50330967e-04 9.98857324e-01 1.80972359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.778040942 meters 0.01767189847160569 Centerline is valid? [True, True] Translation: X:41.52, Y:5.48, Z:1.81 [[ 9.56557732e-01 -2.87636099e-01 -4.75686838e-02 4.15214642e+01] [ 2.87294299e-01 9.57739740e-01 -1.40205746e-02 5.47674990e+00] [ 4.95912422e-02 -2.54722660e-04 9.98769565e-01 1.81003459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.808040942 meters 0.017795542066757458 Centerline is valid? [True, True] Translation: X:41.55, Y:5.48, Z:1.81 [[ 9.56682204e-01 -2.87120972e-01 -4.81737342e-02 4.15486087e+01] [ 2.86769055e-01 9.57894305e-01 -1.42129908e-02 5.48216583e+00] [ 5.02261934e-02 -2.17420851e-04 9.98737845e-01 1.80968226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.83804094199999 meters 0.017822204601941068 Centerline is valid? [True, True] Translation: X:41.58, Y:5.49, Z:1.81 [[ 9.56799054e-01 -2.86616687e-01 -4.88512424e-02 4.15752969e+01] [ 2.86253805e-01 9.58045322e-01 -1.44194208e-02 5.48822786e+00] [ 5.09345509e-02 -1.87365798e-04 9.98701976e-01 1.81069870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.86804094199999 meters 0.01923645223281075 Centerline is valid? [True, True] Translation: X:41.60, Y:5.50, Z:1.81 [[ 9.56849457e-01 -2.86255226e-01 -4.99706203e-02 4.16024083e+01] [ 2.85874625e-01 9.58153390e-01 -1.47573918e-02 5.49535021e+00] [ 5.21038998e-02 -1.64729972e-04 9.98641656e-01 1.81138555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.898040941999994 meters 0.017852667275783923 Centerline is valid? [True, True] Translation: X:41.63, Y:5.50, Z:1.82 [[ 9.58173601e-01 -2.81915067e-01 -4.92670870e-02 4.16286923e+01] [ 2.81538592e-01 9.59439361e-01 -1.45648032e-02 5.50360633e+00] [ 5.13748200e-02 8.50235789e-05 9.98679438e-01 1.81666558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.928040941999996 meters 0.018074741554955254 Centerline is valid? [True, True] Translation: X:41.66, Y:5.51, Z:1.82 [[ 9.58624278e-01 -2.80381114e-01 -4.92536825e-02 4.16557307e+01] [ 2.80002094e-01 9.59888743e-01 -1.45749472e-02 5.51127581e+00] [ 5.13645953e-02 1.80763988e-04 9.98679952e-01 1.81841514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.958040942 meters 0.01826221386512306 Centerline is valid? [True, True] Translation: X:41.68, Y:5.52, Z:1.82 [[ 9.59047701e-01 -2.78804764e-01 -4.99540875e-02 4.16831387e+01] [ 2.78412486e-01 9.60347764e-01 -1.47871283e-02 5.51661683e+00] [ 5.20960181e-02 2.73719747e-04 9.98642043e-01 1.82081781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.988040942 meters 0.018424968919080097 Centerline is valid? [True, True] Translation: X:41.71, Y:5.52, Z:1.82 [[ 9.59145101e-01 -2.78423228e-01 -5.02113730e-02 4.17104443e+01] [ 2.78026039e-01 9.60458440e-01 -1.48696623e-02 5.52398677e+00] [ 5.23659964e-02 3.02094611e-04 9.98627914e-01 1.82226903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.01804094199999 meters 0.018660733180662335 Centerline is valid? [True, True] Translation: X:41.74, Y:5.53, Z:1.82 [[ 9.59423741e-01 -2.77587575e-01 -4.95098341e-02 4.17359696e+01] [ 2.77199567e-01 9.60700271e-01 -1.46761396e-02 5.53425263e+00] [ 5.16380251e-02 3.56532231e-04 9.98665804e-01 1.82300528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.04804094199999 meters 0.018723374106638824 Centerline is valid? [True, True] Translation: X:41.76, Y:5.54, Z:1.82 [[ 9.59480723e-01 -2.77444597e-01 -4.92060712e-02 4.17624138e+01] [ 2.77060600e-01 9.60741566e-01 -1.45968211e-02 5.54250620e+00] [ 5.13241271e-02 3.72304809e-04 9.98681979e-01 1.82487634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.078040941999994 meters 0.018831157565690145 Centerline is valid? [True, True] Translation: X:41.79, Y:5.55, Z:1.83 [[ 9.59509491e-01 -2.77333344e-01 -4.92722436e-02 4.17890434e+01] [ 2.76947398e-01 9.60773679e-01 -1.46313529e-02 5.55029557e+00] [ 5.13972368e-02 3.93102327e-04 9.98678211e-01 1.82729112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.108040941999995 meters 0.01882530361751785 Centerline is valid? [True, True] Translation: X:41.82, Y:5.56, Z:1.83 [[ 9.59381640e-01 -2.77840244e-01 -4.89046834e-02 4.18156394e+01] [ 2.77459999e-01 9.60627221e-01 -1.45358858e-02 5.55864723e+00] [ 5.10178242e-02 3.76368548e-04 9.98697672e-01 1.82849821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.138040941999996 meters 0.018877608455954042 Centerline is valid? [True, True] Translation: X:41.84, Y:5.57, Z:1.83 [[ 9.58760267e-01 -2.79874556e-01 -4.94872097e-02 4.18428180e+01] [ 2.79487577e-01 9.60036539e-01 -1.47152394e-02 5.56690360e+00] [ 5.16279506e-02 2.77326501e-04 9.98666350e-01 1.82971018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.168040942 meters 0.01885187769029732 Centerline is valid? [True, True] Translation: X:41.87, Y:5.57, Z:1.83 [[ 9.58341200e-01 -2.81248832e-01 -4.98120293e-02 4.18695075e+01] [ 2.80857810e-01 9.59634851e-01 -1.48271459e-02 5.57387278e+00] [ 5.19714767e-02 2.19367329e-04 9.98648546e-01 1.83177700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.198040942 meters 0.01905566505119758 Centerline is valid? [True, True] Translation: X:41.90, Y:5.58, Z:1.83 [[ 9.57936277e-01 -2.82587468e-01 -5.00241198e-02 4.18951926e+01] [ 2.82194184e-01 9.59241522e-01 -1.49045370e-02 5.58109460e+00] [ 5.21970481e-02 1.61080976e-04 9.98636792e-01 1.83320218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.22804094199999 meters 0.019220315616457987 Centerline is valid? [True, True] Translation: X:41.92, Y:5.59, Z:1.83 [[ 9.56734995e-01 -2.86492810e-01 -5.07938878e-02 4.19206878e+01] [ 2.86092449e-01 9.58082391e-01 -1.51407791e-02 5.58953967e+00] [ 5.30024538e-02 -4.60345644e-05 9.98594381e-01 1.83412539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.258040941999994 meters 0.019354844148442366 Centerline is valid? [True, True] Translation: X:41.95, Y:5.60, Z:1.84 [[ 9.56013090e-01 -2.88873564e-01 -5.09022127e-02 4.19472986e+01] [ 2.88474426e-01 9.57367241e-01 -1.51812563e-02 5.59786960e+00] [ 5.31175746e-02 -1.70506841e-04 9.98588251e-01 1.83539198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.288040941999995 meters 0.01997640976797861 Centerline is valid? [True, True] Translation: X:41.97, Y:5.60, Z:1.84 [[ 9.54319823e-01 -2.94396041e-01 -5.10357390e-02 4.19742032e+01] [ 2.94001943e-01 9.55683396e-01 -1.52349439e-02 5.60371926e+00] [ 5.32591156e-02 -4.65597419e-04 9.98580618e-01 1.83599926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.318040941999996 meters 0.020471423693212396 Centerline is valid? [True, True] Translation: X:42.00, Y:5.61, Z:1.84 [[ 9.53176149e-01 -2.97981956e-01 -5.15944089e-02 4.20022971e+01] [ 2.97584072e-01 9.54571270e-01 -1.54081528e-02 5.61046756e+00] [ 5.38418919e-02 -6.66990553e-04 9.98549251e-01 1.83718937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.348040942 meters 0.021115032811791327 Centerline is valid? [True, True] Translation: X:42.03, Y:5.62, Z:1.84 [[ 9.52118163e-01 -3.01266071e-01 -5.20553388e-02 4.20300164e+01] [ 3.00865275e-01 9.53539739e-01 -1.55580287e-02 5.61678234e+00] [ 5.43239403e-02 -8.48562072e-04 9.98523004e-01 1.83811701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.378040942 meters 0.02217096352320199 Centerline is valid? [True, True] Translation: X:42.06, Y:5.62, Z:1.84 [[ 9.49791118e-01 -3.08364450e-01 -5.29924418e-02 4.20595323e+01] [ 3.07959844e-01 9.51267442e-01 -1.58425704e-02 5.62180348e+00] [ 5.52952701e-02 -1.27241145e-03 9.98469235e-01 1.84005244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.40804094199999 meters 0.023970373711860074 Centerline is valid? [True, True] Translation: X:42.09, Y:5.63, Z:1.84 [[ 9.48670254e-01 -3.11741109e-01 -5.33125666e-02 4.20883547e+01] [ 3.11336778e-01 9.50165935e-01 -1.59407310e-02 5.62666198e+00] [ 5.56251658e-02 -1.47566534e-03 9.98450631e-01 1.84029542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.43804094199999 meters 0.025046683330731727 Centerline is valid? [True, True] Translation: X:42.12, Y:5.63, Z:1.84 [[ 9.47762928e-01 -3.14419341e-01 -5.37206649e-02 4.21166818e+01] [ 3.14012739e-01 9.49282777e-01 -1.60688999e-02 5.63383960e+00] [ 5.60484749e-02 -1.63946550e-03 9.98426703e-01 1.84088953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.468040941999995 meters 0.02629332735425453 Centerline is valid? [True, True] Translation: X:42.14, Y:5.64, Z:1.84 [[ 9.46592620e-01 -3.17961210e-01 -5.35077685e-02 4.21438782e+01] [ 3.17562807e-01 9.48101956e-01 -1.60170182e-02 5.64064921e+00] [ 5.58236104e-02 -1.83048595e-03 9.98438969e-01 1.84290761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.498040941999996 meters 0.02671829841348006 Centerline is valid? [True, True] Translation: X:42.17, Y:5.65, Z:1.84 [[ 9.46263309e-01 -3.19030997e-01 -5.29619876e-02 4.21716369e+01] [ 3.18642017e-01 9.47742440e-01 -1.58597858e-02 5.64881806e+00] [ 5.52540866e-02 -1.86838118e-03 9.98470578e-01 1.84461301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.528040942 meters 0.027024302189934638 Centerline is valid? [True, True] Translation: X:42.20, Y:5.66, Z:1.85 [[ 9.46353339e-01 -3.18888908e-01 -5.22036582e-02 4.21983850e+01] [ 3.18510155e-01 9.47790347e-01 -1.56441182e-02 5.65693085e+00] [ 5.44668591e-02 -1.82253180e-03 9.98513916e-01 1.84689731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.558040942 meters 0.026729241565247298 Centerline is valid? [True, True] Translation: X:42.23, Y:5.67, Z:1.85 [[ 9.46708774e-01 -3.17745507e-01 -5.27284559e-02 4.22261252e+01] [ 3.17356976e-01 9.48174386e-01 -1.58077177e-02 5.66622936e+00] [ 5.50186025e-02 -1.76843831e-03 9.98483764e-01 1.84842874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.58804094199999 meters 0.02411533066888702 Centerline is valid? [True, True] Translation: X:42.25, Y:5.68, Z:1.85 [[ 9.47276647e-01 -3.16078264e-01 -5.25498292e-02 4.22525608e+01] [ 3.15689081e-01 9.48731678e-01 -1.57672716e-02 5.67941920e+00] [ 5.48393795e-02 -1.65343913e-03 9.98493820e-01 1.85088838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.61804094199999 meters 0.0230864350018577 Centerline is valid? [True, True] Translation: X:42.28, Y:5.69, Z:1.85 [[ 9.48946270e-01 -3.10968704e-01 -5.29097590e-02 4.22789859e+01] [ 3.10565568e-01 9.50419185e-01 -1.58871342e-02 5.69038341e+00] [ 5.52268516e-02 -1.35591262e-03 9.98472912e-01 1.85185682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.648040941999994 meters 0.02177359131451188 Centerline is valid? [True, True] Translation: X:42.31, Y:5.70, Z:1.85 [[ 9.49816640e-01 -3.08390865e-01 -5.23777101e-02 4.23053459e+01] [ 3.07991603e-01 9.51258987e-01 -1.57324945e-02 5.70234166e+00] [ 5.46765251e-02 -1.18890986e-03 9.98503412e-01 1.85383278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.678040941999996 meters 0.021773065854207387 Centerline is valid? [True, True] Translation: X:42.33, Y:5.71, Z:1.85 [[ 9.50631787e-01 -3.05921264e-01 -5.20709619e-02 4.23320030e+01] [ 3.05522307e-01 9.52056259e-01 -1.56524472e-02 5.71089204e+00] [ 5.43629017e-02 -1.02912651e-03 9.98520714e-01 1.85434813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.708040942 meters 0.021245071656729432 Centerline is valid? [True, True] Translation: X:42.36, Y:5.72, Z:1.86 [[ 9.51427290e-01 -3.03515170e-01 -5.16202792e-02 4.23591961e+01] [ 3.03119212e-01 9.52826202e-01 -1.55232842e-02 5.72054110e+00] [ 5.38967068e-02 -8.77822157e-04 9.98546130e-01 1.85592982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.738040942 meters 0.019865054091250993 Centerline is valid? [True, True] Translation: X:42.39, Y:5.73, Z:1.86 [[ 9.52904640e-01 -2.98987774e-01 -5.07844197e-02 4.23852814e+01] [ 2.98597425e-01 9.54256754e-01 -1.52848206e-02 5.73244652e+00] [ 5.30313499e-02 -5.99120499e-04 9.98592668e-01 1.85958672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.76804094199999 meters 0.01966055324695311 Centerline is valid? [True, True] Translation: X:42.41, Y:5.74, Z:1.86 [[ 9.53481410e-01 -2.97298282e-01 -4.98691497e-02 4.24114053e+01] [ 2.96918945e-01 9.54784529e-01 -1.50214303e-02 5.74134628e+00] [ 5.20801380e-02 -4.84440775e-04 9.98642791e-01 1.86143424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.79804094199999 meters 0.019449046846392738 Centerline is valid? [True, True] Translation: X:42.44, Y:5.75, Z:1.86 [[ 9.54567500e-01 -2.93924855e-01 -4.90822420e-02 4.24375633e+01] [ 2.93552700e-01 9.55828486e-01 -1.47891123e-02 5.75184225e+00] [ 5.12610928e-02 -2.91018622e-04 9.98685244e-01 1.86286913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.828040941999994 meters 0.019238357422232087 Centerline is valid? [True, True] Translation: X:42.46, Y:5.76, Z:1.86 [[ 9.54965882e-01 -2.92721222e-01 -4.85226760e-02 4.24649619e+01] [ 2.92355667e-01 9.56197803e-01 -1.46261918e-02 5.76131242e+00] [ 5.06786730e-02 -2.18365128e-04 9.98714987e-01 1.86416754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.858040941999995 meters 0.02016346521648227 Centerline is valid? [True, True] Translation: X:42.49, Y:5.77, Z:1.86 [[ 9.55272518e-01 -2.91715569e-01 -4.85432039e-02 4.24914692e+01] [ 2.91347722e-01 9.56505099e-01 -1.46458579e-02 5.76989044e+00] [ 5.07042468e-02 -1.52166355e-04 9.98713701e-01 1.86432711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.888040941999996 meters 0.02016346521648227 Centerline is valid? [True, True] Translation: X:42.52, Y:5.78, Z:1.87 [[ 9.55189035e-01 -2.91989506e-01 -4.85390055e-02 4.25178210e+01] [ 2.91621306e-01 9.56421510e-01 -1.46597598e-02 5.77793704e+00] [ 5.07042450e-02 -1.52166350e-04 9.98713701e-01 1.86555049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.918040942 meters 0.019020782027363296 Centerline is valid? [True, True] Translation: X:42.54, Y:5.79, Z:1.87 [[ 9.55700020e-01 -2.90506835e-01 -4.73629641e-02 4.25444738e+01] [ 2.90153734e-01 9.56872915e-01 -1.43190566e-02 5.78735414e+00] [ 4.94801213e-02 -5.78182379e-05 9.98775107e-01 1.86739696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.948040942 meters 0.019059909232587123 Centerline is valid? [True, True] Translation: X:42.57, Y:5.80, Z:1.87 [[ 9.55683640e-01 -2.90616654e-01 -4.70185134e-02 4.25700377e+01] [ 2.90268108e-01 9.56839568e-01 -1.42291096e-02 5.79512075e+00] [ 4.91243902e-02 -4.94476886e-05 9.98792667e-01 1.86734019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.97804094199999 meters 0.01892892745587348 Centerline is valid? [True, True] Translation: X:42.60, Y:5.80, Z:1.87 [[ 9.55520069e-01 -2.91176515e-01 -4.68789389e-02 4.25969233e+01] [ 2.90830201e-01 9.56669343e-01 -1.41972476e-02 5.80336332e+00] [ 4.89815487e-02 -6.80561778e-05 9.98799681e-01 1.86909892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.008040941999994 meters 0.018885212023801643 Centerline is valid? [True, True] Translation: X:42.62, Y:5.81, Z:1.87 [[ 9.54850344e-01 -2.93406376e-01 -4.66210162e-02 4.26240926e+01] [ 2.93065817e-01 9.55987798e-01 -1.41335380e-02 5.81096220e+00] [ 4.87159928e-02 -1.67612509e-04 9.98812657e-01 1.86959825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.038040941999995 meters 0.01896865041500365 Centerline is valid? [True, True] Translation: X:42.65, Y:5.82, Z:1.87 [[ 9.54331482e-01 -2.95186064e-01 -4.60066312e-02 4.26499167e+01] [ 2.94855817e-01 9.55439757e-01 -1.39612998e-02 5.81779813e+00] [ 4.80777457e-02 -2.41614969e-04 9.98843567e-01 1.86957617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.068040941999996 meters 0.01908199952780518 Centerline is valid? [True, True] Translation: X:42.68, Y:5.82, Z:1.87 [[ 9.53128586e-01 -2.99037402e-01 -4.60709231e-02 4.26781419e+01] [ 2.98710235e-01 9.54241296e-01 -1.39909041e-02 5.82338461e+00] [ 4.81465810e-02 -4.26725622e-04 9.98840190e-01 1.87042989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.098040942 meters 0.01912196265966292 Centerline is valid? [True, True] Translation: X:42.71, Y:5.83, Z:1.87 [[ 9.52573410e-01 -3.00850770e-01 -4.57461857e-02 4.27064518e+01] [ 3.00529699e-01 9.53671097e-01 -1.39046258e-02 5.83061187e+00] [ 4.78100325e-02 -5.02910623e-04 9.98856320e-01 1.87188120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.128040942 meters 0.019298948271417204 Centerline is valid? [True, True] Translation: X:42.73, Y:5.84, Z:1.87 [[ 9.52109658e-01 -3.02339372e-01 -4.55862251e-02 4.27336434e+01] [ 3.02021685e-01 9.53200181e-01 -1.38678193e-02 5.83760951e+00] [ 4.76455858e-02 -5.64343856e-04 9.98864145e-01 1.87277064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.15804094199999 meters 0.0197524668358917 Centerline is valid? [True, True] Translation: X:42.76, Y:5.84, Z:1.87 [[ 9.51207183e-01 -3.04970457e-01 -4.68819208e-02 4.27615043e+01] [ 3.04637371e-01 9.52361546e-01 -1.42673412e-02 5.84469468e+00] [ 4.89996562e-02 -7.10787710e-04 9.98798542e-01 1.87249986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.18804094199999 meters 0.019823406851242745 Centerline is valid? [True, True] Translation: X:42.79, Y:5.85, Z:1.87 [[ 9.50809845e-01 -3.06171858e-01 -4.71108585e-02 4.27888310e+01] [ 3.05836358e-01 9.51975950e-01 -1.43496691e-02 5.85287366e+00] [ 4.92418691e-02 -7.64406670e-04 9.98786591e-01 1.87300393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.218040941999995 meters 0.019906373194605108 Centerline is valid? [True, True] Translation: X:42.82, Y:5.86, Z:1.87 [[ 9.50541087e-01 -3.07000183e-01 -4.71437051e-02 4.28160157e+01] [ 3.06664613e-01 9.51709123e-01 -1.43722295e-02 5.86159023e+00] [ 4.92793713e-02 -7.95911450e-04 9.98784717e-01 1.87374262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.248040941999996 meters 0.01998129079310117 Centerline is valid? [True, True] Translation: X:42.84, Y:5.87, Z:1.87 [[ 9.50421385e-01 -3.07398581e-01 -4.69606517e-02 4.28423025e+01] [ 3.07065481e-01 9.51580512e-01 -1.43289903e-02 5.87017643e+00] [ 4.90915522e-02 -8.01416253e-04 9.98793961e-01 1.87480600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.278040942 meters 0.01973408785024758 Centerline is valid? [True, True] Translation: X:42.87, Y:5.88, Z:1.88 [[ 9.50435223e-01 -3.07525665e-01 -4.58350525e-02 4.28691211e+01] [ 3.07207846e-01 9.51539470e-01 -1.39991196e-02 5.87989410e+00] [ 4.79189501e-02 -7.75631365e-04 9.98850926e-01 1.87681374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.308040942 meters 0.0196549092203476 Centerline is valid? [True, True] Translation: X:42.90, Y:5.89, Z:1.88 [[ 9.50534002e-01 -3.07255332e-01 -4.55990329e-02 4.28963393e+01] [ 3.06939800e-01 9.51626821e-01 -1.39410647e-02 5.88822807e+00] [ 4.76767292e-02 -7.44702045e-04 9.98862541e-01 1.87824664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.33804094199999 meters 0.019708364487144886 Centerline is valid? [True, True] Translation: X:42.92, Y:5.90, Z:1.88 [[ 9.50820624e-01 -3.06325300e-01 -4.58797513e-02 4.29223295e+01] [ 3.06004135e-01 9.51926644e-01 -1.40404329e-02 5.89694243e+00] [ 4.79750975e-02 -6.89460409e-04 9.98848294e-01 1.87897809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.36804094199999 meters 0.01951650276442668 Centerline is valid? [True, True] Translation: X:42.95, Y:5.91, Z:1.88 [[ 9.50979727e-01 -3.05752889e-01 -4.63975130e-02 4.29487685e+01] [ 3.05423494e-01 9.52110672e-01 -1.42041522e-02 5.90690743e+00] [ 4.85185278e-02 -6.63029789e-04 9.98822063e-01 1.87937463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.398040941999994 meters 0.01932219993811314 Centerline is valid? [True, True] Translation: X:42.98, Y:5.92, Z:1.88 [[ 9.51298126e-01 -3.04707744e-01 -4.67446871e-02 4.29750209e+01] [ 3.04371487e-01 9.52445709e-01 -1.43237382e-02 5.91711806e+00] [ 4.88863306e-02 -6.01604614e-04 9.98804167e-01 1.87946445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.428040941999996 meters 0.019181960191960223 Centerline is valid? [True, True] Translation: X:43.00, Y:5.93, Z:1.88 [[ 9.51259002e-01 -3.04791988e-01 -4.69910137e-02 4.30013203e+01] [ 3.04452016e-01 9.52418752e-01 -1.44045382e-02 5.92632894e+00] [ 4.91455104e-02 -6.04062246e-04 9.98791447e-01 1.88031551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.458040942 meters 0.018931108244693604 Centerline is valid? [True, True] Translation: X:43.03, Y:5.94, Z:1.88 [[ 9.51078868e-01 -3.05283013e-01 -4.74475347e-02 4.30272371e+01] [ 3.04936292e-01 9.52261464e-01 -1.45589279e-02 5.93600061e+00] [ 4.96270522e-02 -6.21786623e-04 9.98767625e-01 1.88153685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.488040942 meters 0.019345705865215432 Centerline is valid? [True, True] Translation: X:43.05, Y:5.94, Z:1.88 [[ 9.50976025e-01 -3.05550636e-01 -4.77850253e-02 4.30538078e+01] [ 3.05198604e-01 9.52175622e-01 -1.46764001e-02 5.94301372e+00] [ 4.99841196e-02 -6.27018328e-04 9.98749816e-01 1.88184549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.51804094199999 meters 0.01895352934714804 Centerline is valid? [True, True] Translation: X:43.08, Y:5.95, Z:1.88 [[ 9.50843220e-01 -3.06076326e-01 -4.70579820e-02 4.30798484e+01] [ 3.05735305e-01 9.52006762e-01 -1.44585375e-02 5.95255334e+00] [ 4.92249331e-02 -6.39484122e-04 9.98787513e-01 1.88427365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.54804094199999 meters 0.019005221039786985 Centerline is valid? [True, True] Translation: X:43.11, Y:5.96, Z:1.89 [[ 9.50698930e-01 -3.06587903e-01 -4.66412069e-02 4.31068171e+01] [ 3.06252822e-01 9.51842130e-01 -1.43446702e-02 5.96129636e+00] [ 4.87929681e-02 -6.46538661e-04 9.98808705e-01 1.88660083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.578040941999994 meters 0.019014384849318666 Centerline is valid? [True, True] Translation: X:43.13, Y:5.97, Z:1.89 [[ 9.50641521e-01 -3.06832832e-01 -4.61986100e-02 4.31330540e+01] [ 3.06503695e-01 9.51763208e-01 -1.42225519e-02 5.96982519e+00] [ 4.83340831e-02 -6.39496306e-04 9.98831020e-01 1.88847315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.608040941999995 meters 0.01906849030609311 Centerline is valid? [True, True] Translation: X:43.16, Y:5.98, Z:1.89 [[ 9.50509555e-01 -3.07256562e-01 -4.60976287e-02 4.31598987e+01] [ 3.06928685e-01 9.51626496e-01 -1.42054475e-02 5.97867512e+00] [ 4.82324419e-02 -6.46270983e-04 9.98835929e-01 1.89034001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.638040941999996 meters 0.0191309368993035 Centerline is valid? [True, True] Translation: X:43.19, Y:5.99, Z:1.89 [[ 9.50375491e-01 -3.07700372e-01 -4.59010504e-02 4.31868822e+01] [ 3.07375141e-01 9.51483082e-01 -1.41586763e-02 5.98750841e+00] [ 4.80307029e-02 -6.52782912e-04 9.98845646e-01 1.89159309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.668040942 meters 0.020156989258889178 Centerline is valid? [True, True] Translation: X:43.21, Y:6.00, Z:1.89 [[ 9.50341607e-01 -3.07643498e-01 -4.69713596e-02 4.32126324e+01] [ 3.07302170e-01 9.51501473e-01 -1.45025230e-02 5.99695396e+00] [ 4.91549248e-02 -6.52049765e-04 9.98790953e-01 1.89171274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.698040942 meters 0.019098240749235655 Centerline is valid? [True, True] Translation: X:43.24, Y:6.01, Z:1.89 [[ 9.50283918e-01 -3.07837382e-01 -4.68681330e-02 4.32394425e+01] [ 3.07497454e-01 9.51438762e-01 -1.44774943e-02 6.00675954e+00] [ 4.90488724e-02 -6.54101559e-04 9.98796166e-01 1.89329896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.72804094199999 meters 0.018961357282134148 Centerline is valid? [True, True] Translation: X:43.27, Y:6.02, Z:1.89 [[ 9.50171157e-01 -3.08201680e-01 -4.67599852e-02 4.32662205e+01] [ 3.07863070e-01 9.51320814e-01 -1.44581790e-02 6.01642241e+00] [ 4.89397823e-02 -6.57927934e-04 9.98801514e-01 1.89475706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.758040941999994 meters 0.019131424478686813 Centerline is valid? [True, True] Translation: X:43.29, Y:6.02, Z:1.90 [[ 9.49959492e-01 -3.08829823e-01 -4.69159293e-02 4.32930307e+01] [ 3.08489031e-01 9.51117069e-01 -1.45202977e-02 6.02445961e+00] [ 4.91068421e-02 -6.79354893e-04 9.98793300e-01 1.89614773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.788040941999995 meters 0.019542117483818063 Centerline is valid? [True, True] Translation: X:43.32, Y:6.03, Z:1.90 [[ 9.49383030e-01 -3.10633069e-01 -4.66793144e-02 4.33193680e+01] [ 3.10297564e-01 9.50529597e-01 -1.44536062e-02 6.03222043e+00] [ 4.88598380e-02 -7.62469115e-04 9.98805354e-01 1.89795958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.818040941999996 meters 0.019702817978728936 Centerline is valid? [True, True] Translation: X:43.35, Y:6.04, Z:1.90 [[ 9.49090413e-01 -3.11582749e-01 -4.62987854e-02 4.33462647e+01] [ 3.11253612e-01 9.50218685e-01 -1.43401409e-02 6.04111200e+00] [ 4.84621115e-02 -8.00573987e-04 9.98824701e-01 1.89961808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.848040942 meters 0.020010542004600448 Centerline is valid? [True, True] Translation: X:43.37, Y:6.05, Z:1.90 [[ 9.48589521e-01 -3.13157108e-01 -4.59406749e-02 4.33735423e+01] [ 3.12834652e-01 9.49700937e-01 -1.42341397e-02 6.05130287e+00] [ 4.80874240e-02 -8.69479238e-04 9.98842752e-01 1.90081498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.878040942 meters 0.01989121248244755 Centerline is valid? [True, True] Translation: X:43.40, Y:6.06, Z:1.90 [[ 9.48344336e-01 -3.13788690e-01 -4.66870336e-02 4.34008758e+01] [ 3.13455813e-01 9.49492412e-01 -1.44780114e-02 6.06173971e+00] [ 4.88720204e-02 -9.04182014e-04 9.98804640e-01 1.90254068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.90804094199999 meters 0.021659062573611873 Centerline is valid? [True, True] Translation: X:43.43, Y:6.07, Z:1.90 [[ 9.48086860e-01 -3.14453816e-01 -4.74352593e-02 4.34284586e+01] [ 3.14110361e-01 9.49272306e-01 -1.47231016e-02 6.07174323e+00] [ 4.96587135e-02 -9.41127221e-04 9.98765802e-01 1.90266014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.93804094199999 meters 0.020764950623546562 Centerline is valid? [True, True] Translation: X:43.45, Y:6.08, Z:1.90 [[ 9.47936403e-01 -3.14988229e-01 -4.68934002e-02 4.34533637e+01] [ 3.14652621e-01 9.49095106e-01 -1.45673402e-02 6.08173605e+00] [ 4.90948373e-02 -9.46219235e-04 9.98793673e-01 1.90403372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.968040941999995 meters 0.020132265447135398 Centerline is valid? [True, True] Translation: X:43.48, Y:6.09, Z:1.91 [[ 9.47836183e-01 -3.15379728e-01 -4.62838744e-02 4.34794029e+01] [ 3.15052770e-01 9.48965086e-01 -1.43880764e-02 6.09122614e+00] [ 4.84594885e-02 -9.44323393e-04 9.98824702e-01 1.90575383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.998040941999996 meters 0.020302044400601037 Centerline is valid? [True, True] Translation: X:43.51, Y:6.10, Z:1.91 [[ 9.47680752e-01 -3.15900872e-01 -4.59111331e-02 4.35055533e+01] [ 3.15579093e-01 9.48791725e-01 -1.42863038e-02 6.10212362e+00] [ 4.80731590e-02 -9.49738597e-04 9.98843366e-01 1.90723338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.028040942 meters 0.020335430725763878 Centerline is valid? [True, True] Translation: X:43.53, Y:6.11, Z:1.91 [[ 9.47760519e-01 -3.15651459e-01 -4.59799468e-02 4.35313307e+01] [ 3.15327774e-01 9.48874754e-01 -1.43211461e-02 6.11160629e+00] [ 4.81497014e-02 -9.25737374e-04 9.98839701e-01 1.90829496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.058040942 meters 0.021307390462351486 Centerline is valid? [True, True] Translation: X:43.56, Y:6.12, Z:1.91 [[ 9.47763347e-01 -3.15465292e-01 -4.71835562e-02 4.35575893e+01] [ 3.15123922e-01 9.48936655e-01 -1.47016463e-02 6.12228514e+00] [ 4.94120651e-02 -9.34985770e-04 9.98778040e-01 1.90818960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.08804094199999 meters 0.01978109526249821 Centerline is valid? [True, True] Translation: X:43.58, Y:6.13, Z:1.91 [[ 9.48017203e-01 -3.14780953e-01 -4.66511932e-02 4.35840642e+01] [ 3.14445723e-01 9.49163940e-01 -1.45500027e-02 6.13495175e+00] [ 4.88596941e-02 -8.75615338e-04 9.98805268e-01 1.90862916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.11804094199999 meters 0.019897830543362322 Centerline is valid? [True, True] Translation: X:43.61, Y:6.14, Z:1.91 [[ 9.48254678e-01 -3.14058105e-01 -4.66966005e-02 4.36106024e+01] [ 3.13720758e-01 9.49403403e-01 -1.45761605e-02 6.14423395e+00] [ 4.89116728e-02 -8.27780542e-04 9.98802765e-01 1.90893087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.148040941999994 meters 0.019664591489983688 Centerline is valid? [True, True] Translation: X:43.64, Y:6.15, Z:1.91 [[ 9.48323962e-01 -3.13780536e-01 -4.71533598e-02 4.36370334e+01] [ 3.13435935e-01 9.49495187e-01 -1.47243206e-02 6.15443481e+00] [ 4.93920933e-02 -8.16131351e-04 9.98779132e-01 1.90993232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.178040941999996 meters 0.019637873667145787 Centerline is valid? [True, True] Translation: X:43.66, Y:6.17, Z:1.91 [[ 9.48748215e-01 -3.12655178e-01 -4.60821473e-02 4.36634598e+01] [ 3.12324069e-01 9.49866418e-01 -1.44036446e-02 6.16650729e+00] [ 4.82752582e-02 -7.27131668e-04 9.98833805e-01 1.91104438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.208040942 meters 0.019490599771726114 Centerline is valid? [True, True] Translation: X:43.69, Y:6.18, Z:1.91 [[ 9.48935275e-01 -3.12161512e-01 -4.55744887e-02 4.36899840e+01] [ 3.11836512e-01 9.50028802e-01 -1.42571150e-02 6.17712753e+00] [ 4.77475995e-02 -6.82710211e-04 9.98859200e-01 1.91227735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.238040942 meters 0.02221005827778163 Centerline is valid? [True, True] Translation: X:43.72, Y:6.19, Z:1.91 [[ 9.49231281e-01 -3.11127785e-01 -4.64701576e-02 4.37175076e+01] [ 3.10788026e-01 9.50367878e-01 -1.45499065e-02 6.18769969e+00] [ 4.86906252e-02 -6.31142149e-04 9.98813709e-01 1.91219544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.26804094199999 meters 0.01897986419765746 Centerline is valid? [True, True] Translation: X:43.74, Y:6.20, Z:1.92 [[ 9.49964709e-01 -3.09126466e-01 -4.48093622e-02 4.37432215e+01] [ 3.08807836e-01 9.51020809e-01 -1.40407268e-02 6.20103070e+00] [ 4.69549961e-02 -4.99287200e-04 9.98896881e-01 1.91511935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.29804094199999 meters 0.01871718855621586 Centerline is valid? [True, True] Translation: X:43.77, Y:6.21, Z:1.92 [[ 9.50371239e-01 -3.07913715e-01 -4.45382009e-02 4.37701446e+01] [ 3.07597044e-01 9.51414191e-01 -1.39676585e-02 6.21226898e+00] [ 4.66751100e-02 -4.25358019e-04 9.98910033e-01 1.91675370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.328040941999994 meters 0.018610324445984802 Centerline is valid? [True, True] Translation: X:43.80, Y:6.22, Z:1.92 [[ 9.50830413e-01 -3.06568897e-01 -4.40117768e-02 4.37968388e+01] [ 3.06257682e-01 9.51848409e-01 -1.38144536e-02 6.22344894e+00] [ 4.61276215e-02 -3.43742149e-04 9.98935496e-01 1.91842141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.358040941999995 meters 0.018598418137322124 Centerline is valid? [True, True] Translation: X:43.82, Y:6.24, Z:1.92 [[ 9.51771725e-01 -3.03794569e-01 -4.28887252e-02 4.38216632e+01] [ 3.03495703e-01 9.52737541e-01 -1.34735119e-02 6.23590929e+00] [ 4.49548783e-02 -1.92836138e-04 9.98989000e-01 1.91964991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.388040941999996 meters 0.018580785817101587 Centerline is valid? [True, True] Translation: X:43.85, Y:6.25, Z:1.92 [[ 9.52031201e-01 -3.03056319e-01 -4.23492523e-02 4.38473517e+01] [ 3.02764015e-01 9.52972636e-01 -1.33081307e-02 6.24651684e+00] [ 4.43907917e-02 -1.52073985e-04 9.99014231e-01 1.92063195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.418040942 meters 0.018604103480233718 Centerline is valid? [True, True] Translation: X:43.87, Y:6.26, Z:1.92 [[ 9.52638814e-01 -3.01222466e-01 -4.17650184e-02 4.38718821e+01] [ 3.00935843e-01 9.53553891e-01 -1.31375476e-02 6.25810857e+00] [ 4.37825203e-02 -5.32532102e-05 9.99041084e-01 1.92126485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.448040942 meters 0.018508826385623112 Centerline is valid? [True, True] Translation: X:43.90, Y:6.27, Z:1.92 [[ 9.52651727e-01 -3.01132828e-01 -4.21154012e-02 4.38984737e+01] [ 3.00841034e-01 9.53582203e-01 -1.32534636e-02 6.26802061e+00] [ 4.41515500e-02 -4.41058164e-05 9.99024844e-01 1.92269724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.47804094199999 meters 0.018478448141476242 Centerline is valid? [True, True] Translation: X:43.93, Y:6.28, Z:1.92 [[ 9.52651521e-01 -3.01101843e-01 -4.23409944e-02 4.39250336e+01] [ 3.00806301e-01 9.53591988e-01 -1.33375383e-02 6.27735213e+00] [ 4.43919904e-02 -3.04117726e-05 9.99014189e-01 1.92364000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.508040941999994 meters 0.01851388429226545 Centerline is valid? [True, True] Translation: X:43.95, Y:6.29, Z:1.92 [[ 9.52546121e-01 -3.01349331e-01 -4.29472827e-02 4.39504966e+01] [ 3.01044889e-01 9.53513807e-01 -1.35423324e-02 6.28559806e+00] [ 4.50317998e-02 -2.93637330e-05 9.98985554e-01 1.92453498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.538040941999995 meters 0.018446145838574048 Centerline is valid? [True, True] Translation: X:43.98, Y:6.29, Z:1.93 [[ 9.52209735e-01 -3.02286664e-01 -4.38108723e-02 4.39771403e+01] [ 3.01970546e-01 9.53217062e-01 -1.38210450e-02 6.29439959e+00] [ 4.59391885e-02 -6.90593940e-05 9.98944236e-01 1.92529334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.568040941999996 meters 0.018425074252734576 Centerline is valid? [True, True] Translation: X:44.00, Y:6.30, Z:1.93 [[ 9.51978235e-01 -3.02994264e-01 -4.39535723e-02 4.40039562e+01] [ 3.02676216e-01 9.52992375e-01 -1.38794985e-02 6.30331290e+00] [ 4.60928277e-02 -9.07205131e-05 9.98937157e-01 1.92630706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.598040942 meters 0.01845957156105229 Centerline is valid? [True, True] Translation: X:44.03, Y:6.31, Z:1.93 [[ 9.51682874e-01 -3.03892404e-01 -4.41487657e-02 4.40305450e+01] [ 3.03571849e-01 9.52706351e-01 -1.39549451e-02 6.31175730e+00] [ 4.63016113e-02 -1.21640159e-04 9.98927498e-01 1.92748474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.628040942 meters 0.0184769826444857 Centerline is valid? [True, True] Translation: X:44.06, Y:6.32, Z:1.93 [[ 9.51155810e-01 -3.05572173e-01 -4.39121027e-02 4.40576527e+01] [ 3.05256219e-01 9.52168898e-01 -1.38935088e-02 6.31916820e+00] [ 4.60572082e-02 -1.89550826e-04 9.98938786e-01 1.92850608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.65804094199999 meters 0.018481846811357994 Centerline is valid? [True, True] Translation: X:44.08, Y:6.33, Z:1.93 [[ 9.50824715e-01 -3.06580183e-01 -4.40562476e-02 4.40838035e+01] [ 3.06263033e-01 9.51844807e-01 -1.39434003e-02 6.32718959e+00] [ 4.62094807e-02 -2.35070440e-04 9.98931744e-01 1.92964666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.68804094199999 meters 0.01851052134460283 Centerline is valid? [True, True] Translation: X:44.11, Y:6.33, Z:1.93 [[ 9.50253131e-01 -3.08366759e-01 -4.39195768e-02 4.41120069e+01] [ 3.08053276e-01 9.51267492e-01 -1.39046054e-02 6.33445260e+00] [ 4.60669838e-02 -3.16674648e-04 9.98938303e-01 1.93082134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.718040941999995 meters 0.018625368054271448 Centerline is valid? [True, True] Translation: X:44.14, Y:6.34, Z:1.93 [[ 9.49915956e-01 -3.09420406e-01 -4.38028428e-02 4.41393684e+01] [ 3.09109175e-01 9.50925279e-01 -1.38791931e-02 6.34183067e+00] [ 4.59477361e-02 -3.55793589e-04 9.98943782e-01 1.93194110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.748040941999996 meters 0.01865292208983454 Centerline is valid? [True, True] Translation: X:44.17, Y:6.35, Z:1.93 [[ 9.49493046e-01 -3.10681489e-01 -4.40450628e-02 4.41669240e+01] [ 3.10367953e-01 9.50513987e-01 -1.39604410e-02 6.34919082e+00] [ 4.62026989e-02 -4.14834306e-04 9.98931999e-01 1.93291945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.778040942 meters 0.018993245069822338 Centerline is valid? [True, True] Translation: X:44.19, Y:6.36, Z:1.93 [[ 9.48477379e-01 -3.13621338e-01 -4.50812326e-02 4.41941329e+01] [ 3.13295625e-01 9.49547968e-01 -1.43006532e-02 6.35504118e+00] [ 4.72917828e-02 -5.59906875e-04 9.98880961e-01 1.93297154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.808040942 meters 0.018993245069822338 Centerline is valid? [True, True] Translation: X:44.22, Y:6.36, Z:1.93 [[ 9.48392040e-01 -3.13879508e-01 -4.50798530e-02 4.42203498e+01] [ 3.13553880e-01 9.49462654e-01 -1.43050007e-02 6.36346137e+00] [ 4.72916835e-02 -5.68213981e-04 9.98880961e-01 1.93419734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.83804094199999 meters 0.01912146395100879 Centerline is valid? [True, True] Translation: X:44.25, Y:6.37, Z:1.94 [[ 9.47936492e-01 -3.15233039e-01 -4.52165713e-02 4.42485375e+01] [ 3.14906329e-01 9.49014089e-01 -1.43618711e-02 6.37129948e+00] [ 4.74384995e-02 -6.24842741e-04 9.98873965e-01 1.93505776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.86804094199999 meters 0.018956348519097107 Centerline is valid? [True, True] Translation: X:44.28, Y:6.38, Z:1.94 [[ 9.47565876e-01 -3.16334014e-01 -4.52957188e-02 4.42761534e+01] [ 3.16006847e-01 9.48647639e-01 -1.43989296e-02 6.38007040e+00] [ 4.75245479e-02 -6.69822991e-04 9.98869846e-01 1.93640671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.898040941999994 meters 0.01923933673018193 Centerline is valid? [True, True] Translation: X:44.30, Y:6.39, Z:1.94 [[ 9.46943778e-01 -3.18263499e-01 -4.47864484e-02 4.43041806e+01] [ 3.17945237e-01 9.48001998e-01 -1.42491506e-02 6.38677070e+00] [ 4.69926271e-02 -7.46493433e-04 9.98894957e-01 1.93782858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.928040941999996 meters 0.01912830546640306 Centerline is valid? [True, True] Translation: X:44.33, Y:6.39, Z:1.94 [[ 9.46695015e-01 -3.18999032e-01 -4.48125708e-02 4.43312897e+01] [ 3.18680641e-01 9.47754727e-01 -1.42697898e-02 6.39499606e+00] [ 4.70233750e-02 -7.71759944e-04 9.98893491e-01 1.93952725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.958040942 meters 0.01943043048666569 Centerline is valid? [True, True] Translation: X:44.36, Y:6.40, Z:1.94 [[ 9.46566523e-01 -3.19361936e-01 -4.49418642e-02 4.43580270e+01] [ 3.19041467e-01 9.47632496e-01 -1.43246545e-02 6.40181697e+00] [ 4.71631204e-02 -7.79079832e-04 9.98886897e-01 1.94062942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.988040942 meters 0.020123139372507703 Centerline is valid? [True, True] Translation: X:44.38, Y:6.41, Z:1.94 [[ 9.46526551e-01 -3.19378393e-01 -4.56610437e-02 4.43849468e+01] [ 3.19047364e-01 9.47626942e-01 -1.45587806e-02 6.40684166e+00] [ 4.79193952e-02 -7.87763234e-04 9.98850895e-01 1.94122927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.01804094199999 meters 0.019109130097214204 Centerline is valid? [True, True] Translation: X:44.41, Y:6.42, Z:1.94 [[ 9.46626929e-01 -3.19071777e-01 -4.57237181e-02 4.44107909e+01] [ 3.18739005e-01 9.47730245e-01 -1.45886541e-02 6.41787846e+00] [ 4.79885783e-02 -7.63919623e-04 9.98847592e-01 1.94311329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.04804094199999 meters 0.018860489906666212 Centerline is valid? [True, True] Translation: X:44.44, Y:6.43, Z:1.94 [[ 9.47013808e-01 -3.17813951e-01 -4.64665477e-02 4.44387510e+01] [ 3.17468050e-01 9.48152839e-01 -1.48402069e-02 6.42701871e+00] [ 4.87738139e-02 -6.97763424e-04 9.98809606e-01 1.94320161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.078040941999994 meters 0.019744368298480152 Centerline is valid? [True, True] Translation: X:44.47, Y:6.43, Z:1.94 [[ 9.47065832e-01 -3.17634945e-01 -4.66299392e-02 4.44656222e+01] [ 3.17285833e-01 9.48212834e-01 -1.49037317e-02 6.43243366e+00] [ 4.89490528e-02 -6.80204015e-04 9.98801045e-01 1.94322740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.108040941999995 meters 0.01875765643404906 Centerline is valid? [True, True] Translation: X:44.49, Y:6.44, Z:1.95 [[ 9.47188216e-01 -3.17223435e-01 -4.69443882e-02 4.44920486e+01] [ 3.16868737e-01 9.48350601e-01 -1.50114018e-02 6.44269300e+00] [ 4.92817072e-02 -6.56586077e-04 9.98784703e-01 1.94552080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.138040941999996 meters 0.018469990151079543 Centerline is valid? [True, True] Translation: X:44.52, Y:6.45, Z:1.95 [[ 9.47588344e-01 -3.16138347e-01 -4.61830676e-02 4.45194724e+01] [ 3.15793108e-01 9.48712924e-01 -1.47817712e-02 6.45010994e+00] [ 4.84875578e-02 -5.77260389e-04 9.98823620e-01 1.94760934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.168040942 meters 0.0183829029411591 Centerline is valid? [True, True] Translation: X:44.55, Y:6.46, Z:1.95 [[ 9.47678509e-01 -3.15920665e-01 -4.58211397e-02 4.45462011e+01] [ 3.15579970e-01 9.48785450e-01 -1.46782601e-02 6.45863463e+00] [ 4.81115964e-02 -5.49962247e-04 9.98841815e-01 1.94920486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.198040942 meters 0.018313392809518277 Centerline is valid? [True, True] Translation: X:44.57, Y:6.47, Z:1.95 [[ 9.47759511e-01 -3.15739100e-01 -4.53952770e-02 4.45731580e+01] [ 3.15403842e-01 9.48845903e-01 -1.45557064e-02 6.46714120e+00] [ 4.76689282e-02 -5.22535565e-04 9.98863054e-01 1.95062045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.22804094199999 meters 0.018279508747341248 Centerline is valid? [True, True] Translation: X:44.60, Y:6.47, Z:1.95 [[ 9.47976642e-01 -3.15158993e-01 -4.48898055e-02 4.45998074e+01] [ 3.14829897e-01 9.49038768e-01 -1.44067044e-02 6.47471143e+00] [ 4.71425681e-02 -4.75433505e-04 9.98888058e-01 1.95177062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.258040941999994 meters 0.01796025166514682 Centerline is valid? [True, True] Translation: X:44.63, Y:6.48, Z:1.95 [[ 9.47952639e-01 -3.15223592e-01 -4.49430946e-02 4.46268759e+01] [ 3.14893558e-01 9.49017314e-01 -1.44286256e-02 6.48352442e+00] [ 4.72000181e-02 -4.74637248e-04 9.98885345e-01 1.95383368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.288040941999995 meters 0.018003018768298934 Centerline is valid? [True, True] Translation: X:44.65, Y:6.49, Z:1.96 [[ 9.47860013e-01 -3.15547595e-01 -4.46218756e-02 4.46534704e+01] [ 3.15221998e-01 9.48909632e-01 -1.43388329e-02 6.49007536e+00] [ 4.68667118e-02 -4.74590417e-04 9.98901039e-01 1.95542418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.318040941999996 meters 0.018264901116858447 Centerline is valid? [True, True] Translation: X:44.68, Y:6.50, Z:1.96 [[ 9.47785601e-01 -3.15844866e-01 -4.40962050e-02 4.46794492e+01] [ 3.15526943e-01 9.48810725e-01 -1.41758895e-02 6.49662428e+00] [ 4.63163342e-02 -4.77836830e-04 9.98926708e-01 1.95629474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.348040942 meters 0.019491662078552154 Centerline is valid? [True, True] Translation: X:44.71, Y:6.51, Z:1.96 [[ 9.47426592e-01 -3.16863791e-01 -4.44993322e-02 4.47070905e+01] [ 3.16540708e-01 9.48470908e-01 -1.43149053e-02 6.50582037e+00] [ 4.67421972e-02 -5.23528226e-04 9.98906849e-01 1.95698099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.378040942 meters 0.018134610551847768 Centerline is valid? [True, True] Translation: X:44.73, Y:6.51, Z:1.96 [[ 9.47510738e-01 -3.16708726e-01 -4.38062118e-02 4.47327510e+01] [ 3.16394936e-01 9.48522713e-01 -1.41034971e-02 6.51318556e+00] [ 4.60178875e-02 -4.96848591e-04 9.98940492e-01 1.95972972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.40804094199999 meters 0.018173234944942992 Centerline is valid? [True, True] Translation: X:44.76, Y:6.52, Z:1.96 [[ 9.47491701e-01 -3.16648923e-01 -4.46423194e-02 4.47585853e+01] [ 3.16322679e-01 9.48542678e-01 -1.43788199e-02 6.52021149e+00] [ 4.68981830e-02 -4.97565591e-04 9.98899551e-01 1.96080723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.43804094199999 meters 0.0203669649554061 Centerline is valid? [True, True] Translation: X:44.79, Y:6.53, Z:1.96 [[ 9.47274895e-01 -3.17240942e-01 -4.50384131e-02 4.47859701e+01] [ 3.16909267e-01 9.48344825e-01 -1.45123559e-02 6.52647500e+00] [ 4.73158595e-02 -5.25900044e-04 9.98879839e-01 1.95956368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.468040941999995 meters 0.017995663465919427 Centerline is valid? [True, True] Translation: X:44.81, Y:6.54, Z:1.96 [[ 9.47644384e-01 -3.16187568e-01 -4.46714981e-02 4.48132293e+01] [ 3.15859891e-01 9.48696583e-01 -1.43987200e-02 6.53520944e+00] [ 4.69323938e-02 -4.65068386e-04 9.98897960e-01 1.96285054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.498040941999996 meters 0.017783464583106486 Centerline is valid? [True, True] Translation: X:44.84, Y:6.54, Z:1.96 [[ 9.47706893e-01 -3.16090038e-01 -4.40310436e-02 4.48394487e+01] [ 3.15771045e-01 9.48729093e-01 -1.42040410e-02 6.54379201e+00] [ 4.62632880e-02 -4.42461117e-04 9.98929183e-01 1.96388072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.528040942 meters 0.017933026969620448 Centerline is valid? [True, True] Translation: X:44.87, Y:6.55, Z:1.96 [[ 9.47849795e-01 -3.15714022e-01 -4.36511564e-02 4.48651602e+01] [ 3.15399492e-01 9.48854304e-01 -1.40950330e-02 6.55127832e+00] [ 4.58685872e-02 -4.07578474e-04 9.98947399e-01 1.96431991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.558040942 meters 0.01789073992635624 Centerline is valid? [True, True] Translation: X:44.89, Y:6.56, Z:1.96 [[ 9.47985212e-01 -3.15268006e-01 -4.39331602e-02 4.48921565e+01] [ 3.14948625e-01 9.49002602e-01 -1.41924561e-02 6.56038628e+00] [ 4.61671106e-02 -3.82449904e-04 9.98933657e-01 1.96473977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.58804094199999 meters 0.017745636812815435 Centerline is valid? [True, True] Translation: X:44.92, Y:6.57, Z:1.96 [[ 9.48135264e-01 -3.14743416e-01 -4.44533869e-02 4.49196392e+01] [ 3.14415195e-01 9.49176728e-01 -1.43744217e-02 6.56839202e+00] [ 4.67183749e-02 -3.47924178e-04 9.98908040e-01 1.96443330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.61804094199999 meters 0.017720221996236917 Centerline is valid? [True, True] Translation: X:44.95, Y:6.58, Z:1.97 [[ 9.48101446e-01 -3.14860010e-01 -4.43488721e-02 4.49464446e+01] [ 3.14532847e-01 9.49138061e-01 -1.43537335e-02 6.57599480e+00] [ 4.66126192e-02 -3.40381544e-04 9.98912983e-01 1.96516284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.648040941999994 meters 0.017466028367813025 Centerline is valid? [True, True] Translation: X:44.97, Y:6.58, Z:1.97 [[ 9.48380426e-01 -3.14059276e-01 -4.40606356e-02 4.49724835e+01] [ 3.13734856e-01 9.49403333e-01 -1.42741352e-02 6.58191737e+00] [ 4.63142388e-02 -2.86046676e-04 9.98926879e-01 1.96599027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.678040941999996 meters 0.017602059885297023 Centerline is valid? [True, True] Translation: X:45.00, Y:6.59, Z:1.97 [[ 9.48642821e-01 -3.13383898e-01 -4.32126174e-02 4.49990553e+01] [ 3.13070741e-01 9.49626492e-01 -1.40084265e-02 6.58912468e+00] [ 4.54258616e-02 -2.39612873e-04 9.98967684e-01 1.96702309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.708040942 meters 0.017425208124053862 Centerline is valid? [True, True] Translation: X:45.03, Y:6.60, Z:1.97 [[ 9.48726603e-01 -3.13216926e-01 -4.25792296e-02 4.50261701e+01] [ 3.12912535e-01 9.49681582e-01 -1.38072010e-02 6.59760160e+00] [ 4.47613592e-02 -2.24315749e-04 9.98997683e-01 1.96851040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.738040942 meters 0.017780939883438363 Centerline is valid? [True, True] Translation: X:45.05, Y:6.60, Z:1.97 [[ 9.49068458e-01 -3.12324084e-01 -4.15057764e-02 4.50524660e+01] [ 3.12033447e-01 9.49975599e-01 -1.34717656e-02 6.60382826e+00] [ 4.36370317e-02 -1.65562643e-04 9.99047437e-01 1.96967341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.76804094199999 meters 0.018371795752427058 Centerline is valid? [True, True] Translation: X:45.08, Y:6.61, Z:1.97 [[ 9.49034032e-01 -3.12348953e-01 -4.21015111e-02 4.50791857e+01] [ 3.12049682e-01 9.49967423e-01 -1.36708088e-02 6.61107582e+00] [ 4.42651268e-02 -1.63700339e-04 9.99019805e-01 1.97001635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.79804094199999 meters 0.017299998777241535 Centerline is valid? [True, True] Translation: X:45.11, Y:6.62, Z:1.97 [[ 9.49160303e-01 -3.11913361e-01 -4.24826392e-02 4.51050389e+01] [ 3.11607622e-01 9.50110540e-01 -1.38076838e-02 6.61811368e+00] [ 4.46700043e-02 -1.32208801e-04 9.99001788e-01 1.97163006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.828040941999994 meters 0.01989767809166275 Centerline is valid? [True, True] Translation: X:45.13, Y:6.62, Z:1.97 [[ 9.49356626e-01 -3.11202181e-01 -4.33035673e-02 4.51330599e+01] [ 3.10883343e-01 9.50343724e-01 -1.40837762e-02 6.62425825e+00] [ 4.55361753e-02 -9.18314865e-05 9.98962686e-01 1.97020628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.858040941999995 meters 0.01790698646683372 Centerline is valid? [True, True] Translation: X:45.16, Y:6.63, Z:1.97 [[ 9.49726784e-01 -3.10174622e-01 -4.25527834e-02 4.51590886e+01] [ 3.09865157e-01 9.50679600e-01 -1.38521470e-02 6.63187780e+00] [ 4.47506476e-02 -2.98699203e-05 9.98998188e-01 1.97207723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.888040941999996 meters 0.01730183559877002 Centerline is valid? [True, True] Translation: X:45.19, Y:6.64, Z:1.97 [[ 9.49935289e-01 -3.09604832e-01 -4.20451441e-02 4.51860112e+01] [ 3.09301914e-01 9.50865315e-01 -1.36922702e-02 6.63975053e+00] [ 4.42184622e-02 2.12713082e-06 9.99021885e-01 1.97356938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.918040942 meters 0.017248601021995286 Centerline is valid? [True, True] Translation: X:45.21, Y:6.65, Z:1.97 [[ 9.50270622e-01 -3.08610804e-01 -4.17745863e-02 4.52125950e+01] [ 3.08310269e-01 9.51188398e-01 -1.36165448e-02 6.64709737e+00] [ 4.39377147e-02 5.98686105e-05 9.99034271e-01 1.97374108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.948040942 meters 0.017236158578922228 Centerline is valid? [True, True] Translation: X:45.24, Y:6.65, Z:1.97 [[ 9.50282426e-01 -3.08565794e-01 -4.18385159e-02 4.52393644e+01] [ 3.08263924e-01 9.51202999e-01 -1.36457953e-02 6.65466745e+00] [ 4.40075475e-02 7.00543868e-05 9.99031196e-01 1.97472210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.97804094199999 meters 0.017243132664384188 Centerline is valid? [True, True] Translation: X:45.27, Y:6.66, Z:1.98 [[ 9.50305509e-01 -3.08501702e-01 -4.17868263e-02 4.52661900e+01] [ 3.08199977e-01 9.51223787e-01 -1.36411722e-02 6.66197277e+00] [ 4.39569480e-02 8.45822294e-05 9.99033423e-01 1.97591200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.008040941999994 meters 0.017255305122769397 Centerline is valid? [True, True] Translation: X:45.29, Y:6.67, Z:1.98 [[ 9.50300036e-01 -3.08554608e-01 -4.15198099e-02 4.52937087e+01] [ 3.08256255e-01 9.51206626e-01 -1.35659948e-02 6.66864111e+00] [ 4.36797685e-02 9.30242778e-05 9.99045579e-01 1.97716462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.038040941999995 meters 0.017173277520844275 Centerline is valid? [True, True] Translation: X:45.32, Y:6.67, Z:1.98 [[ 9.50061624e-01 -3.09210155e-01 -4.20950078e-02 4.53207825e+01] [ 3.08903531e-01 9.50993730e-01 -1.37671587e-02 6.67296238e+00] [ 4.42890338e-02 7.63526607e-05 9.99018756e-01 1.97822396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.068040941999996 meters 0.017147897892299323 Centerline is valid? [True, True] Translation: X:45.35, Y:6.68, Z:1.98 [[ 9.49866169e-01 -3.09892339e-01 -4.14849297e-02 4.53468175e+01] [ 3.09594953e-01 9.50771653e-01 -1.35731081e-02 6.67920694e+00] [ 4.36488974e-02 4.91113254e-05 9.99046932e-01 1.97944353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.098040942 meters 0.017198913616149628 Centerline is valid? [True, True] Translation: X:45.37, Y:6.69, Z:1.98 [[ 9.49525948e-01 -3.11011077e-01 -4.08972354e-02 4.53743140e+01] [ 3.10722891e-01 9.50406287e-01 -1.33856223e-02 6.68617161e+00] [ 4.30320664e-02 2.28845287e-06 9.99073692e-01 1.98099371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.128040942 meters 0.01716636383827489 Centerline is valid? [True, True] Translation: X:45.40, Y:6.69, Z:1.98 [[ 9.48976816e-01 -3.12745949e-01 -4.04100839e-02 4.54021339e+01] [ 3.12465682e-01 9.49836811e-01 -1.32374649e-02 6.69128014e+00] [ 4.25229487e-02 -6.47170961e-05 9.99095488e-01 1.98192608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.15804094199999 meters 0.017162374206988202 Centerline is valid? [True, True] Translation: X:45.43, Y:6.70, Z:1.98 [[ 9.48697675e-01 -3.13621545e-01 -4.01777107e-02 4.54290743e+01] [ 3.13344762e-01 9.49548060e-01 -1.31735325e-02 6.69822001e+00] [ 4.22821708e-02 -9.17755193e-05 9.99105705e-01 1.98237820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.18804094199999 meters 0.017219459965900918 Centerline is valid? [True, True] Translation: X:45.46, Y:6.70, Z:1.98 [[ 9.48363140e-01 -3.14507429e-01 -4.11391857e-02 4.54558587e+01] [ 3.14217486e-01 9.49255004e-01 -1.35021762e-02 6.70184468e+00] [ 4.32981126e-02 -1.21685281e-04 9.99062190e-01 1.98337079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.218040941999995 meters 0.017234557184307074 Centerline is valid? [True, True] Translation: X:45.48, Y:6.71, Z:1.98 [[ 9.48159339e-01 -3.15152084e-01 -4.09027149e-02 4.54832255e+01] [ 3.14865838e-01 9.49041170e-01 -1.34298430e-02 6.70936722e+00] [ 4.30508034e-02 -1.45236561e-04 9.99072874e-01 1.98436535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.248040941999996 meters 0.017330634942377063 Centerline is valid? [True, True] Translation: X:45.51, Y:6.72, Z:1.99 [[ 9.48044240e-01 -3.15495892e-01 -4.09201820e-02 4.55097179e+01] [ 3.15209171e-01 9.48926931e-01 -1.34483613e-02 6.71668258e+00] [ 4.30731654e-02 -1.48775184e-04 9.99071909e-01 1.98523201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.278040942 meters 0.0173551481251911 Centerline is valid? [True, True] Translation: X:45.53, Y:6.73, Z:1.99 [[ 9.48517103e-01 -3.14074042e-01 -4.08998932e-02 4.55341662e+01] [ 3.13786049e-01 9.49398489e-01 -1.34471209e-02 6.72764757e+00] [ 4.30536884e-02 -7.89917399e-05 9.99072757e-01 1.98658967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.308040942 meters 0.017280332212237192 Centerline is valid? [True, True] Translation: X:45.56, Y:6.74, Z:1.99 [[ 9.48739282e-01 -3.13367755e-01 -4.11633813e-02 4.55609414e+01] [ 3.13075149e-01 9.49631849e-01 -1.35389389e-02 6.73764322e+00] [ 4.33327248e-02 -4.23085030e-05 9.99060695e-01 1.98745653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.33804094199999 meters 0.017356034165168403 Centerline is valid? [True, True] Translation: X:45.59, Y:6.75, Z:1.99 [[ 9.48839040e-01 -3.12972024e-01 -4.18687025e-02 4.55878179e+01] [ 3.12668364e-01 9.49762345e-01 -1.37834129e-02 6.74710788e+00] [ 4.40791397e-02 -1.27784106e-05 9.99028042e-01 1.98842427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.36804094199999 meters 0.017509812802097915 Centerline is valid? [True, True] Translation: X:45.61, Y:6.76, Z:1.99 [[ 9.48924735e-01 -3.12605052e-01 -4.26606230e-02 4.56134443e+01] [ 3.12288825e-01 9.49883193e-01 -1.40573414e-02 6.75625375e+00] [ 4.49170048e-02 1.69230839e-05 9.98990722e-01 1.98951851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.398040941999994 meters 0.017420184867778365 Centerline is valid? [True, True] Translation: X:45.64, Y:6.77, Z:1.99 [[ 9.48558064e-01 -3.13696561e-01 -4.28026470e-02 4.56398616e+01] [ 3.13379073e-01 9.49523284e-01 -1.41099219e-02 6.76539755e+00] [ 4.50683439e-02 -2.93736230e-05 9.98983906e-01 1.99111624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.428040941999996 meters 0.0174189930993453 Centerline is valid? [True, True] Translation: X:45.67, Y:6.77, Z:1.99 [[ 9.48117846e-01 -3.15097106e-01 -4.22654028e-02 4.56661180e+01] [ 3.14788374e-01 9.49059433e-01 -1.39453619e-02 6.77293961e+00] [ 4.45065224e-02 -8.28109564e-05 9.99009090e-01 1.99251698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.458040942 meters 0.017691527047422072 Centerline is valid? [True, True] Translation: X:45.69, Y:6.78, Z:1.99 [[ 9.46757892e-01 -3.19207022e-01 -4.19090716e-02 4.56936059e+01] [ 3.18907121e-01 9.47684972e-01 -1.38362553e-02 6.78157259e+00] [ 4.41332272e-02 -2.65517400e-04 9.99025619e-01 1.99409536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.488040942 meters 0.01795135799654876 Centerline is valid? [True, True] Translation: X:45.72, Y:6.79, Z:2.00 [[ 9.45975394e-01 -3.21536351e-01 -4.17723419e-02 4.57197970e+01] [ 3.21240195e-01 9.46897166e-01 -1.38019453e-02 6.78966133e+00] [ 4.39919393e-02 -3.62654635e-04 9.99031820e-01 1.99515436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.51804094199999 meters 0.018455023713855382 Centerline is valid? [True, True] Translation: X:45.75, Y:6.80, Z:2.00 [[ 9.44328402e-01 -3.26429998e-01 -4.10770617e-02 4.57474781e+01] [ 3.26148091e-01 9.45221203e-01 -1.35756991e-02 6.79724858e+00] [ 4.32584252e-02 -5.77286995e-04 9.99063749e-01 1.99652701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.54804094199999 meters 0.01880294651285405 Centerline is valid? [True, True] Translation: X:45.78, Y:6.80, Z:2.00 [[ 9.43415671e-01 -3.29083177e-01 -4.08795114e-02 4.57754563e+01] [ 3.28805995e-01 9.44300690e-01 -1.35212585e-02 6.80496625e+00] [ 4.30521695e-02 -6.85261272e-04 9.99072591e-01 1.99835957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.578040941999994 meters 0.019444853661107514 Centerline is valid? [True, True] Translation: X:45.80, Y:6.81, Z:2.00 [[ 9.42777519e-01 -3.30893454e-01 -4.09886869e-02 4.58025581e+01] [ 3.30616008e-01 9.43667815e-01 -1.35686870e-02 6.81187043e+00] [ 4.31694943e-02 -7.59262970e-04 9.99067474e-01 1.99992043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.608040941999995 meters 0.020225871147905288 Centerline is valid? [True, True] Translation: X:45.83, Y:6.82, Z:2.00 [[ 9.41838820e-01 -3.33515752e-01 -4.13144153e-02 4.58290988e+01] [ 3.33236222e-01 9.42744114e-01 -1.36804948e-02 6.82038187e+00] [ 4.35115823e-02 -8.82638611e-04 9.99052533e-01 2.00068285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.638040941999996 meters 0.020092562949724654 Centerline is valid? [True, True] Translation: X:45.86, Y:6.83, Z:2.00 [[ 9.41706732e-01 -3.33801446e-01 -4.20122164e-02 4.58553883e+01] [ 3.33512500e-01 9.42642971e-01 -1.39154936e-02 6.83040487e+00] [ 4.42475324e-02 -9.07285288e-04 9.99020186e-01 2.00148677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.668040942 meters 0.01985184531139067 Centerline is valid? [True, True] Translation: X:45.88, Y:6.84, Z:2.00 [[ 9.41640326e-01 -3.33988027e-01 -4.20177835e-02 4.58815917e+01] [ 3.33698629e-01 9.42576883e-01 -1.39299808e-02 6.84044520e+00] [ 4.42574382e-02 -9.04245080e-04 9.99019750e-01 2.00255235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.69804094199999 meters 0.01985184531139067 Centerline is valid? [True, True] Translation: X:45.91, Y:6.85, Z:2.00 [[ 9.41548667e-01 -3.34246818e-01 -4.20139606e-02 4.59077158e+01] [ 3.33957164e-01 9.42485144e-01 -1.39415015e-02 6.84921780e+00] [ 4.42574362e-02 -9.04261013e-04 9.99019750e-01 2.00377593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.72804094199999 meters 0.01937932962592148 Centerline is valid? [True, True] Translation: X:45.93, Y:6.86, Z:2.01 [[ 9.41653187e-01 -3.33900677e-01 -4.24218526e-02 4.59340949e+01] [ 3.33604434e-01 9.42607849e-01 -1.40899045e-02 6.86040022e+00] [ 4.46917998e-02 -8.84314598e-04 9.99000431e-01 2.00567687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.758040941999994 meters 0.020316674724288407 Centerline is valid? [True, True] Translation: X:45.96, Y:6.87, Z:2.01 [[ 9.41933536e-01 -3.33106503e-01 -4.24413802e-02 4.59612211e+01] [ 3.32808663e-01 9.42888837e-01 -1.41079740e-02 6.86741928e+00] [ 4.47169614e-02 -8.36085181e-04 9.98999347e-01 2.00735929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.788040941999995 meters 0.01947223410718192 Centerline is valid? [True, True] Translation: X:45.99, Y:6.88, Z:2.01 [[ 9.42196757e-01 -3.32328306e-01 -4.26985752e-02 4.59877076e+01] [ 3.32025855e-01 9.43163431e-01 -1.41976998e-02 6.87862405e+00] [ 4.49900322e-02 -8.00004223e-04 9.98987116e-01 2.00909250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.818040941999996 meters 0.018888653826738235 Centerline is valid? [True, True] Translation: X:46.01, Y:6.89, Z:2.01 [[ 9.42934567e-01 -3.30215800e-01 -4.28010198e-02 4.60140595e+01] [ 3.29909211e-01 9.43905212e-01 -1.42430111e-02 6.89032199e+00] [ 4.51033730e-02 -6.90223203e-04 9.98982087e-01 2.01114184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.848040942 meters 0.018482156316004496 Centerline is valid? [True, True] Translation: X:46.04, Y:6.90, Z:2.01 [[ 9.43337681e-01 -3.28993128e-01 -4.33305999e-02 4.60412224e+01] [ 3.28677081e-01 9.44332106e-01 -1.44308533e-02 6.90163475e+00] [ 4.56661282e-02 -6.28607418e-04 9.98956560e-01 2.01281413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.878040942 meters 0.01825860293507459 Centerline is valid? [True, True] Translation: X:46.07, Y:6.91, Z:2.01 [[ 9.43674676e-01 -3.27969742e-01 -4.37487595e-02 4.60678893e+01] [ 3.27646149e-01 9.44688051e-01 -1.45769268e-02 6.91225651e+00] [ 4.61097213e-02 -5.78235968e-04 9.98936214e-01 2.01410759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.90804094199999 meters 0.018157446959915044 Centerline is valid? [True, True] Translation: X:46.09, Y:6.92, Z:2.02 [[ 9.44086115e-01 -3.26769101e-01 -4.38561471e-02 4.60943198e+01] [ 3.26442072e-01 9.45104066e-01 -1.46245938e-02 6.92224124e+00] [ 4.62274883e-02 -5.09615586e-04 9.98930808e-01 2.01563545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.93804094199999 meters 0.017905781681655058 Centerline is valid? [True, True] Translation: X:46.12, Y:6.93, Z:2.02 [[ 9.44754052e-01 -3.24844678e-01 -4.37689026e-02 4.61207591e+01] [ 3.24516581e-01 9.45767291e-01 -1.46020692e-02 6.93280829e+00] [ 4.61386009e-02 -4.08370519e-04 9.98934964e-01 2.01867717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.968040941999995 meters 0.01787103922796591 Centerline is valid? [True, True] Translation: X:46.15, Y:6.94, Z:2.02 [[ 9.44888973e-01 -3.24476700e-01 -4.35855531e-02 4.61475324e+01] [ 3.24150408e-01 9.45893614e-01 -1.45528093e-02 6.94235961e+00] [ 4.59493439e-02 -3.77485776e-04 9.98943700e-01 2.02072582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.998040941999996 meters 0.017839793204825715 Centerline is valid? [True, True] Translation: X:46.17, Y:6.95, Z:2.02 [[ 9.44810514e-01 -3.24749253e-01 -4.32552266e-02 4.61741710e+01] [ 3.24427560e-01 9.45800075e-01 -1.44560195e-02 6.95134209e+00] [ 4.56053781e-02 -3.74988391e-04 9.98959463e-01 2.02244437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.028040942 meters 0.018067466239451675 Centerline is valid? [True, True] Translation: X:46.20, Y:6.96, Z:2.02 [[ 9.44512738e-01 -3.25534696e-01 -4.38502980e-02 4.62012728e+01] [ 3.25204304e-01 9.45530008e-01 -1.46684643e-02 6.95928856e+00] [ 4.62368667e-02 -4.05754279e-04 9.98930422e-01 2.02470294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.058040942 meters 0.018038066602307827 Centerline is valid? [True, True] Translation: X:46.23, Y:6.97, Z:2.03 [[ 9.44264716e-01 -3.26250540e-01 -4.38717512e-02 4.62279350e+01] [ 3.25920383e-01 9.45283235e-01 -1.46802531e-02 6.96779399e+00] [ 4.62606715e-02 -4.36652904e-04 9.98929307e-01 2.02625520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.08804094199999 meters 0.018189904179882352 Centerline is valid? [True, True] Translation: X:46.25, Y:6.98, Z:2.03 [[ 9.43992149e-01 -3.26999797e-01 -4.41583044e-02 4.62544665e+01] [ 3.26665492e-01 9.45024295e-01 -1.47898159e-02 6.97645881e+00] [ 4.65669373e-02 -4.63524132e-04 9.98915064e-01 2.02796266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.11804094199999 meters 0.01845781218598601 Centerline is valid? [True, True] Translation: X:46.28, Y:6.98, Z:2.03 [[ 9.43317571e-01 -3.28757092e-01 -4.55053378e-02 4.62810396e+01] [ 3.28403443e-01 9.44414352e-01 -1.52548510e-02 6.98418770e+00] [ 4.79910345e-02 -5.53940666e-04 9.98847613e-01 2.02903196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.148040941999994 meters 0.01861229666028891 Centerline is valid? [True, True] Translation: X:46.31, Y:6.99, Z:2.03 [[ 9.42929343e-01 -3.29753749e-01 -4.63326999e-02 4.63085110e+01] [ 3.29387965e-01 9.44066785e-01 -1.55394291e-02 6.99334611e+00] [ 4.88653480e-02 -6.08850055e-04 9.98805190e-01 2.02975503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.178040941999996 meters 0.01869349567399777 Centerline is valid? [True, True] Translation: X:46.34, Y:7.00, Z:2.03 [[ 9.42709980e-01 -3.30278569e-01 -4.70527449e-02 4.63352168e+01] [ 3.29901389e-01 9.43883289e-01 -1.57927142e-02 7.00238577e+00] [ 4.96282947e-02 -6.34816594e-04 9.98767555e-01 2.03035059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.208040942 meters 0.01878027717624171 Centerline is valid? [True, True] Translation: X:46.36, Y:7.01, Z:2.03 [[ 9.42510090e-01 -3.30777456e-01 -4.75500340e-02 4.63616070e+01] [ 3.30392609e-01 9.43708554e-01 -1.59652223e-02 7.01139846e+00] [ 5.01543095e-02 -6.62796741e-04 9.98741261e-01 2.03139792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.238040942 meters 0.019093321034625094 Centerline is valid? [True, True] Translation: X:46.39, Y:7.02, Z:2.03 [[ 9.42151153e-01 -3.31582825e-01 -4.90309501e-02 4.63885803e+01] [ 3.31173984e-01 9.43425842e-01 -1.64764322e-02 7.01966890e+00] [ 5.17203673e-02 -7.14485498e-04 9.98661351e-01 2.03150563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.26804094199999 meters 0.019364716514781676 Centerline is valid? [True, True] Translation: X:46.42, Y:7.03, Z:2.03 [[ 9.41862319e-01 -3.32317084e-01 -4.96057237e-02 4.64165505e+01] [ 3.31899203e-01 9.43167421e-01 -1.66774046e-02 7.02835348e+00] [ 5.23286889e-02 -7.56281208e-04 9.98629629e-01 2.03263297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.29804094199999 meters 0.019111334142618567 Centerline is valid? [True, True] Translation: X:46.44, Y:7.04, Z:2.03 [[ 9.41116772e-01 -3.34282108e-01 -5.05439802e-02 4.64434491e+01] [ 3.33850378e-01 9.42472661e-01 -1.70061414e-02 7.03784848e+00] [ 5.33211683e-02 -8.69361951e-04 9.98577036e-01 2.03462041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.328040941999994 meters 0.019047449189737563 Centerline is valid? [True, True] Translation: X:46.47, Y:7.05, Z:2.04 [[ 9.40666964e-01 -3.35448900e-01 -5.11829866e-02 4.64704402e+01] [ 3.35007135e-01 9.42057941e-01 -1.72353236e-02 7.04741460e+00] [ 5.39989093e-02 -9.33966212e-04 9.98540558e-01 2.03647649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.358040941999995 meters 0.019454624592208047 Centerline is valid? [True, True] Translation: X:46.50, Y:7.06, Z:2.04 [[ 9.39943226e-01 -3.37400184e-01 -5.16512178e-02 4.64977085e+01] [ 3.36952440e-01 9.41360733e-01 -1.74075458e-02 7.05599324e+00] [ 5.44957374e-02 -1.04189919e-03 9.98513460e-01 2.03761132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.388040941999996 meters 0.019711747420171035 Centerline is valid? [True, True] Translation: X:46.52, Y:7.06, Z:2.04 [[ 9.39708652e-01 -3.38055618e-01 -5.16337938e-02 4.65244912e+01] [ 3.37608473e-01 9.41125528e-01 -1.74143502e-02 7.06467444e+00] [ 5.44809004e-02 -1.06759073e-03 9.98514242e-01 2.03917846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.418040942 meters 0.019961277834444575 Centerline is valid? [True, True] Translation: X:46.55, Y:7.07, Z:2.04 [[ 9.39622008e-01 -3.38316282e-01 -5.15031655e-02 4.65506345e+01] [ 3.37871455e-01 9.41031848e-01 -1.73764407e-02 7.07318781e+00] [ 5.43448519e-02 -1.07416336e-03 9.98521649e-01 2.04014802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.44804094199999 meters 0.02006443081490926 Centerline is valid? [True, True] Translation: X:46.58, Y:7.08, Z:2.04 [[ 9.39546508e-01 -3.38439262e-01 -5.20694302e-02 4.65773981e+01] [ 3.37984109e-01 9.40987617e-01 -1.75797141e-02 7.08305252e+00] [ 5.49463545e-02 -1.08168099e-03 9.98488722e-01 2.04157378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.47804094199999 meters 0.019763243514370487 Centerline is valid? [True, True] Translation: X:46.60, Y:7.09, Z:2.04 [[ 9.39690385e-01 -3.38016174e-01 -5.22211318e-02 4.66041688e+01] [ 3.37556831e-01 9.41139721e-01 -1.76468648e-02 7.09420404e+00] [ 5.51123072e-02 -1.04501056e-03 9.98479615e-01 2.04275297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.508040941999994 meters 0.019653227480590976 Centerline is valid? [True, True] Translation: X:46.63, Y:7.10, Z:2.04 [[ 9.39851182e-01 -3.37599786e-01 -5.20205751e-02 4.66313122e+01] [ 3.37142539e-01 9.41289211e-01 -1.75934670e-02 7.10395652e+00] [ 5.49059568e-02 -1.00310797e-03 9.98491026e-01 2.04390715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.538040941999995 meters 0.019732695915045076 Centerline is valid? [True, True] Translation: X:46.66, Y:7.11, Z:2.05 [[ 9.40058424e-01 -3.37050632e-01 -5.18365718e-02 4.66576152e+01] [ 3.36595091e-01 9.41486037e-01 -1.75438457e-02 7.11299531e+00] [ 5.47165728e-02 -9.55695672e-04 9.98501469e-01 2.04514432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.568040941999996 meters 0.019697821628635252 Centerline is valid? [True, True] Translation: X:46.68, Y:7.12, Z:2.05 [[ 9.40346155e-01 -3.36297326e-01 -5.15093840e-02 4.66849043e+01] [ 3.35846029e-01 9.41755435e-01 -1.74397732e-02 7.12333323e+00] [ 5.43741914e-02 -8.99798414e-04 9.98520224e-01 2.04718398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.598040942 meters 0.019721528841390158 Centerline is valid? [True, True] Translation: X:46.71, Y:7.13, Z:2.05 [[ 9.40500960e-01 -3.35852382e-01 -5.15860579e-02 4.67116476e+01] [ 3.35398394e-01 9.41914238e-01 -1.74781389e-02 7.13249908e+00] [ 5.44597170e-02 -8.63674546e-04 9.98515595e-01 2.04792216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.628040942 meters 0.019669587907515673 Centerline is valid? [True, True] Translation: X:46.74, Y:7.14, Z:2.05 [[ 9.40865355e-01 -3.34579637e-01 -5.31869380e-02 4.67383035e+01] [ 3.34094557e-01 9.42367134e-01 -1.80281120e-02 7.14260111e+00] [ 5.61534615e-02 -8.07440518e-04 9.98421823e-01 2.04796578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.65804094199999 meters 0.01968629355350102 Centerline is valid? [True, True] Translation: X:46.77, Y:7.15, Z:2.05 [[ 9.40968123e-01 -3.34199288e-01 -5.37571182e-02 4.67652082e+01] [ 3.33702179e-01 9.42502112e-01 -1.82379803e-02 7.15224138e+00] [ 5.67613174e-02 -7.77509431e-04 9.98387474e-01 2.04839723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.68804094199999 meters 0.019782839434946284 Centerline is valid? [True, True] Translation: X:46.79, Y:7.16, Z:2.05 [[ 9.41069238e-01 -3.33862006e-01 -5.40818896e-02 4.67902119e+01] [ 3.33357482e-01 9.42621664e-01 -1.83626672e-02 7.16111766e+00] [ 5.71093576e-02 -7.48061354e-04 9.98367649e-01 2.04918288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.718040941999995 meters 0.01968884028264319 Centerline is valid? [True, True] Translation: X:46.82, Y:7.17, Z:2.05 [[ 9.41128617e-01 -3.33777069e-01 -5.35704650e-02 4.68170805e+01] [ 3.33281426e-01 9.42651759e-01 -1.81975922e-02 7.17054871e+00] [ 5.65722320e-02 -7.27766215e-04 9.98398244e-01 2.05107119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.748040941999996 meters 0.01987089899191004 Centerline is valid? [True, True] Translation: X:46.84, Y:7.18, Z:2.05 [[ 9.40966174e-01 -3.34308409e-01 -5.31088201e-02 4.68431561e+01] [ 3.33821414e-01 9.42463442e-01 -1.80533924e-02 7.17863938e+00] [ 5.60885222e-02 -7.41229826e-04 9.98425525e-01 2.05286530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.778040942 meters 0.019507536807175135 Centerline is valid? [True, True] Translation: X:46.87, Y:7.19, Z:2.06 [[ 9.40804170e-01 -3.34805083e-01 -5.28494978e-02 4.68695226e+01] [ 3.34323118e-01 9.42287101e-01 -1.79742006e-02 7.18863423e+00] [ 5.58172538e-02 -7.58606028e-04 9.98440714e-01 2.05573550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.808040942 meters 0.01972671994229817 Centerline is valid? [True, True] Translation: X:46.90, Y:7.20, Z:2.06 [[ 9.40579212e-01 -3.35546720e-01 -5.21454125e-02 4.68955258e+01] [ 3.35077809e-01 9.42023245e-01 -1.77501425e-02 7.19681315e+00] [ 5.50781928e-02 -7.77355484e-04 9.98481742e-01 2.05750859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.83804094199999 meters 0.019464836825360234 Centerline is valid? [True, True] Translation: X:46.92, Y:7.21, Z:2.06 [[ 9.40624979e-01 -3.35457711e-01 -5.18919397e-02 4.69213980e+01] [ 3.34992545e-01 9.42054962e-01 -1.76760577e-02 7.20710436e+00] [ 5.48146291e-02 -7.56871542e-04 9.98496261e-01 2.05925929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.86804094199999 meters 0.019687949205766837 Centerline is valid? [True, True] Translation: X:46.95, Y:7.22, Z:2.06 [[ 9.40696568e-01 -3.35353903e-01 -5.12613618e-02 4.69479182e+01] [ 3.34899058e-01 9.42091943e-01 -1.74754645e-02 7.21590272e+00] [ 5.41533812e-02 -7.28272267e-04 9.98532363e-01 2.05938591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.898040941999994 meters 0.019305273248042765 Centerline is valid? [True, True] Translation: X:46.97, Y:7.23, Z:2.06 [[ 9.40676425e-01 -3.35450101e-01 -5.10009105e-02 4.69736888e+01] [ 3.34999636e-01 9.42057698e-01 -1.73936098e-02 7.22608706e+00] [ 5.38804885e-02 -7.23527817e-04 9.98547129e-01 2.06209659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.928040941999996 meters 0.02012495187217543 Centerline is valid? [True, True] Translation: X:47.00, Y:7.23, Z:2.06 [[ 9.40613711e-01 -3.35610276e-01 -5.11037083e-02 4.69995401e+01] [ 3.35157441e-01 9.42000649e-01 -1.74432243e-02 7.23268080e+00] [ 5.39938517e-02 -7.20452205e-04 9.98541008e-01 2.06187383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.958040942 meters 0.01966944290147019 Centerline is valid? [True, True] Translation: X:47.03, Y:7.24, Z:2.06 [[ 9.40061799e-01 -3.37084483e-01 -5.15544863e-02 4.70255827e+01] [ 3.36625375e-01 9.41474059e-01 -1.76054725e-02 7.24432763e+00] [ 5.44717431e-02 -8.04316107e-04 9.98514989e-01 2.06377907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.988040942 meters 0.0201951999096449 Centerline is valid? [True, True] Translation: X:47.05, Y:7.25, Z:2.06 [[ 9.39811214e-01 -3.37744904e-01 -5.18002013e-02 4.70521585e+01] [ 3.37281726e-01 9.41237315e-01 -1.77018326e-02 7.25225724e+00] [ 5.47349861e-02 -8.34880445e-04 9.98500568e-01 2.06366279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.01804094199999 meters 0.020011641033961355 Centerline is valid? [True, True] Translation: X:47.08, Y:7.26, Z:2.07 [[ 9.39516081e-01 -3.38490634e-01 -5.22840717e-02 4.70792173e+01] [ 3.38019530e-01 9.40969349e-01 -1.78740419e-02 7.26282355e+00] [ 5.52479047e-02 -8.80087503e-04 9.98472280e-01 2.06540537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.04804094199999 meters 0.020570536170924438 Centerline is valid? [True, True] Translation: X:47.11, Y:7.27, Z:2.07 [[ 9.38990486e-01 -3.39858320e-01 -5.28506276e-02 4.71051738e+01] [ 3.39378391e-01 9.40476158e-01 -1.80805087e-02 7.27156135e+00] [ 5.58495665e-02 -9.58935267e-04 9.98438734e-01 2.06582573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.078040941999994 meters 0.02029417282475733 Centerline is valid? [True, True] Translation: X:47.13, Y:7.28, Z:2.07 [[ 9.38924376e-01 -3.40050091e-01 -5.27915957e-02 4.71309903e+01] [ 3.39571081e-01 9.40406833e-01 -1.80684632e-02 7.28147974e+00] [ 5.57897599e-02 -9.61578689e-04 9.98442075e-01 2.06771055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.108040941999995 meters 0.020755780500054753 Centerline is valid? [True, True] Translation: X:47.16, Y:7.29, Z:2.07 [[ 9.38838625e-01 -3.40353926e-01 -5.23568687e-02 4.71568822e+01] [ 3.39882416e-01 9.40296915e-01 -1.79347397e-02 7.29040455e+00] [ 5.53351612e-02 -9.57352682e-04 9.98467377e-01 2.06920125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.138040941999996 meters 0.020947196565177576 Centerline is valid? [True, True] Translation: X:47.18, Y:7.30, Z:2.07 [[ 9.38918726e-01 -3.40139528e-01 -5.23137355e-02 4.71828726e+01] [ 3.39667920e-01 9.40374515e-01 -1.79297498e-02 7.29941797e+00] [ 5.52931203e-02 -9.34719879e-04 9.98469728e-01 2.07013172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.168040942 meters 0.020400860410294666 Centerline is valid? [True, True] Translation: X:47.21, Y:7.31, Z:2.07 [[ 9.39007550e-01 -3.39986149e-01 -5.17130495e-02 4.72088482e+01] [ 3.39524734e-01 9.40430004e-01 -1.77302794e-02 7.31112598e+00] [ 5.46605527e-02 -9.08993169e-04 9.98504581e-01 2.07262099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.19804094199999 meters 0.02044051849772036 Centerline is valid? [True, True] Translation: X:47.24, Y:7.32, Z:2.07 [[ 9.39045250e-01 -3.39882340e-01 -5.17108615e-02 4.72353990e+01] [ 3.39420036e-01 9.40467545e-01 -1.77436033e-02 7.32161056e+00] [ 5.46631244e-02 -8.89656045e-04 9.98504457e-01 2.07372958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.22804094199999 meters 0.02040387614681354 Centerline is valid? [True, True] Translation: X:47.26, Y:7.33, Z:2.07 [[ 9.39295194e-01 -3.39239436e-01 -5.13920565e-02 4.72611660e+01] [ 3.38781098e-01 9.40699692e-01 -1.76481690e-02 7.33225976e+00] [ 5.43314466e-02 -8.33817040e-04 9.98522608e-01 2.07436221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.258040941999994 meters 0.020189328777035668 Centerline is valid? [True, True] Translation: X:47.29, Y:7.34, Z:2.08 [[ 9.39434297e-01 -3.38835780e-01 -5.15122832e-02 4.72871678e+01] [ 3.38374212e-01 9.40845188e-01 -1.76981622e-02 7.34154892e+00] [ 5.44618543e-02 -8.04167711e-04 9.98515528e-01 2.07612726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.288040941999995 meters 0.020146532521101185 Centerline is valid? [True, True] Translation: X:47.31, Y:7.35, Z:2.08 [[ 9.39546127e-01 -3.38536261e-01 -5.14419700e-02 4.73134816e+01] [ 3.38074675e-01 9.40953030e-01 -1.76892412e-02 7.35103495e+00] [ 5.43929271e-02 -7.71369169e-04 9.98519311e-01 2.07783717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.318040941999996 meters 0.019425738244917907 Centerline is valid? [True, True] Translation: X:47.34, Y:7.36, Z:2.08 [[ 9.40279245e-01 -3.36547515e-01 -5.10951176e-02 4.73391737e+01] [ 3.36088400e-01 9.41666270e-01 -1.75847673e-02 7.36471802e+00] [ 5.40326585e-02 -6.37884567e-04 9.98538965e-01 2.08028502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.348040942 meters 0.01940749412284708 Centerline is valid? [True, True] Translation: X:47.36, Y:7.38, Z:2.08 [[ 9.40822753e-01 -3.35106190e-01 -5.05607343e-02 4.73646695e+01] [ 3.34653906e-01 9.42180212e-01 -1.74129638e-02 7.37521599e+00] [ 5.34725153e-02 -5.37834712e-04 9.98569177e-01 2.08080829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.378040942 meters 0.018767419398309216 Centerline is valid? [True, True] Translation: X:47.39, Y:7.39, Z:2.08 [[ 9.42336016e-01 -3.30995436e-01 -4.94454756e-02 4.73896126e+01] [ 3.30556922e-01 9.43632310e-01 -1.70348315e-02 7.39000754e+00] [ 5.22967998e-02 -2.92008908e-04 9.98631543e-01 2.08426776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.40804094199999 meters 0.01863655302128836 Centerline is valid? [True, True] Translation: X:47.41, Y:7.40, Z:2.09 [[ 9.43118398e-01 -3.28767867e-01 -4.93900551e-02 4.74147505e+01] [ 3.28326625e-01 9.44410750e-01 -1.70282622e-02 7.40154801e+00] [ 5.22428444e-02 -1.56402801e-04 9.98634398e-01 2.08518384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.43804094199999 meters 0.01863694808684828 Centerline is valid? [True, True] Translation: X:47.44, Y:7.41, Z:2.09 [[ 9.43760233e-01 -3.26884574e-01 -4.96296116e-02 4.74406843e+01] [ 3.26435982e-01 9.45064270e-01 -1.71194696e-02 7.41356590e+00] [ 5.24992631e-02 -4.42163723e-05 9.98620962e-01 2.08719065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.468040941999995 meters 0.018699266548776038 Centerline is valid? [True, True] Translation: X:47.47, Y:7.42, Z:2.09 [[ 9.44285944e-01 -3.25365642e-01 -4.96110329e-02 4.74651256e+01] [ 3.24914517e-01 9.45588280e-01 -1.71277644e-02 7.42454820e+00] [ 5.24843973e-02 5.41623377e-05 9.98621743e-01 2.08554093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.498040941999996 meters 0.018771849303400413 Centerline is valid? [True, True] Translation: X:47.49, Y:7.44, Z:2.09 [[ 9.44954891e-01 -3.23383209e-01 -4.98352736e-02 4.74917436e+01] [ 3.22924820e-01 9.46268075e-01 -1.72130796e-02 7.43573099e+00] [ 5.27239494e-02 1.72536983e-04 9.98609110e-01 2.08761345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.528040942 meters 0.018721977411339637 Centerline is valid? [True, True] Translation: X:47.52, Y:7.45, Z:2.09 [[ 9.44973522e-01 -3.23394822e-01 -4.94047759e-02 4.75177066e+01] [ 3.22943676e-01 9.46264105e-01 -1.70770727e-02 7.44522973e+00] [ 5.22726029e-02 1.82421574e-04 9.98632836e-01 2.08999595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.558040942 meters 0.01876793580078127 Centerline is valid? [True, True] Translation: X:47.54, Y:7.46, Z:2.09 [[ 9.44925021e-01 -3.23501116e-01 -4.96359957e-02 4.75434036e+01] [ 3.23045085e-01 9.46227769e-01 -1.71721248e-02 7.45545360e+00] [ 5.25221590e-02 1.91705962e-04 9.98619740e-01 2.09122383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.58804094199999 meters 0.01882821562236528 Centerline is valid? [True, True] Translation: X:47.57, Y:7.47, Z:2.09 [[ 9.44860257e-01 -3.23647981e-01 -4.99107060e-02 4.75679560e+01] [ 3.23186320e-01 9.46177544e-01 -1.72817118e-02 7.46644362e+00] [ 5.28175803e-02 1.98345243e-04 9.98604158e-01 2.09188036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.61804094199999 meters 0.01882821562236528 Centerline is valid? [True, True] Translation: X:47.59, Y:7.48, Z:2.09 [[ 9.44773326e-01 -3.23902187e-01 -4.99072767e-02 4.75939425e+01] [ 3.23440357e-01 9.46090554e-01 -1.72916100e-02 7.47555999e+00] [ 5.28175933e-02 1.94624454e-04 9.98604158e-01 2.09310488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.648040941999994 meters 0.01884600764018551 Centerline is valid? [True, True] Translation: X:47.62, Y:7.49, Z:2.09 [[ 9.44584727e-01 -3.24377843e-01 -5.03855964e-02 4.76200150e+01] [ 3.23906972e-01 9.45927577e-01 -1.74726133e-02 7.48544164e+00] [ 5.33288537e-02 1.84117754e-04 9.98576987e-01 2.09417356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.678040941999996 meters 0.01870481798877717 Centerline is valid? [True, True] Translation: X:47.65, Y:7.50, Z:2.10 [[ 9.44416884e-01 -3.24840331e-01 -5.05520363e-02 4.76458768e+01] [ 3.24366184e-01 9.45768856e-01 -1.75456310e-02 7.49560204e+00] [ 5.35100701e-02 1.73019040e-04 9.98567295e-01 2.09640791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.708040942 meters 0.018633506405803052 Centerline is valid? [True, True] Translation: X:47.67, Y:7.50, Z:2.10 [[ 9.44180290e-01 -3.25506973e-01 -5.06832330e-02 4.76707513e+01] [ 3.25030541e-01 9.45539628e-01 -1.76056602e-02 7.50475768e+00] [ 5.36537705e-02 1.49318713e-04 9.98559588e-01 2.09777718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.738040942 meters 0.018629467657270908 Centerline is valid? [True, True] Translation: X:47.70, Y:7.51, Z:2.10 [[ 9.43841116e-01 -3.26497800e-01 -5.06274034e-02 4.76971144e+01] [ 3.26023389e-01 9.45197956e-01 -1.75946961e-02 7.51433287e+00] [ 5.35975478e-02 1.00879982e-04 9.98562613e-01 2.09977065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.76804094199999 meters 0.01854788930757371 Centerline is valid? [True, True] Translation: X:47.72, Y:7.52, Z:2.10 [[ 9.43305100e-01 -3.27989700e-01 -5.09729910e-02 4.77231908e+01] [ 3.27510094e-01 9.44681299e-01 -1.77308268e-02 7.52467635e+00] [ 5.39687599e-02 3.14102205e-05 9.98542624e-01 2.10184566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.79804094199999 meters 0.01857705112885506 Centerline is valid? [True, True] Translation: X:47.75, Y:7.53, Z:2.10 [[ 9.42982951e-01 -3.28903770e-01 -5.10437427e-02 4.77496931e+01] [ 3.28423304e-01 9.44363442e-01 -1.77714253e-02 7.53480040e+00] [ 5.40489333e-02 -5.80355155e-06 9.98538288e-01 2.10325331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.828040941999994 meters 0.018680460254099696 Centerline is valid? [True, True] Translation: X:47.78, Y:7.54, Z:2.10 [[ 9.42738478e-01 -3.29509246e-01 -5.16509280e-02 4.77760274e+01] [ 3.29017371e-01 9.44152348e-01 -1.79976076e-02 7.54478369e+00] [ 5.46967230e-02 -2.70153810e-05 9.98503013e-01 2.10424016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.858040941999995 meters 0.018638382401138107 Centerline is valid? [True, True] Translation: X:47.80, Y:7.56, Z:2.11 [[ 9.42523793e-01 -3.30035855e-01 -5.22037844e-02 4.78020727e+01] [ 3.29533665e-01 9.43968396e-01 -1.81997651e-02 7.55558072e+00] [ 5.52852977e-02 -4.91927782e-05 9.98470597e-01 2.10600706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.888040941999996 meters 0.018673930183841305 Centerline is valid? [True, True] Translation: X:47.83, Y:7.57, Z:2.11 [[ 9.42498921e-01 -3.30027175e-01 -5.27052813e-02 4.78276492e+01] [ 3.29514423e-01 9.43971431e-01 -1.83897443e-02 7.56574163e+00] [ 5.58213952e-02 -3.48361990e-05 9.98440770e-01 2.10599753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.918040942 meters 0.018659243966408032 Centerline is valid? [True, True] Translation: X:47.85, Y:7.58, Z:2.11 [[ 9.42756253e-01 -3.29213677e-01 -5.31883582e-02 4.78541044e+01] [ 3.28689626e-01 9.44255450e-01 -1.85681423e-02 7.57611114e+00] [ 5.63362835e-02 2.27706870e-05 9.98411850e-01 2.10812002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.94804094199999 meters 0.018619752490107142 Centerline is valid? [True, True] Translation: X:47.88, Y:7.59, Z:2.11 [[ 9.42824344e-01 -3.28877236e-01 -5.40557166e-02 4.78807678e+01] [ 3.28334431e-01 9.44372681e-01 -1.88876047e-02 7.58637997e+00] [ 5.72604452e-02 5.93405649e-05 9.98359273e-01 2.10918720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.97804094199999 meters 0.018802022737574604 Centerline is valid? [True, True] Translation: X:47.91, Y:7.60, Z:2.11 [[ 9.43190091e-01 -3.27670121e-01 -5.49976775e-02 4.79062689e+01] [ 3.27105402e-01 9.44792184e-01 -1.92298157e-02 7.59691808e+00] [ 5.82624118e-02 1.47334247e-04 9.98301292e-01 2.10935503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.008040941999994 meters 0.019397799385224505 Centerline is valid? [True, True] Translation: X:47.93, Y:7.61, Z:2.11 [[ 9.43342285e-01 -3.27177574e-01 -5.53187916e-02 4.79324748e+01] [ 3.26604899e-01 9.44962857e-01 -1.93504505e-02 7.60703096e+00] [ 5.86052368e-02 1.86709814e-04 9.98281219e-01 2.11155039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.038040941999995 meters 0.01863821986548567 Centerline is valid? [True, True] Translation: X:47.96, Y:7.62, Z:2.11 [[ 9.43432252e-01 -3.26991395e-01 -5.48836381e-02 4.79584087e+01] [ 3.26426379e-01 9.45027292e-01 -1.92155376e-02 7.61735738e+00] [ 5.81498513e-02 2.13090623e-04 9.98307843e-01 2.11354154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.068040941999996 meters 0.018793443101834232 Centerline is valid? [True, True] Translation: X:47.98, Y:7.63, Z:2.11 [[ 9.43504823e-01 -3.26767154e-01 -5.49715884e-02 4.79839594e+01] [ 3.26199064e-01 9.45104845e-01 -1.92614049e-02 7.62775807e+00] [ 5.82479090e-02 2.41547771e-04 9.98302120e-01 2.11336981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.098040942 meters 0.018419458733260948 Centerline is valid? [True, True] Translation: X:48.01, Y:7.64, Z:2.12 [[ 9.43319288e-01 -3.27273423e-01 -5.51437005e-02 4.80102185e+01] [ 3.26702052e-01 9.44929658e-01 -1.93316010e-02 7.63587149e+00] [ 5.84336373e-02 2.20311995e-04 9.98291271e-01 2.11764356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.128040942 meters 0.018307163265910524 Centerline is valid? [True, True] Translation: X:48.04, Y:7.65, Z:2.12 [[ 9.43009190e-01 -3.28192789e-01 -5.49832767e-02 4.80371323e+01] [ 3.27625297e-01 9.44610746e-01 -1.92925847e-02 7.64517638e+00] [ 5.82694812e-02 1.79172309e-04 9.98300874e-01 2.11984541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.15804094199999 meters 0.018267957321780444 Centerline is valid? [True, True] Translation: X:48.06, Y:7.65, Z:2.12 [[ 9.42728750e-01 -3.29043395e-01 -5.47078400e-02 4.80636101e+01] [ 3.28482017e-01 9.44314791e-01 -1.92130260e-02 7.65498938e+00] [ 5.79833418e-02 1.42130335e-04 9.98317541e-01 2.12112987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.18804094199999 meters 0.018009478448560972 Centerline is valid? [True, True] Translation: X:48.09, Y:7.66, Z:2.12 [[ 9.42501802e-01 -3.29792224e-01 -5.41058481e-02 4.80901910e+01] [ 3.29243407e-01 9.44053535e-01 -1.90184770e-02 7.66450112e+00] [ 5.73509630e-02 1.10955053e-04 9.98354073e-01 2.12365066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.218040941999995 meters 0.018020384601029116 Centerline is valid? [True, True] Translation: X:48.12, Y:7.67, Z:2.12 [[ 9.42313908e-01 -3.30432518e-01 -5.34682143e-02 4.81162372e+01] [ 3.29896776e-01 9.43829616e-01 -1.88088739e-02 7.67357626e+00] [ 5.66799477e-02 8.48719458e-05 9.98392396e-01 2.12480870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.248040941999996 meters 0.017866765309876187 Centerline is valid? [True, True] Translation: X:48.14, Y:7.68, Z:2.13 [[ 9.41817313e-01 -3.31898522e-01 -5.31368069e-02 4.81434268e+01] [ 3.31371299e-01 9.43315096e-01 -1.87000325e-02 7.68149915e+00] [ 5.63312653e-02 4.00162437e-06 9.98412134e-01 2.12806058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.278040942 meters 0.017809444082985355 Centerline is valid? [True, True] Translation: X:48.17, Y:7.69, Z:2.13 [[ 9.41498052e-01 -3.32810028e-01 -5.30933382e-02 4.81700862e+01] [ 3.32284153e-01 9.42993894e-01 -1.87018065e-02 7.69009930e+00] [ 5.62908424e-02 -3.43605210e-05 9.98414413e-01 2.12994526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.308040942 meters 0.017744709847707513 Centerline is valid? [True, True] Translation: X:48.20, Y:7.70, Z:2.13 [[ 9.40975821e-01 -3.34204817e-01 -5.35877265e-02 4.81970380e+01] [ 3.33670358e-01 9.42500467e-01 -1.88934457e-02 7.69924454e+00] [ 5.68207378e-02 -1.02360356e-04 9.98384392e-01 2.13064142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.33804094199999 meters 0.017825812048924486 Centerline is valid? [True, True] Translation: X:48.22, Y:7.71, Z:2.13 [[ 9.41019282e-01 -3.34069139e-01 -5.36704862e-02 4.82225864e+01] [ 3.33531939e-01 9.42548568e-01 -1.89378354e-02 7.70907369e+00] [ 5.69135863e-02 -7.99530585e-05 9.98379105e-01 2.13081936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.36804094199999 meters 0.01785692656565461 Centerline is valid? [True, True] Translation: X:48.25, Y:7.72, Z:2.13 [[ 9.41039812e-01 -3.33956125e-01 -5.40127589e-02 4.82489309e+01] [ 3.33411303e-01 9.42588618e-01 -1.90683169e-02 7.71926305e+00] [ 5.72797930e-02 -6.44189295e-05 9.98358163e-01 2.13153411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.398040941999994 meters 0.017804206104104568 Centerline is valid? [True, True] Translation: X:48.28, Y:7.73, Z:2.13 [[ 9.41243845e-01 -3.33202433e-01 -5.51013890e-02 4.82763855e+01] [ 3.32633105e-01 9.42855312e-01 -1.94699396e-02 7.72883560e+00] [ 5.84400686e-02 -2.58530432e-06 9.98290919e-01 2.13334679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.428040941999996 meters 0.017872475851126564 Centerline is valid? [True, True] Translation: X:48.30, Y:7.74, Z:2.13 [[ 9.41433155e-01 -3.32617837e-01 -5.53984523e-02 4.83025029e+01] [ 3.32040543e-01 9.43061701e-01 -1.95884040e-02 7.73779843e+00] [ 5.87596113e-02 4.66408245e-05 9.98272160e-01 2.13328997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.458040942 meters 0.017841728233169252 Centerline is valid? [True, True] Translation: X:48.33, Y:7.75, Z:2.14 [[ 9.41606701e-01 -3.32052797e-01 -5.58369162e-02 4.83293550e+01] [ 3.31464839e-01 9.43260798e-01 -1.97516674e-02 7.74700175e+00] [ 5.92273704e-02 9.03279144e-05 9.98244514e-01 2.13553792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.488040942 meters 0.01799887210338575 Centerline is valid? [True, True] Translation: X:48.35, Y:7.76, Z:2.14 [[ 9.42102896e-01 -3.30791667e-01 -5.49454805e-02 4.83548233e+01] [ 3.30219448e-01 9.43703789e-01 -1.94493003e-02 7.75750427e+00] [ 5.82859246e-02 1.79175957e-04 9.98299914e-01 2.13596643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.51804094199999 meters 0.017950961677189948 Centerline is valid? [True, True] Translation: X:48.38, Y:7.77, Z:2.14 [[ 9.42295141e-01 -3.30296147e-01 -5.46289596e-02 4.83810939e+01] [ 3.29729199e-01 9.43877327e-01 -1.93454598e-02 7.76757854e+00] [ 5.79527672e-02 2.16369657e-04 9.98319303e-01 2.13806272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.54804094199999 meters 0.0178769129290642 Centerline is valid? [True, True] Translation: X:48.41, Y:7.78, Z:2.14 [[ 9.42317607e-01 -3.30183709e-01 -5.49203571e-02 4.84078500e+01] [ 3.29609477e-01 9.43916660e-01 -1.94661886e-02 7.77723938e+00] [ 5.82676583e-02 2.41062135e-04 9.98300968e-01 2.13903663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.578040941999994 meters 0.0180859010266017 Centerline is valid? [True, True] Translation: X:48.43, Y:7.79, Z:2.14 [[ 9.42289745e-01 -3.30156102e-01 -5.55606461e-02 4.84348250e+01] [ 3.29567462e-01 9.43926311e-01 -1.97080495e-02 7.78509699e+00] [ 5.89518885e-02 2.59711808e-04 9.98260791e-01 2.13894142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.608040941999995 meters 0.017919783307150855 Centerline is valid? [True, True] Translation: X:48.46, Y:7.79, Z:2.14 [[ 9.42213735e-01 -3.30351943e-01 -5.56854716e-02 4.84618096e+01] [ 3.29760492e-01 9.43857790e-01 -1.97608136e-02 7.79265035e+00] [ 5.90871893e-02 2.56041484e-04 9.98252793e-01 2.14155633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.638040941999996 meters 0.018467306805831512 Centerline is valid? [True, True] Translation: X:48.49, Y:7.80, Z:2.14 [[ 9.42041353e-01 -3.30815253e-01 -5.58512109e-02 4.84879605e+01] [ 3.30220186e-01 9.43695507e-01 -1.98347866e-02 7.80003750e+00] [ 5.92681867e-02 2.41991953e-04 9.98242067e-01 2.14279529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.668040942 meters 0.017783008806411878 Centerline is valid? [True, True] Translation: X:48.52, Y:7.81, Z:2.15 [[ 9.41939174e-01 -3.31266770e-01 -5.48900657e-02 4.85152926e+01] [ 3.30692258e-01 9.43537111e-01 -1.95025872e-02 7.80910220e+00] [ 5.82513731e-02 2.18531106e-04 9.98301923e-01 2.14508139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.69804094199999 meters 0.018855377529453574 Centerline is valid? [True, True] Translation: X:48.54, Y:7.82, Z:2.15 [[ 9.41591164e-01 -3.32226295e-01 -5.50615038e-02 4.85422313e+01] [ 3.31648915e-01 9.43199692e-01 -1.95790289e-02 7.81826789e+00] [ 5.84386616e-02 1.74352620e-04 9.98290986e-01 2.14595723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.72804094199999 meters 0.01763351456851994 Centerline is valid? [True, True] Translation: X:48.57, Y:7.83, Z:2.15 [[ 9.41587790e-01 -3.32345811e-01 -5.43938951e-02 4.85683801e+01] [ 3.31781581e-01 9.43157585e-01 -1.93585470e-02 7.82814918e+00] [ 5.77357467e-02 1.80878990e-04 9.98331884e-01 2.14761346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.758040941999994 meters 0.01757104199078711 Centerline is valid? [True, True] Translation: X:48.59, Y:7.84, Z:2.15 [[ 9.41421515e-01 -3.32819974e-01 -5.43727453e-02 4.85948969e+01] [ 3.32255982e-01 9.42990369e-01 -1.93681728e-02 7.83643853e+00] [ 5.77190899e-02 1.67944729e-04 9.98332850e-01 2.14956694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.788040941999995 meters 0.01764359855349039 Centerline is valid? [True, True] Translation: X:48.62, Y:7.84, Z:2.15 [[ 9.41447003e-01 -3.32809816e-01 -5.39922973e-02 4.86206515e+01] [ 3.32252807e-01 9.42993952e-01 -1.92478200e-02 7.84340496e+00] [ 5.73202732e-02 1.81710109e-04 9.98355825e-01 2.14961826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.818040941999996 meters 0.017500041084066584 Centerline is valid? [True, True] Translation: X:48.65, Y:7.85, Z:2.15 [[ 9.41200305e-01 -3.33496827e-01 -5.40541682e-02 4.86477459e+01] [ 3.32939108e-01 9.42751210e-01 -1.92796874e-02 7.85139107e+00] [ 5.73893470e-02 1.49301119e-04 9.98351862e-01 2.15186776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.848040942 meters 0.017535827899865224 Centerline is valid? [True, True] Translation: X:48.68, Y:7.86, Z:2.15 [[ 9.40853737e-01 -3.34557424e-01 -5.35310830e-02 4.86751475e+01] [ 3.34011189e-01 9.42375361e-01 -1.91103386e-02 7.85874889e+00] [ 5.68398793e-02 1.00052780e-04 9.98383302e-01 2.15374076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.878040942 meters 0.01797654920746328 Centerline is valid? [True, True] Translation: X:48.70, Y:7.87, Z:2.15 [[ 9.40547667e-01 -3.35381410e-01 -5.37531011e-02 4.87023247e+01] [ 3.34830971e-01 9.42082430e-01 -1.92071634e-02 7.86758829e+00] [ 5.70815776e-02 6.70496373e-05 9.98369515e-01 2.15426379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.90804094199999 meters 0.01838849340564226 Centerline is valid? [True, True] Translation: X:48.73, Y:7.88, Z:2.15 [[ 9.40277219e-01 -3.36043043e-01 -5.43490919e-02 4.87288727e+01] [ 3.35480556e-01 9.41846628e-01 -1.94351502e-02 7.87631866e+00] [ 5.77195560e-02 4.13654051e-05 9.98332836e-01 2.15421975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.93804094199999 meters 0.01778140670682788 Centerline is valid? [True, True] Translation: X:48.76, Y:7.88, Z:2.16 [[ 9.39821052e-01 -3.37340554e-01 -5.42009301e-02 4.87555680e+01] [ 3.36782819e-01 9.41382680e-01 -1.93902893e-02 7.88403317e+00] [ 5.75649477e-02 -3.05399703e-05 9.98341763e-01 2.15511210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.968040941999995 meters 0.017826248312624283 Centerline is valid? [True, True] Translation: X:48.78, Y:7.89, Z:2.16 [[ 9.39577314e-01 -3.38036393e-01 -5.40912948e-02 4.87828380e+01] [ 3.37481073e-01 9.41133037e-01 -1.93683029e-02 7.89214405e+00] [ 5.74542959e-02 -5.67702157e-05 9.98348136e-01 2.15697172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.998040941999996 meters 0.017850795049738608 Centerline is valid? [True, True] Translation: X:48.81, Y:7.90, Z:2.16 [[ 9.39322964e-01 -3.38828830e-01 -5.35480497e-02 4.88099180e+01] [ 3.38284932e-01 9.40848030e-01 -1.91908424e-02 7.89963839e+00] [ 5.68829878e-02 -8.80994404e-05 9.98380848e-01 2.15908166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.028040942 meters 0.017991549573849994 Centerline is valid? [True, True] Translation: X:48.84, Y:7.91, Z:2.16 [[ 9.39124147e-01 -3.39361051e-01 -5.36648252e-02 4.88358343e+01] [ 3.38814775e-01 9.40656189e-01 -1.92479121e-02 7.90669788e+00] [ 5.70121416e-02 -1.06256643e-04 9.98373479e-01 2.16016863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.058040942 meters 0.018826939899335576 Centerline is valid? [True, True] Translation: X:48.86, Y:7.91, Z:2.16 [[ 9.39017571e-01 -3.39645995e-01 -5.37270875e-02 4.88623792e+01] [ 3.39098488e-01 9.40553339e-01 -1.92777371e-02 7.91303575e+00] [ 5.70807978e-02 -1.16640332e-04 9.98369555e-01 2.16034243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.08804094199999 meters 0.018184651908553652 Centerline is valid? [True, True] Translation: X:48.89, Y:7.92, Z:2.16 [[ 9.38969679e-01 -3.39849179e-01 -5.32773725e-02 4.88889206e+01] [ 3.39310603e-01 9.40479942e-01 -1.91257131e-02 7.92236069e+00] [ 5.66061581e-02 -1.19112664e-04 9.98396579e-01 2.16272776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.11804094199999 meters 0.01836755726884515 Centerline is valid? [True, True] Translation: X:48.92, Y:7.93, Z:2.16 [[ 9.39100855e-01 -3.39571482e-01 -5.27332204e-02 4.89155671e+01] [ 3.39042485e-01 9.40580247e-01 -1.89470686e-02 7.93137273e+00] [ 5.60337097e-02 -8.55937408e-05 9.98428874e-01 2.16341154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.148040941999994 meters 0.018258131511560124 Centerline is valid? [True, True] Translation: X:48.94, Y:7.94, Z:2.17 [[ 9.39254009e-01 -3.39233101e-01 -5.21805436e-02 4.89425247e+01] [ 3.38713705e-01 9.40702344e-01 -1.87649971e-02 7.93897143e+00] [ 5.54520678e-02 -4.91665156e-05 9.98461349e-01 2.16501157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.178040941999996 meters 0.01970854202828753 Centerline is valid? [True, True] Translation: X:48.97, Y:7.95, Z:2.17 [[ 9.39413105e-01 -3.38797059e-01 -5.21495016e-02 4.89696572e+01] [ 3.38276672e-01 9.40859476e-01 -1.87707288e-02 7.94653157e+00] [ 5.54248204e-02 -7.49121139e-06 9.98462863e-01 2.16570431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.208040942 meters 0.018357265731182477 Centerline is valid? [True, True] Translation: X:49.00, Y:7.95, Z:2.17 [[ 9.39726786e-01 -3.37989676e-01 -5.17353545e-02 4.89950110e+01] [ 3.37475488e-01 9.41149816e-01 -1.86364929e-02 7.95466398e+00] [ 5.49896616e-02 5.37975711e-05 9.98486922e-01 2.16827231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.238040942 meters 0.019052845877963586 Centerline is valid? [True, True] Translation: X:49.02, Y:7.96, Z:2.17 [[ 9.40419607e-01 -3.36196806e-01 -5.08199842e-02 4.90221701e+01] [ 3.35697583e-01 9.41791739e-01 -1.83153596e-02 7.96222141e+00] [ 5.40194067e-02 1.63977415e-04 9.98539872e-01 2.16961181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26804094199999 meters 0.018441409250623344 Centerline is valid? [True, True] Translation: X:49.05, Y:7.97, Z:2.17 [[ 9.40901455e-01 -3.34943347e-01 -5.01737583e-02 4.90488652e+01] [ 3.34454124e-01 9.42238236e-01 -1.80982374e-02 7.97193226e+00] [ 5.33375177e-02 2.47837571e-04 9.98576511e-01 2.17164175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.29804094199999 meters 0.018578821794596738 Centerline is valid? [True, True] Translation: X:49.08, Y:7.98, Z:2.17 [[ 9.41219233e-01 -3.34078624e-01 -4.99782910e-02 4.90750748e+01] [ 3.33591143e-01 9.42545159e-01 -1.80436270e-02 7.98110829e+00] [ 5.31347863e-02 3.10693508e-04 9.98587301e-01 2.17299580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.328040941999994 meters 0.01967283655387166 Centerline is valid? [True, True] Translation: X:49.10, Y:7.99, Z:2.17 [[ 9.42489107e-01 -3.30418984e-01 -5.03743770e-02 4.91016287e+01] [ 3.29917718e-01 9.43834206e-01 -1.82014125e-02 7.98999635e+00] [ 5.35591524e-02 5.35233505e-04 9.98564535e-01 2.17380268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.358040941999995 meters 0.019237575497268015 Centerline is valid? [True, True] Translation: X:49.13, Y:8.00, Z:2.18 [[ 9.43080338e-01 -3.28717423e-01 -5.04413631e-02 4.91283309e+01] [ 3.28212008e-01 9.44428106e-01 -1.82326873e-02 7.99927924e+00] [ 5.36316430e-02 6.39427876e-04 9.98560583e-01 2.17593196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.388040941999996 meters 0.01957907869641702 Centerline is valid? [True, True] Translation: X:49.16, Y:8.01, Z:2.18 [[ 9.43493805e-01 -3.27503282e-01 -5.06067135e-02 4.91554129e+01] [ 3.26992447e-01 9.44849769e-01 -1.82989951e-02 8.00880317e+00] [ 5.38087225e-02 7.16975396e-04 9.98551004e-01 2.17729247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.418040942 meters 0.020011658704046306 Centerline is valid? [True, True] Translation: X:49.18, Y:8.02, Z:2.18 [[ 9.44425303e-01 -3.24827902e-01 -5.04745549e-02 4.91824913e+01] [ 3.24315250e-01 9.45772733e-01 -1.82635358e-02 8.01722608e+00] [ 5.36699638e-02 8.78877463e-04 9.98558342e-01 2.17871507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.44804094199999 meters 0.020244347617499558 Centerline is valid? [True, True] Translation: X:49.21, Y:8.03, Z:2.18 [[ 9.44664730e-01 -3.24077504e-01 -5.08165306e-02 4.92096348e+01] [ 3.23556429e-01 9.46030073e-01 -1.83939721e-02 8.02648620e+00] [ 5.40350387e-02 9.34121478e-04 9.98538603e-01 2.17991956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.47804094199999 meters 0.020948216930722924 Centerline is valid? [True, True] Translation: X:49.24, Y:8.04, Z:2.18 [[ 9.44893504e-01 -3.23387177e-01 -5.09607625e-02 4.92353346e+01] [ 3.22861414e-01 9.46266218e-01 -1.84594539e-02 8.03592263e+00] [ 5.41919987e-02 9.88954208e-04 9.98530044e-01 2.18013566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.508040941999994 meters 0.020948216930722924 Centerline is valid? [True, True] Translation: X:49.26, Y:8.05, Z:2.18 [[ 9.44806089e-01 -3.23642986e-01 -5.09575426e-02 4.92612012e+01] [ 3.23117116e-01 9.46178762e-01 -1.84683386e-02 8.04540916e+00] [ 5.41920928e-02 9.83744522e-04 9.98530044e-01 2.18136098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.538040941999995 meters 0.02138581418213427 Centerline is valid? [True, True] Translation: X:49.29, Y:8.05, Z:2.18 [[ 9.44909633e-01 -3.23241093e-01 -5.15846985e-02 4.92884795e+01] [ 3.22700802e-01 9.46316083e-01 -1.87099866e-02 8.05219705e+00] [ 5.48632663e-02 1.03282298e-03 9.98493343e-01 2.18291429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.568040941999996 meters 0.020291753428106834 Centerline is valid? [True, True] Translation: X:49.32, Y:8.06, Z:2.19 [[ 9.44703112e-01 -3.23851547e-01 -5.15383885e-02 4.93167145e+01] [ 3.23312634e-01 9.46107375e-01 -1.87022843e-02 8.05707766e+00] [ 5.48176132e-02 1.00509406e-03 9.98495878e-01 2.18646188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.598040942 meters 0.021648811311611598 Centerline is valid? [True, True] Translation: X:49.34, Y:8.07, Z:2.19 [[ 9.44592549e-01 -3.24117060e-01 -5.18945828e-02 4.93424649e+01] [ 3.23570227e-01 9.46016442e-01 -1.88467116e-02 8.06685021e+00] [ 5.52016693e-02 1.01092142e-03 9.98474714e-01 2.18659736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.628040942 meters 0.020490918939592435 Centerline is valid? [True, True] Translation: X:49.37, Y:8.07, Z:2.19 [[ 9.43895088e-01 -3.26119261e-01 -5.20412306e-02 4.93720291e+01] [ 3.25571881e-01 9.45328202e-01 -1.89087641e-02 8.06982084e+00] [ 5.53625551e-02 9.04728207e-04 9.98465908e-01 2.18997211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.65804094199999 meters 0.020401302593384647 Centerline is valid? [True, True] Translation: X:49.40, Y:8.08, Z:2.19 [[ 9.43412654e-01 -3.27503749e-01 -5.20947034e-02 4.93999745e+01] [ 3.26956538e-01 9.44849508e-01 -1.89428182e-02 8.07787158e+00] [ 5.54254988e-02 8.38190510e-04 9.98462474e-01 2.19110868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.68804094199999 meters 0.01990251649887112 Centerline is valid? [True, True] Translation: X:49.43, Y:8.08, Z:2.19 [[ 9.42256562e-01 -3.30722683e-01 -5.26790149e-02 4.94288815e+01] [ 3.30167300e-01 9.43727745e-01 -1.91701952e-02 8.08168370e+00] [ 5.60546664e-02 6.70354121e-04 9.98427476e-01 2.19295958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.718040941999995 meters 0.02197351548245035 Centerline is valid? [True, True] Translation: X:49.46, Y:8.09, Z:2.19 [[ 9.41440927e-01 -3.33069937e-01 -5.24728239e-02 4.94558839e+01] [ 3.32521814e-01 9.42901970e-01 -1.91080675e-02 8.08936739e+00] [ 5.58410518e-02 5.40758159e-04 9.98439525e-01 2.19114981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.748040941999996 meters 0.02003260318137896 Centerline is valid? [True, True] Translation: X:49.48, Y:8.09, Z:2.20 [[ 9.40987552e-01 -3.34237539e-01 -5.31760779e-02 4.94832911e+01] [ 3.33676028e-01 9.42488744e-01 -1.93720416e-02 8.09484283e+00] [ 5.65927184e-02 4.85267522e-04 9.98397230e-01 2.19541631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.778040942 meters 0.021524205790423703 Centerline is valid? [True, True] Translation: X:49.51, Y:8.10, Z:2.20 [[ 9.40306886e-01 -3.36132858e-01 -5.32697051e-02 4.95104816e+01] [ 3.35571575e-01 9.41814500e-01 -1.94207368e-02 8.10221051e+00] [ 5.66981284e-02 3.85653714e-04 9.98391293e-01 2.19521954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.808040942 meters 0.020058220996455857 Centerline is valid? [True, True] Translation: X:49.54, Y:8.11, Z:2.20 [[ 9.40143861e-01 -3.36628662e-01 -5.30156976e-02 4.95372483e+01] [ 3.36073075e-01 9.41637411e-01 -1.93358557e-02 8.11050537e+00] [ 5.64305674e-02 3.61337547e-04 9.98406461e-01 2.19936983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.83804094199999 meters 0.02261696327833034 Centerline is valid? [True, True] Translation: X:49.56, Y:8.12, Z:2.20 [[ 9.39772198e-01 -3.37721112e-01 -5.26561222e-02 4.95633664e+01] [ 3.37173947e-01 9.41246172e-01 -1.92190861e-02 8.12091738e+00] [ 5.60530646e-02 3.07290194e-04 9.98427744e-01 2.19688039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.86804094199999 meters 0.019862064445048157 Centerline is valid? [True, True] Translation: X:49.59, Y:8.13, Z:2.20 [[ 9.40025143e-01 -3.36900840e-01 -5.33905869e-02 4.95904607e+01] [ 3.36336548e-01 9.41540062e-01 -1.94945737e-02 8.13011324e+00] [ 5.68371148e-02 3.68183725e-04 9.98383397e-01 2.20273231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.898040941999994 meters 0.022971456242612574 Centerline is valid? [True, True] Translation: X:49.62, Y:8.14, Z:2.20 [[ 9.39591156e-01 -3.37969917e-01 -5.42659639e-02 4.96172205e+01] [ 3.37387822e-01 9.41156858e-01 -1.98299379e-02 8.14027982e+00] [ 5.77747065e-02 3.23358916e-04 9.98329594e-01 2.20101133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.928040941999996 meters 0.020034755150684903 Centerline is valid? [True, True] Translation: X:49.64, Y:8.15, Z:2.21 [[ 9.39774560e-01 -3.37335729e-01 -5.50307352e-02 4.96442871e+01] [ 3.36735006e-01 9.41384331e-01 -2.01265350e-02 8.15001031e+00] [ 5.85944712e-02 3.83630626e-04 9.98281794e-01 2.20536803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.958040942 meters 0.021873895001870595 Centerline is valid? [True, True] Translation: X:49.67, Y:8.16, Z:2.20 [[ 9.39365367e-01 -3.38379683e-01 -5.56048356e-02 4.96697574e+01] [ 3.37767364e-01 9.41009606e-01 -2.03501707e-02 8.16027598e+00] [ 5.92107687e-02 3.34746765e-04 9.98245447e-01 2.20303155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.988040942 meters 0.021202425035412073 Centerline is valid? [True, True] Translation: X:49.70, Y:8.17, Z:2.21 [[ 9.39192406e-01 -3.38791133e-01 -5.60195809e-02 4.96958282e+01] [ 3.38169755e-01 9.40861555e-01 -2.05122269e-02 8.17057388e+00] [ 5.96560305e-02 3.20799803e-04 9.98218941e-01 2.20590426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.01804094199999 meters 0.02214972213010396 Centerline is valid? [True, True] Translation: X:49.72, Y:8.18, Z:2.21 [[ 9.38896529e-01 -3.39664454e-01 -5.56899076e-02 4.97220348e+01] [ 3.39050878e-01 9.40546639e-01 -2.04088803e-02 8.18108238e+00] [ 5.93111266e-02 2.80114874e-04 9.98239506e-01 2.20614347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.04804094199999 meters 0.020253187323167245 Centerline is valid? [True, True] Translation: X:49.75, Y:8.19, Z:2.21 [[ 9.38692800e-01 -3.40163532e-01 -5.60767252e-02 4.97481056e+01] [ 3.39541232e-01 9.40366259e-01 -2.05682201e-02 8.19109558e+00] [ 5.97292187e-02 2.66879763e-04 9.98214581e-01 2.20991084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.078040941999994 meters 0.020235949579866554 Centerline is valid? [True, True] Translation: X:49.77, Y:8.20, Z:2.21 [[ 9.37622305e-01 -3.43075078e-01 -5.62485838e-02 4.97744533e+01] [ 3.42453133e-01 9.39307980e-01 -2.06487408e-02 8.19912180e+00] [ 5.99188120e-02 9.82162115e-05 9.98203249e-01 2.21215965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.108040941999995 meters 0.020230626211005336 Centerline is valid? [True, True] Translation: X:49.80, Y:8.21, Z:2.21 [[ 9.37023962e-01 -3.44740055e-01 -5.60391757e-02 4.97998095e+01] [ 3.44124829e-01 9.38698191e-01 -2.05865909e-02 8.20703408e+00] [ 5.97008954e-02 5.65725214e-06 9.98216311e-01 2.21413762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.138040941999996 meters 0.020462940832825016 Centerline is valid? [True, True] Translation: X:49.83, Y:8.21, Z:2.22 [[ 9.35828054e-01 -3.47945199e-01 -5.62138020e-02 4.98267581e+01] [ 3.47331307e-01 9.37514854e-01 -2.06606039e-02 8.21469856e+00] [ 5.98900323e-02 -1.90040562e-04 9.98204963e-01 2.21721691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.168040942 meters 0.02074578296264741 Centerline is valid? [True, True] Translation: X:49.85, Y:8.22, Z:2.22 [[ 9.35331473e-01 -3.49296543e-01 -5.60977755e-02 4.98522529e+01] [ 3.48686690e-01 9.37012197e-01 -2.06333609e-02 8.22318843e+00] [ 5.97714615e-02 -2.61515783e-04 9.98212054e-01 2.21865312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.19804094199999 meters 0.02226767684469561 Centerline is valid? [True, True] Translation: X:49.88, Y:8.23, Z:2.22 [[ 9.34809801e-01 -3.50723760e-01 -5.58880989e-02 4.98787828e+01] [ 3.50120252e-01 9.36478899e-01 -2.05689223e-02 8.23316894e+00] [ 5.95520351e-02 -3.39525094e-04 9.98225145e-01 2.21867015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.22804094199999 meters 0.021096645927511027 Centerline is valid? [True, True] Translation: X:49.90, Y:8.24, Z:2.22 [[ 9.34604209e-01 -3.51310918e-01 -5.56382107e-02 4.99048645e+01] [ 3.50712831e-01 9.36258783e-01 -2.04939173e-02 8.24432276e+00] [ 5.92915004e-02 -3.59333023e-04 9.98240647e-01 2.22455481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.258040941999994 meters 0.02352261639232621 Centerline is valid? [True, True] Translation: X:49.93, Y:8.25, Z:2.22 [[ 9.34414179e-01 -3.51897346e-01 -5.51216820e-02 4.99296056e+01] [ 3.51310428e-01 9.36038522e-01 -2.03191673e-02 8.25487789e+00] [ 5.87462788e-02 -3.78303609e-04 9.98272874e-01 2.22118031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.288040941999995 meters 0.02051998878358243 Centerline is valid? [True, True] Translation: X:49.96, Y:8.27, Z:2.23 [[ 9.34706107e-01 -3.51024126e-01 -5.57364888e-02 4.99558431e+01] [ 3.50421853e-01 9.36366361e-01 -2.05563357e-02 8.26531627e+00] [ 5.94055430e-02 -3.17151133e-04 9.98233881e-01 2.22845144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.318040941999996 meters 0.0233132182518247 Centerline is valid? [True, True] Translation: X:49.98, Y:8.27, Z:2.23 [[ 9.34474326e-01 -3.51673436e-01 -5.55295241e-02 4.99808757e+01] [ 3.51075864e-01 9.36122683e-01 -2.04953722e-02 8.27497337e+00] [ 5.91901251e-02 -3.42676513e-04 9.98246669e-01 2.22604350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.348040942 meters 0.023442674431737996 Centerline is valid? [True, True] Translation: X:50.01, Y:8.29, Z:2.23 [[ 9.34654783e-01 -3.51052994e-01 -5.64112705e-02 5.00081225e+01] [ 3.50434543e-01 9.36355545e-01 -2.08308673e-02 8.28547943e+00] [ 6.01337442e-02 -2.98787968e-04 9.98190284e-01 2.22758381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.378040942 meters 0.020541095819477186 Centerline is valid? [True, True] Translation: X:50.03, Y:8.29, Z:2.23 [[ 9.34980813e-01 -3.50078312e-01 -5.70618452e-02 5.00343086e+01] [ 3.49442664e-01 9.36720410e-01 -2.10878790e-02 8.29479982e+00] [ 6.08334041e-02 -2.23080909e-04 9.98147908e-01 2.23325067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.40804094199999 meters 0.020957708969532383 Centerline is valid? [True, True] Translation: X:50.06, Y:8.30, Z:2.23 [[ 9.35006782e-01 -3.49958233e-01 -5.73720641e-02 5.00610563e+01] [ 3.49314287e-01 9.36765283e-01 -2.12210484e-02 8.30471260e+00] [ 6.11706385e-02 -1.99057474e-04 9.98127303e-01 2.23410772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.43804094199999 meters 0.02056723222117477 Centerline is valid? [True, True] Translation: X:50.09, Y:8.31, Z:2.24 [[ 9.35352111e-01 -3.49021947e-01 -5.74465720e-02 5.00876637e+01] [ 3.48373427e-01 9.37114543e-01 -2.12670834e-02 8.31455658e+00] [ 6.12566969e-02 -1.20647819e-04 9.98122038e-01 2.23651524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.468040941999995 meters 0.02221818943749407 Centerline is valid? [True, True] Translation: X:50.11, Y:8.33, Z:2.24 [[ 9.35241193e-01 -3.49244448e-01 -5.78984235e-02 5.01140696e+01] [ 3.48585159e-01 9.37031644e-01 -2.14496198e-02 8.32503442e+00] [ 6.17438156e-02 -1.21963092e-04 9.98092023e-01 2.23544481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.498040941999996 meters 0.020880932116992674 Centerline is valid? [True, True] Translation: X:50.14, Y:8.33, Z:2.24 [[ 9.35512034e-01 -3.48522229e-01 -5.78747785e-02 5.01407114e+01] [ 3.47861520e-01 9.37300513e-01 -2.14502063e-02 8.33487273e+00] [ 6.17219333e-02 -6.54823647e-05 9.98093382e-01 2.23900419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.528040942 meters 0.022528630315510712 Centerline is valid? [True, True] Translation: X:50.17, Y:8.35, Z:2.24 [[ 9.35423960e-01 -3.48633795e-01 -5.86216035e-02 5.01673037e+01] [ 3.47954986e-01 9.37259022e-01 -2.17452202e-02 8.34543519e+00] [ 6.25247454e-02 -5.66792005e-05 9.98043412e-01 2.23811631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.558040942 meters 0.020640461756711217 Centerline is valid? [True, True] Translation: X:50.19, Y:8.35, Z:2.24 [[ 9.35732323e-01 -3.47812870e-01 -5.85766809e-02 5.01939005e+01] [ 3.47132432e-01 9.37563975e-01 -2.17455130e-02 8.35440638e+00] [ 6.24827551e-02 1.41136540e-05 9.98046044e-01 2.24234758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.58804094199999 meters 0.02061668039533816 Centerline is valid? [True, True] Translation: X:50.22, Y:8.36, Z:2.24 [[ 9.35619023e-01 -3.47949723e-01 -5.95653841e-02 5.02216465e+01] [ 3.47245202e-01 9.37513194e-01 -2.21309753e-02 8.36291064e+00] [ 6.35438002e-02 2.23676565e-05 9.97979050e-01 2.24453597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.61804094199999 meters 0.020721177128951298 Centerline is valid? [True, True] Translation: X:50.25, Y:8.37, Z:2.25 [[ 9.35392237e-01 -3.48453211e-01 -6.01807605e-02 5.02479661e+01] [ 3.47734219e-01 9.37326176e-01 -2.23730380e-02 8.37173256e+00] [ 6.42049590e-02 6.56300044e-07 9.97936733e-01 2.24578535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.648040941999994 meters 0.020788313912679376 Centerline is valid? [True, True] Translation: X:50.28, Y:8.38, Z:2.25 [[ 9.35181310e-01 -3.48938576e-01 -6.06447711e-02 5.02753609e+01] [ 3.48208860e-01 9.37145597e-01 -2.25548195e-02 8.38128866e+00] [ 6.47032268e-02 -2.42009994e-05 9.97904550e-01 2.24722850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.678040941999996 meters 0.02178412460759443 Centerline is valid? [True, True] Translation: X:50.30, Y:8.39, Z:2.25 [[ 9.35022565e-01 -3.49222680e-01 -6.14517946e-02 5.03017835e+01] [ 3.48473119e-01 9.37039764e-01 -2.28684660e-02 8.39158996e+00] [ 6.55689621e-02 -3.17668006e-05 9.97848040e-01 2.24736078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.708040942 meters 0.02097422365404207 Centerline is valid? [True, True] Translation: X:50.33, Y:8.40, Z:2.25 [[ 9.35062757e-01 -3.49088996e-01 -6.15996200e-02 5.03280929e+01] [ 3.48335131e-01 9.37089576e-01 -2.29295380e-02 8.40130807e+00] [ 6.57288112e-02 -1.67546704e-05 9.97837523e-01 2.24906658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.738040942 meters 0.021036396345130763 Centerline is valid? [True, True] Translation: X:50.35, Y:8.41, Z:2.25 [[ 9.34899172e-01 -3.49444164e-01 -6.20670117e-02 5.03539827e+01] [ 3.48679120e-01 9.36957190e-01 -2.31105223e-02 8.41057532e+00] [ 6.62299700e-02 -3.54628050e-05 9.97804385e-01 2.25003312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.76804094199999 meters 0.02120330782588181 Centerline is valid? [True, True] Translation: X:50.38, Y:8.42, Z:2.25 [[ 9.34316610e-01 -3.50767840e-01 -6.33592465e-02 5.03816053e+01] [ 3.49972801e-01 9.36462443e-01 -2.36036115e-02 8.41827398e+00] [ 6.76129426e-02 -1.20766637e-04 9.97711619e-01 2.25229450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.79804094199999 meters 0.02152387645311565 Centerline is valid? [True, True] Translation: X:50.41, Y:8.43, Z:2.25 [[ 9.34032122e-01 -3.51427598e-01 -6.38955190e-02 5.04082548e+01] [ 3.50619646e-01 9.36215049e-01 -2.38169119e-02 8.42613780e+00] [ 6.81898666e-02 -1.57263529e-04 9.97672350e-01 2.25259902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.828040941999994 meters 0.021719198921245634 Centerline is valid? [True, True] Translation: X:50.44, Y:8.43, Z:2.25 [[ 9.33535877e-01 -3.52667194e-01 -6.43165289e-02 5.04354467e+01] [ 3.51850802e-01 9.35748787e-01 -2.39837589e-02 8.43458595e+00] [ 6.86423989e-02 -2.40122890e-04 9.97641300e-01 2.25398051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.858040941999995 meters 0.021399335584142472 Centerline is valid? [True, True] Translation: X:50.46, Y:8.44, Z:2.26 [[ 9.32694105e-01 -3.54882655e-01 -6.43428931e-02 5.04629852e+01] [ 3.54069669e-01 9.34910772e-01 -2.40107971e-02 8.44393629e+00] [ 6.86758793e-02 -3.87137969e-04 9.97638950e-01 2.25963634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.888040941999996 meters 0.021972160948348366 Centerline is valid? [True, True] Translation: X:50.49, Y:8.45, Z:2.26 [[ 9.32319169e-01 -3.55802795e-01 -6.46941860e-02 5.04895899e+01] [ 3.54982140e-01 9.34560952e-01 -2.41558847e-02 8.45245579e+00] [ 6.90553914e-02 -4.44286219e-04 9.97612728e-01 2.25876872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.918040942 meters 0.022355483541982066 Centerline is valid? [True, True] Translation: X:50.52, Y:8.46, Z:2.26 [[ 9.31834841e-01 -3.57029076e-01 -6.49158497e-02 5.05157184e+01] [ 3.56205313e-01 9.34093120e-01 -2.42449630e-02 8.46079166e+00] [ 6.92936053e-02 -5.31069280e-04 9.97596168e-01 2.25962594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.94804094199999 meters 0.02196961550140178 Centerline is valid? [True, True] Translation: X:50.54, Y:8.47, Z:2.26 [[ 9.31342768e-01 -3.58344731e-01 -6.47279134e-02 5.05418444e+01] [ 3.57528141e-01 9.33589135e-01 -2.41858396e-02 8.46995164e+00] [ 6.90961448e-02 -6.16743759e-04 9.97609815e-01 2.26387644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.97804094199999 meters 0.023338170919140803 Centerline is valid? [True, True] Translation: X:50.57, Y:8.48, Z:2.26 [[ 9.30269598e-01 -3.61154436e-01 -6.45441618e-02 5.05693778e+01] [ 3.60348182e-01 9.32505667e-01 -2.41323219e-02 8.47549440e+00] [ 6.89032918e-02 -8.08805952e-04 9.97623016e-01 2.26361875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.008040941999994 meters 0.022538119204371813 Centerline is valid? [True, True] Translation: X:50.60, Y:8.49, Z:2.27 [[ 9.29613563e-01 -3.62892482e-01 -6.42469451e-02 5.05964480e+01] [ 3.62097085e-01 9.31830560e-01 -2.40313869e-02 8.48637089e+00] [ 6.85880765e-02 -9.23728307e-04 9.97644637e-01 2.26914027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.038040941999995 meters 0.023361085208591037 Centerline is valid? [True, True] Translation: X:50.62, Y:8.49, Z:2.27 [[ 9.28601891e-01 -3.65426607e-01 -6.45129677e-02 5.06230834e+01] [ 3.64629757e-01 9.30839502e-01 -2.41445936e-02 8.49412201e+00] [ 6.88742957e-02 -1.10263249e-03 9.97624737e-01 2.27101579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.068040941999996 meters 0.023659808146018636 Centerline is valid? [True, True] Translation: X:50.65, Y:8.50, Z:2.27 [[ 9.28154084e-01 -3.66561248e-01 -6.45201304e-02 5.06500547e+01] [ 3.65766254e-01 9.30393178e-01 -2.41574558e-02 8.50368561e+00] [ 6.88842763e-02 -1.17744518e-03 9.97623962e-01 2.27252388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.098040942 meters 0.023764357261864964 Centerline is valid? [True, True] Translation: X:50.68, Y:8.51, Z:2.27 [[ 9.27879637e-01 -3.67355390e-01 -6.39483892e-02 5.06768977e+01] [ 3.66575093e-01 9.30079866e-01 -2.39613147e-02 8.51330177e+00] [ 6.82794273e-02 -1.20867070e-03 9.97665505e-01 2.27423847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.128040942 meters 0.02442974994482279 Centerline is valid? [True, True] Translation: X:50.70, Y:8.52, Z:2.28 [[ 9.27451183e-01 -3.68548187e-01 -6.32972138e-02 5.07026811e+01] [ 3.67785493e-01 9.29607779e-01 -2.37320196e-02 8.52265606e+00] [ 6.75879751e-02 -1.26950737e-03 9.97712511e-01 2.27585616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.15804094199999 meters 0.024527257069037738 Centerline is valid? [True, True] Translation: X:50.73, Y:8.53, Z:2.28 [[ 9.27227249e-01 -3.69130316e-01 -6.31857419e-02 5.07284779e+01] [ 3.68370952e-01 9.29376738e-01 -2.37006594e-02 8.53300000e+00] [ 6.74719906e-02 -1.29989475e-03 9.97720322e-01 2.27743675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.18804094199999 meters 0.023959309254492255 Centerline is valid? [True, True] Translation: X:50.75, Y:8.54, Z:2.28 [[ 9.27032342e-01 -3.69588853e-01 -6.33649425e-02 5.07545772e+01] [ 3.68824987e-01 9.29194456e-01 -2.37863706e-02 8.54455923e+00] [ 6.76695307e-02 -1.31983924e-03 9.97706917e-01 2.28008731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.218040941999995 meters 0.024275892671546742 Centerline is valid? [True, True] Translation: X:50.78, Y:8.55, Z:2.28 [[ 9.26775006e-01 -3.70308736e-01 -6.29247900e-02 5.07802946e+01] [ 3.69556216e-01 9.28907755e-01 -2.36344332e-02 8.55432764e+00] [ 6.72033625e-02 -1.35044532e-03 9.97738385e-01 2.28150194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.248040941999996 meters 0.023235097715653037 Centerline is valid? [True, True] Translation: X:50.81, Y:8.57, Z:2.29 [[ 9.26533195e-01 -3.70910092e-01 -6.29439651e-02 5.08066536e+01] [ 3.70157822e-01 9.28667747e-01 -2.36516817e-02 8.56688035e+00] [ 6.72266778e-02 -1.38513284e-03 9.97736766e-01 2.28556110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.278040942 meters 0.023381084084090304 Centerline is valid? [True, True] Translation: X:50.83, Y:8.58, Z:2.29 [[ 9.26402396e-01 -3.71169068e-01 -6.33413285e-02 5.08335359e+01] [ 3.70406641e-01 9.28564254e-01 -2.38190397e-02 8.57756853e+00] [ 6.76573842e-02 -1.39603328e-03 9.97707637e-01 2.28699690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.308040942 meters 0.023741183667954323 Centerline is valid? [True, True] Translation: X:50.86, Y:8.59, Z:2.29 [[ 9.26133093e-01 -3.71922232e-01 -6.28597496e-02 5.08582147e+01] [ 3.71172107e-01 9.28262796e-01 -2.36526569e-02 8.58772818e+00] [ 6.71473159e-02 -1.42627745e-03 9.97742053e-01 2.28762858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.33804094199999 meters 0.023521033810419704 Centerline is valid? [True, True] Translation: X:50.88, Y:8.60, Z:2.29 [[ 9.25974542e-01 -3.72331358e-01 -6.27734613e-02 5.08842524e+01] [ 3.71583380e-01 9.28098745e-01 -2.36328389e-02 8.59954911e+00] [ 6.70592177e-02 -1.44216779e-03 9.97747955e-01 2.28938490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.36804094199999 meters 0.02359215841972997 Centerline is valid? [True, True] Translation: X:50.91, Y:8.61, Z:2.29 [[ 9.25948575e-01 -3.72484953e-01 -6.22430368e-02 5.09095582e+01] [ 3.71748898e-01 9.28037135e-01 -2.34485052e-02 8.61173051e+00] [ 6.64980649e-02 -1.42667037e-03 9.97785534e-01 2.29042422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.398040941999994 meters 0.02351099621894555 Centerline is valid? [True, True] Translation: X:50.94, Y:8.62, Z:2.29 [[ 9.25866918e-01 -3.72757588e-01 -6.18241987e-02 5.09357034e+01] [ 3.72031322e-01 9.27927662e-01 -2.33012886e-02 8.62284820e+00] [ 6.60541162e-02 -1.42664609e-03 9.97815022e-01 2.29204169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.428040941999996 meters 0.02351099621894555 Centerline is valid? [True, True] Translation: X:50.96, Y:8.63, Z:2.29 [[ 9.25762685e-01 -3.73017461e-01 -6.18176723e-02 5.09614709e+01] [ 3.72290619e-01 9.27823226e-01 -2.33185926e-02 8.63266273e+00] [ 6.60541143e-02 -1.42665658e-03 9.97815022e-01 2.29326558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.458040942 meters 0.023168353770754962 Centerline is valid? [True, True] Translation: X:50.99, Y:8.64, Z:2.30 [[ 9.25716258e-01 -3.73233042e-01 -6.12087093e-02 5.09881325e+01] [ 3.72519706e-01 9.27736551e-01 -2.31075961e-02 8.64370176e+00] [ 6.54100752e-02 -1.41037295e-03 9.97857471e-01 2.29533094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.488040942 meters 0.023336416089746157 Centerline is valid? [True, True] Translation: X:51.01, Y:8.65, Z:2.30 [[ 9.25877354e-01 -3.73010050e-01 -6.01217683e-02 5.10142885e+01] [ 3.72320516e-01 9.27826309e-01 -2.27106380e-02 8.65406968e+00] [ 6.42538546e-02 -1.35730239e-03 9.97932663e-01 2.29769519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.51804094199999 meters 0.023226558759335783 Centerline is valid? [True, True] Translation: X:51.04, Y:8.67, Z:2.30 [[ 9.25984989e-01 -3.72803886e-01 -5.97416324e-02 5.10411035e+01] [ 3.72122038e-01 9.27909211e-01 -2.25761888e-02 8.66577685e+00] [ 6.38513019e-02 -1.32596611e-03 9.97958543e-01 2.29925469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.54804094199999 meters 0.023181872112262584 Centerline is valid? [True, True] Translation: X:51.07, Y:8.68, Z:2.30 [[ 9.26292420e-01 -3.72197661e-01 -5.87473738e-02 5.10661075e+01] [ 3.71536302e-01 9.28152648e-01 -2.22134776e-02 8.67724363e+00] [ 6.27943349e-02 -1.25060608e-03 9.98025705e-01 2.29990067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.578040941999994 meters 0.02273534979848126 Centerline is valid? [True, True] Translation: X:51.09, Y:8.69, Z:2.30 [[ 9.26851336e-01 -3.70909465e-01 -5.80755480e-02 5.10921794e+01] [ 3.70260123e-01 9.28668328e-01 -2.19676500e-02 8.69132887e+00] [ 6.20809314e-02 -1.14231376e-03 9.98070465e-01 2.30107694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.608040941999995 meters 0.02249887838031279 Centerline is valid? [True, True] Translation: X:51.12, Y:8.70, Z:2.30 [[ 9.27007450e-01 -3.70585700e-01 -5.76491707e-02 5.11186743e+01] [ 3.69944321e-01 9.28797627e-01 -2.18212542e-02 8.70330179e+00] [ 6.16310578e-02 -1.09851808e-03 9.98098395e-01 2.30261249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.638040941999996 meters 0.0225398407620731 Centerline is valid? [True, True] Translation: X:51.14, Y:8.71, Z:2.30 [[ 9.27272175e-01 -3.69972413e-01 -5.73299882e-02 5.11440018e+01] [ 3.69336158e-01 9.29042159e-01 -2.17133610e-02 8.71373354e+00] [ 6.12953205e-02 -1.03984205e-03 9.98119132e-01 2.30354802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.668040942 meters 0.022281564081911162 Centerline is valid? [True, True] Translation: X:51.17, Y:8.73, Z:2.31 [[ 9.27384486e-01 -3.69866704e-01 -5.61839553e-02 5.11700905e+01] [ 3.69254980e-01 9.29084287e-01 -2.12872750e-02 8.72576634e+00] [ 6.00730843e-02 -1.00471669e-03 9.98193476e-01 2.30585775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.69804094199999 meters 0.022098098717559227 Centerline is valid? [True, True] Translation: X:51.20, Y:8.74, Z:2.31 [[ 9.27378887e-01 -3.69943017e-01 -5.57724262e-02 5.11959414e+01] [ 3.69339421e-01 9.29053921e-01 -2.11471790e-02 8.73705336e+00] [ 5.96388425e-02 -9.87508262e-04 9.98219532e-01 2.30775421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.72804094199999 meters 0.022513233978355682 Centerline is valid? [True, True] Translation: X:51.22, Y:8.75, Z:2.31 [[ 9.27613509e-01 -3.69486621e-01 -5.48891199e-02 5.12218999e+01] [ 3.68900369e-01 9.29235585e-01 -2.08265441e-02 8.74757378e+00] [ 5.87000528e-02 -9.29632906e-04 9.98275232e-01 2.30762391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.758040941999994 meters 0.021743385364572876 Centerline is valid? [True, True] Translation: X:51.25, Y:8.76, Z:2.31 [[ 9.27680166e-01 -3.69559879e-01 -5.32447773e-02 5.12471566e+01] [ 3.69007960e-01 9.29206482e-01 -2.02098579e-02 8.76295086e+00] [ 5.69441448e-02 -8.99462296e-04 9.98376961e-01 2.30976259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.788040941999995 meters 0.021515042696599797 Centerline is valid? [True, True] Translation: X:51.27, Y:8.77, Z:2.31 [[ 9.27653833e-01 -3.69792234e-01 -5.20775375e-02 5.12732206e+01] [ 3.69263828e-01 9.29114056e-01 -1.97812186e-02 8.77463626e+00] [ 5.57009131e-02 -8.80227621e-04 9.98447111e-01 2.31171109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.818040941999996 meters 0.021602995848994506 Centerline is valid? [True, True] Translation: X:51.30, Y:8.79, Z:2.31 [[ 9.27637483e-01 -3.70003612e-01 -5.08529867e-02 5.13001708e+01] [ 3.69499326e-01 9.29029919e-01 -1.93302462e-02 8.78572836e+00] [ 5.43962071e-02 -8.58683350e-04 9.98519061e-01 2.31327441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.848040942 meters 0.0216501123936906 Centerline is valid? [True, True] Translation: X:51.33, Y:8.80, Z:2.31 [[ 9.27578938e-01 -3.70277797e-01 -4.99166056e-02 5.13260302e+01] [ 3.69791657e-01 9.28920683e-01 -1.89866907e-02 8.79645665e+00] [ 5.33989174e-02 -8.47089873e-04 9.98572901e-01 2.31431659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.878040942 meters 0.021721573095418844 Centerline is valid? [True, True] Translation: X:51.35, Y:8.81, Z:2.32 [[ 9.27261504e-01 -3.71172624e-01 -4.91628594e-02 5.13518109e+01] [ 3.70701978e-01 9.28563466e-01 -1.87064955e-02 8.80794310e+00] [ 5.25941741e-02 -8.78956054e-04 9.98615582e-01 2.31547213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.90804094199999 meters 0.02177503176553564 Centerline is valid? [True, True] Translation: X:51.38, Y:8.82, Z:2.32 [[ 9.26889881e-01 -3.72221043e-01 -4.82352976e-02 5.13778077e+01] [ 3.71768637e-01 9.28143671e-01 -1.83686484e-02 8.81844918e+00] [ 5.16064836e-02 -9.06656528e-04 9.98667086e-01 2.31668293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.93804094199999 meters 0.021743535088155793 Centerline is valid? [True, True] Translation: X:51.40, Y:8.83, Z:2.32 [[ 9.26396036e-01 -3.73613669e-01 -4.69383854e-02 5.14043866e+01] [ 3.73186337e-01 9.27583923e-01 -1.78891765e-02 8.83060357e+00] [ 5.02229326e-02 -9.44301964e-04 9.98737586e-01 2.31772169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.968040941999995 meters 0.021925348176204763 Centerline is valid? [True, True] Translation: X:51.43, Y:8.84, Z:2.32 [[ 9.26272245e-01 -3.74012945e-01 -4.61957332e-02 5.14297245e+01] [ 3.73598926e-01 9.27423008e-01 -1.76183743e-02 8.84049213e+00] [ 4.94324858e-02 -9.39265217e-04 9.98777026e-01 2.31830602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.998040941999996 meters 0.021788905223106527 Centerline is valid? [True, True] Translation: X:51.46, Y:8.85, Z:2.32 [[ 9.25997110e-01 -3.74735952e-01 -4.58510483e-02 5.14561093e+01] [ 3.74328634e-01 9.27131079e-01 -1.74939051e-02 8.85165418e+00] [ 4.90655270e-02 -9.64054682e-04 9.98795096e-01 2.31918833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.028040942 meters 0.02166073210486569 Centerline is valid? [True, True] Translation: X:51.48, Y:8.86, Z:2.32 [[ 9.25706203e-01 -3.75474722e-01 -4.56810670e-02 5.14827295e+01] [ 3.75070689e-01 9.26832109e-01 -1.74419074e-02 8.86407730e+00] [ 4.88876750e-02 -9.87547462e-04 9.98803795e-01 2.31920782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.058040942 meters 0.02153706859034845 Centerline is valid? [True, True] Translation: X:51.51, Y:8.88, Z:2.32 [[ 9.25608152e-01 -3.75751137e-01 -4.53941809e-02 5.15083233e+01] [ 3.75351869e-01 9.26720084e-01 -1.73452976e-02 8.87521199e+00] [ 4.85852145e-02 -9.83841784e-04 9.98818557e-01 2.31997368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.08804094199999 meters 0.021892771126051605 Centerline is valid? [True, True] Translation: X:51.53, Y:8.88, Z:2.32 [[ 9.25525097e-01 -3.75974776e-01 -4.52356362e-02 5.15340564e+01] [ 3.75577884e-01 9.26629381e-01 -1.72986710e-02 8.88475965e+00] [ 4.84205336e-02 -9.79150350e-04 9.98826558e-01 2.32069075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.11804094199999 meters 0.021573444165921333 Centerline is valid? [True, True] Translation: X:51.56, Y:8.90, Z:2.32 [[ 9.25266655e-01 -3.76650685e-01 -4.48985426e-02 5.15592396e+01] [ 3.76260153e-01 9.26354824e-01 -1.71766417e-02 8.89710712e+00] [ 4.80615754e-02 -1.00055866e-03 9.98843874e-01 2.32251656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.148040941999994 meters 0.021545864650467348 Centerline is valid? [True, True] Translation: X:51.59, Y:8.91, Z:2.32 [[ 9.25017593e-01 -3.77347383e-01 -4.41747195e-02 5.15853036e+01] [ 3.76969475e-01 9.26071239e-01 -1.69137899e-02 8.90839003e+00] [ 4.72913115e-02 -1.00696760e-03 9.98880632e-01 2.32355587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.178040941999996 meters 0.02182082532090595 Centerline is valid? [True, True] Translation: X:51.61, Y:8.92, Z:2.32 [[ 9.24861037e-01 -3.77759444e-01 -4.39302254e-02 5.16103936e+01] [ 3.77385537e-01 9.25903225e-01 -1.68337200e-02 8.92125970e+00] [ 4.70342341e-02 -1.00977994e-03 9.98892768e-01 2.32352204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.208040942 meters 0.021736284206924784 Centerline is valid? [True, True] Translation: X:51.64, Y:8.93, Z:2.32 [[ 9.24585977e-01 -3.78453513e-01 -4.37459752e-02 5.16368866e+01] [ 3.78083291e-01 9.25619719e-01 -1.67678509e-02 8.93340666e+00] [ 4.68379894e-02 -1.03630250e-03 9.98901962e-01 2.32426389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.238040942 meters 0.02171664761160015 Centerline is valid? [True, True] Translation: X:51.66, Y:8.94, Z:2.33 [[ 9.24298665e-01 -3.79177416e-01 -4.35484122e-02 5.16630321e+01] [ 3.78810768e-01 9.25323387e-01 -1.67042468e-02 8.94494297e+00] [ 4.66302374e-02 -1.05689443e-03 9.98911660e-01 2.32516087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.26804094199999 meters 0.02223374689344506 Centerline is valid? [True, True] Translation: X:51.69, Y:8.96, Z:2.33 [[ 9.23985269e-01 -3.80021049e-01 -4.28395252e-02 5.16879899e+01] [ 3.79666619e-01 9.24977219e-01 -1.64439276e-02 8.95627695e+00] [ 4.58746236e-02 -1.07079078e-03 9.98946631e-01 2.32634581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.29804094199999 meters 0.02212003472951998 Centerline is valid? [True, True] Translation: X:51.71, Y:8.97, Z:2.33 [[ 9.23894338e-01 -3.80268397e-01 -4.26051358e-02 5.17134730e+01] [ 3.79917860e-01 9.24875557e-01 -1.63591981e-02 8.96787558e+00] [ 4.56253347e-02 -1.07228154e-03 9.98958047e-01 2.32777206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.328040941999994 meters 0.02225108362293832 Centerline is valid? [True, True] Translation: X:51.74, Y:8.98, Z:2.33 [[ 9.23859067e-01 -3.80383188e-01 -4.23444692e-02 5.17391435e+01] [ 3.80036447e-01 9.24828367e-01 -1.62723802e-02 8.97944668e+00] [ 4.53511062e-02 -1.05905565e-03 9.98970548e-01 2.32908530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.358040941999995 meters 0.02218015106222845 Centerline is valid? [True, True] Translation: X:51.76, Y:8.99, Z:2.33 [[ 9.24368061e-01 -3.79187464e-01 -4.19589760e-02 5.17634220e+01] [ 3.78845198e-01 9.25319355e-01 -1.61371576e-02 8.99327990e+00] [ 4.49444604e-02 -9.79283464e-04 9.98989007e-01 2.32972645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.388040941999996 meters 0.020607945391973824 Centerline is valid? [True, True] Translation: X:51.79, Y:9.01, Z:2.33 [[ 9.24743239e-01 -3.78232180e-01 -4.23126389e-02 5.17880395e+01] [ 3.77882924e-01 9.25710290e-01 -1.62774579e-02 9.00890951e+00] [ 4.53259036e-02 -9.36754541e-04 9.98971814e-01 2.33105525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.418040942 meters 0.020566306930820656 Centerline is valid? [True, True] Translation: X:51.81, Y:9.02, Z:2.33 [[ 9.25168530e-01 -3.77215235e-01 -4.20934285e-02 5.18136630e+01] [ 3.76867988e-01 9.26125212e-01 -1.62053132e-02 9.02064414e+00] [ 4.50966764e-02 -8.71019932e-04 9.98982248e-01 2.33216286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.44804094199999 meters 0.020189324972560926 Centerline is valid? [True, True] Translation: X:51.84, Y:9.03, Z:2.33 [[ 9.26171826e-01 -3.74812312e-01 -4.14907043e-02 5.18385493e+01] [ 3.74472342e-01 9.27100417e-01 -1.59775139e-02 9.03463600e+00] [ 4.44546182e-02 -7.39197967e-04 9.99011131e-01 2.33407748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.47804094199999 meters 0.019682768601343274 Centerline is valid? [True, True] Translation: X:51.86, Y:9.05, Z:2.34 [[ 9.26747927e-01 -3.73523727e-01 -4.02281573e-02 5.18642363e+01] [ 3.73202447e-01 9.27620401e-01 -1.55024313e-02 9.04794857e+00] [ 4.31069853e-02 -6.46400633e-04 9.99070253e-01 2.33564546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.508040941999994 meters 0.019684439107515807 Centerline is valid? [True, True] Translation: X:51.89, Y:9.06, Z:2.34 [[ 9.27151612e-01 -3.72496928e-01 -4.04465886e-02 5.18892668e+01] [ 3.72170653e-01 9.28033237e-01 -1.55985587e-02 9.05923096e+00] [ 4.33461937e-02 -5.90804457e-04 9.99059937e-01 2.33681103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.538040941999995 meters 0.019074588484778946 Centerline is valid? [True, True] Translation: X:51.91, Y:9.07, Z:2.34 [[ 9.28164300e-01 -3.69997311e-01 -4.01624475e-02 5.19142737e+01] [ 3.69673100e-01 9.29032708e-01 -1.54928013e-02 9.07402585e+00] [ 4.30445221e-02 -4.67111357e-04 9.99073046e-01 2.33756337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.568040941999996 meters 0.0188401194252632 Centerline is valid? [True, True] Translation: X:51.94, Y:9.09, Z:2.34 [[ 9.28679108e-01 -3.68662318e-01 -4.05365251e-02 5.19391414e+01] [ 3.68330246e-01 9.29563305e-01 -1.56490367e-02 9.08570114e+00] [ 4.34504764e-02 -3.97894786e-04 9.99055503e-01 2.33829538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.598040942 meters 0.018454590691351323 Centerline is valid? [True, True] Translation: X:51.96, Y:9.10, Z:2.34 [[ 9.29631660e-01 -3.66313603e-01 -3.99915171e-02 5.19642267e+01] [ 3.65988071e-01 9.30491411e-01 -1.54423669e-02 9.09982621e+00] [ 4.28685122e-02 -2.80705051e-04 9.99080683e-01 2.33859493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.62804094199999 meters 0.018291427458095963 Centerline is valid? [True, True] Translation: X:51.99, Y:9.11, Z:2.34 [[ 9.30019144e-01 -3.65342198e-01 -3.98681521e-02 5.19897864e+01] [ 3.65017301e-01 9.30873261e-01 -1.54059305e-02 9.11101051e+00] [ 4.27406333e-02 -2.24754954e-04 9.99086176e-01 2.33979224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.65804094199999 meters 0.018225731095349477 Centerline is valid? [True, True] Translation: X:52.02, Y:9.12, Z:2.34 [[ 9.30285246e-01 -3.64696343e-01 -3.95719424e-02 5.20151151e+01] [ 3.64375134e-01 9.31126492e-01 -1.53041432e-02 9.12193209e+00] [ 4.24278490e-02 -1.81813200e-04 9.99099517e-01 2.34170335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.68804094199999 meters 0.01815872989464557 Centerline is valid? [True, True] Translation: X:52.04, Y:9.13, Z:2.34 [[ 9.30705262e-01 -3.63708462e-01 -3.87797654e-02 5.20406477e+01] [ 3.63398614e-01 9.31512823e-01 -1.50102376e-02 9.13305543e+00] [ 4.15831992e-02 -1.22405872e-04 9.99135037e-01 2.34383441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.718040941999995 meters 0.01798359588463879 Centerline is valid? [True, True] Translation: X:52.07, Y:9.15, Z:2.34 [[ 9.31127431e-01 -3.62641305e-01 -3.86392361e-02 5.20651960e+01] [ 3.62332237e-01 9.31928796e-01 -1.49689787e-02 9.14535331e+00] [ 4.14373868e-02 -6.22141486e-05 9.99141101e-01 2.34491920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.748040941999996 meters 0.017990570903442752 Centerline is valid? [True, True] Translation: X:52.09, Y:9.16, Z:2.35 [[ 9.31297348e-01 -3.62212721e-01 -3.85641585e-02 5.20904731e+01] [ 3.61904281e-01 9.32095458e-01 -1.49448212e-02 9.15664037e+00] [ 4.13586813e-02 -3.84617513e-05 9.99144363e-01 2.34574422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.778040942 meters 0.018071795536038333 Centerline is valid? [True, True] Translation: X:52.12, Y:9.17, Z:2.35 [[ 9.31291439e-01 -3.62182706e-01 -3.89864380e-02 5.21157060e+01] [ 3.61866895e-01 9.32107122e-01 -1.51216168e-02 9.16758065e+00] [ 4.18163246e-02 -2.52690356e-05 9.99125315e-01 2.34659944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.808040942 meters 0.017992064353289892 Centerline is valid? [True, True] Translation: X:52.14, Y:9.18, Z:2.35 [[ 9.31539595e-01 -3.61603644e-01 -3.84290054e-02 5.21405849e+01] [ 3.61296093e-01 9.32331918e-01 -1.49106921e-02 9.17870664e+00] [ 4.12203489e-02 5.65062389e-06 9.99150080e-01 2.34751022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.83804094199999 meters 0.018061943063690345 Centerline is valid? [True, True] Translation: X:52.17, Y:9.19, Z:2.35 [[ 9.31622704e-01 -3.61435173e-01 -3.79967535e-02 5.21664543e+01] [ 3.61134178e-01 9.32397241e-01 -1.47475380e-02 9.18905049e+00] [ 4.07583471e-02 1.72148658e-05 9.99169033e-01 2.34898365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.86804094199999 meters 0.018188989840099284 Centerline is valid? [True, True] Translation: X:52.19, Y:9.20, Z:2.35 [[ 9.31544784e-01 -3.61623196e-01 -3.81179567e-02 5.21919936e+01] [ 3.61319917e-01 9.32324334e-01 -1.48072377e-02 9.19837011e+00] [ 4.08929392e-02 2.08281178e-05 9.99163534e-01 2.35003405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.898040941999994 meters 0.018223556212073864 Centerline is valid? [True, True] Translation: X:52.22, Y:9.21, Z:2.35 [[ 9.31332092e-01 -3.62101922e-01 -3.87651073e-02 5.22187052e+01] [ 3.61788464e-01 9.32138508e-01 -1.50634911e-02 9.20792200e+00] [ 4.15889683e-02 4.34405589e-06 9.99134805e-01 2.35095808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.928040941999996 meters 0.01829330608217967 Centerline is valid? [True, True] Translation: X:52.24, Y:9.22, Z:2.35 [[ 9.31109486e-01 -3.62640643e-01 -3.90754401e-02 5.22438408e+01] [ 3.62322057e-01 9.31929055e-01 -1.51974615e-02 9.21691443e+00] [ 4.19267552e-02 -7.39327197e-06 9.99120687e-01 2.35230772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.958040942 meters 0.018378116152895203 Centerline is valid? [True, True] Translation: X:52.27, Y:9.23, Z:2.35 [[ 9.30976709e-01 -3.62972919e-01 -3.91538915e-02 5.22706942e+01] [ 3.62652983e-01 9.31799689e-01 -1.52366037e-02 9.22641700e+00] [ 4.20140584e-02 -1.43523422e-05 9.99117020e-01 2.35303494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.988040942 meters 0.018598062160318125 Centerline is valid? [True, True] Translation: X:52.30, Y:9.24, Z:2.35 [[ 9.30594921e-01 -3.63902179e-01 -3.96017247e-02 5.22961681e+01] [ 3.63575147e-01 9.31437170e-01 -1.54243317e-02 9.23510282e+00] [ 4.24994663e-02 -4.43981411e-05 9.99096489e-01 2.35310263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.01804094199999 meters 0.01865658779111259 Centerline is valid? [True, True] Translation: X:52.32, Y:9.25, Z:2.35 [[ 9.30419904e-01 -3.64341939e-01 -3.96705662e-02 5.23227248e+01] [ 3.64013797e-01 9.31265241e-01 -1.54598745e-02 9.24534829e+00] [ 4.25765001e-02 -5.64584816e-05 9.99093208e-01 2.35337877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.04804094199999 meters 0.018780235098226832 Centerline is valid? [True, True] Translation: X:52.35, Y:9.25, Z:2.35 [[ 9.29975123e-01 -3.65438698e-01 -4.00103506e-02 5.23487368e+01] [ 3.65105343e-01 9.30835404e-01 -1.56057395e-02 9.25240027e+00] [ 4.29459920e-02 -9.50432530e-05 9.99077391e-01 2.35435701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.078040941999994 meters 0.01887583578349618 Centerline is valid? [True, True] Translation: X:52.38, Y:9.26, Z:2.36 [[ 9.29697592e-01 -3.66146869e-01 -3.99857326e-02 5.23753649e+01] [ 3.65814347e-01 9.30557067e-01 -1.56015383e-02 9.26048909e+00] [ 4.29214604e-02 -1.22642038e-04 9.99078442e-01 2.35581731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.108040941999995 meters 0.018878705090061832 Centerline is valid? [True, True] Translation: X:52.40, Y:9.27, Z:2.36 [[ 9.29051413e-01 -3.67741800e-01 -4.03663256e-02 5.24024285e+01] [ 3.67403869e-01 9.29927919e-01 -1.57627234e-02 9.26785809e+00] [ 4.33343855e-02 -1.86363775e-04 9.99060607e-01 2.35683272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.138040941999996 meters 0.01890292933685431 Centerline is valid? [True, True] Translation: X:52.43, Y:9.28, Z:2.36 [[ 9.28914584e-01 -3.68091183e-01 -4.03308474e-02 5.24276677e+01] [ 3.67753596e-01 9.29789678e-01 -1.57622130e-02 9.27641270e+00] [ 4.33011372e-02 -1.90064637e-04 9.99062048e-01 2.35813473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.168040942 meters 0.018882880394304614 Centerline is valid? [True, True] Translation: X:52.45, Y:9.29, Z:2.36 [[ 9.28791133e-01 -3.68422691e-01 -4.01466402e-02 5.24540984e+01] [ 3.68088259e-01 9.29658368e-01 -1.56956200e-02 9.28586099e+00] [ 4.31052825e-02 -1.99554182e-04 9.99070515e-01 2.35953070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.19804094199999 meters 0.01884623249083598 Centerline is valid? [True, True] Translation: X:52.48, Y:9.29, Z:2.36 [[ 9.29103711e-01 -3.67531999e-01 -4.10672981e-02 5.24794754e+01] [ 3.67180573e-01 9.30010864e-01 -1.60692163e-02 9.29443024e+00] [ 4.40989846e-02 -1.49145586e-04 9.99027155e-01 2.36002063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.22804094199999 meters 0.018824820566929263 Centerline is valid? [True, True] Translation: X:52.51, Y:9.30, Z:2.36 [[ 9.29351522e-01 -3.66835543e-01 -4.16825264e-02 5.25059427e+01] [ 3.66472535e-01 9.30285801e-01 -1.63159247e-02 9.30455394e+00] [ 4.47619236e-02 -1.12271629e-04 9.98997676e-01 2.36079643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.258040941999994 meters 0.018799411214462398 Centerline is valid? [True, True] Translation: X:52.53, Y:9.31, Z:2.36 [[ 9.29827573e-01 -3.65598711e-01 -4.19316815e-02 5.25320159e+01] [ 3.65229485e-01 9.30772572e-01 -1.64268967e-02 9.31471332e+00] [ 4.50345113e-02 -4.05049010e-05 9.98985431e-01 2.36208577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.288040941999995 meters 0.01882893008511333 Centerline is valid? [True, True] Translation: X:52.56, Y:9.32, Z:2.36 [[ 9.30505929e-01 -3.63853281e-01 -4.20655026e-02 5.25573534e+01] [ 3.63479271e-01 9.31456272e-01 -1.64934215e-02 9.32488465e+00] [ 4.51833617e-02 5.72882540e-05 9.98978709e-01 2.36310239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.318040941999996 meters 0.01882893008511333 Centerline is valid? [True, True] Translation: X:52.58, Y:9.34, Z:2.36 [[ 9.30409656e-01 -3.64099634e-01 -4.20633788e-02 5.25829488e+01] [ 3.63725631e-01 9.31360002e-01 -1.64988360e-02 9.33504211e+00] [ 4.51833687e-02 5.11473476e-05 9.98978709e-01 2.36432760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.348040942 meters 0.018970545129332342 Centerline is valid? [True, True] Translation: X:52.61, Y:9.35, Z:2.37 [[ 9.31018325e-01 -3.62565701e-01 -4.18448524e-02 5.26086406e+01] [ 3.62193454e-01 9.31958204e-01 -1.64258417e-02 9.34547354e+00] [ 4.49531003e-02 1.36827991e-04 9.98989089e-01 2.36548214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.37804094199999 meters 0.019068571758939716 Centerline is valid? [True, True] Translation: X:52.64, Y:9.35, Z:2.37 [[ 9.32006504e-01 -3.59833424e-01 -4.34025878e-02 5.26358812e+01] [ 3.59429329e-01 9.33016518e-01 -1.70509484e-02 9.35483988e+00] [ 4.66308325e-02 2.91431760e-04 9.98912149e-01 2.36604541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.40804094199999 meters 0.019214015279920223 Centerline is valid? [True, True] Translation: X:52.66, Y:9.36, Z:2.37 [[ 9.32289713e-01 -3.59096860e-01 -4.34204538e-02 5.26613828e+01] [ 3.58691066e-01 9.33300236e-01 -1.70701331e-02 9.36496324e+00] [ 4.66541510e-02 3.39780650e-04 9.98911044e-01 2.36676628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.43804094199999 meters 0.019185691826289868 Centerline is valid? [True, True] Translation: X:52.69, Y:9.37, Z:2.37 [[ 9.32542264e-01 -3.58389359e-01 -4.38405363e-02 5.26887734e+01] [ 3.57974654e-01 9.33572129e-01 -1.72402533e-02 9.37377166e+00] [ 4.71070262e-02 3.83464022e-04 9.98889774e-01 2.36806373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.468040941999995 meters 0.019282616286769413 Centerline is valid? [True, True] Translation: X:52.72, Y:9.38, Z:2.37 [[ 9.32933088e-01 -3.57413765e-01 -4.34885514e-02 5.27172484e+01] [ 3.57004057e-01 9.33946040e-01 -1.71142250e-02 9.38129906e+00] [ 4.67328200e-02 4.40837506e-04 9.98907328e-01 2.37009290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.498040941999996 meters 0.019242975618470468 Centerline is valid? [True, True] Translation: X:52.74, Y:9.39, Z:2.37 [[ 9.33021939e-01 -3.57162200e-01 -4.36488709e-02 5.27439325e+01] [ 3.56748594e-01 9.34042261e-01 -1.71899865e-02 9.39005524e+00] [ 4.69095034e-02 4.66961231e-04 9.98899034e-01 2.37154805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.528040942 meters 0.0192908031254197 Centerline is valid? [True, True] Translation: X:52.77, Y:9.40, Z:2.37 [[ 9.33103769e-01 -3.56852466e-01 -4.44260435e-02 5.27708422e+01] [ 3.56422961e-01 9.34160619e-01 -1.75102727e-02 9.39708968e+00] [ 4.77496443e-02 5.04439463e-04 9.98859208e-01 2.37234254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.558040942 meters 0.019230110044072296 Centerline is valid? [True, True] Translation: X:52.80, Y:9.41, Z:2.37 [[ 9.32982740e-01 -3.57133375e-01 -4.47097263e-02 5.27979577e+01] [ 3.56698431e-01 9.34053266e-01 -1.76274124e-02 9.40562787e+00] [ 4.80566031e-02 4.98182354e-04 9.98844490e-01 2.37353000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.58804094199999 meters 0.01977259294411077 Centerline is valid? [True, True] Translation: X:52.82, Y:9.42, Z:2.37 [[ 9.32950179e-01 -3.57139741e-01 -4.53339669e-02 5.28241457e+01] [ 3.56691882e-01 9.34050821e-01 -1.78875510e-02 9.41522755e+00] [ 4.87325843e-02 5.17935946e-04 9.98811727e-01 2.37358554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.61804094199999 meters 0.019248095634426584 Centerline is valid? [True, True] Translation: X:52.85, Y:9.42, Z:2.38 [[ 9.32625061e-01 -3.57842002e-01 -4.64714589e-02 5.28522972e+01] [ 3.57371947e-01 9.33782016e-01 -1.83422555e-02 9.41916276e+00] [ 4.99578420e-02 4.98851450e-04 9.98751203e-01 2.37500688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.648040941999994 meters 0.019223018057376546 Centerline is valid? [True, True] Translation: X:52.88, Y:9.43, Z:2.38 [[ 9.32375039e-01 -3.58432573e-01 -4.69348262e-02 5.28795950e+01] [ 3.57953074e-01 9.33555491e-01 -1.85402810e-02 9.42718081e+00] [ 5.04617054e-02 4.86029911e-04 9.98725878e-01 2.37613782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.678040941999996 meters 0.018970135487704137 Centerline is valid? [True, True] Translation: X:52.91, Y:9.43, Z:2.38 [[ 9.31905185e-01 -3.59574614e-01 -4.75270719e-02 5.29072122e+01] [ 3.59083618e-01 9.33116231e-01 -1.87897565e-02 9.43310544e+00] [ 5.11046017e-02 4.44078589e-04 9.98693207e-01 2.37629008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.708040942 meters 0.01911317412560881 Centerline is valid? [True, True] Translation: X:52.93, Y:9.44, Z:2.38 [[ 9.31878850e-01 -3.59641167e-01 -4.75398797e-02 5.29329878e+01] [ 3.59149269e-01 9.33090577e-01 -1.88089710e-02 9.44143057e+00] [ 5.11234941e-02 4.53769191e-04 9.98692236e-01 2.37674953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.738040942 meters 0.01894272259248575 Centerline is valid? [True, True] Translation: X:52.96, Y:9.45, Z:2.38 [[ 9.31610246e-01 -3.60253699e-01 -4.81624475e-02 5.29599191e+01] [ 3.59749228e-01 9.32854268e-01 -1.90632821e-02 9.44889866e+00] [ 5.17961626e-02 4.33145640e-04 9.98657584e-01 2.37796417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.76804094199999 meters 0.01864206796565985 Centerline is valid? [True, True] Translation: X:52.99, Y:9.45, Z:2.38 [[ 9.30941859e-01 -3.61890589e-01 -4.88104058e-02 5.29883534e+01] [ 3.61373857e-01 9.32220505e-01 -1.93355789e-02 9.45256645e+00] [ 5.24994252e-02 3.61495160e-04 9.98620889e-01 2.37896631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.79804094199999 meters 0.018583046814394905 Centerline is valid? [True, True] Translation: X:53.02, Y:9.46, Z:2.38 [[ 9.30614993e-01 -3.62738019e-01 -4.87530905e-02 5.30158070e+01] [ 3.62222910e-01 9.31891100e-01 -1.93271985e-02 9.45987352e+00] [ 5.24432808e-02 3.26694398e-04 9.98623851e-01 2.37985817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.828040941999994 meters 0.018615191951337134 Centerline is valid? [True, True] Translation: X:53.04, Y:9.47, Z:2.38 [[ 9.30209279e-01 -3.63727629e-01 -4.91213763e-02 5.30420173e+01] [ 3.63205799e-01 9.31505306e-01 -1.94785133e-02 9.46727217e+00] [ 5.28416961e-02 2.77925086e-04 9.98602863e-01 2.38062581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.858040941999995 meters 0.018503957694087612 Centerline is valid? [True, True] Translation: X:53.07, Y:9.47, Z:2.38 [[ 9.29885888e-01 -3.64499693e-01 -4.95197832e-02 5.30691817e+01] [ 3.63969999e-01 9.31203476e-01 -1.96449812e-02 9.47463596e+00] [ 5.32735839e-02 2.43875330e-04 9.98579925e-01 2.38263865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.888040941999996 meters 0.018529593013644083 Centerline is valid? [True, True] Translation: X:53.10, Y:9.48, Z:2.38 [[ 9.29516403e-01 -3.65275782e-01 -5.07233549e-02 5.30963421e+01] [ 3.64720330e-01 9.30899326e-01 -2.01376772e-02 9.48069152e+00] [ 5.45741427e-02 2.18462604e-04 9.98509697e-01 2.38229783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.918040942 meters 0.018599768323915425 Centerline is valid? [True, True] Translation: X:53.12, Y:9.49, Z:2.38 [[ 9.29300476e-01 -3.65740976e-01 -5.13241135e-02 5.31233863e+01] [ 3.65172457e-01 9.30716658e-01 -2.03857500e-02 9.48914972e+00] [ 5.52241115e-02 2.02334554e-04 9.98473964e-01 2.38326943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.94804094199999 meters 0.018656075615731883 Centerline is valid? [True, True] Translation: X:53.15, Y:9.49, Z:2.38 [[ 9.29259869e-01 -3.66016373e-01 -5.00810284e-02 5.31511756e+01] [ 3.65474731e-01 9.30608391e-01 -1.99058870e-02 9.49473226e+00] [ 5.38917058e-02 1.94391580e-04 9.98546767e-01 2.38456235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.97804094199999 meters 0.018756568241848123 Centerline is valid? [True, True] Translation: X:53.18, Y:9.50, Z:2.39 [[ 9.29097458e-01 -3.66511782e-01 -4.94674423e-02 5.31777349e+01] [ 3.65983687e-01 9.30413395e-01 -1.96686503e-02 9.50260892e+00] [ 5.32339630e-02 1.69816041e-04 9.98582053e-01 2.38608575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.008040941999994 meters 0.018769720161260176 Centerline is valid? [True, True] Translation: X:53.20, Y:9.51, Z:2.39 [[ 9.28879646e-01 -3.67149924e-01 -4.88214709e-02 5.32047229e+01] [ 3.66635616e-01 9.30161767e-01 -1.94271127e-02 9.51045415e+00] [ 5.25445285e-02 1.45759479e-04 9.98618571e-01 2.38780114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.038040941999995 meters 0.018774095579344254 Centerline is valid? [True, True] Translation: X:53.23, Y:9.52, Z:2.39 [[ 9.28716259e-01 -3.67711651e-01 -4.76891294e-02 5.32326426e+01] [ 3.67220970e-01 9.29939851e-01 -1.89903253e-02 9.51635639e+00] [ 5.13309858e-02 1.24175516e-04 9.98681688e-01 2.38974322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.068040941999996 meters 0.01888796369213176 Centerline is valid? [True, True] Translation: X:53.26, Y:9.52, Z:2.39 [[ 9.28688482e-01 -3.67859610e-01 -4.70851427e-02 5.32586312e+01] [ 3.67381131e-01 9.29881333e-01 -1.87566456e-02 9.52445850e+00] [ 5.06834075e-02 1.20887758e-04 9.98714763e-01 2.39084004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.098040942 meters 0.018938998478740712 Centerline is valid? [True, True] Translation: X:53.28, Y:9.54, Z:2.39 [[ 9.29205964e-01 -3.66792898e-01 -4.51580268e-02 5.32841808e+01] [ 3.66351228e-01 9.30302606e-01 -1.79955351e-02 9.53533135e+00] [ 4.86112645e-02 1.77859958e-04 9.98817758e-01 2.39326327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.12804094199999 meters 0.01899410480871479 Centerline is valid? [True, True] Translation: X:53.31, Y:9.55, Z:2.39 [[ 9.29579637e-01 -3.65973971e-01 -4.40993268e-02 5.33097593e+01] [ 3.65551213e-01 9.30625059e-01 -1.75872214e-02 9.54705597e+00] [ 4.74764038e-02 2.28160451e-04 9.98872334e-01 2.39459780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.15804094199999 meters 0.019220432276653716 Centerline is valid? [True, True] Translation: X:53.34, Y:9.56, Z:2.40 [[ 9.30064786e-01 -3.64761918e-01 -4.39116913e-02 5.33356528e+01] [ 3.64340749e-01 9.31100774e-01 -1.75261697e-02 9.55899405e+00] [ 4.72790891e-02 3.01654808e-04 9.98881673e-01 2.39564908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.18804094199999 meters 0.019391353883947377 Centerline is valid? [True, True] Translation: X:53.36, Y:9.57, Z:2.40 [[ 9.30623616e-01 -3.63319830e-01 -4.40271050e-02 5.33613131e+01] [ 3.62894249e-01 9.31664398e-01 -1.75844459e-02 9.57156482e+00] [ 4.74072642e-02 3.87317399e-04 9.98875568e-01 2.39661409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.218040941999995 meters 0.019796813360876412 Centerline is valid? [True, True] Translation: X:53.39, Y:9.59, Z:2.40 [[ 9.31405198e-01 -3.61263736e-01 -4.44170079e-02 5.33865718e+01] [ 3.60827636e-01 9.32463541e-01 -1.77528198e-02 9.58556028e+00] [ 4.78306905e-02 5.08184706e-04 9.98855328e-01 2.39631772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.248040941999996 meters 0.01999078918648874 Centerline is valid? [True, True] Translation: X:53.41, Y:9.60, Z:2.40 [[ 9.31701288e-01 -3.60462638e-01 -4.47146071e-02 5.34124903e+01] [ 3.60019156e-01 9.32773482e-01 -1.78840405e-02 9.59700346e+00] [ 4.81551281e-02 5.64468424e-04 9.98839709e-01 2.39720518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.278040942 meters 0.020084576815700462 Centerline is valid? [True, True] Translation: X:53.44, Y:9.61, Z:2.40 [[ 9.31896115e-01 -3.59898071e-01 -4.51996605e-02 5.34393112e+01] [ 3.59443886e-01 9.32991431e-01 -1.80854309e-02 9.60807071e+00] [ 4.86798076e-02 6.07001156e-04 9.98814251e-01 2.39855818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.308040942 meters 0.020046138385756727 Centerline is valid? [True, True] Translation: X:53.46, Y:9.62, Z:2.40 [[ 9.31637531e-01 -3.60519147e-01 -4.55791156e-02 5.34644467e+01] [ 3.60057385e-01 9.32751625e-01 -1.82506261e-02 9.61953057e+00] [ 4.90936943e-02 5.91871104e-04 9.98794002e-01 2.39924812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.33804094199999 meters 0.020203248199121043 Centerline is valid? [True, True] Translation: X:53.49, Y:9.63, Z:2.40 [[ 9.31215781e-01 -3.61606004e-01 -4.55880160e-02 5.34893552e+01] [ 3.61144667e-01 9.32330841e-01 -1.82683121e-02 9.63173989e+00] [ 4.91090447e-02 5.47871621e-04 9.98793273e-01 2.39940630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.36804094199999 meters 0.01985348384312605 Centerline is valid? [True, True] Translation: X:53.52, Y:9.64, Z:2.40 [[ 9.30062965e-01 -3.64549970e-01 -4.56749439e-02 5.35158434e+01] [ 3.64090185e-01 9.31183742e-01 -1.83078136e-02 9.64153807e+00] [ 4.92058781e-02 3.97620662e-04 9.98788578e-01 2.40035274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.398040941999994 meters 0.019490883715349003 Centerline is valid? [True, True] Translation: X:53.54, Y:9.65, Z:2.40 [[ 9.29213395e-01 -3.66732917e-01 -4.54910318e-02 5.35431157e+01] [ 3.66279189e-01 9.30326225e-01 -1.82392429e-02 9.65032127e+00] [ 4.90104307e-02 2.85730615e-04 9.98798226e-01 2.40247125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.428040941999996 meters 0.019427758623175626 Centerline is valid? [True, True] Translation: X:53.57, Y:9.66, Z:2.40 [[ 9.28301963e-01 -3.69057171e-01 -4.53019904e-02 5.35696573e+01] [ 3.68609373e-01 9.29406679e-01 -1.81756871e-02 9.65997674e+00] [ 4.88118401e-02 1.73787752e-04 9.98807977e-01 2.40400046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.458040942 meters 0.019327134443976213 Centerline is valid? [True, True] Translation: X:53.60, Y:9.67, Z:2.41 [[ 9.27238373e-01 -3.71790146e-01 -4.47335057e-02 5.35959296e+01] [ 3.71356444e-01 9.28316803e-01 -1.79528694e-02 9.66865194e+00] [ 4.82015649e-02 3.45138505e-05 9.98837628e-01 2.40644880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.488040942 meters 0.019513357652817444 Centerline is valid? [True, True] Translation: X:53.62, Y:9.68, Z:2.41 [[ 9.25376085e-01 -3.76585635e-01 -4.31550794e-02 5.36224029e+01] [ 3.76186603e-01 9.26381790e-01 -1.73325678e-02 9.67659355e+00] [ 4.65052758e-02 -1.95218957e-04 9.98918025e-01 2.40921738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.51804094199999 meters 0.01966119671440633 Centerline is valid? [True, True] Translation: X:53.65, Y:9.69, Z:2.41 [[ 9.24364906e-01 -3.79124843e-01 -4.25896057e-02 5.36494773e+01] [ 3.78738691e-01 9.25345478e-01 -1.71099218e-02 9.68668553e+00] [ 4.58968955e-02 -3.14520306e-04 9.98946133e-01 2.41097475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.54804094199999 meters 0.020143415697112886 Centerline is valid? [True, True] Translation: X:53.68, Y:9.70, Z:2.41 [[ 9.22728765e-01 -3.83124896e-01 -4.22722152e-02 5.36768377e+01] [ 3.82748133e-01 9.23696414e-01 -1.69941564e-02 9.69604534e+00] [ 4.55575780e-02 -4.98614536e-04 9.98961590e-01 2.41210904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.578040941999994 meters 0.020348039187928445 Centerline is valid? [True, True] Translation: X:53.70, Y:9.71, Z:2.41 [[ 9.22126723e-01 -3.84584062e-01 -4.21593041e-02 5.37042916e+01] [ 3.84210300e-01 9.23089805e-01 -1.69604860e-02 9.70558949e+00] [ 4.54395563e-02 -5.58321477e-04 9.98966934e-01 2.41380293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.608040941999995 meters 0.020195778594566508 Centerline is valid? [True, True] Translation: X:53.73, Y:9.72, Z:2.42 [[ 9.21669006e-01 -3.85648367e-01 -4.24450227e-02 5.37305169e+01] [ 3.85270114e-01 9.22645637e-01 -1.70870568e-02 9.71628399e+00] [ 4.57513105e-02 -6.04188079e-04 9.98952678e-01 2.41547036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.638040941999996 meters 0.02085977461748338 Centerline is valid? [True, True] Translation: X:53.76, Y:9.72, Z:2.42 [[ 9.21010000e-01 -3.87150380e-01 -4.30716081e-02 5.37574538e+01] [ 3.86762300e-01 9.22016331e-01 -1.73438504e-02 9.72311065e+00] [ 4.64274043e-02 -6.84614485e-04 9.98921432e-01 2.41655305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.668040942 meters 0.020868224087494305 Centerline is valid? [True, True] Translation: X:53.78, Y:9.73, Z:2.42 [[ 9.20889213e-01 -3.87433305e-01 -4.31102263e-02 5.37839183e+01] [ 3.87044613e-01 9.21897473e-01 -1.73642407e-02 9.73361106e+00] [ 4.64706938e-02 -6.95038877e-04 9.98919412e-01 2.41777213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.69804094199999 meters 0.020926865494831595 Centerline is valid? [True, True] Translation: X:53.81, Y:9.74, Z:2.42 [[ 9.20990429e-01 -3.87111245e-01 -4.38350809e-02 5.38093226e+01] [ 3.86708364e-01 9.22032768e-01 -1.76696507e-02 9.74383386e+00] [ 4.72575015e-02 -6.77813281e-04 9.98882510e-01 2.41857830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.72804094199999 meters 0.020946967702226357 Centerline is valid? [True, True] Translation: X:53.84, Y:9.75, Z:2.42 [[ 9.20953811e-01 -3.87125765e-01 -4.44715558e-02 5.38353174e+01] [ 3.86710791e-01 9.22026668e-01 -1.79328688e-02 9.75456430e+00] [ 4.79462360e-02 -6.82286669e-04 9.98849685e-01 2.41944838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.758040941999994 meters 0.02062996478995407 Centerline is valid? [True, True] Translation: X:53.86, Y:9.77, Z:2.42 [[ 9.20964486e-01 -3.87059026e-01 -4.48299629e-02 5.38610861e+01] [ 3.86636577e-01 9.22054694e-01 -1.80913784e-02 9.76578229e+00] [ 4.83381091e-02 -6.71386375e-04 9.98830805e-01 2.42080166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.788040941999995 meters 0.020710002288047567 Centerline is valid? [True, True] Translation: X:53.89, Y:9.77, Z:2.42 [[ 9.21544491e-01 -3.85635493e-01 -4.51776327e-02 5.38874560e+01] [ 3.85204076e-01 9.22651028e-01 -1.82455294e-02 9.77436456e+00] [ 4.87193130e-02 -5.88541213e-04 9.98812336e-01 2.42263123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.818040941999996 meters 0.020451689261802557 Centerline is valid? [True, True] Translation: X:53.91, Y:9.78, Z:2.42 [[ 9.21663274e-01 -3.85335459e-01 -4.53143774e-02 5.39130515e+01] [ 3.84900701e-01 9.22776388e-01 -1.83081562e-02 9.78468923e+00] [ 4.88698193e-02 -5.67580413e-04 9.98804995e-01 2.42491674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.848040942 meters 0.020323133802269404 Centerline is valid? [True, True] Translation: X:53.94, Y:9.80, Z:2.43 [[ 9.22582575e-01 -3.83127716e-01 -4.53270952e-02 5.39400683e+01] [ 3.82689341e-01 9.23695276e-01 -1.83277424e-02 9.79515572e+00] [ 4.88902898e-02 -4.37340388e-04 9.98804059e-01 2.42796658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.87804094199999 meters 0.020330040283460738 Centerline is valid? [True, True] Translation: X:53.97, Y:9.81, Z:2.43 [[ 9.22864456e-01 -3.82452318e-01 -4.52925991e-02 5.39663003e+01] [ 3.82013166e-01 9.23975147e-01 -1.83267063e-02 9.80633459e+00] [ 4.88583272e-02 -3.89303387e-04 9.98805643e-01 2.42986213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.90804094199999 meters 0.02023245104066647 Centerline is valid? [True, True] Translation: X:53.99, Y:9.82, Z:2.43 [[ 9.23125328e-01 -3.81861352e-01 -4.49614979e-02 5.39915303e+01] [ 3.81427202e-01 9.24219558e-01 -1.82070915e-02 9.81743975e+00] [ 4.85068803e-02 -3.42111076e-04 9.98822790e-01 2.43181484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.93804094199999 meters 0.020137610562416162 Centerline is valid? [True, True] Translation: X:54.02, Y:9.83, Z:2.43 [[ 9.23415480e-01 -3.81195685e-01 -4.46508717e-02 5.40174408e+01] [ 3.80766043e-01 9.24494329e-01 -1.80957397e-02 9.82845686e+00] [ 4.81774956e-02 -2.91649534e-04 9.98838748e-01 2.43394884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.968040941999995 meters 0.020045810225661646 Centerline is valid? [True, True] Translation: X:54.04, Y:9.84, Z:2.44 [[ 9.23964569e-01 -3.80011002e-01 -4.33717968e-02 5.40437829e+01] [ 3.79603691e-01 9.24981942e-01 -1.75910196e-02 9.83949631e+00] [ 4.68029098e-02 -2.10615285e-04 9.98904121e-01 2.43654581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.998040941999996 meters 0.020031454307496324 Centerline is valid? [True, True] Translation: X:54.07, Y:9.85, Z:2.44 [[ 9.24177551e-01 -3.79542678e-01 -4.29326231e-02 5.40696538e+01] [ 3.79142509e-01 9.25174213e-01 -1.74250462e-02 9.84971462e+00] [ 4.63337045e-02 -1.73745974e-04 9.98926002e-01 2.43898060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.028040942 meters 0.01992716871422716 Centerline is valid? [True, True] Translation: X:54.10, Y:9.86, Z:2.44 [[ 9.24349340e-01 -3.79135768e-01 -4.28295081e-02 5.40950209e+01] [ 3.78736439e-01 9.25341045e-01 -1.73971114e-02 9.85955912e+00] [ 4.62277689e-02 -1.40086941e-04 9.98930915e-01 2.44079735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.058040942 meters 0.019968477114460113 Centerline is valid? [True, True] Translation: X:54.12, Y:9.87, Z:2.44 [[ 9.24441745e-01 -3.78778870e-01 -4.39775824e-02 5.41211825e+01] [ 3.78356937e-01 9.25487198e-01 -1.78738434e-02 9.86869202e+00] [ 4.74709237e-02 -1.15896373e-04 9.98872613e-01 2.44242643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.08804094199999 meters 0.019935999312767582 Centerline is valid? [True, True] Translation: X:54.15, Y:9.88, Z:2.44 [[ 9.24362908e-01 -3.78868854e-01 -4.48509243e-02 5.41470584e+01] [ 3.78429364e-01 9.25450366e-01 -1.82437995e-02 9.87850327e+00] [ 4.84193117e-02 -1.09015209e-04 9.98827091e-01 2.44339661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.11804094199999 meters 0.020127509830264276 Centerline is valid? [True, True] Translation: X:54.17, Y:9.89, Z:2.44 [[ 9.24606578e-01 -3.78078392e-01 -4.64694074e-02 5.41727495e+01] [ 3.77604861e-01 9.25773583e-01 -1.89167223e-02 9.88813184e+00] [ 5.01721537e-02 -5.65483040e-05 9.98740583e-01 2.44369047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.148040941999994 meters 0.020191762910781084 Centerline is valid? [True, True] Translation: X:54.20, Y:9.90, Z:2.44 [[ 9.24745772e-01 -3.77697162e-01 -4.67986133e-02 5.41978316e+01] [ 3.77216153e-01 9.25929183e-01 -1.90557357e-02 9.89820182e+00] [ 5.05294991e-02 -3.14818634e-05 9.98722568e-01 2.44408631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.178040941999996 meters 0.020196373443354 Centerline is valid? [True, True] Translation: X:54.22, Y:9.91, Z:2.44 [[ 9.24840398e-01 -3.77291631e-01 -4.81794928e-02 5.42244277e+01] [ 3.76780839e-01 9.26094501e-01 -1.96258381e-02 9.90927143e+00] [ 5.20234278e-02 -2.34179485e-06 9.98645865e-01 2.44488771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.208040942 meters 0.020225727585697777 Centerline is valid? [True, True] Translation: X:54.25, Y:9.92, Z:2.45 [[ 9.24866123e-01 -3.77194121e-01 -4.84484170e-02 5.42506358e+01] [ 3.76676747e-01 9.26134221e-01 -1.97492690e-02 9.91993373e+00] [ 5.23190451e-02 1.60377024e-05 9.98630421e-01 2.44578933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.238040942 meters 0.020225727585697777 Centerline is valid? [True, True] Translation: X:54.28, Y:9.93, Z:2.45 [[ 9.24762664e-01 -3.77448397e-01 -4.84429889e-02 5.42761191e+01] [ 3.76930674e-01 9.26030619e-01 -1.97625756e-02 9.93043706e+00] [ 5.23190434e-02 1.60435671e-05 9.98630421e-01 2.44701269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.26804094199999 meters 0.020152312292199347 Centerline is valid? [True, True] Translation: X:54.30, Y:9.94, Z:2.45 [[ 9.25449372e-01 -3.75555585e-01 -5.00146250e-02 5.43016493e+01] [ 3.75000151e-01 9.26799861e-01 -2.04182344e-02 9.94101337e+00] [ 5.40217294e-02 1.40550312e-04 9.98539750e-01 2.44768961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.29804094199999 meters 0.02021556805101459 Centerline is valid? [True, True] Translation: X:54.33, Y:9.95, Z:2.45 [[ 9.25845290e-01 -3.74577609e-01 -5.00211357e-02 5.43272571e+01] [ 3.74020231e-01 9.27195542e-01 -2.04277554e-02 9.95188973e+00] [ 5.40311538e-02 2.04024373e-04 9.98539229e-01 2.44901261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.328040941999994 meters 0.02045261856039627 Centerline is valid? [True, True] Translation: X:54.35, Y:9.96, Z:2.45 [[ 9.26346137e-01 -3.73210974e-01 -5.09549157e-02 5.43524522e+01] [ 3.72629727e-01 9.27746451e-01 -2.08232731e-02 9.96258033e+00] [ 5.50447163e-02 3.02242242e-04 9.98483845e-01 2.45099275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.358040941999995 meters 0.02034461681469925 Centerline is valid? [True, True] Translation: X:54.38, Y:9.97, Z:2.45 [[ 9.26417625e-01 -3.72964620e-01 -5.14565413e-02 5.43790407e+01] [ 3.72371100e-01 9.27845508e-01 -2.10351640e-02 9.97405207e+00] [ 5.55890926e-02 3.26417811e-04 9.98453678e-01 2.45302351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.388040941999996 meters 0.020590504324493573 Centerline is valid? [True, True] Translation: X:54.40, Y:9.99, Z:2.45 [[ 9.26902297e-01 -3.71769023e-01 -5.13802047e-02 5.44036042e+01] [ 3.71174740e-01 9.28325173e-01 -2.10163298e-02 9.98687256e+00] [ 5.55107578e-02 4.09050218e-04 9.98458005e-01 2.45347305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.418040942 meters 0.020476892078997742 Centerline is valid? [True, True] Translation: X:54.43, Y:10.00, Z:2.46 [[ 9.26966881e-01 -3.71562411e-01 -5.17085654e-02 5.44304005e+01] [ 3.70959793e-01 9.28407879e-01 -2.11575634e-02 9.99776461e+00] [ 5.58679948e-02 4.30561848e-04 9.98438071e-01 2.45599790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.44804094199999 meters 0.020336788923996072 Centerline is valid? [True, True] Translation: X:54.46, Y:10.01, Z:2.46 [[ 9.26771538e-01 -3.72073618e-01 -5.15338600e-02 5.44563301e+01] [ 3.71475050e-01 9.28203131e-01 -2.11005607e-02 1.00083673e+01] [ 5.56848522e-02 4.11855818e-04 9.98448310e-01 2.45794980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.47804094199999 meters 0.02031381548087663 Centerline is valid? [True, True] Translation: X:54.48, Y:10.02, Z:2.46 [[ 9.26671281e-01 -3.72310974e-01 -5.16224305e-02 5.44816438e+01] [ 3.71709789e-01 9.28107950e-01 -2.11533716e-02 1.00195186e+01] [ 5.57868206e-02 4.13659168e-04 9.98442617e-01 2.45882659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.508040941999994 meters 0.019988696552736558 Centerline is valid? [True, True] Translation: X:54.51, Y:10.03, Z:2.46 [[ 9.26104546e-01 -3.73719037e-01 -5.16183212e-02 5.45070853e+01] [ 3.73119205e-01 9.27541893e-01 -2.11682862e-02 1.00301566e+01] [ 5.57891469e-02 3.44259092e-04 9.98442513e-01 2.46134143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.538040941999995 meters 0.019934999846948836 Centerline is valid? [True, True] Translation: X:54.53, Y:10.04, Z:2.46 [[ 9.25621834e-01 -3.74898165e-01 -5.17260604e-02 5.45319622e+01] [ 3.74296755e-01 9.27065954e-01 -2.12286801e-02 1.00409218e+01] [ 5.59120627e-02 2.88833226e-04 9.98435655e-01 2.46143815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.568040941999996 meters 0.019861615639501305 Centerline is valid? [True, True] Translation: X:54.56, Y:10.05, Z:2.46 [[ 9.25150819e-01 -3.75990355e-01 -5.22227507e-02 5.45583400e+01] [ 3.75378331e-01 9.26623547e-01 -2.14455437e-02 1.00508656e+01] [ 5.64541480e-02 2.37073335e-04 9.98405165e-01 2.46369334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.598040942 meters 0.019828221906854144 Centerline is valid? [True, True] Translation: X:54.59, Y:10.06, Z:2.47 [[ 9.23776769e-01 -3.79172420e-01 -5.35234151e-02 5.45860542e+01] [ 3.78533835e-01 9.25326035e-01 -2.19969043e-02 1.00603467e+01] [ 5.78672290e-02 5.98055710e-05 9.98324286e-01 2.46592094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.62804094199999 meters 0.01989571851648055 Centerline is valid? [True, True] Translation: X:54.61, Y:10.07, Z:2.47 [[ 9.22990203e-01 -3.80932706e-01 -5.45834977e-02 5.46136596e+01] [ 3.80270682e-01 9.24602765e-01 -2.24485099e-02 1.00703118e+01] [ 5.90194245e-02 -3.67492125e-05 9.98256834e-01 2.46754690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.65804094199999 meters 0.01997205917733372 Centerline is valid? [True, True] Translation: X:54.64, Y:10.08, Z:2.47 [[ 9.21302509e-01 -3.84778796e-01 -5.60978118e-02 5.46396157e+01] [ 3.84085703e-01 9.23008776e-01 -2.30861721e-02 1.00790324e+01] [ 6.06618421e-02 -2.77019222e-04 9.98158336e-01 2.46847481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.68804094199999 meters 0.020180065924117252 Centerline is valid? [True, True] Translation: X:54.67, Y:10.09, Z:2.47 [[ 9.20357859e-01 -3.86914076e-01 -5.69114228e-02 5.46660960e+01] [ 3.86204180e-01 9.22115679e-01 -2.34308608e-02 1.00893240e+01] [ 6.15446451e-02 -4.14652547e-04 9.98104245e-01 2.46916619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.718040941999995 meters 0.020196136968671695 Centerline is valid? [True, True] Translation: X:54.69, Y:10.10, Z:2.47 [[ 9.19453832e-01 -3.89048954e-01 -5.69698362e-02 5.46924207e+01] [ 3.88341204e-01 9.21216917e-01 -2.34627698e-02 1.00996931e+01] [ 6.16097429e-02 -5.50801172e-04 9.98100163e-01 2.47084693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.748040941999996 meters 0.020948830221066903 Centerline is valid? [True, True] Translation: X:54.72, Y:10.11, Z:2.47 [[ 9.17638334e-01 -3.93171158e-01 -5.79338259e-02 5.47198441e+01] [ 3.92446850e-01 9.19464924e-01 -2.38688853e-02 1.01081983e+01] [ 6.26526781e-02 -8.32943355e-04 9.98035044e-01 2.47283140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.778040942 meters 0.021165077373112143 Centerline is valid? [True, True] Translation: X:54.75, Y:10.12, Z:2.47 [[ 9.16748973e-01 -3.95262102e-01 -5.77857397e-02 5.47470565e+01] [ 3.94544607e-01 9.18567881e-01 -2.38243680e-02 1.01176511e+01] [ 6.24969942e-02 -9.58087073e-04 9.98044692e-01 2.47466642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.808040942 meters 0.021356021993254044 Centerline is valid? [True, True] Translation: X:54.77, Y:10.13, Z:2.48 [[ 9.15879840e-01 -3.97278830e-01 -5.77377738e-02 5.47741272e+01] [ 3.96565492e-01 9.17697317e-01 -2.38211025e-02 1.01274482e+01] [ 6.24494198e-02 -1.07954109e-03 9.98047546e-01 2.47670957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.83804094199999 meters 0.02181347402125239 Centerline is valid? [True, True] Translation: X:54.80, Y:10.14, Z:2.48 [[ 9.14238426e-01 -4.01096883e-01 -5.73532085e-02 5.48012326e+01] [ 4.00399489e-01 9.16034693e-01 -2.36789130e-02 1.01370816e+01] [ 6.20350670e-02 -1.31602328e-03 9.98073103e-01 2.47975286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.86804094199999 meters 0.022086925164657625 Centerline is valid? [True, True] Translation: X:54.83, Y:10.15, Z:2.48 [[ 9.13593697e-01 -4.02590616e-01 -5.71607608e-02 5.48280047e+01] [ 4.01899789e-01 9.15379071e-01 -2.36160209e-02 1.01477754e+01] [ 6.18313525e-02 -1.39744986e-03 9.98085633e-01 2.48160596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.898040941999994 meters 0.022430974546739466 Centerline is valid? [True, True] Translation: X:54.85, Y:10.16, Z:2.48 [[ 9.12873320e-01 -4.04249827e-01 -5.69594544e-02 5.48549136e+01] [ 4.03566069e-01 9.14647396e-01 -2.35492936e-02 1.01590222e+01] [ 6.16176146e-02 -1.48938125e-03 9.98098718e-01 2.48338556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.928040941999996 meters 0.022752988469704572 Centerline is valid? [True, True] Translation: X:54.88, Y:10.17, Z:2.48 [[ 9.12723225e-01 -4.04603107e-01 -5.68563065e-02 5.48807875e+01] [ 4.03921682e-01 9.14491160e-01 -2.35200830e-02 1.01693279e+01] [ 6.15108884e-02 -1.49816892e-03 9.98105288e-01 2.48447453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.958040942 meters 0.02256458878827535 Centerline is valid? [True, True] Translation: X:54.91, Y:10.18, Z:2.49 [[ 9.12668447e-01 -4.04635026e-01 -5.75047870e-02 5.49067264e+01] [ 4.03937418e-01 9.14477020e-01 -2.37979619e-02 1.01807619e+01] [ 6.22162952e-02 -1.50868625e-03 9.98061549e-01 2.48609437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.988040942 meters 0.023141954635706313 Centerline is valid? [True, True] Translation: X:54.93, Y:10.19, Z:2.49 [[ 9.12737995e-01 -4.04449838e-01 -5.77033823e-02 5.49326365e+01] [ 4.03745845e-01 9.14558979e-01 -2.38990960e-02 1.01903243e+01] [ 6.24391319e-02 -1.48388786e-03 9.98047671e-01 2.48642964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.01804094199999 meters 0.02288943998272918 Centerline is valid? [True, True] Translation: X:54.96, Y:10.20, Z:2.49 [[ 9.13395033e-01 -4.02854130e-01 -5.84642071e-02 5.49588307e+01] [ 4.02127002e-01 9.15263162e-01 -2.42325853e-02 1.02024469e+01] [ 6.32723322e-02 -1.37611324e-03 9.97995350e-01 2.48853013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.04804094199999 meters 0.022701335155012388 Centerline is valid? [True, True] Translation: X:54.99, Y:10.21, Z:2.49 [[ 9.13971207e-01 -4.01506652e-01 -5.87285327e-02 5.49853195e+01] [ 4.00769110e-01 9.15855221e-01 -2.43584598e-02 1.02148875e+01] [ 6.35669169e-02 -1.27365087e-03 9.97976766e-01 2.49030419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.078040941999994 meters 0.021896126394440395 Centerline is valid? [True, True] Translation: X:55.01, Y:10.23, Z:2.49 [[ 9.15632986e-01 -3.97721188e-01 -5.86011205e-02 5.50094524e+01] [ 3.96978280e-01 9.17505784e-01 -2.43183452e-02 1.02306573e+01] [ 6.34387882e-02 -9.96692979e-04 9.97985234e-01 2.49181185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.108040941999995 meters 0.021424470648226706 Centerline is valid? [True, True] Translation: X:55.04, Y:10.24, Z:2.49 [[ 9.16398864e-01 -3.95998163e-01 -5.82973065e-02 5.50353811e+01] [ 3.95258960e-01 9.18250895e-01 -2.42001814e-02 1.02442434e+01] [ 6.31147812e-02 -8.65514012e-04 9.98005899e-01 2.49276362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.138040941999996 meters 0.02066654519023317 Centerline is valid? [True, True] Translation: X:55.06, Y:10.26, Z:2.50 [[ 9.17351029e-01 -3.93791537e-01 -5.82693248e-02 5.50611473e+01] [ 3.93047582e-01 9.19199509e-01 -2.42045626e-02 1.02581837e+01] [ 6.30926866e-02 -6.98536812e-04 9.98007427e-01 2.49529707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.168040942 meters 0.019824048978268283 Centerline is valid? [True, True] Translation: X:55.09, Y:10.27, Z:2.50 [[ 9.19249821e-01 -3.89457920e-01 -5.74655925e-02 5.50854784e+01] [ 3.88724885e-01 9.21044181e-01 -2.38868144e-02 1.02741436e+01] [ 6.22312586e-02 -3.80356011e-04 9.98061684e-01 2.49898327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.19804094199999 meters 0.01981438060312441 Centerline is valid? [True, True] Translation: X:55.11, Y:10.29, Z:2.50 [[ 9.20076189e-01 -3.87529991e-01 -5.72740051e-02 5.51104550e+01] [ 3.86797255e-01 9.21857066e-01 -2.38208696e-02 1.02867213e+01] [ 6.20297477e-02 -2.36412966e-04 9.98074273e-01 2.49852298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.22804094199999 meters 0.019387057249698546 Centerline is valid? [True, True] Translation: X:55.14, Y:10.30, Z:2.50 [[ 9.21454432e-01 -3.84331528e-01 -5.66657391e-02 5.51352014e+01] [ 3.83607703e-01 9.23195145e-01 -2.35765553e-02 1.03028362e+01] [ 6.13747488e-02 -1.26925825e-05 9.98114793e-01 2.50148384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.258040941999994 meters 0.019309226390226655 Centerline is valid? [True, True] Translation: X:55.16, Y:10.32, Z:2.50 [[ 9.21807988e-01 -3.83518077e-01 -5.64262194e-02 5.51598137e+01] [ 3.82797812e-01 9.23533368e-01 -2.34937037e-02 1.03157332e+01] [ 6.11217565e-02 5.68504305e-05 9.98130316e-01 2.50348107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.288040941999995 meters 0.019264947243402608 Centerline is valid? [True, True] Translation: X:55.18, Y:10.33, Z:2.50 [[ 9.22211174e-01 -3.82628042e-01 -5.58778328e-02 5.51849285e+01] [ 3.81918966e-01 9.23902465e-01 -2.32838731e-02 1.03293693e+01] [ 6.05347302e-02 1.31843779e-04 9.98166083e-01 2.50491522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.318040941999996 meters 0.019198701506534525 Centerline is valid? [True, True] Translation: X:55.21, Y:10.34, Z:2.51 [[ 9.22087367e-01 -3.82911807e-01 -5.59771005e-02 5.52103803e+01] [ 3.82199598e-01 9.23784894e-01 -2.33438717e-02 1.03406883e+01] [ 6.06494440e-02 1.30663864e-04 9.98159120e-01 2.50627389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.348040942 meters 0.01920054642634508 Centerline is valid? [True, True] Translation: X:55.24, Y:10.35, Z:2.51 [[ 9.21830872e-01 -3.83513005e-01 -5.60858216e-02 5.52363558e+01] [ 3.82798004e-01 9.23535469e-01 -2.34078000e-02 1.03519659e+01] [ 6.07744413e-02 1.08492110e-04 9.98151519e-01 2.50756937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.37804094199999 meters 0.019030917906890127 Centerline is valid? [True, True] Translation: X:55.26, Y:10.36, Z:2.51 [[ 9.21275815e-01 -3.84788447e-01 -5.64687862e-02 5.52617621e+01] [ 3.84064880e-01 9.23004794e-01 -2.35863995e-02 1.03643576e+01] [ 6.11967344e-02 4.19018590e-05 9.98125723e-01 2.50905109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.40804094199999 meters 0.018979518581348376 Centerline is valid? [True, True] Translation: X:55.29, Y:10.38, Z:2.51 [[ 9.21000870e-01 -3.85490980e-01 -5.61613842e-02 5.52873002e+01] [ 3.84775661e-01 9.22711604e-01 -2.34731000e-02 1.03763325e+01] [ 6.08694292e-02 9.21179417e-06 9.98145737e-01 2.50969882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.43804094199999 meters 0.01888256797473937 Centerline is valid? [True, True] Translation: X:55.31, Y:10.39, Z:2.51 [[ 9.20343983e-01 -3.87273969e-01 -5.46427196e-02 5.53126622e+01] [ 3.86599508e-01 9.21964676e-01 -2.28463788e-02 1.03897610e+01] [ 5.92264650e-02 -9.83212544e-05 9.98244567e-01 2.51148078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.468040941999995 meters 0.018871352090965465 Centerline is valid? [True, True] Translation: X:55.34, Y:10.40, Z:2.51 [[ 9.19980830e-01 -3.88237455e-01 -5.39161563e-02 5.53380485e+01] [ 3.87581547e-01 9.21559362e-01 -2.25585056e-02 1.04015910e+01] [ 5.84449954e-02 -1.43514620e-04 9.98290620e-01 2.51326364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.498040941999996 meters 0.01866807127986596 Centerline is valid? [True, True] Translation: X:55.36, Y:10.41, Z:2.51 [[ 9.19535464e-01 -3.89373716e-01 -5.33164090e-02 5.53633332e+01] [ 3.88733393e-01 9.21079839e-01 -2.23221893e-02 1.04128856e+01] [ 5.78003432e-02 -1.99823812e-04 9.98328143e-01 2.51427401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.528040942 meters 0.018712587614532854 Centerline is valid? [True, True] Translation: X:55.39, Y:10.42, Z:2.52 [[ 9.18876028e-01 -3.90986360e-01 -5.28820510e-02 5.53893359e+01] [ 3.90358643e-01 9.20396426e-01 -2.21483308e-02 1.04243963e+01] [ 5.73321460e-02 -2.91395402e-04 9.98355117e-01 2.51583464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.558040942 meters 0.018885693211050072 Centerline is valid? [True, True] Translation: X:55.42, Y:10.44, Z:2.52 [[ 9.17774112e-01 -3.93644405e-01 -5.22949455e-02 5.54158500e+01] [ 3.93033933e-01 9.19262689e-01 -2.19188537e-02 1.04360201e+01] [ 5.67010263e-02 -4.37131528e-04 9.98391107e-01 2.51807035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.58804094199999 meters 0.01895742646476761 Centerline is valid? [True, True] Translation: X:55.44, Y:10.45, Z:2.52 [[ 9.17091692e-01 -3.95370431e-01 -5.12352514e-02 5.54413044e+01] [ 3.94786335e-01 9.18521613e-01 -2.14894579e-02 1.04470326e+01] [ 5.55569820e-02 -5.19173791e-04 9.98455383e-01 2.51981699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.61804094199999 meters 0.019379737807185396 Centerline is valid? [True, True] Translation: X:55.47, Y:10.46, Z:2.52 [[ 9.15848579e-01 -3.98396152e-01 -5.00188716e-02 5.54676400e+01] [ 3.97843136e-01 9.17213201e-01 -2.09948494e-02 1.04591541e+01] [ 5.42422366e-02 -6.71561740e-04 9.98527580e-01 2.52130020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.648040941999994 meters 0.019659170397382835 Centerline is valid? [True, True] Translation: X:55.49, Y:10.47, Z:2.52 [[ 9.15157595e-01 -4.00061370e-01 -4.93708181e-02 5.54934431e+01] [ 3.99524362e-01 9.16488047e-01 -2.07351033e-02 1.04709433e+01] [ 5.35430784e-02 -7.48957330e-04 9.98565260e-01 2.52262685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.678040941999996 meters 0.020010591690954947 Centerline is valid? [True, True] Translation: X:55.52, Y:10.48, Z:2.52 [[ 9.14759510e-01 -4.01035675e-01 -4.88408236e-02 5.55192012e+01] [ 4.00511272e-01 9.16062093e-01 -2.05173701e-02 1.04825713e+01] [ 5.29694245e-02 -7.92840957e-04 9.98595820e-01 2.52370901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.708040942 meters 0.020331771440352697 Centerline is valid? [True, True] Translation: X:55.54, Y:10.50, Z:2.52 [[ 9.13858986e-01 -4.03146114e-01 -4.83214608e-02 5.55447677e+01] [ 4.02635435e-01 9.15135182e-01 -2.03052946e-02 1.04964558e+01] [ 5.24066694e-02 -8.99756447e-04 9.98625421e-01 2.52453380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.738040942 meters 0.020466859368789985 Centerline is valid? [True, True] Translation: X:55.57, Y:10.51, Z:2.53 [[ 9.13511134e-01 -4.03894102e-01 -4.86514285e-02 5.55713834e+01] [ 4.03376753e-01 9.14805267e-01 -2.04577265e-02 1.05088821e+01] [ 5.27693382e-02 -9.36494295e-04 9.98606289e-01 2.52535794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.76804094199999 meters 0.020489005380507394 Centerline is valid? [True, True] Translation: X:55.60, Y:10.52, Z:2.53 [[ 9.13208101e-01 -4.04613136e-01 -4.83650175e-02 5.55956292e+01] [ 4.04102142e-01 9.14487446e-01 -2.03511435e-02 1.05228901e+01] [ 5.24635413e-02 -9.59578022e-04 9.98622379e-01 2.52593371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.79804094199999 meters 0.020270415321539517 Centerline is valid? [True, True] Translation: X:55.62, Y:10.54, Z:2.53 [[ 9.13061640e-01 -4.04994298e-01 -4.79380857e-02 5.56204741e+01] [ 4.04492004e-01 9.14318708e-01 -2.01870913e-02 1.05362086e+01] [ 5.20063455e-02 -9.58513660e-04 9.98646294e-01 2.52705382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.828040941999994 meters 0.020361025752514535 Centerline is valid? [True, True] Translation: X:55.65, Y:10.55, Z:2.53 [[ 9.12948672e-01 -4.05392548e-01 -4.67076551e-02 5.56456364e+01] [ 4.04915474e-01 9.14142218e-01 -1.96841166e-02 1.05493349e+01] [ 5.06772337e-02 -9.42064198e-04 9.98714639e-01 2.52823292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.858040941999995 meters 0.02046838676719306 Centerline is valid? [True, True] Translation: X:55.67, Y:10.56, Z:2.53 [[ 9.13074752e-01 -4.05215540e-01 -4.57696787e-02 5.56697905e+01] [ 4.04756534e-01 9.14220737e-01 -1.93026619e-02 1.05629269e+01] [ 4.96653280e-02 -9.00803300e-04 9.98765510e-01 2.52903362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.888040941999996 meters 0.02047717050494443 Centerline is valid? [True, True] Translation: X:55.70, Y:10.58, Z:2.53 [[ 9.13055993e-01 -4.05323553e-01 -4.51837498e-02 5.56951814e+01] [ 4.04876093e-01 9.14172864e-01 -1.90610763e-02 1.05750045e+01] [ 4.90316611e-02 -8.89990122e-04 9.98796828e-01 2.53038380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.918040942 meters 0.020522468381742417 Centerline is valid? [True, True] Translation: X:55.72, Y:10.59, Z:2.53 [[ 9.13397817e-01 -4.04775132e-01 -4.31453327e-02 5.57194495e+01] [ 4.04365933e-01 9.14415899e-01 -1.82141489e-02 1.05880254e+01] [ 4.68254127e-02 -8.09738914e-04 9.98902761e-01 2.53212753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.94804094199999 meters 0.020048366572489776 Centerline is valid? [True, True] Translation: X:55.74, Y:10.60, Z:2.53 [[ 9.13481851e-01 -4.04663279e-01 -4.24091928e-02 5.57444590e+01] [ 4.04267602e-01 9.14465425e-01 -1.79079167e-02 1.06019781e+01] [ 4.60284168e-02 -7.86105736e-04 9.98939821e-01 2.53379072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.97804094199999 meters 0.019504576037096114 Centerline is valid? [True, True] Translation: X:55.77, Y:10.62, Z:2.54 [[ 9.14215819e-01 -4.03109580e-01 -4.13775540e-02 5.57688156e+01] [ 4.02730736e-01 9.15151466e-01 -1.74856574e-02 1.06182042e+01] [ 4.49153652e-02 -6.78348141e-04 9.98990565e-01 2.53501112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.008040941999994 meters 0.01942367469601924 Centerline is valid? [True, True] Translation: X:55.79, Y:10.63, Z:2.54 [[ 9.14509330e-01 -4.02491852e-01 -4.09022434e-02 5.57938743e+01] [ 4.02120511e-01 9.15423352e-01 -1.72968902e-02 1.06310484e+01] [ 4.44047261e-02 -6.29463513e-04 9.99013425e-01 2.53604753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.038040941999995 meters 0.019619124914641344 Centerline is valid? [True, True] Translation: X:55.82, Y:10.64, Z:2.54 [[ 9.14966024e-01 -4.01501271e-01 -4.04215936e-02 5.58192967e+01] [ 4.01137362e-01 9.15858289e-01 -1.71000190e-02 1.06427331e+01] [ 4.38861309e-02 -5.68675054e-04 9.99036378e-01 2.53708359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.068040941999996 meters 0.019158089456256962 Centerline is valid? [True, True] Translation: X:55.84, Y:10.66, Z:2.54 [[ 9.15201016e-01 -4.01013599e-01 -3.99398611e-02 5.58439500e+01] [ 4.00657685e-01 9.16071944e-01 -1.69000813e-02 1.06562029e+01] [ 4.33649487e-02 -5.35240724e-04 9.99059155e-01 2.53821011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.098040942 meters 0.018819054990701477 Centerline is valid? [True, True] Translation: X:55.87, Y:10.67, Z:2.54 [[ 9.16149862e-01 -3.98887888e-01 -3.94700239e-02 5.58695557e+01] [ 3.98537767e-01 9.16999607e-01 -1.67143580e-02 1.06703974e+01] [ 4.28611513e-02 -4.17438442e-04 9.99080951e-01 2.53858071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.12804094199999 meters 0.018819054990701477 Centerline is valid? [True, True] Translation: X:55.89, Y:10.68, Z:2.54 [[ 9.16035867e-01 -3.99150017e-01 -3.94658659e-02 5.58948885e+01] [ 3.98799717e-01 9.16885537e-01 -1.67241700e-02 1.06812227e+01] [ 4.28611344e-02 -4.19036560e-04 9.99080951e-01 2.53980460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.15804094199999 meters 0.018557995525977856 Centerline is valid? [True, True] Translation: X:55.92, Y:10.69, Z:2.54 [[ 9.17245565e-01 -3.96366696e-01 -3.94210021e-02 5.59197035e+01] [ 3.96014034e-01 9.18092243e-01 -1.67188052e-02 1.06945260e+01] [ 4.28188938e-02 -2.76020121e-04 9.99082812e-01 2.54122005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.18804094199999 meters 0.01850394085527874 Centerline is valid? [True, True] Translation: X:55.94, Y:10.71, Z:2.54 [[ 9.17677261e-01 -3.95427496e-01 -3.88012902e-02 5.59446922e+01] [ 3.95084853e-01 9.18497166e-01 -1.64594698e-02 1.07071927e+01] [ 4.21474020e-02 -2.25320890e-04 9.99111378e-01 2.54254670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.218040941999995 meters 0.01849295387116147 Centerline is valid? [True, True] Translation: X:55.97, Y:10.72, Z:2.54 [[ 9.18212218e-01 -3.94243498e-01 -3.81888288e-02 5.59696488e+01] [ 3.93910050e-01 9.19006006e-01 -1.62121124e-02 1.07201374e+01] [ 4.14872830e-02 -1.56803779e-04 9.99139020e-01 2.54387365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.248040941999996 meters 0.018322190120271527 Centerline is valid? [True, True] Translation: X:55.99, Y:10.73, Z:2.55 [[ 9.18659766e-01 -3.93244130e-01 -3.77264922e-02 5.59941671e+01] [ 3.92917340e-01 9.19434089e-01 -1.60287167e-02 1.07327368e+01] [ 4.09902217e-02 -9.84558520e-05 9.99159543e-01 2.54514276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.278040942 meters 0.01837621071139005 Centerline is valid? [True, True] Translation: X:56.02, Y:10.75, Z:2.55 [[ 9.19629980e-01 -3.91054766e-01 -3.68357057e-02 5.60179689e+01] [ 3.90741268e-01 9.20367410e-01 -1.56553817e-02 1.07456275e+01] [ 4.00244947e-02 3.92805463e-06 9.99198699e-01 2.54668533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.308040942 meters 0.01837103604986755 Centerline is valid? [True, True] Translation: X:56.04, Y:10.76, Z:2.55 [[ 9.19990288e-01 -3.90193368e-01 -3.69730358e-02 5.60436587e+01] [ 3.89876650e-01 9.20732933e-01 -1.57182688e-02 1.07571126e+01] [ 4.01754559e-02 4.57312562e-05 9.99192639e-01 2.54773951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.33804094199999 meters 0.018336014607076994 Centerline is valid? [True, True] Translation: X:56.07, Y:10.77, Z:2.55 [[ 9.20273473e-01 -3.89450894e-01 -3.77456696e-02 5.60687277e+01] [ 3.89119634e-01 9.21047226e-01 -1.60598231e-02 1.07675798e+01] [ 4.10200568e-02 9.18480041e-05 9.99158319e-01 2.54822973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.36804094199999 meters 0.01841251655895296 Centerline is valid? [True, True] Translation: X:56.09, Y:10.78, Z:2.55 [[ 9.20188223e-01 -3.89642946e-01 -3.78419031e-02 5.60949422e+01] [ 3.89309960e-01 9.20965997e-01 -1.61055345e-02 1.07788549e+01] [ 4.11265139e-02 8.78933973e-05 9.99153943e-01 2.54948091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.398040941999994 meters 0.01842020075296505 Centerline is valid? [True, True] Translation: X:56.12, Y:10.79, Z:2.55 [[ 9.19944303e-01 -3.90224804e-01 -3.77767420e-02 5.61209186e+01] [ 3.89892962e-01 9.20719608e-01 -1.60897906e-02 1.07900045e+01] [ 4.10604225e-02 7.28253563e-05 9.99156663e-01 2.54988612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.428040941999996 meters 0.01834728755258246 Centerline is valid? [True, True] Translation: X:56.15, Y:10.80, Z:2.55 [[ 9.19513395e-01 -3.91408509e-01 -3.59790873e-02 5.61465949e+01] [ 3.91107929e-01 9.20217028e-01 -1.53365397e-02 1.08000475e+01] [ 3.91114209e-02 3.04473500e-05 9.99234855e-01 2.55121595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.458040942 meters 0.018454966389515767 Centerline is valid? [True, True] Translation: X:56.17, Y:10.81, Z:2.55 [[ 9.19285457e-01 -3.91985312e-01 -3.55213100e-02 5.61716253e+01] [ 3.91692549e-01 9.19971475e-01 -1.51470235e-02 1.08091182e+01] [ 3.86160027e-02 1.10059960e-05 9.99254124e-01 2.55381583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.488040942 meters 0.018638997338853297 Centerline is valid? [True, True] Translation: X:56.20, Y:10.82, Z:2.56 [[ 9.18968792e-01 -3.92802158e-01 -3.46817635e-02 5.61989842e+01] [ 3.92523461e-01 9.19623001e-01 -1.47941954e-02 1.08165756e+01] [ 3.77053393e-02 -1.80019341e-05 9.99288901e-01 2.55649726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.51804094199999 meters 0.01859909557751955 Centerline is valid? [True, True] Translation: X:56.22, Y:10.83, Z:2.56 [[ 9.18839677e-01 -3.93074312e-01 -3.50176072e-02 5.62240859e+01] [ 3.92790264e-01 9.19506707e-01 -1.49406752e-02 1.08257384e+01] [ 3.80717203e-02 -2.64900450e-05 9.99275009e-01 2.55726062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.54804094199999 meters 0.018628086205568037 Centerline is valid? [True, True] Translation: X:56.25, Y:10.83, Z:2.56 [[ 9.18638053e-01 -3.93560176e-01 -3.48498994e-02 5.62492592e+01] [ 3.93279016e-01 9.19298856e-01 -1.48738022e-02 1.08349844e+01] [ 3.78912088e-02 -4.20934098e-05 9.99281869e-01 2.55765920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.578040941999994 meters 0.018655005375977026 Centerline is valid? [True, True] Translation: X:56.28, Y:10.84, Z:2.56 [[ 9.18495975e-01 -3.93847379e-01 -3.53466585e-02 5.62757110e+01] [ 3.93558212e-01 9.19175848e-01 -1.50895451e-02 1.08439051e+01] [ 3.84327726e-02 -5.12812767e-05 9.99261187e-01 2.55654537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.608040941999995 meters 0.01860616782288237 Centerline is valid? [True, True] Translation: X:56.30, Y:10.85, Z:2.56 [[ 9.18429182e-01 -3.93962146e-01 -3.58003424e-02 5.63012677e+01] [ 3.93665093e-01 9.19126664e-01 -1.52960691e-02 1.08530998e+01] [ 3.89311215e-02 -4.49888849e-05 9.99241896e-01 2.55735253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.638040941999996 meters 0.01873911672838446 Centerline is valid? [True, True] Translation: X:56.33, Y:10.86, Z:2.56 [[ 9.18531640e-01 -3.93736518e-01 -3.56536370e-02 5.63283129e+01] [ 3.93441567e-01 9.19223343e-01 -1.52374522e-02 1.08603876e+01] [ 3.87731968e-02 -3.15408252e-05 9.99248036e-01 2.55847770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.668040942 meters 0.018698535695141454 Centerline is valid? [True, True] Translation: X:56.35, Y:10.87, Z:2.56 [[ 9.18626631e-01 -3.93525133e-01 -3.55398727e-02 5.63537767e+01] [ 3.93231418e-01 9.19313858e-01 -1.52013901e-02 1.08697512e+01] [ 3.86544265e-02 -1.09927473e-05 9.99252638e-01 2.56050262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.69804094199999 meters 0.018515593406498627 Centerline is valid? [True, True] Translation: X:56.38, Y:10.88, Z:2.56 [[ 9.18516740e-01 -3.93857349e-01 -3.46898616e-02 5.63803130e+01] [ 3.93577623e-01 9.19171577e-01 -1.48413782e-02 1.08794007e+01] [ 3.77313207e-02 -2.10989678e-05 9.99287920e-01 2.56139170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.72804094199999 meters 0.01871312539456968 Centerline is valid? [True, True] Translation: X:56.41, Y:10.89, Z:2.56 [[ 9.18842701e-01 -3.93082812e-01 -3.48424153e-02 5.64068108e+01] [ 3.92799573e-01 9.19503074e-01 -1.49195591e-02 1.08869940e+01] [ 3.79023302e-02 2.26421034e-05 9.99281448e-01 2.56314736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.758040941999994 meters 0.01866693260472668 Centerline is valid? [True, True] Translation: X:56.43, Y:10.89, Z:2.56 [[ 9.19135495e-01 -3.92378352e-01 -3.50595364e-02 5.64338574e+01] [ 3.92090903e-01 9.19803906e-01 -1.50165757e-02 1.08946909e+01] [ 3.81400778e-02 5.57424021e-05 9.99272401e-01 2.56378362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.788040941999995 meters 0.018738796604496084 Centerline is valid? [True, True] Translation: X:56.46, Y:10.90, Z:2.57 [[ 9.19191559e-01 -3.92221131e-01 -3.53477400e-02 5.64592980e+01] [ 3.91928341e-01 9.19870958e-01 -1.51524318e-02 1.09036618e+01] [ 3.84584633e-02 7.42063099e-05 9.99260197e-01 2.56588941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.818040941999996 meters 0.0186238392398012 Centerline is valid? [True, True] Translation: X:56.49, Y:10.91, Z:2.57 [[ 9.19193004e-01 -3.92231409e-01 -3.51957829e-02 5.64863952e+01] [ 3.91940861e-01 9.19866575e-01 -1.50945951e-02 1.09126394e+01] [ 3.82959986e-02 8.01807196e-05 9.99266436e-01 2.56646754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.848040942 meters 0.018558357697600537 Centerline is valid? [True, True] Translation: X:56.51, Y:10.92, Z:2.57 [[ 9.19457511e-01 -3.91586414e-01 -3.54678192e-02 5.65141084e+01] [ 3.91290423e-01 9.20141329e-01 -1.52229765e-02 1.09193907e+01] [ 3.85965171e-02 1.18662151e-04 9.99254870e-01 2.56821674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.87804094199999 meters 0.0189185554752138 Centerline is valid? [True, True] Translation: X:56.54, Y:10.93, Z:2.57 [[ 9.19549935e-01 -3.91342353e-01 -3.57642369e-02 5.65391512e+01] [ 3.91040699e-01 9.20245154e-01 -1.53632317e-02 1.09293454e+01] [ 3.89241490e-02 1.41986522e-04 9.99242158e-01 2.57131097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.90804094199999 meters 0.01869112843699028 Centerline is valid? [True, True] Translation: X:56.57, Y:10.94, Z:2.57 [[ 9.19994475e-01 -3.90268445e-01 -3.60653185e-02 5.65670634e+01] [ 3.89960692e-01 9.20701093e-01 -1.54969303e-02 1.09367764e+01] [ 3.92533411e-02 1.93033694e-04 9.99229272e-01 2.57045476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.93804094199999 meters 0.018699553311116383 Centerline is valid? [True, True] Translation: X:56.59, Y:10.95, Z:2.57 [[ 9.20079120e-01 -3.90055698e-01 -3.62072490e-02 5.65932652e+01] [ 3.89744877e-01 9.20791240e-01 -1.55699658e-02 1.09467939e+01] [ 3.94124716e-02 2.14010609e-04 9.99223004e-01 2.57110107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.968040941999995 meters 0.019029031759833226 Centerline is valid? [True, True] Translation: X:56.62, Y:10.96, Z:2.57 [[ 9.20191611e-01 -3.89780016e-01 -3.63171802e-02 5.66186052e+01] [ 3.89466591e-01 9.20907966e-01 -1.56298387e-02 1.09570122e+01] [ 3.95369793e-02 2.38118049e-04 9.99218080e-01 2.57287570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.998040941999996 meters 0.01867413433147462 Centerline is valid? [True, True] Translation: X:56.65, Y:10.96, Z:2.57 [[ 9.20099063e-01 -3.89888101e-01 -3.74831087e-02 5.66476068e+01] [ 3.89553963e-01 9.20862208e-01 -1.61401138e-02 1.09619318e+01] [ 4.08096166e-02 2.48810080e-04 9.99166910e-01 2.57329902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.028040942 meters 0.01848264550510824 Centerline is valid? [True, True] Translation: X:56.67, Y:10.97, Z:2.57 [[ 9.19704481e-01 -3.90766448e-01 -3.80164418e-02 5.66744914e+01] [ 3.90422996e-01 9.20489833e-01 -1.63814387e-02 1.09697767e+01] [ 4.13950648e-02 2.23589482e-04 9.99142832e-01 2.57436105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.058040942 meters 0.018417038262702242 Centerline is valid? [True, True] Translation: X:56.70, Y:10.98, Z:2.58 [[ 9.19293042e-01 -3.91700800e-01 -3.83508207e-02 5.67014449e+01] [ 3.91351550e-01 9.20092628e-01 -1.65384173e-02 1.09780723e+01] [ 4.17644188e-02 1.94998853e-04 9.99127467e-01 2.57561570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.08804094199999 meters 0.01819405613653653 Centerline is valid? [True, True] Translation: X:56.73, Y:10.98, Z:2.58 [[ 9.18549561e-01 -3.93368669e-01 -3.90870098e-02 5.67295378e+01] [ 3.93006805e-01 9.19380809e-01 -1.68694759e-02 1.09841008e+01] [ 4.25717700e-02 1.33988893e-04 9.99093402e-01 2.57700332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.11804094199999 meters 0.018081599944298768 Centerline is valid? [True, True] Translation: X:56.76, Y:10.99, Z:2.58 [[ 9.18047282e-01 -3.94453339e-01 -3.99468594e-02 5.67563571e+01] [ 3.94076127e-01 9.18915968e-01 -1.72467585e-02 1.09927773e+01] [ 4.35108484e-02 9.12361363e-05 9.99052950e-01 2.57833378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.148040941999994 meters 0.017908203109304393 Centerline is valid? [True, True] Translation: X:56.78, Y:11.00, Z:2.58 [[ 9.17046400e-01 -3.96677466e-01 -4.09009496e-02 5.67844179e+01] [ 3.96283614e-01 9.17958053e-01 -1.76722843e-02 1.09983971e+01] [ 4.45555531e-02 -2.07143225e-06 9.99006908e-01 2.57906167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.178040941999996 meters 0.017879272511697082 Centerline is valid? [True, True] Translation: X:56.81, Y:11.01, Z:2.58 [[ 9.16467277e-01 -3.97992862e-01 -4.11024655e-02 5.68115502e+01] [ 3.97595833e-01 9.17388510e-01 -1.77728557e-02 1.10067006e+01] [ 4.47803993e-02 -5.39283904e-05 9.98996853e-01 2.58013253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.208040942 meters 0.017803651057569564 Centerline is valid? [True, True] Translation: X:56.84, Y:11.01, Z:2.58 [[ 9.15784880e-01 -3.99524323e-01 -4.14532213e-02 5.68386139e+01] [ 3.99121424e-01 9.16722587e-01 -1.79384425e-02 1.10149992e+01] [ 4.51679484e-02 -1.17114330e-04 9.98979401e-01 2.58108306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.238040942 meters 0.017877810246733454 Centerline is valid? [True, True] Translation: X:56.87, Y:11.02, Z:2.58 [[ 9.14344952e-01 -4.02803133e-01 -4.15083626e-02 5.68673101e+01] [ 4.02401910e-01 9.15286603e-01 -1.79760381e-02 1.10193923e+01] [ 4.52328527e-02 -2.66744731e-04 9.98976435e-01 2.58294091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.26804094199999 meters 0.017970033057118077 Centerline is valid? [True, True] Translation: X:56.89, Y:11.03, Z:2.58 [[ 9.13717116e-01 -4.04180516e-01 -4.19421273e-02 5.68946793e+01] [ 4.03772013e-01 9.14679179e-01 -1.81703665e-02 1.10275101e+01] [ 4.57076987e-02 -3.32482281e-04 9.98954802e-01 2.58400304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.29804094199999 meters 0.01796298365551558 Centerline is valid? [True, True] Translation: X:56.92, Y:11.04, Z:2.58 [[ 9.12949013e-01 -4.05889459e-01 -4.21645178e-02 5.69221927e+01] [ 4.05478219e-01 9.13922083e-01 -1.82712927e-02 1.10362947e+01] [ 4.59512091e-02 -4.16034924e-04 9.98943599e-01 2.58496144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.328040941999994 meters 0.018084920954311242 Centerline is valid? [True, True] Translation: X:56.95, Y:11.04, Z:2.59 [[ 9.11846769e-01 -4.08173035e-01 -4.39345314e-02 5.69499938e+01] [ 4.07728549e-01 9.12904420e-01 -1.90512452e-02 1.10414243e+01] [ 4.78842325e-02 -5.41546340e-04 9.98852745e-01 2.58580572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.358040941999995 meters 0.017988779488351214 Centerline is valid? [True, True] Translation: X:56.98, Y:11.05, Z:2.59 [[ 9.11527069e-01 -4.08844036e-01 -4.43278242e-02 5.69763083e+01] [ 4.08392079e-01 9.12604088e-01 -1.92272939e-02 1.10503475e+01] [ 4.83147180e-02 -5.76933360e-04 9.98831995e-01 2.58669588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.388040941999996 meters 0.01801652516152347 Centerline is valid? [True, True] Translation: X:57.00, Y:11.06, Z:2.59 [[ 9.11228270e-01 -4.09450528e-01 -4.48698684e-02 5.70028732e+01] [ 4.08987430e-01 9.12332123e-01 -1.94776832e-02 1.10593223e+01] [ 4.89113700e-02 -6.02596645e-04 9.98802941e-01 2.58773534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.418040942 meters 0.018104358360818324 Centerline is valid? [True, True] Translation: X:57.03, Y:11.07, Z:2.59 [[ 9.11008197e-01 -4.09923001e-01 -4.50244296e-02 5.70307066e+01] [ 4.09456586e-01 9.12119922e-01 -1.95589307e-02 1.10656782e+01] [ 4.90853348e-02 -6.17203083e-04 9.98794398e-01 2.58923233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.44804094199999 meters 0.018043836324416033 Centerline is valid? [True, True] Translation: X:57.06, Y:11.08, Z:2.59 [[ 9.11103572e-01 -4.09733541e-01 -4.48185893e-02 5.70571368e+01] [ 4.09270884e-01 9.12205057e-01 -1.94750302e-02 1.10759563e+01] [ 4.88633169e-02 -5.99174118e-04 9.98805295e-01 2.59139654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.47804094199999 meters 0.01765583495234405 Centerline is valid? [True, True] Translation: X:57.08, Y:11.09, Z:2.59 [[ 9.11935762e-01 -4.07948743e-01 -4.41700034e-02 5.70824309e+01] [ 4.07496634e-01 9.13004704e-01 -1.92068766e-02 1.10871036e+01] [ 4.81628420e-02 -4.83690022e-04 9.98839380e-01 2.59326303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.508040941999994 meters 0.01728498050911387 Centerline is valid? [True, True] Translation: X:57.11, Y:11.10, Z:2.60 [[ 9.12230659e-01 -4.07241792e-01 -4.46020919e-02 5.71084086e+01] [ 4.06779581e-01 9.13320275e-01 -1.94022435e-02 1.10983140e+01] [ 4.86373993e-02 -4.43898885e-04 9.98816403e-01 2.59504428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.538040941999995 meters 0.017134043791687096 Centerline is valid? [True, True] Translation: X:57.13, Y:11.11, Z:2.60 [[ 9.12552886e-01 -4.06495056e-01 -4.48218630e-02 5.71347750e+01] [ 4.06026638e-01 9.13652897e-01 -1.95129069e-02 1.11091471e+01] [ 4.88835252e-02 -3.92310836e-04 9.98804409e-01 2.59666473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.568040941999996 meters 0.016923850967307655 Centerline is valid? [True, True] Translation: X:57.16, Y:11.12, Z:2.60 [[ 9.13475732e-01 -4.04355435e-01 -4.53736611e-02 5.71605283e+01] [ 4.03872054e-01 9.14601886e-01 -1.97674882e-02 1.11193681e+01] [ 4.94919273e-02 -2.68032902e-04 9.98774488e-01 2.59878622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.598040942 meters 0.016906434565928226 Centerline is valid? [True, True] Translation: X:57.19, Y:11.13, Z:2.60 [[ 9.13763311e-01 -4.03715326e-01 -4.52829544e-02 5.71850941e+01] [ 4.03232851e-01 9.14884628e-01 -1.97328302e-02 1.11297379e+01] [ 4.93951249e-02 -2.28438591e-04 9.98779290e-01 2.59930737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62804094199999 meters 0.016779396039866647 Centerline is valid? [True, True] Translation: X:57.21, Y:11.14, Z:2.60 [[ 9.13799188e-01 -4.03706881e-01 -4.46295665e-02 5.72103862e+01] [ 4.03237883e-01 9.14888358e-01 -1.94551420e-02 1.11418660e+01] [ 4.86852455e-02 -2.18238914e-04 9.98814146e-01 2.60030573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.65804094199999 meters 0.01679263762174885 Centerline is valid? [True, True] Translation: X:57.24, Y:11.15, Z:2.60 [[ 9.13682215e-01 -4.03997914e-01 -4.43902674e-02 5.72362961e+01] [ 4.03533574e-01 9.14759880e-01 -1.93653593e-02 1.11539039e+01] [ 4.84300004e-02 -2.19178856e-04 9.98826555e-01 2.60136353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.68804094199999 meters 0.016865664891910184 Centerline is valid? [True, True] Translation: X:57.26, Y:11.16, Z:2.60 [[ 9.13454982e-01 -4.04533802e-01 -4.41859671e-02 5.72609914e+01] [ 4.04073676e-01 9.14523017e-01 -1.92903108e-02 1.11645092e+01] [ 4.82126667e-02 -2.33555609e-04 9.98837066e-01 2.60205116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.718040941999995 meters 0.01694843708159255 Centerline is valid? [True, True] Translation: X:57.29, Y:11.17, Z:2.60 [[ 9.12775565e-01 -4.06118023e-01 -4.36911853e-02 5.72874301e+01] [ 4.05669638e-01 9.13820582e-01 -1.90811000e-02 1.11735980e+01] [ 4.76750830e-02 -3.07425455e-04 9.98862849e-01 2.60494989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.748040941999996 meters 0.01708005515872676 Centerline is valid? [True, True] Translation: X:57.31, Y:11.18, Z:2.61 [[ 9.12417389e-01 -4.06929538e-01 -4.36217787e-02 5.73133316e+01] [ 4.06482823e-01 9.13459489e-01 -1.90650511e-02 1.11837140e+01] [ 4.76048601e-02 -3.36219632e-04 9.98866189e-01 2.60685864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.778040942 meters 0.017343955128042387 Centerline is valid? [True, True] Translation: X:57.34, Y:11.19, Z:2.61 [[ 9.11920643e-01 -4.07933562e-01 -4.46200617e-02 5.73393458e+01] [ 4.07466673e-01 9.13011534e-01 -1.95153607e-02 1.11949343e+01] [ 4.86996015e-02 -3.84727831e-04 9.98813396e-01 2.60768605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.808040942 meters 0.017289879758101888 Centerline is valid? [True, True] Translation: X:57.36, Y:11.21, Z:2.61 [[ 9.11718569e-01 -4.08343063e-01 -4.50021472e-02 5.73649301e+01] [ 4.07868365e-01 9.12828450e-01 -1.96880203e-02 1.12070953e+01] [ 4.91187067e-02 -4.05018476e-04 9.98792866e-01 2.60857750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.83804094199999 meters 0.017426836273450028 Centerline is valid? [True, True] Translation: X:57.39, Y:11.22, Z:2.61 [[ 9.11535593e-01 -4.08699772e-01 -4.54682222e-02 5.73897662e+01] [ 4.08214877e-01 9.12668792e-01 -1.99070496e-02 1.12210632e+01] [ 4.96334341e-02 -4.14820439e-04 9.98767415e-01 2.60821997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.86804094199999 meters 0.0174619546838705 Centerline is valid? [True, True] Translation: X:57.41, Y:11.23, Z:2.61 [[ 9.11527138e-01 -4.08648537e-01 -4.60939206e-02 5.74136410e+01] [ 4.08149407e-01 9.12691739e-01 -2.01953549e-02 1.12333968e+01] [ 5.03223428e-02 -4.04592271e-04 9.98732946e-01 2.60851494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.898040941999994 meters 0.017507849185565104 Centerline is valid? [True, True] Translation: X:57.44, Y:11.25, Z:2.61 [[ 9.11344673e-01 -4.08999294e-01 -4.65882383e-02 5.74384355e+01] [ 4.08489457e-01 9.12534602e-01 -2.04196906e-02 1.12461323e+01] [ 5.08650185e-02 -4.21427908e-04 9.98705448e-01 2.60918915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.928040941999996 meters 0.01766702139734578 Centerline is valid? [True, True] Translation: X:57.46, Y:11.26, Z:2.61 [[ 9.11253821e-01 -4.09207641e-01 -4.65357944e-02 5.74623932e+01] [ 4.08698512e-01 9.12441193e-01 -2.04106958e-02 1.12575934e+01] [ 5.08133884e-02 -4.19785381e-04 9.98708077e-01 2.61031414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.958040942 meters 0.01802929207966797 Centerline is valid? [True, True] Translation: X:57.49, Y:11.27, Z:2.61 [[ 9.10401221e-01 -4.11104449e-01 -4.65053642e-02 5.74877243e+01] [ 4.10598122e-01 9.11588099e-01 -2.04039226e-02 1.12689850e+01] [ 5.07818799e-02 -5.19259151e-04 9.98709633e-01 2.61102183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.988040942 meters 0.018044896393112863 Centerline is valid? [True, True] Translation: X:57.51, Y:11.28, Z:2.61 [[ 9.09756167e-01 -4.12561416e-01 -4.62254771e-02 5.75143085e+01] [ 4.12062662e-01 9.10929597e-01 -2.02887265e-02 1.12809490e+01] [ 5.04785009e-02 -5.89999072e-04 9.98724974e-01 2.61328559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.018040942 meters 0.018576853848769642 Centerline is valid? [True, True] Translation: X:57.54, Y:11.29, Z:2.62 [[ 9.08463291e-01 -4.15425736e-01 -4.59989882e-02 5.75409811e+01] [ 4.14934910e-01 9.09626802e-01 -2.02015188e-02 1.12904594e+01] [ 5.02341433e-02 -7.34247761e-04 9.98737199e-01 2.61600132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.048040942 meters 0.018576853848769642 Centerline is valid? [True, True] Translation: X:57.57, Y:11.30, Z:2.62 [[ 9.08349286e-01 -4.15675195e-01 -4.59968164e-02 5.75661892e+01] [ 4.15184439e-01 9.09512826e-01 -2.02064625e-02 1.13016346e+01] [ 5.02340197e-02 -7.42636638e-04 9.98737199e-01 2.61722829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.078040942 meters 0.01878892925977801 Centerline is valid? [True, True] Translation: X:57.59, Y:11.31, Z:2.62 [[ 9.07723084e-01 -4.17086420e-01 -4.55820249e-02 5.75924929e+01] [ 4.16605528e-01 9.08866480e-01 -2.00388638e-02 1.13126251e+01] [ 4.97859125e-02 -7.99984324e-04 9.98759592e-01 2.61920508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.108040942 meters 0.019153001520162565 Centerline is valid? [True, True] Translation: X:57.62, Y:11.32, Z:2.62 [[ 9.07064685e-01 -4.18565166e-01 -4.51315754e-02 5.76190120e+01] [ 4.18094931e-01 9.08186358e-01 -1.98536604e-02 1.13243164e+01] [ 4.92979317e-02 -8.60728710e-04 9.98783747e-01 2.62058156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.138040942 meters 0.019516845279425446 Centerline is valid? [True, True] Translation: X:57.65, Y:11.34, Z:2.62 [[ 9.06468194e-01 -4.19852518e-01 -4.51583421e-02 5.76453166e+01] [ 4.19382684e-01 9.07591878e-01 -1.98783038e-02 1.13373131e+01] [ 4.93313005e-02 -9.19576575e-04 9.98782047e-01 2.62082418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.168040942 meters 0.021315757318368135 Centerline is valid? [True, True] Translation: X:57.67, Y:11.35, Z:2.62 [[ 9.06350779e-01 -4.20060954e-01 -4.55747775e-02 5.76711529e+01] [ 4.19582037e-01 9.07495418e-01 -2.00743612e-02 1.13455269e+01] [ 4.97913571e-02 -9.27945069e-04 9.98759210e-01 2.62082708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.198040942 meters 0.0192239181570955 Centerline is valid? [True, True] Translation: X:57.70, Y:11.36, Z:2.62 [[ 9.06621436e-01 -4.19444875e-01 -4.58646858e-02 5.76952686e+01] [ 4.18958525e-01 9.07780372e-01 -2.02126110e-02 1.13611652e+01] [ 5.01131376e-02 -8.90214768e-04 9.98743151e-01 2.62378974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.228040942 meters 0.01911766421084901 Centerline is valid? [True, True] Translation: X:57.72, Y:11.37, Z:2.63 [[ 9.06662410e-01 -4.19411073e-01 -4.53610690e-02 5.77208148e+01] [ 4.18934668e-01 9.07796012e-01 -2.00035974e-02 1.13733160e+01] [ 4.95683278e-02 -8.66814579e-04 9.98770359e-01 2.62556257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.25804094200001 meters 0.01920856799548116 Centerline is valid? [True, True] Translation: X:57.75, Y:11.39, Z:2.63 [[ 9.06905805e-01 -4.18931833e-01 -4.49219273e-02 5.77457349e+01] [ 4.18463366e-01 9.08017316e-01 -1.98233512e-02 1.13851017e+01] [ 4.90945207e-02 -8.20268598e-04 9.98793800e-01 2.62734279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.288040942 meters 0.018934656482971553 Centerline is valid? [True, True] Translation: X:57.77, Y:11.40, Z:2.63 [[ 9.07254712e-01 -4.18262315e-01 -4.41080992e-02 5.77711829e+01] [ 4.17809648e-01 9.08325961e-01 -1.94691381e-02 1.13985270e+01] [ 4.82077384e-02 -7.65322122e-04 9.98837038e-01 2.62973774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.318040942 meters 0.01804058886629483 Centerline is valid? [True, True] Translation: X:57.80, Y:11.41, Z:2.63 [[ 9.07333005e-01 -4.18095141e-01 -4.40825491e-02 5.77952137e+01] [ 4.17642206e-01 9.08402939e-01 -1.94702156e-02 1.14126762e+01] [ 4.81851197e-02 -7.44763857e-04 9.98838145e-01 2.63127864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.348040942 meters 0.018546894910868156 Centerline is valid? [True, True] Translation: X:57.82, Y:11.42, Z:2.63 [[ 9.07566739e-01 -4.17584912e-01 -4.41073254e-02 5.78204117e+01] [ 4.17130182e-01 9.08637631e-01 -1.94953132e-02 1.14244177e+01] [ 4.82185243e-02 -7.05198899e-04 9.98836562e-01 2.63176196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.378040942 meters 0.01809877537967526 Centerline is valid? [True, True] Translation: X:57.85, Y:11.44, Z:2.63 [[ 9.07413303e-01 -4.17940206e-01 -4.38985290e-02 5.78455269e+01] [ 4.17489933e-01 9.08474255e-01 -1.94083577e-02 1.14377325e+01] [ 4.79922164e-02 -7.15791957e-04 9.98847453e-01 2.63380740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.408040942 meters 0.018317473706347585 Centerline is valid? [True, True] Translation: X:57.87, Y:11.45, Z:2.64 [[ 9.07303323e-01 -4.18203272e-01 -4.36658022e-02 5.78708587e+01] [ 4.17757378e-01 9.08353188e-01 -1.93198943e-02 1.14483552e+01] [ 4.77436137e-02 -7.12706709e-04 9.98859369e-01 2.63558825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.438040942 meters 0.018688942726374794 Centerline is valid? [True, True] Translation: X:57.90, Y:11.46, Z:2.64 [[ 9.06831684e-01 -4.19264763e-01 -4.32822678e-02 5.78964910e+01] [ 4.18827425e-01 9.07863696e-01 -1.91597708e-02 1.14596011e+01] [ 4.73274164e-02 -7.53113577e-04 9.98879146e-01 2.63699412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.468040942 meters 0.01935011756193845 Centerline is valid? [True, True] Translation: X:57.92, Y:11.47, Z:2.64 [[ 9.06448943e-01 -4.20124418e-01 -4.29626128e-02 5.79225410e+01] [ 4.19694276e-01 9.07466171e-01 -1.90226810e-02 1.14703386e+01] [ 4.69790105e-02 -7.88073534e-04 9.98895566e-01 2.63833424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.498040942 meters 0.019498902658858057 Centerline is valid? [True, True] Translation: X:57.95, Y:11.48, Z:2.64 [[ 9.05718944e-01 -4.21720589e-01 -4.27193046e-02 5.79491263e+01] [ 4.21296861e-01 9.06725428e-01 -1.89196511e-02 1.14820665e+01] [ 4.67134862e-02 -8.61622532e-04 9.98907958e-01 2.64023754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.528040942 meters 0.01982353950664127 Centerline is valid? [True, True] Translation: X:57.98, Y:11.49, Z:2.64 [[ 9.05181387e-01 -4.22838622e-01 -4.30599166e-02 5.79758344e+01] [ 4.22408785e-01 9.06204537e-01 -1.90828901e-02 1.14934167e+01] [ 4.70900747e-02 -9.15410080e-04 9.98890228e-01 2.64176353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.558040942 meters 0.02012057826772014 Centerline is valid? [True, True] Translation: X:58.00, Y:11.51, Z:2.64 [[ 9.04837776e-01 -4.23593961e-01 -4.28573748e-02 5.80024934e+01] [ 4.23168437e-01 9.05851684e-01 -1.90052590e-02 1.15054968e+01] [ 4.68729381e-02 -9.39212034e-04 9.98900418e-01 2.64243671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.588040942 meters 0.01961802531010211 Centerline is valid? [True, True] Translation: X:58.03, Y:11.52, Z:2.64 [[ 9.04578875e-01 -4.24083351e-01 -4.34783857e-02 5.80275172e+01] [ 4.23645364e-01 9.05622645e-01 -1.92932614e-02 1.15184995e+01] [ 4.75569616e-02 -9.67139844e-04 9.98868059e-01 2.64333367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.61804094200001 meters 0.020826052070930946 Centerline is valid? [True, True] Translation: X:58.05, Y:11.53, Z:2.64 [[ 9.04301320e-01 -4.24592884e-01 -4.42719434e-02 5.80545159e+01] [ 4.24138669e-01 9.05383833e-01 -1.96597310e-02 1.15275154e+01] [ 4.84304837e-02 -9.99122439e-04 9.98826056e-01 2.64382309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64804094200001 meters 0.021054792084323655 Centerline is valid? [True, True] Translation: X:58.08, Y:11.54, Z:2.64 [[ 9.04039963e-01 -4.25147316e-01 -4.42888760e-02 5.80811729e+01] [ 4.24693163e-01 9.05123588e-01 -1.96724958e-02 1.15393084e+01] [ 4.84506151e-02 -1.02446045e-03 9.98825054e-01 2.64485105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.678040942 meters 0.020232538022758602 Centerline is valid? [True, True] Translation: X:58.11, Y:11.55, Z:2.65 [[ 9.03925773e-01 -4.25382664e-01 -4.43597298e-02 5.81060852e+01] [ 4.24926731e-01 9.05013002e-01 -1.97164933e-02 1.15527984e+01] [ 4.85331867e-02 -1.02738852e-03 9.98821042e-01 2.64620193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.708040942 meters 0.020127090795982107 Centerline is valid? [True, True] Translation: X:58.13, Y:11.56, Z:2.65 [[ 9.04332529e-01 -4.24561761e-01 -4.39316170e-02 5.81325546e+01] [ 4.24112932e-01 9.05398469e-01 -1.95405599e-02 1.15648368e+01] [ 4.80717933e-02 -9.60802951e-04 9.98843421e-01 2.64766727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.738040942 meters 0.019590939941689898 Centerline is valid? [True, True] Translation: X:58.16, Y:11.58, Z:2.65 [[ 9.05107324e-01 -4.22880251e-01 -4.41930375e-02 5.81587716e+01] [ 4.22423436e-01 9.06185160e-01 -1.96696614e-02 1.15776428e+01] [ 4.83649861e-02 -8.65020179e-04 9.98829355e-01 2.64912591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.768040942 meters 0.019462588949045557 Centerline is valid? [True, True] Translation: X:58.19, Y:11.59, Z:2.65 [[ 9.05443344e-01 -4.22173293e-01 -4.40688308e-02 5.81853786e+01] [ 4.21717594e-01 9.06514782e-01 -1.96270620e-02 1.15899115e+01] [ 4.82350679e-02 -8.13408633e-04 9.98835680e-01 2.65092005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.798040942 meters 0.01922556074433733 Centerline is valid? [True, True] Translation: X:58.21, Y:11.60, Z:2.65 [[ 9.05781284e-01 -4.21513139e-01 -4.34389152e-02 5.82115313e+01] [ 4.21069036e-01 9.06821980e-01 -1.93588373e-02 1.16020700e+01] [ 4.75513674e-02 -7.55909608e-04 9.98868508e-01 2.65282539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.828040942 meters 0.019037891634083773 Centerline is valid? [True, True] Translation: X:58.24, Y:11.61, Z:2.65 [[ 9.06002558e-01 -4.21102431e-01 -4.28031212e-02 5.82377961e+01] [ 4.20670214e-01 9.07012809e-01 -1.90875993e-02 1.16143515e+01] [ 4.68608137e-02 -7.12584333e-04 9.98901174e-01 2.65438357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.858040942 meters 0.018889156615694635 Centerline is valid? [True, True] Translation: X:58.26, Y:11.63, Z:2.66 [[ 9.06209750e-01 -4.20692349e-01 -4.24480456e-02 5.82642961e+01] [ 4.20266268e-01 9.07203115e-01 -1.89412723e-02 1.16263283e+01] [ 4.64774475e-02 -6.74716057e-04 9.98919112e-01 2.65673475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.888040942 meters 0.01889254565382282 Centerline is valid? [True, True] Translation: X:58.29, Y:11.64, Z:2.66 [[ 9.06135637e-01 -4.20889367e-01 -4.20754977e-02 5.82899804e+01] [ 4.20470400e-01 9.07111732e-01 -1.87869348e-02 1.16371352e+01] [ 4.60743987e-02 -6.67990146e-04 9.98937788e-01 2.65870656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.918040942 meters 0.019125718387707512 Centerline is valid? [True, True] Translation: X:58.32, Y:11.65, Z:2.66 [[ 9.05961666e-01 -4.21259863e-01 -4.21139811e-02 5.83158841e+01] [ 4.20839913e-01 9.06939729e-01 -1.88174426e-02 1.16469091e+01] [ 4.61218759e-02 -6.75362421e-04 9.98935592e-01 2.66059057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.948040942 meters 0.019253260671974973 Centerline is valid? [True, True] Translation: X:58.34, Y:11.66, Z:2.66 [[ 9.05752211e-01 -4.21702220e-01 -4.21920601e-02 5.83419144e+01] [ 4.21280978e-01 9.06734115e-01 -1.88569024e-02 1.16581516e+01] [ 4.62089778e-02 -6.95031291e-04 9.98931553e-01 2.66196129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.978040942 meters 0.019229383096254098 Centerline is valid? [True, True] Translation: X:58.37, Y:11.67, Z:2.66 [[ 9.05508531e-01 -4.22244130e-01 -4.20023155e-02 5.83671025e+01] [ 4.21826640e-01 9.06481878e-01 -1.87854087e-02 1.16698400e+01] [ 4.60063663e-02 -7.07347720e-04 9.98940896e-01 2.66306345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00804094200001 meters 0.019142096135579177 Centerline is valid? [True, True] Translation: X:58.39, Y:11.68, Z:2.66 [[ 9.05435059e-01 -4.22446477e-01 -4.15491005e-02 5.83920929e+01] [ 4.22037563e-01 9.06387603e-01 -1.85959386e-02 1.16820905e+01] [ 4.55153783e-02 -6.97866310e-04 9.98963394e-01 2.66410897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.038040942 meters 0.01919038289936216 Centerline is valid? [True, True] Translation: X:58.42, Y:11.69, Z:2.67 [[ 9.05304420e-01 -4.22697314e-01 -4.18436041e-02 5.84174256e+01] [ 4.22282219e-01 9.06270647e-01 -1.87414314e-02 1.16937318e+01] [ 4.58435829e-02 -7.03109344e-04 9.98948383e-01 2.66500561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.068040942 meters 0.018887598177706293 Centerline is valid? [True, True] Translation: X:58.44, Y:11.71, Z:2.67 [[ 9.04975577e-01 -4.23294175e-01 -4.29097431e-02 5.84434077e+01] [ 4.22857654e-01 9.05991995e-01 -1.92330315e-02 1.17058950e+01] [ 4.70171140e-02 -7.39289479e-04 9.98893810e-01 2.66574601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.098040942 meters 0.019947546375790718 Centerline is valid? [True, True] Translation: X:58.47, Y:11.71, Z:2.67 [[ 9.04806436e-01 -4.23590384e-01 -4.35488138e-02 5.84692281e+01] [ 4.23140484e-01 9.05853530e-01 -1.95323763e-02 1.17133008e+01] [ 4.77225735e-02 -7.54246374e-04 9.98860344e-01 2.66598010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.128040942 meters 0.019139857467603088 Centerline is valid? [True, True] Translation: X:58.49, Y:11.73, Z:2.67 [[ 9.04481026e-01 -4.24268855e-01 -4.37036966e-02 5.84945209e+01] [ 4.23815983e-01 9.05535933e-01 -1.96134043e-02 1.17269959e+01] [ 4.78966243e-02 -7.82373109e-04 9.98851992e-01 2.66789876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.158040942 meters 0.01966871594576633 Centerline is valid? [True, True] Translation: X:58.52, Y:11.74, Z:2.67 [[ 9.03736943e-01 -4.25899461e-01 -4.32341057e-02 5.85203001e+01] [ 4.25457570e-01 9.04770097e-01 -1.94146031e-02 1.17373618e+01] [ 4.73855950e-02 -8.48583480e-04 9.98876311e-01 2.66903359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.188040942 meters 0.019926278121739905 Centerline is valid? [True, True] Translation: X:58.55, Y:11.75, Z:2.67 [[ 9.03471387e-01 -4.26482637e-01 -4.30350142e-02 5.85456666e+01] [ 4.26045262e-01 9.04495330e-01 -1.93296034e-02 1.17485377e+01] [ 4.71687095e-02 -8.71120314e-04 9.98886557e-01 2.67054635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.218040942 meters 0.019880758701405574 Centerline is valid? [True, True] Translation: X:58.57, Y:11.76, Z:2.67 [[ 9.03180723e-01 -4.27106693e-01 -4.29471134e-02 5.85720875e+01] [ 4.26671582e-01 9.04200789e-01 -1.92949338e-02 1.17610656e+01] [ 4.70738092e-02 -8.97500530e-04 9.98891011e-01 2.67200892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.248040942 meters 0.020071118100371918 Centerline is valid? [True, True] Translation: X:58.60, Y:11.77, Z:2.67 [[ 9.03227749e-01 -4.26945080e-01 -4.35606680e-02 5.85966115e+01] [ 4.26496666e-01 9.04277118e-01 -1.95828470e-02 1.17721746e+01] [ 4.77517155e-02 -8.90708808e-04 9.98858839e-01 2.67215586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.278040942 meters 0.020244888817928585 Centerline is valid? [True, True] Translation: X:58.62, Y:11.78, Z:2.67 [[ 9.03093324e-01 -4.27161896e-01 -4.42172209e-02 5.86225046e+01] [ 4.26699814e-01 9.04174699e-01 -1.98842156e-02 1.17831469e+01] [ 4.84738717e-02 -9.10177551e-04 9.98824036e-01 2.67282650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.308040942 meters 0.02056297075335646 Centerline is valid? [True, True] Translation: X:58.65, Y:11.79, Z:2.67 [[ 9.02652612e-01 -4.28084717e-01 -4.42915033e-02 5.86495888e+01] [ 4.27621941e-01 9.03738104e-01 -1.99227270e-02 1.17936663e+01] [ 4.85565342e-02 -9.56717033e-04 9.98819978e-01 2.67451854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.338040942 meters 0.02006541510578408 Centerline is valid? [True, True] Translation: X:58.68, Y:11.81, Z:2.68 [[ 9.02355236e-01 -4.28750622e-01 -4.39082323e-02 5.86756360e+01] [ 4.28296025e-01 9.03422358e-01 -1.97625322e-02 1.18067700e+01] [ 4.81408768e-02 -9.72896888e-04 9.98840082e-01 2.67596022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36804094200001 meters 0.020521223630549007 Centerline is valid? [True, True] Translation: X:58.70, Y:11.82, Z:2.68 [[ 9.01980069e-01 -4.29516566e-01 -4.41301931e-02 5.87008679e+01] [ 4.29057673e-01 9.03058417e-01 -1.98748362e-02 1.18176818e+01] [ 4.83887138e-02 -1.00769179e-03 9.98828072e-01 2.67657296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.39804094200001 meters 0.021062958938256653 Centerline is valid? [True, True] Translation: X:58.73, Y:11.83, Z:2.68 [[ 9.00923430e-01 -4.31691711e-01 -4.44886507e-02 5.87275921e+01] [ 4.31227613e-01 9.02020508e-01 -2.00436830e-02 1.18286085e+01] [ 4.87823672e-02 -1.12691098e-03 9.98808796e-01 2.67696187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.428040942 meters 0.02131714144484183 Centerline is valid? [True, True] Translation: X:58.75, Y:11.84, Z:2.68 [[ 9.00377198e-01 -4.32801460e-01 -4.47637977e-02 5.87548127e+01] [ 4.32332340e-01 9.01488490e-01 -2.01804525e-02 1.18395146e+01] [ 4.90881777e-02 -1.18281816e-03 9.98793748e-01 2.67825774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.458040942 meters 0.022017836019387078 Centerline is valid? [True, True] Translation: X:58.78, Y:11.85, Z:2.68 [[ 8.99812260e-01 -4.33966724e-01 -4.48417206e-02 5.87805330e+01] [ 4.33496814e-01 9.00928050e-01 -2.02277498e-02 1.18491796e+01] [ 4.91773343e-02 -1.23756573e-03 9.98789296e-01 2.67977418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.488040942 meters 0.022939214320024676 Centerline is valid? [True, True] Translation: X:58.81, Y:11.86, Z:2.68 [[ 8.98993976e-01 -4.35629994e-01 -4.51258225e-02 5.88068813e+01] [ 4.35155860e-01 9.00124845e-01 -2.03627168e-02 1.18583290e+01] [ 4.94894842e-02 -1.33080641e-03 9.98773758e-01 2.68113289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.518040942 meters 0.022774650068516703 Centerline is valid? [True, True] Translation: X:58.83, Y:11.87, Z:2.68 [[ 8.98591240e-01 -4.36411065e-01 -4.55978809e-02 5.88333038e+01] [ 4.35927581e-01 8.99746339e-01 -2.05832444e-02 1.18711202e+01] [ 5.00092820e-02 -1.38145077e-03 9.98747798e-01 2.68193909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.548040942 meters 0.022944260022658095 Centerline is valid? [True, True] Translation: X:58.86, Y:11.88, Z:2.68 [[ 8.98511941e-01 -4.36615228e-01 -4.52043625e-02 5.88578428e+01] [ 4.36139721e-01 8.99647301e-01 -2.04175934e-02 1.18822035e+01] [ 4.95826149e-02 -1.36996654e-03 9.98769086e-01 2.68285346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.578040942 meters 0.021544354934565555 Centerline is valid? [True, True] Translation: X:58.88, Y:11.90, Z:2.68 [[ 8.98621373e-01 -4.36411894e-01 -4.49920721e-02 5.88830858e+01] [ 4.35940247e-01 8.99745990e-01 -2.03286534e-02 1.18967972e+01] [ 4.93531026e-02 -1.34609257e-03 9.98780486e-01 2.68494677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.608040942 meters 0.023535012988315146 Centerline is valid? [True, True] Translation: X:58.91, Y:11.91, Z:2.69 [[ 8.98779075e-01 -4.36133664e-01 -4.45376348e-02 5.89099672e+01] [ 4.35670555e-01 8.99880948e-01 -2.01357071e-02 1.19050732e+01] [ 4.88604287e-02 -1.30618385e-03 9.98804762e-01 2.68559478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.638040942 meters 0.023841035280881936 Centerline is valid? [True, True] Translation: X:58.94, Y:11.92, Z:2.69 [[ 8.99254108e-01 -4.35247721e-01 -4.36058426e-02 5.89351670e+01] [ 4.34802447e-01 9.00309901e-01 -1.97209010e-02 1.19160335e+01] [ 4.78422491e-02 -1.22582585e-03 9.98854152e-01 2.68684969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.668040942 meters 0.023560781514231775 Centerline is valid? [True, True] Translation: X:58.96, Y:11.93, Z:2.69 [[ 8.99339744e-01 -4.35108249e-01 -4.32300358e-02 5.89615998e+01] [ 4.34670244e-01 9.00377344e-01 -1.95554844e-02 1.19288968e+01] [ 4.74320974e-02 -1.20378591e-03 9.98873739e-01 2.68819957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.698040942 meters 0.02302900154770938 Centerline is valid? [True, True] Translation: X:58.99, Y:11.94, Z:2.69 [[ 8.99471425e-01 -4.34832172e-01 -4.32681950e-02 5.89873219e+01] [ 4.34392558e-01 9.00510738e-01 -1.95835972e-02 1.19416456e+01] [ 4.74790523e-02 -1.18049585e-03 9.98871536e-01 2.68969342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.728040942 meters 0.02080484775474319 Centerline is valid? [True, True] Translation: X:59.01, Y:11.96, Z:2.69 [[ 8.99933822e-01 -4.33936039e-01 -4.26454042e-02 5.90115516e+01] [ 4.33507452e-01 9.00943000e-01 -1.93132017e-02 1.19580157e+01] [ 4.68017727e-02 -1.10649710e-03 9.98903584e-01 2.69165810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.75804094200001 meters 0.02076418548095878 Centerline is valid? [True, True] Translation: X:59.04, Y:11.97, Z:2.69 [[ 9.00235267e-01 -4.33361468e-01 -4.21224741e-02 5.90368732e+01] [ 4.32942148e-01 9.01219579e-01 -1.90883844e-02 1.19703739e+01] [ 4.62337687e-02 -1.05255764e-03 9.98930093e-01 2.69312240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.788040942 meters 0.02073772484731699 Centerline is valid? [True, True] Translation: X:59.06, Y:11.98, Z:2.69 [[ 9.01026333e-01 -4.31690979e-01 -4.23609003e-02 5.90619325e+01] [ 4.31264843e-01 9.02021043e-01 -1.92008823e-02 1.19828853e+01] [ 4.64992711e-02 -9.68266440e-04 9.98917855e-01 2.69329742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.818040942 meters 0.020733852540634364 Centerline is valid? [True, True] Translation: X:59.09, Y:11.99, Z:2.69 [[ 9.01401051e-01 -4.30881822e-01 -4.26262905e-02 5.90867774e+01] [ 4.30449216e-01 9.02407887e-01 -1.93255972e-02 1.19945838e+01] [ 4.67933492e-02 -9.28339642e-04 9.98904160e-01 2.69399363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.848040942 meters 0.020570371765273123 Centerline is valid? [True, True] Translation: X:59.11, Y:12.01, Z:2.69 [[ 9.01639876e-01 -4.30415176e-01 -4.22884142e-02 5.91130441e+01] [ 4.29988680e-01 9.02630588e-01 -1.91769663e-02 1.20074201e+01] [ 4.64248735e-02 -8.92821925e-04 9.98921385e-01 2.69451164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.878040942 meters 0.02018313360636693 Centerline is valid? [True, True] Translation: X:59.14, Y:12.02, Z:2.70 [[ 9.01935921e-01 -4.29768435e-01 -4.25521638e-02 5.91386992e+01] [ 4.29335320e-01 9.02938737e-01 -1.93085462e-02 1.20207164e+01] [ 4.67202007e-02 -8.54075434e-04 9.98907650e-01 2.69515188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.908040942 meters 0.019900031527490206 Centerline is valid? [True, True] Translation: X:59.16, Y:12.03, Z:2.70 [[ 9.02515771e-01 -4.28541252e-01 -4.26342432e-02 5.91638128e+01] [ 4.28104530e-01 9.03521879e-01 -1.93578442e-02 1.20342091e+01] [ 4.68166063e-02 -7.81152984e-04 9.98903196e-01 2.69547003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.938040942 meters 0.019900031527490206 Centerline is valid? [True, True] Translation: X:59.19, Y:12.05, Z:2.70 [[ 9.02403550e-01 -4.28777961e-01 -4.26297153e-02 5.91888640e+01] [ 4.28341032e-01 9.03409568e-01 -1.93678107e-02 1.20457137e+01] [ 4.68165831e-02 -7.82475091e-04 9.98903196e-01 2.69669406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.968040942 meters 0.01880306482476986 Centerline is valid? [True, True] Translation: X:59.21, Y:12.06, Z:2.70 [[ 9.02677257e-01 -4.28189928e-01 -4.27452471e-02 5.92140398e+01] [ 4.27749332e-01 9.03688462e-01 -1.94338147e-02 1.20610154e+01] [ 4.69497503e-02 -7.41788332e-04 9.98896977e-01 2.69801996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.998040942 meters 0.01856824104718185 Centerline is valid? [True, True] Translation: X:59.24, Y:12.07, Z:2.70 [[ 9.03548690e-01 -4.26355901e-01 -4.26662632e-02 5.92386990e+01] [ 4.25914309e-01 9.04555274e-01 -1.94102509e-02 1.20730021e+01] [ 4.68696684e-02 -6.34065230e-04 9.98900812e-01 2.69940678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.028040942 meters 0.018361529631825076 Centerline is valid? [True, True] Translation: X:59.26, Y:12.09, Z:2.70 [[ 9.03815444e-01 -4.25771991e-01 -4.28468805e-02 5.92645162e+01] [ 4.25325759e-01 9.04830288e-01 -1.94974209e-02 1.20852242e+01] [ 4.70706109e-02 -6.01811861e-04 9.98891383e-01 2.70064761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.058040942 meters 0.0181960575853421 Centerline is valid? [True, True] Translation: X:59.29, Y:12.10, Z:2.70 [[ 9.04213218e-01 -4.24943552e-01 -4.26782693e-02 5.92900710e+01] [ 4.24499339e-01 9.05219686e-01 -1.94327415e-02 1.20972314e+01] [ 4.68910277e-02 -5.45555341e-04 9.98899862e-01 2.70199458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.088040942 meters 0.01798209023207181 Centerline is valid? [True, True] Translation: X:59.32, Y:12.11, Z:2.70 [[ 9.04718263e-01 -4.23878266e-01 -4.25685301e-02 5.93152601e+01] [ 4.23434950e-01 9.05719041e-01 -1.93871803e-02 1.21095747e+01] [ 4.67729326e-02 -4.85067365e-04 9.98905430e-01 2.70301324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.11804094200001 meters 0.017947635247604066 Centerline is valid? [True, True] Translation: X:59.34, Y:12.12, Z:2.70 [[ 9.04711200e-01 -4.23912129e-01 -4.23810354e-02 5.93407147e+01] [ 4.23472526e-01 9.05703194e-01 -1.93065585e-02 1.21217056e+01] [ 4.65689234e-02 -4.80344385e-04 9.98914964e-01 2.70394215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14804094200001 meters 0.017791472240361716 Centerline is valid? [True, True] Translation: X:59.37, Y:12.13, Z:2.70 [[ 9.04289353e-01 -4.24911475e-01 -4.13642961e-02 5.93655343e+01] [ 4.24493163e-01 9.05234766e-01 -1.88566367e-02 1.21340086e+01] [ 4.54568002e-02 -5.07005134e-04 9.98966177e-01 2.70496416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.178040942 meters 0.018017118794963122 Centerline is valid? [True, True] Translation: X:59.39, Y:12.14, Z:2.71 [[ 9.03903803e-01 -4.25722999e-01 -4.14468697e-02 5.93917054e+01] [ 4.25303232e-01 9.04853381e-01 -1.89082204e-02 1.21443685e+01] [ 4.55530044e-02 -5.36275267e-04 9.98961779e-01 2.70632288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.208040942 meters 0.01827605852156667 Centerline is valid? [True, True] Translation: X:59.42, Y:12.15, Z:2.71 [[ 9.03425814e-01 -4.26805548e-01 -4.07286462e-02 5.94171403e+01] [ 4.26401118e-01 9.04343238e-01 -1.85847975e-02 1.21545165e+01] [ 4.47647705e-02 -5.76754484e-04 9.98997389e-01 2.70770708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.238040942 meters 0.01883055898395819 Centerline is valid? [True, True] Translation: X:59.44, Y:12.16, Z:2.71 [[ 9.02199633e-01 -4.29424967e-01 -4.03735080e-02 5.94442470e+01] [ 4.29029965e-01 9.03102272e-01 -1.84275802e-02 1.21630946e+01] [ 4.43746698e-02 -6.96088634e-04 9.99014717e-01 2.70945137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.268040942 meters 0.0183791865654137 Centerline is valid? [True, True] Translation: X:59.47, Y:12.18, Z:2.71 [[ 9.01272892e-01 -4.31396006e-01 -4.00582219e-02 5.94699072e+01] [ 4.31008925e-01 9.02162332e-01 -1.82875464e-02 1.21762703e+01] [ 4.40281933e-02 -7.83381314e-04 9.99029982e-01 2.71053770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.298040942 meters 0.0190823005582219 Centerline is valid? [True, True] Translation: X:59.50, Y:12.19, Z:2.71 [[ 8.99789625e-01 -4.34460577e-01 -4.02819792e-02 5.94954364e+01] [ 4.34071677e-01 9.00690373e-01 -1.84019581e-02 1.21867482e+01] [ 4.42765162e-02 -9.27375265e-04 9.99018884e-01 2.71063580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.328040942 meters 0.019213116009787083 Centerline is valid? [True, True] Translation: X:59.52, Y:12.20, Z:2.71 [[ 8.99068942e-01 -4.35984311e-01 -3.99088791e-02 5.95217401e+01] [ 4.35603903e-01 8.99953722e-01 -1.82356233e-02 1.21991810e+01] [ 4.38665899e-02 -9.89380884e-04 9.99036908e-01 2.71140550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.358040942 meters 0.019477740131612204 Centerline is valid? [True, True] Translation: X:59.55, Y:12.21, Z:2.71 [[ 8.98590297e-01 -4.36946399e-01 -4.01661799e-02 5.95473565e+01] [ 4.36561491e-01 8.99486953e-01 -1.83653379e-02 1.22112406e+01] [ 4.41536230e-02 -1.03209293e-03 9.99024220e-01 2.71270959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.388040942 meters 0.0197805098723241 Centerline is valid? [True, True] Translation: X:59.57, Y:12.22, Z:2.71 [[ 8.98364654e-01 -4.37438580e-01 -3.98551987e-02 5.95729782e+01] [ 4.37059909e-01 8.99247685e-01 -1.82273761e-02 1.22227501e+01] [ 4.38130526e-02 -1.04427913e-03 9.99039201e-01 2.71373170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.418040942 meters 0.019988908702230034 Centerline is valid? [True, True] Translation: X:59.60, Y:12.24, Z:2.72 [[ 8.97900982e-01 -4.38402843e-01 -3.97085978e-02 5.95990639e+01] [ 4.38027719e-01 8.98777933e-01 -1.81643809e-02 1.22352784e+01] [ 4.36525277e-02 -1.08365109e-03 9.99046186e-01 2.71527571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.448040942 meters 0.020448414411365155 Centerline is valid? [True, True] Translation: X:59.62, Y:12.25, Z:2.72 [[ 8.97651084e-01 -4.38927222e-01 -3.95654635e-02 5.96240465e+01] [ 4.38554794e-01 8.98521951e-01 -1.81106914e-02 1.22470287e+01] [ 4.34997129e-02 -1.09454189e-03 9.99052840e-01 2.71625927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.478040942 meters 0.020434563006561685 Centerline is valid? [True, True] Translation: X:59.65, Y:12.26, Z:2.72 [[ 8.97874174e-01 -4.38528930e-01 -3.89145951e-02 5.96479100e+01] [ 4.38168025e-01 8.98716457e-01 -1.78188558e-02 1.22610725e+01] [ 4.27872708e-02 -1.05204080e-03 9.99083651e-01 2.71778929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50804094200001 meters 0.01980575494086556 Centerline is valid? [True, True] Translation: X:59.67, Y:12.28, Z:2.72 [[ 8.98225984e-01 -4.37816662e-01 -3.88156225e-02 5.96732169e+01] [ 4.37456769e-01 8.99063705e-01 -1.77772178e-02 1.22752932e+01] [ 4.26808795e-02 -1.01219787e-03 9.99088243e-01 2.71877887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.538040942 meters 0.019261726560064946 Centerline is valid? [True, True] Translation: X:59.70, Y:12.29, Z:2.72 [[ 8.98565860e-01 -4.37129204e-01 -3.86969420e-02 5.96987672e+01] [ 4.36770392e-01 8.99398202e-01 -1.77341467e-02 1.22898933e+01] [ 4.25560735e-02 -9.66379703e-04 9.99093613e-01 2.71971441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.568040942 meters 0.01852679878918727 Centerline is valid? [True, True] Translation: X:59.72, Y:12.31, Z:2.72 [[ 8.99536045e-01 -4.35183793e-01 -3.80784867e-02 5.97232102e+01] [ 4.34834150e-01 9.00341237e-01 -1.74618987e-02 1.23056599e+01] [ 4.18827672e-02 -8.50219110e-04 9.99122170e-01 2.72109893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.598040942 meters 0.018327494629908778 Centerline is valid? [True, True] Translation: X:59.75, Y:12.32, Z:2.72 [[ 9.00054886e-01 -4.34164697e-01 -3.74461999e-02 5.97487487e+01] [ 4.33825233e-01 9.00833175e-01 -1.71830859e-02 1.23196594e+01] [ 4.11930684e-02 -7.79385958e-04 9.99150901e-01 2.72256104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.628040942 meters 0.018331210654295434 Centerline is valid? [True, True] Translation: X:59.77, Y:12.33, Z:2.72 [[ 9.00849032e-01 -4.32656656e-01 -3.57664561e-02 5.97733425e+01] [ 4.32345381e-01 9.01558523e-01 -1.64226014e-02 1.23340064e+01] [ 3.93509012e-02 -6.69177476e-04 9.99225229e-01 2.72457189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.658040942 meters 0.01794550455638573 Centerline is valid? [True, True] Translation: X:59.80, Y:12.35, Z:2.73 [[ 9.01004248e-01 -4.32351341e-01 -3.55480356e-02 5.97977135e+01] [ 4.32043212e-01 9.01704999e-01 -1.63327204e-02 1.23483399e+01] [ 3.91153150e-02 -6.42437035e-04 9.99234497e-01 2.72532919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.688040942 meters 0.01843009138844879 Centerline is valid? [True, True] Translation: X:59.82, Y:12.36, Z:2.73 [[ 9.01255580e-01 -4.31821198e-01 -3.56206825e-02 5.98230461e+01] [ 4.31510862e-01 9.01959025e-01 -1.63796618e-02 1.23595793e+01] [ 3.92014812e-02 -6.08449840e-04 9.99231141e-01 2.72705700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.718040942 meters 0.017842310168628514 Centerline is valid? [True, True] Translation: X:59.85, Y:12.38, Z:2.73 [[ 9.01083200e-01 -4.32247069e-01 -3.48071622e-02 5.98475027e+01] [ 4.31950971e-01 9.01755010e-01 -1.60081275e-02 1.23750159e+01] [ 3.83069990e-02 -6.10332777e-04 9.99265831e-01 2.72772957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.748040942 meters 0.01809559610661991 Centerline is valid? [True, True] Translation: X:59.87, Y:12.39, Z:2.73 [[ 9.00786837e-01 -4.32918429e-01 -3.41278392e-02 5.98721499e+01] [ 4.32633834e-01 9.01432890e-01 -1.57070493e-02 1.23871513e+01] [ 3.75638278e-02 -6.16154693e-04 9.99294040e-01 2.72870757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.778040942 meters 0.018320708657640333 Centerline is valid? [True, True] Translation: X:59.90, Y:12.40, Z:2.73 [[ 9.00378895e-01 -4.33791598e-01 -3.38037642e-02 5.98983375e+01] [ 4.33512913e-01 9.01013004e-01 -1.55602061e-02 1.23997133e+01] [ 3.72075179e-02 -6.44287103e-04 9.99307353e-01 2.72977961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.808040942 meters 0.018786798425469917 Centerline is valid? [True, True] Translation: X:59.92, Y:12.41, Z:2.73 [[ 8.99558093e-01 -4.35480746e-01 -3.39375517e-02 5.99232232e+01] [ 4.35200622e-01 9.00197767e-01 -1.56332483e-02 1.24114829e+01] [ 3.73584869e-02 -7.06628572e-04 9.99301678e-01 2.73055282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.838040942 meters 0.019137091676369292 Centerline is valid? [True, True] Translation: X:59.95, Y:12.42, Z:2.73 [[ 8.99046558e-01 -4.36498054e-01 -3.44199854e-02 5.99497943e+01] [ 4.36210552e-01 8.99704883e-01 -1.58580610e-02 1.24238691e+01] [ 3.78898417e-02 -7.57225644e-04 9.99281635e-01 2.73135961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86804094200001 meters 0.01951503770735464 Centerline is valid? [True, True] Translation: X:59.98, Y:12.44, Z:2.73 [[ 8.97819215e-01 -4.39018416e-01 -3.44018554e-02 5.99758036e+01] [ 4.38732682e-01 8.98477657e-01 -1.58597747e-02 1.24363336e+01] [ 3.78720316e-02 -8.54007823e-04 9.99282232e-01 2.73202444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.89804094200001 meters 0.020039425380562057 Centerline is valid? [True, True] Translation: X:60.00, Y:12.45, Z:2.73 [[ 8.97010879e-01 -4.40658658e-01 -3.45171035e-02 6.00020148e+01] [ 4.40371828e-01 8.97674276e-01 -1.59231625e-02 1.24485304e+01] [ 3.80017953e-02 -9.17109985e-04 9.99277250e-01 2.73302437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.928040942 meters 0.020551759153028915 Centerline is valid? [True, True] Translation: X:60.03, Y:12.46, Z:2.73 [[ 8.96335781e-01 -4.42012375e-01 -3.47451944e-02 6.00275201e+01] [ 4.41722320e-01 8.97008427e-01 -1.60397516e-02 1.24609485e+01] [ 3.82565009e-02 -9.70724671e-04 9.99267481e-01 2.73382039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.958040942 meters 0.021622398908258615 Centerline is valid? [True, True] Translation: X:60.05, Y:12.47, Z:2.73 [[ 8.94817690e-01 -4.45106173e-01 -3.43772696e-02 6.00542543e+01] [ 4.44824406e-01 8.95477141e-01 -1.58725821e-02 1.24747414e+01] [ 3.78490434e-02 -1.08878129e-03 9.99282875e-01 2.73344526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.988040942 meters 0.022141084832720592 Centerline is valid? [True, True] Translation: X:60.08, Y:12.49, Z:2.73 [[ 8.94083301e-01 -4.46562064e-01 -3.46030773e-02 6.00797328e+01] [ 4.46277308e-01 8.94751922e-01 -1.59863299e-02 1.24870658e+01] [ 3.81000584e-02 -1.14945752e-03 9.99273268e-01 2.73411891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.018040942 meters 0.02202153283532014 Centerline is valid? [True, True] Translation: X:60.11, Y:12.50, Z:2.74 [[ 8.93348231e-01 -4.48023641e-01 -3.46951704e-02 6.01050202e+01] [ 4.47738370e-01 8.94020887e-01 -1.60313813e-02 1.25004541e+01] [ 3.82006448e-02 -1.21275297e-03 9.99269353e-01 2.73507950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.048040942 meters 0.02227674024691312 Centerline is valid? [True, True] Translation: X:60.13, Y:12.51, Z:2.74 [[ 8.92116742e-01 -4.50499474e-01 -3.43211545e-02 6.01302685e+01] [ 4.50221773e-01 8.92775753e-01 -1.58685123e-02 1.25146984e+01] [ 3.77898510e-02 -1.29556556e-03 9.99284869e-01 2.73562857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.078040942 meters 0.023872811644605866 Centerline is valid? [True, True] Translation: X:60.16, Y:12.53, Z:2.74 [[ 8.91653335e-01 -4.51391408e-01 -3.46428419e-02 6.01555576e+01] [ 4.51108713e-01 8.92325060e-01 -1.60286351e-02 1.25251013e+01] [ 3.81478641e-02 -1.33570192e-03 9.99271213e-01 2.73703111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.108040942 meters 0.023655393423597605 Centerline is valid? [True, True] Translation: X:60.18, Y:12.54, Z:2.74 [[ 8.91129218e-01 -4.52483621e-01 -3.38716705e-02 6.01792178e+01] [ 4.52214000e-01 8.91771695e-01 -1.56761385e-02 1.25416445e+01] [ 3.72989930e-02 -1.34777858e-03 9.99303242e-01 2.73789668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.138040942 meters 0.023716534791880024 Centerline is valid? [True, True] Translation: X:60.20, Y:12.56, Z:2.74 [[ 8.90902017e-01 -4.52940846e-01 -3.37370087e-02 6.02042252e+01] [ 4.52673609e-01 8.91539535e-01 -1.56160661e-02 1.25560401e+01] [ 3.71510312e-02 -1.35946869e-03 9.99308737e-01 2.73870018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.168040942 meters 0.023489373078387655 Centerline is valid? [True, True] Translation: X:60.23, Y:12.57, Z:2.74 [[ 8.90749964e-01 -4.53238893e-01 -3.37492035e-02 6.02285228e+01] [ 4.52971320e-01 8.91388045e-01 -1.56312828e-02 1.25705115e+01] [ 3.71683418e-02 -1.36385669e-03 9.99308088e-01 2.73954967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.198040942 meters 0.023472241282579624 Centerline is valid? [True, True] Translation: X:60.25, Y:12.59, Z:2.74 [[ 8.90870315e-01 -4.52949038e-01 -3.44565199e-02 6.02530932e+01] [ 4.52669452e-01 8.91535358e-01 -1.59710078e-02 1.25864935e+01] [ 3.79532584e-02 -1.36931724e-03 9.99278577e-01 2.74010253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.228040942 meters 0.02317404110634491 Centerline is valid? [True, True] Translation: X:60.28, Y:12.60, Z:2.74 [[ 8.90879530e-01 -4.52930991e-01 -3.44554758e-02 6.02774927e+01] [ 4.52651034e-01 8.91544541e-01 -1.59803819e-02 1.26007289e+01] [ 3.79566015e-02 -1.35971159e-03 9.99278463e-01 2.74090655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.25804094200001 meters 0.02464393451598383 Centerline is valid? [True, True] Translation: X:60.30, Y:12.61, Z:2.74 [[ 8.91055015e-01 -4.52550941e-01 -3.49085444e-02 6.03033681e+01] [ 4.52262809e-01 8.91737530e-01 -1.62027500e-02 1.26123126e+01] [ 3.84618289e-02 -1.35029468e-03 9.99259158e-01 2.74270394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.288040942 meters 0.022384122038813993 Centerline is valid? [True, True] Translation: X:60.33, Y:12.63, Z:2.74 [[ 8.91571168e-01 -4.51535055e-01 -3.48847462e-02 6.03257464e+01] [ 4.51246147e-01 8.92252438e-01 -1.62019202e-02 1.26335222e+01] [ 3.84417348e-02 -1.29644235e-03 9.99260002e-01 2.74294364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.318040942 meters 0.02166736091246881 Centerline is valid? [True, True] Translation: X:60.35, Y:12.65, Z:2.74 [[ 8.91831713e-01 -4.50991743e-01 -3.52511554e-02 6.03496086e+01] [ 4.50695893e-01 8.92527208e-01 -1.63827715e-02 1.26497344e+01] [ 3.88511100e-02 -1.27687576e-03 9.99244195e-01 2.74330489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.348040942 meters 0.021649967424807622 Centerline is valid? [True, True] Translation: X:60.37, Y:12.67, Z:2.74 [[ 8.92441040e-01 -4.49729372e-01 -3.59511095e-02 6.03727123e+01] [ 4.49420152e-01 8.93164019e-01 -1.67200955e-02 1.26666404e+01] [ 3.96297555e-02 -1.23545369e-03 9.99213669e-01 2.74410546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.378040942 meters 0.022078111025911246 Centerline is valid? [True, True] Translation: X:60.40, Y:12.68, Z:2.75 [[ 8.92570115e-01 -4.49479177e-01 -3.58756222e-02 6.03975364e+01] [ 4.49170900e-01 8.93289978e-01 -1.66888239e-02 1.26794371e+01] [ 3.95486126e-02 -1.21834007e-03 9.99216905e-01 2.74558929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.408040942 meters 0.021967432101762947 Centerline is valid? [True, True] Translation: X:60.42, Y:12.69, Z:2.75 [[ 8.92537328e-01 -4.49515839e-01 -3.62302343e-02 6.04220758e+01] [ 4.49201349e-01 8.93271515e-01 -1.68567119e-02 1.26934433e+01] [ 3.99407952e-02 -1.22942550e-03 9.99201292e-01 2.74670676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.438040942 meters 0.022183564730545897 Centerline is valid? [True, True] Translation: X:60.45, Y:12.71, Z:2.75 [[ 8.92629883e-01 -4.49326268e-01 -3.63014625e-02 6.04468512e+01] [ 4.49009862e-01 8.93366910e-01 -1.69028855e-02 1.27068715e+01] [ 4.00254358e-02 -1.21169394e-03 9.99197926e-01 2.74820214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.468040942 meters 0.022185014038242617 Centerline is valid? [True, True] Translation: X:60.47, Y:12.72, Z:2.75 [[ 8.92901869e-01 -4.48822418e-01 -3.58425605e-02 6.04709240e+01] [ 4.48513362e-01 8.93620204e-01 -1.66941789e-02 1.27237187e+01] [ 3.95223580e-02 -1.16960377e-03 9.99218002e-01 2.74897073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.498040942 meters 0.021698530903097753 Centerline is valid? [True, True] Translation: X:60.49, Y:12.74, Z:2.75 [[ 8.92982620e-01 -4.48719461e-01 -3.51124840e-02 6.04937545e+01] [ 4.48422413e-01 8.93671955e-01 -1.63638985e-02 1.27404885e+01] [ 3.87218419e-02 -1.13254783e-03 9.99249386e-01 2.74991338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.528040942 meters 0.02112644851143157 Centerline is valid? [True, True] Translation: X:60.52, Y:12.76, Z:2.75 [[ 8.93034228e-01 -4.48666181e-01 -3.44749975e-02 6.05176575e+01] [ 4.48379350e-01 8.93698746e-01 -1.60782217e-02 1.27552503e+01] [ 3.80240163e-02 -1.09947470e-03 9.99276221e-01 2.75073769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.558040942 meters 0.0212395074180307 Centerline is valid? [True, True] Translation: X:60.54, Y:12.77, Z:2.75 [[ 8.93140336e-01 -4.48468675e-01 -3.42956024e-02 6.05428039e+01] [ 4.48184218e-01 8.93797904e-01 -1.60066570e-02 1.27690716e+01] [ 3.78318218e-02 -1.07455675e-03 9.99283543e-01 2.75191589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.588040942 meters 0.02119149366920702 Centerline is valid? [True, True] Translation: X:60.57, Y:12.78, Z:2.75 [[ 8.93365941e-01 -4.48023924e-01 -3.42324108e-02 6.05676852e+01] [ 4.47739801e-01 8.94020957e-01 -1.59874414e-02 1.27829206e+01] [ 3.77672489e-02 -1.04457718e-03 9.99286017e-01 2.75332212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.61804094200001 meters 0.02107360455674942 Centerline is valid? [True, True] Translation: X:60.59, Y:12.80, Z:2.75 [[ 8.93568966e-01 -4.47612217e-01 -3.43191739e-02 6.05919891e+01] [ 4.47325957e-01 8.94227187e-01 -1.60382817e-02 1.27985569e+01] [ 3.78680691e-02 -1.02054649e-03 9.99282226e-01 2.75422948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64804094200001 meters 0.020909314968394425 Centerline is valid? [True, True] Translation: X:60.62, Y:12.81, Z:2.76 [[ 8.93460320e-01 -4.47825633e-01 -3.43636369e-02 6.06167111e+01] [ 4.47538407e-01 8.94120326e-01 -1.60691173e-02 1.28130327e+01] [ 3.79213889e-02 -1.02192860e-03 9.99280203e-01 2.75528614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.678040942 meters 0.020974830141289987 Centerline is valid? [True, True] Translation: X:60.64, Y:12.83, Z:2.76 [[ 8.93872257e-01 -4.47009451e-01 -3.42773745e-02 6.06406293e+01] [ 4.46722563e-01 8.94528705e-01 -1.60420417e-02 1.28285772e+01] [ 3.78330396e-02 -9.72940556e-04 9.99283601e-01 2.75566512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.708040942 meters 0.020891747471906582 Centerline is valid? [True, True] Translation: X:60.67, Y:12.84, Z:2.76 [[ 8.94002766e-01 -4.46727983e-01 -3.45421863e-02 6.06657248e+01] [ 4.46436334e-01 8.94669311e-01 -1.61686053e-02 1.28424429e+01] [ 3.81268024e-02 -9.66109118e-04 9.99272442e-01 2.75663557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.738040942 meters 0.02076975100096224 Centerline is valid? [True, True] Translation: X:60.69, Y:12.86, Z:2.76 [[ 8.94495799e-01 -4.45775184e-01 -3.40844733e-02 6.06902368e+01] [ 4.45490150e-01 8.95144495e-01 -1.59642979e-02 1.28575829e+01] [ 3.76270165e-02 -9.04299733e-04 9.99291444e-01 2.75786517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.768040942 meters 0.020320469652799652 Centerline is valid? [True, True] Translation: X:60.72, Y:12.87, Z:2.76 [[ 8.94723678e-01 -4.45352149e-01 -3.36303988e-02 6.07156154e+01] [ 4.45073997e-01 8.95355077e-01 -1.57614621e-02 1.28726165e+01] [ 3.71305493e-02 -8.65862701e-04 9.99310048e-01 2.75928821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.798040942 meters 0.020457402916315436 Centerline is valid? [True, True] Translation: X:60.74, Y:12.89, Z:2.76 [[ 8.95122515e-01 -4.44564892e-01 -3.34326198e-02 6.07401870e+01] [ 4.44289070e-01 8.95746273e-01 -1.56791615e-02 1.28857986e+01] [ 3.69175494e-02 -8.18977119e-04 9.99317979e-01 2.76045325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.828040942 meters 0.020384589320157843 Centerline is valid? [True, True] Translation: X:60.77, Y:12.90, Z:2.76 [[ 8.95324986e-01 -4.44151651e-01 -3.35034445e-02 6.07657436e+01] [ 4.43874285e-01 8.95951265e-01 -1.57146665e-02 1.29002173e+01] [ 3.69971485e-02 -8.01583908e-04 9.99315050e-01 2.76082486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.858040942 meters 0.020384589320157843 Centerline is valid? [True, True] Translation: X:60.79, Y:12.91, Z:2.76 [[ 8.95203025e-01 -4.44397693e-01 -3.34997831e-02 6.07906369e+01] [ 4.44120207e-01 8.95829250e-01 -1.57224674e-02 1.29120078e+01] [ 3.69971138e-02 -8.03130215e-04 9.99315050e-01 2.76204895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.888040942 meters 0.01993023298305621 Centerline is valid? [True, True] Translation: X:60.81, Y:12.93, Z:2.76 [[ 8.95341673e-01 -4.44106872e-01 -3.36507919e-02 6.08149691e+01] [ 4.43826241e-01 8.95973477e-01 -1.58049338e-02 1.29272972e+01] [ 3.71692967e-02 -7.84288658e-04 9.99308675e-01 2.76170980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.918040942 meters 0.01994228724105172 Centerline is valid? [True, True] Translation: X:60.84, Y:12.94, Z:2.76 [[ 8.95314079e-01 -4.44161366e-01 -3.36657111e-02 6.08402564e+01] [ 4.43880163e-01 8.95946469e-01 -1.58217000e-02 1.29398327e+01] [ 3.71900629e-02 -7.78150580e-04 9.99307907e-01 2.76320028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.948040942 meters 0.01999488042139954 Centerline is valid? [True, True] Translation: X:60.87, Y:12.95, Z:2.76 [[ 8.95135364e-01 -4.44561422e-01 -3.31333901e-02 6.08655041e+01] [ 4.44288903e-01 8.95748037e-01 -1.55828462e-02 1.29539907e+01] [ 3.66067014e-02 -7.72040845e-04 9.99329452e-01 2.76466766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.978040942 meters 0.020196999136082992 Centerline is valid? [True, True] Translation: X:60.89, Y:12.97, Z:2.77 [[ 8.94936053e-01 -4.44951826e-01 -3.32766329e-02 6.08899850e+01] [ 4.44676796e-01 8.95554165e-01 -1.56615499e-02 1.29665227e+01] [ 3.67696624e-02 -7.81260816e-04 9.99323462e-01 2.76580787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00804094200001 meters 0.01979985357438461 Centerline is valid? [True, True] Translation: X:60.91, Y:12.98, Z:2.77 [[ 8.94739417e-01 -4.45316080e-01 -3.36892405e-02 6.09142314e+01] [ 4.45034369e-01 8.95373074e-01 -1.58577563e-02 1.29800971e+01] [ 3.72261527e-02 -8.04310255e-04 9.99306543e-01 2.76618610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.038040942 meters 0.020648174233979338 Centerline is valid? [True, True] Translation: X:60.94, Y:12.99, Z:2.77 [[ 8.94259436e-01 -4.46263699e-01 -3.38935380e-02 6.09400794e+01] [ 4.45978736e-01 8.94901118e-01 -1.59673470e-02 1.29910477e+01] [ 3.74570124e-02 -8.36846507e-04 9.99297889e-01 2.76671254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.068040942 meters 0.019993058857767705 Centerline is valid? [True, True] Translation: X:60.97, Y:13.01, Z:2.77 [[ 8.93859431e-01 -4.47084463e-01 -3.36273838e-02 6.09655504e+01] [ 4.46804455e-01 8.94491330e-01 -1.58442309e-02 1.30050482e+01] [ 3.71631127e-02 -8.62349741e-04 9.99308841e-01 2.76748521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.098040942 meters 0.020661088101150745 Centerline is valid? [True, True] Translation: X:60.99, Y:13.02, Z:2.77 [[ 8.93244733e-01 -4.48313755e-01 -3.35950065e-02 6.09914381e+01] [ 4.48034723e-01 8.93875810e-01 -1.58405602e-02 1.30159451e+01] [ 3.71313047e-02 -9.02232481e-04 9.99309988e-01 2.76904412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.128040942 meters 0.021081885701278596 Centerline is valid? [True, True] Translation: X:61.02, Y:13.03, Z:2.77 [[ 8.92165049e-01 -4.50518684e-01 -3.27786719e-02 6.10170243e+01] [ 4.50254411e-01 8.92766476e-01 -1.54591071e-02 1.30279497e+01] [ 3.62283160e-02 -9.66666559e-04 9.99343072e-01 2.77027886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.158040942 meters 0.021426983332158367 Centerline is valid? [True, True] Translation: X:61.04, Y:13.04, Z:2.77 [[ 8.91592710e-01 -4.51636759e-01 -3.29647965e-02 6.10429718e+01] [ 4.51370160e-01 8.92201326e-01 -1.55490450e-02 1.30396416e+01] [ 3.64337555e-02 -1.01591030e-03 9.99335554e-01 2.77173434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.188040942 meters 0.02185706248247593 Centerline is valid? [True, True] Translation: X:61.07, Y:13.05, Z:2.77 [[ 8.91106381e-01 -4.52614772e-01 -3.26999377e-02 6.10687395e+01] [ 4.52352695e-01 8.91705552e-01 -1.54352412e-02 1.30506472e+01] [ 3.61449341e-02 -1.03746302e-03 9.99346020e-01 2.77288902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.218040942 meters 0.022343525336291616 Centerline is valid? [True, True] Translation: X:61.09, Y:13.06, Z:2.77 [[ 8.90457899e-01 -4.53918974e-01 -3.22846002e-02 6.10949246e+01] [ 4.53664265e-01 8.91042318e-01 -1.52421347e-02 1.30614133e+01] [ 3.56856391e-02 -1.07389018e-03 9.99362488e-01 2.77461238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.248040942 meters 0.022757292367769258 Centerline is valid? [True, True] Translation: X:61.12, Y:13.07, Z:2.78 [[ 8.90231387e-01 -4.54409578e-01 -3.16229928e-02 6.11202830e+01] [ 4.54165327e-01 8.90792231e-01 -1.49350964e-02 1.30727540e+01] [ 3.49561672e-02 -1.06637529e-03 9.99388278e-01 2.77624610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.278040942 meters 0.02303112143473248 Centerline is valid? [True, True] Translation: X:61.15, Y:13.08, Z:2.78 [[ 8.90117945e-01 -4.54650327e-01 -3.13548118e-02 6.11452480e+01] [ 4.54410310e-01 8.90669380e-01 -1.48096537e-02 1.30845484e+01] [ 3.46599847e-02 -1.06561123e-03 9.99398594e-01 2.77709674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.308040942 meters 0.021273535184773065 Centerline is valid? [True, True] Translation: X:61.17, Y:13.10, Z:2.78 [[ 8.90424924e-01 -4.53998421e-01 -3.20762898e-02 6.11690987e+01] [ 4.53746410e-01 8.91001864e-01 -1.51615788e-02 1.31014646e+01] [ 3.54633669e-02 -1.05425367e-03 9.99370421e-01 2.77535273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.338040942 meters 0.0209681856676529 Centerline is valid? [True, True] Translation: X:61.19, Y:13.11, Z:2.78 [[ 8.90674552e-01 -4.53479351e-01 -3.24857082e-02 6.11948706e+01] [ 4.53220156e-01 8.91266179e-01 -1.53651988e-02 1.31146071e+01] [ 3.59212133e-02 -1.03778621e-03 9.99354086e-01 2.77590335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36804094200001 meters 0.020852360924546433 Centerline is valid? [True, True] Translation: X:61.22, Y:13.13, Z:2.78 [[ 8.91143280e-01 -4.52572458e-01 -3.22773104e-02 6.12200921e+01] [ 4.52315576e-01 8.91727089e-01 -1.52780521e-02 1.31265106e+01] [ 3.56969776e-02 -9.84596782e-04 9.99362175e-01 2.77728835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.39804094200001 meters 0.019892252452530367 Centerline is valid? [True, True] Translation: X:61.25, Y:13.14, Z:2.78 [[ 8.92693830e-01 -4.49543686e-01 -3.17521786e-02 6.12455407e+01] [ 4.49293054e-01 8.93257946e-01 -1.50330546e-02 1.31401643e+01] [ 3.51209007e-02 -8.46118209e-04 9.99382713e-01 2.77936224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.428040942 meters 0.019808597843544242 Centerline is valid? [True, True] Translation: X:61.27, Y:13.15, Z:2.78 [[ 8.93446936e-01 -4.48073101e-01 -3.13539240e-02 6.12701256e+01] [ 4.47827726e-01 8.93996585e-01 -1.48470176e-02 1.31529599e+01] [ 3.46828502e-02 -7.76134165e-04 9.99398068e-01 2.78067046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.458040942 meters 0.01939346948779711 Centerline is valid? [True, True] Translation: X:61.30, Y:13.17, Z:2.78 [[ 8.94290538e-01 -4.46416546e-01 -3.09305954e-02 6.12952128e+01] [ 4.46176712e-01 8.94824997e-01 -1.46480569e-02 1.31668000e+01] [ 3.42166050e-02 -7.00892650e-04 9.99414195e-01 2.78160881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.488040942 meters 0.018811848462519744 Centerline is valid? [True, True] Translation: X:61.32, Y:13.18, Z:2.78 [[ 8.95200812e-01 -4.44575223e-01 -3.11187716e-02 6.13204746e+01] [ 4.44331020e-01 8.95741302e-01 -1.47466838e-02 1.31805329e+01] [ 3.44303792e-02 -6.25792218e-04 9.99406903e-01 2.78224028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.518040942 meters 0.01812214764104525 Centerline is valid? [True, True] Translation: X:61.35, Y:13.20, Z:2.78 [[ 8.96797455e-01 -4.41377960e-01 -3.06565096e-02 6.13456313e+01] [ 4.41138782e-01 8.97321157e-01 -1.45367056e-02 1.31953430e+01] [ 3.39249161e-02 -4.87294718e-04 9.99424266e-01 2.78271874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.548040942 meters 0.017995245905787705 Centerline is valid? [True, True] Translation: X:61.37, Y:13.21, Z:2.78 [[ 8.97411726e-01 -4.40168566e-01 -3.00637356e-02 6.13715766e+01] [ 4.39937572e-01 8.97915059e-01 -1.42646524e-02 1.32079286e+01] [ 3.32735325e-02 -4.24900517e-04 9.99446192e-01 2.78431905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.578040942 meters 0.01774860871201775 Centerline is valid? [True, True] Translation: X:61.40, Y:13.22, Z:2.79 [[ 8.97735271e-01 -4.39555568e-01 -2.93647066e-02 6.13965736e+01] [ 4.39334600e-01 8.98215316e-01 -1.39411298e-02 1.32201033e+01] [ 3.25037304e-02 -3.85487734e-04 9.99471540e-01 2.78532657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.608040942 meters 0.017853683052977815 Centerline is valid? [True, True] Translation: X:61.42, Y:13.23, Z:2.79 [[ 8.98166012e-01 -4.38682021e-01 -2.92557701e-02 6.14222699e+01] [ 4.38461823e-01 8.98642292e-01 -1.39018445e-02 1.32301390e+01] [ 3.23889615e-02 -3.41374016e-04 9.99475282e-01 2.78695263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.638040942 meters 0.017659795610703712 Centerline is valid? [True, True] Translation: X:61.45, Y:13.24, Z:2.79 [[ 8.97868179e-01 -4.39302782e-01 -2.90826215e-02 6.14481282e+01] [ 4.39085422e-01 8.98338988e-01 -1.38222662e-02 1.32422483e+01] [ 3.21982127e-02 -3.59182169e-04 9.99481439e-01 2.78708012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.668040942 meters 0.01785528368497 Centerline is valid? [True, True] Translation: X:61.47, Y:13.25, Z:2.79 [[ 8.97084887e-01 -4.40902635e-01 -2.90443202e-02 6.14742591e+01] [ 4.40686286e-01 8.97554846e-01 -1.38164804e-02 1.32512222e+01] [ 3.21605930e-02 -4.04877850e-04 9.99482632e-01 2.78794734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.698040942 meters 0.018105782019348846 Centerline is valid? [True, True] Translation: X:61.50, Y:13.26, Z:2.79 [[ 8.96545913e-01 -4.42004200e-01 -2.89432869e-02 6.15000315e+01] [ 4.41789755e-01 8.97012874e-01 -1.37737677e-02 1.32612279e+01] [ 3.20505641e-02 -4.38032464e-04 9.99486153e-01 2.78895573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.728040942 meters 0.018341558910448023 Centerline is valid? [True, True] Translation: X:61.53, Y:13.27, Z:2.79 [[ 8.95770498e-01 -4.43566618e-01 -2.90494595e-02 6.15269991e+01] [ 4.43351385e-01 8.96241268e-01 -1.38253071e-02 1.32715648e+01] [ 3.21677691e-02 -4.94815845e-04 9.99482361e-01 2.78976165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.75804094200001 meters 0.018370336839742776 Centerline is valid? [True, True] Translation: X:61.55, Y:13.28, Z:2.79 [[ 8.94536594e-01 -4.46039862e-01 -2.92014493e-02 6.15549197e+01] [ 4.45823400e-01 8.95012909e-01 -1.39064434e-02 1.32805748e+01] [ 3.23385021e-02 -5.78866925e-04 9.99476806e-01 2.79021017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.788040942 meters 0.019120207879797613 Centerline is valid? [True, True] Translation: X:61.58, Y:13.29, Z:2.79 [[ 8.94251117e-01 -4.46630253e-01 -2.89198433e-02 6.15813263e+01] [ 4.46417899e-01 8.94718434e-01 -1.37834630e-02 1.32895864e+01] [ 3.20312285e-02 -5.84458481e-04 9.99486698e-01 2.79250447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.818040942 meters 0.018553508771248128 Centerline is valid? [True, True] Translation: X:61.61, Y:13.30, Z:2.79 [[ 8.93956001e-01 -4.47228516e-01 -2.87979484e-02 6.16066832e+01] [ 4.47018232e-01 8.94419528e-01 -1.37262122e-02 1.33027254e+01] [ 3.18962009e-02 -6.02578263e-04 9.99491005e-01 2.79212830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.848040942 meters 0.019125920659454433 Centerline is valid? [True, True] Translation: X:61.63, Y:13.31, Z:2.79 [[ 8.94052763e-01 -4.47041858e-01 -2.86920555e-02 6.16321318e+01] [ 4.46832682e-01 8.94512848e-01 -1.36864343e-02 1.33127225e+01] [ 3.17838213e-02 -5.84153750e-04 9.99494596e-01 2.79329775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.878040942 meters 0.01874505401839434 Centerline is valid? [True, True] Translation: X:61.66, Y:13.33, Z:2.79 [[ 8.94193808e-01 -4.46746932e-01 -2.88896733e-02 6.16580499e+01] [ 4.46534619e-01 8.94660186e-01 -1.37835391e-02 1.33254210e+01] [ 3.20041943e-02 -5.75083941e-04 9.99487569e-01 2.79323580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.908040942 meters 0.018168054811360596 Centerline is valid? [True, True] Translation: X:61.68, Y:13.34, Z:2.79 [[ 8.94419451e-01 -4.46272910e-01 -2.92290254e-02 6.16839453e+01] [ 4.46055040e-01 8.94896743e-01 -1.39542700e-02 1.33380210e+01] [ 3.23843723e-02 -5.56783584e-04 9.99475334e-01 2.79328106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.938040942 meters 0.017648497766329114 Centerline is valid? [True, True] Translation: X:61.71, Y:13.35, Z:2.79 [[ 8.95178520e-01 -4.44674772e-01 -3.03276248e-02 6.17112269e+01] [ 4.44438962e-01 8.95691960e-01 -1.44886673e-02 1.33482123e+01] [ 3.36069545e-02 -5.08834287e-04 9.99434997e-01 2.79397324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.968040942 meters 0.017584090223495927 Centerline is valid? [True, True] Translation: X:61.74, Y:13.36, Z:2.80 [[ 8.95642072e-01 -4.43732245e-01 -3.04462407e-02 6.17369765e+01] [ 4.43493647e-01 8.96159293e-01 -1.45569915e-02 1.33582161e+01] [ 3.37440881e-02 -4.64860343e-04 9.99430398e-01 2.79576014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.998040942 meters 0.017219651439011257 Centerline is valid? [True, True] Translation: X:61.76, Y:13.37, Z:2.80 [[ 8.96485691e-01 -4.41991843e-01 -3.09292284e-02 6.17632793e+01] [ 4.41744520e-01 8.97018978e-01 -1.47895891e-02 1.33697511e+01] [ 3.42809826e-02 -4.04162141e-04 9.99412153e-01 2.79600816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.028040942 meters 0.017043767901298412 Centerline is valid? [True, True] Translation: X:61.79, Y:13.38, Z:2.80 [[ 8.97219400e-01 -4.40454261e-01 -3.15815079e-02 6.17881417e+01] [ 4.40195024e-01 8.97774987e-01 -1.51133662e-02 1.33813146e+01] [ 3.50098344e-02 -3.42017273e-04 9.99386909e-01 2.79675415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.058040942 meters 0.016861019607856676 Centerline is valid? [True, True] Translation: X:61.81, Y:13.39, Z:2.80 [[ 8.97706978e-01 -4.39454003e-01 -3.16600808e-02 6.18141468e+01] [ 4.39192787e-01 8.98265043e-01 -1.51527973e-02 1.33936799e+01] [ 3.50981012e-02 -3.02107230e-04 9.99383826e-01 2.79742881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.088040942 meters 0.0168044796323209 Centerline is valid? [True, True] Translation: X:61.84, Y:13.40, Z:2.80 [[ 8.98354168e-01 -4.38153226e-01 -3.13295263e-02 6.18394555e+01] [ 4.37896252e-01 8.98900269e-01 -1.50059533e-02 1.34044876e+01] [ 3.47370265e-02 -2.38421428e-04 9.99396459e-01 2.79878970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.11804094200001 meters 0.016572660084983707 Centerline is valid? [True, True] Translation: X:61.87, Y:13.41, Z:2.80 [[ 8.99030658e-01 -4.36743089e-01 -3.16125097e-02 6.18668489e+01] [ 4.36480515e-01 8.99586261e-01 -1.51432977e-02 1.34145836e+01] [ 3.50519100e-02 -1.83955624e-04 9.99385476e-01 2.80026568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14804094200001 meters 0.016526591309532858 Centerline is valid? [True, True] Translation: X:61.89, Y:13.43, Z:2.80 [[ 8.99129471e-01 -4.36536709e-01 -3.16527298e-02 6.18929513e+01] [ 4.36273006e-01 8.99686431e-01 -1.51720386e-02 1.34255321e+01] [ 3.51006833e-02 -1.67604513e-04 9.99383767e-01 2.80152824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.178040942 meters 0.01645727619870757 Centerline is valid? [True, True] Translation: X:61.92, Y:13.43, Z:2.80 [[ 8.98887123e-01 -4.36957293e-01 -3.27148928e-02 6.19193865e+01] [ 4.36675367e-01 8.99482236e-01 -1.56949457e-02 1.34347797e+01] [ 3.62844859e-02 -1.77803238e-04 9.99341485e-01 2.80132713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.208040942 meters 0.016439311747631774 Centerline is valid? [True, True] Translation: X:61.95, Y:13.44, Z:2.80 [[ 8.98387615e-01 -4.37893330e-01 -3.38987353e-02 6.19460202e+01] [ 4.37591200e-01 8.99026909e-01 -1.62652583e-02 1.34449722e+01] [ 3.75983233e-02 -2.21281696e-04 9.99292909e-01 2.80209249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.238040942 meters 0.01672626417856859 Centerline is valid? [True, True] Translation: X:61.97, Y:13.45, Z:2.80 [[ 8.97050797e-01 -4.40542709e-01 -3.49569710e-02 6.19747326e+01] [ 4.40222926e-01 8.97731592e-01 -1.67858159e-02 1.34512580e+01] [ 3.87768460e-02 -3.31130535e-04 9.99247840e-01 2.80315931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.268040942 meters 0.016762557487433504 Centerline is valid? [True, True] Translation: X:62.00, Y:13.46, Z:2.80 [[ 8.96365670e-01 -4.41877697e-01 -3.56747285e-02 6.20009049e+01] [ 4.41545270e-01 8.97075221e-01 -1.71412785e-02 1.34605923e+01] [ 3.95772636e-02 -3.87154022e-04 9.99216438e-01 2.80454944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.298040942 meters 0.01693648637948113 Centerline is valid? [True, True] Translation: X:62.03, Y:13.47, Z:2.81 [[ 8.95592223e-01 -4.43437433e-01 -3.57465200e-02 6.20282844e+01] [ 4.43104400e-01 8.96305218e-01 -1.71885490e-02 1.34713097e+01] [ 3.96618384e-02 -4.45509490e-04 9.99213060e-01 2.80547585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.328040942 meters 0.017387536783122798 Centerline is valid? [True, True] Translation: X:62.06, Y:13.48, Z:2.81 [[ 8.95060596e-01 -4.44455766e-01 -3.64088074e-02 6.20551754e+01] [ 4.44110626e-01 8.95800666e-01 -1.75191152e-02 1.34806759e+01] [ 4.04015057e-02 -4.88868561e-04 9.99183406e-01 2.80675960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.358040942 meters 0.017242912303773224 Centerline is valid? [True, True] Translation: X:62.08, Y:13.49, Z:2.81 [[ 8.94595706e-01 -4.45326900e-01 -3.71816427e-02 6.20806738e+01] [ 4.44967459e-01 8.95367894e-01 -1.78967563e-02 1.34917723e+01] [ 4.12611562e-02 -5.34259775e-04 9.99148253e-01 2.80699791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.388040942 meters 0.01765260033753283 Centerline is valid? [True, True] Translation: X:62.11, Y:13.50, Z:2.81 [[ 8.93809009e-01 -4.46823557e-01 -3.81335115e-02 6.21079571e+01] [ 4.46446225e-01 8.94621899e-01 -1.83691544e-02 1.34992325e+01] [ 4.23228454e-02 -6.06046554e-04 9.99103803e-01 2.80785783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.418040942 meters 0.017663370539046794 Centerline is valid? [True, True] Translation: X:62.13, Y:13.51, Z:2.81 [[ 8.93447526e-01 -4.47498516e-01 -3.86858682e-02 6.21337212e+01] [ 4.47110633e-01 8.94284442e-01 -1.86391553e-02 1.35093438e+01] [ 4.29371644e-02 -6.43755822e-04 9.99077567e-01 2.80907577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.448040942 meters 0.017948067470156932 Centerline is valid? [True, True] Translation: X:62.16, Y:13.52, Z:2.81 [[ 8.93150262e-01 -4.47995637e-01 -3.97808972e-02 6.21608027e+01] [ 4.47585331e-01 8.94035489e-01 -1.91811304e-02 1.35174527e+01] [ 4.41585966e-02 -6.73714437e-04 9.99024306e-01 2.81068345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.478040942 meters 0.017751060986805015 Centerline is valid? [True, True] Translation: X:62.19, Y:13.53, Z:2.81 [[ 8.92823496e-01 -4.48594513e-01 -4.03629409e-02 6.21867097e+01] [ 4.48172516e-01 8.93735117e-01 -1.94662967e-02 1.35288639e+01] [ 4.48062516e-02 -7.09593666e-04 9.98995444e-01 2.81152987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50804094200001 meters 0.017961908521505556 Centerline is valid? [True, True] Translation: X:62.21, Y:13.54, Z:2.81 [[ 8.92656200e-01 -4.48736680e-01 -4.24299529e-02 6.22130823e+01] [ 4.48269773e-01 8.93663720e-01 -2.04784227e-02 1.35377284e+01] [ 4.71075290e-02 -7.39874416e-04 9.98889550e-01 2.81197860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.538040942 meters 0.017984609447760216 Centerline is valid? [True, True] Translation: X:62.24, Y:13.55, Z:2.81 [[ 8.92377142e-01 -4.49180913e-01 -4.35837562e-02 6.22386470e+01] [ 4.48688503e-01 8.93440485e-01 -2.10410694e-02 1.35482834e+01] [ 4.83907390e-02 -7.78961019e-04 9.98828178e-01 2.81290471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.568040942 meters 0.018049802967249777 Centerline is valid? [True, True] Translation: X:62.27, Y:13.56, Z:2.81 [[ 8.92088973e-01 -4.49679408e-01 -4.43361439e-02 6.22654475e+01] [ 4.49169678e-01 8.93189667e-01 -2.14200842e-02 1.35587294e+01] [ 4.92327563e-02 -8.05830544e-04 9.98787007e-01 2.81442306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.598040942 meters 0.018516150255378127 Centerline is valid? [True, True] Translation: X:62.29, Y:13.57, Z:2.82 [[ 8.91284259e-01 -4.51232365e-01 -4.47406100e-02 6.22920537e+01] [ 4.50714590e-01 8.92406054e-01 -2.16285529e-02 1.35668742e+01] [ 4.96862943e-02 -8.88056962e-04 9.98764479e-01 2.81603543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.628040942 meters 0.02033451498991184 Centerline is valid? [True, True] Translation: X:62.32, Y:13.58, Z:2.82 [[ 8.90555342e-01 -4.52697635e-01 -4.44525971e-02 6.23182382e+01] [ 4.52188091e-01 8.91663575e-01 -2.14941720e-02 1.35774706e+01] [ 4.93671225e-02 -9.59185329e-04 9.98780240e-01 2.81513416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.658040942 meters 0.01895612034845637 Centerline is valid? [True, True] Translation: X:62.34, Y:13.59, Z:2.82 [[ 8.90143658e-01 -4.53422962e-01 -4.52977557e-02 6.23441215e+01] [ 4.52894531e-01 8.91294895e-01 -2.19078460e-02 1.35889429e+01] [ 5.03071789e-02 -1.01397565e-03 9.98733278e-01 2.81797717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.688040942 meters 0.01935256865833199 Centerline is valid? [True, True] Translation: X:62.37, Y:13.60, Z:2.82 [[ 8.89448911e-01 -4.54736835e-01 -4.57716575e-02 6.23714278e+01] [ 4.54198706e-01 8.90625181e-01 -2.21432212e-02 1.35995721e+01] [ 5.08347291e-02 -1.09416364e-03 9.98706480e-01 2.81923628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.718040942 meters 0.019468134053486887 Centerline is valid? [True, True] Translation: X:62.40, Y:13.61, Z:2.82 [[ 8.88497625e-01 -4.56470840e-01 -4.69717199e-02 6.23988276e+01] [ 4.55905807e-01 8.89737547e-01 -2.27374885e-02 1.36080687e+01] [ 5.21715033e-02 -1.21247533e-03 9.98637404e-01 2.82069878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.748040942 meters 0.019468134053486887 Centerline is valid? [True, True] Translation: X:62.42, Y:13.62, Z:2.82 [[ 8.88366852e-01 -4.56725661e-01 -4.69681563e-02 6.24236061e+01] [ 4.56160594e-01 8.89606758e-01 -2.27448473e-02 1.36201531e+01] [ 5.21713447e-02 -1.21925372e-03 9.98637404e-01 2.82192492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.778040942 meters 0.019658247291401303 Centerline is valid? [True, True] Translation: X:62.45, Y:13.63, Z:2.82 [[ 8.87837371e-01 -4.57730050e-01 -4.72017295e-02 6.24502540e+01] [ 4.57159898e-01 8.89090315e-01 -2.28744217e-02 1.36309392e+01] [ 5.24369107e-02 -1.26997140e-03 9.98623431e-01 2.82295855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.808040942 meters 0.019844752002094814 Centerline is valid? [True, True] Translation: X:62.48, Y:13.64, Z:2.82 [[ 8.87643613e-01 -4.58039821e-01 -4.78365868e-02 6.24773752e+01] [ 4.57453872e-01 8.88930735e-01 -2.31970455e-02 1.36422776e+01] [ 5.31485828e-02 -1.29232251e-03 9.98585779e-01 2.82396257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.838040942 meters 0.02231093948976625 Centerline is valid? [True, True] Translation: X:62.50, Y:13.65, Z:2.82 [[ 8.87331286e-01 -4.58728281e-01 -4.70271448e-02 6.25031902e+01] [ 4.58162295e-01 8.88575644e-01 -2.28174326e-02 1.36521809e+01] [ 5.22541771e-02 -1.29944284e-03 9.98632972e-01 2.82240378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86804094200001 meters 0.020037274614846962 Centerline is valid? [True, True] Translation: X:62.53, Y:13.66, Z:2.83 [[ 8.87580922e-01 -4.58251095e-01 -4.69685215e-02 6.25291371e+01] [ 4.57685515e-01 8.88821881e-01 -2.27954528e-02 1.36637583e+01] [ 5.21926908e-02 -1.26400296e-03 9.98636233e-01 2.82712872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.898040942 meters 0.019614694308928 Centerline is valid? [True, True] Translation: X:62.56, Y:13.68, Z:2.83 [[ 8.88499391e-01 -4.56462371e-01 -4.70205995e-02 6.25552561e+01] [ 4.55892284e-01 8.89741978e-01 -2.28350153e-02 1.36765115e+01] [ 5.22595264e-02 -1.14743137e-03 9.98632878e-01 2.82976678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.928040942 meters 0.01975602508359166 Centerline is valid? [True, True] Translation: X:62.58, Y:13.69, Z:2.83 [[ 8.89087480e-01 -4.55300855e-01 -4.71655080e-02 6.25799728e+01] [ 4.54724932e-01 8.90337006e-01 -2.29183600e-02 1.36882945e+01] [ 5.24279461e-02 -1.07090551e-03 9.98624135e-01 2.83101424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.958040942 meters 0.01948187471120526 Centerline is valid? [True, True] Translation: X:62.60, Y:13.70, Z:2.83 [[ 8.89897781e-01 -4.53704190e-01 -4.72699338e-02 6.26049471e+01] [ 4.53123193e-01 8.91151816e-01 -2.29741827e-02 1.37012623e+01] [ 5.25481703e-02 -9.74429171e-04 9.98617915e-01 2.83185780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.988040942 meters 0.019226405130358146 Centerline is valid? [True, True] Translation: X:62.63, Y:13.72, Z:2.83 [[ 8.90460826e-01 -4.52581489e-01 -4.74290291e-02 6.26305140e+01] [ 4.51994641e-01 8.91722589e-01 -2.30579499e-02 1.37152391e+01] [ 5.27291379e-02 -9.05465869e-04 9.98608441e-01 2.83301299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.018040942 meters 0.01850949948929108 Centerline is valid? [True, True] Translation: X:62.65, Y:13.73, Z:2.83 [[ 8.91438354e-01 -4.50642420e-01 -4.75296763e-02 6.26547851e+01] [ 4.50049571e-01 8.92704207e-01 -2.31210473e-02 1.37306807e+01] [ 5.28492667e-02 -7.79722057e-04 9.98602197e-01 2.83413306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.048040942 meters 0.01863539051719125 Centerline is valid? [True, True] Translation: X:62.68, Y:13.74, Z:2.83 [[ 8.91559439e-01 -4.50374168e-01 -4.78003824e-02 6.26788980e+01] [ 4.49773409e-01 8.92839593e-01 -2.32667668e-02 1.37423604e+01] [ 5.31568247e-02 -7.55635404e-04 9.98585891e-01 2.83488457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.078040942 meters 0.01884805239578379 Centerline is valid? [True, True] Translation: X:62.70, Y:13.75, Z:2.84 [[ 8.91120615e-01 -4.51172257e-01 -4.84524996e-02 6.27045870e+01] [ 4.50555511e-01 8.92436524e-01 -2.35962448e-02 1.37548058e+01] [ 5.38867514e-02 -8.03440582e-04 9.98546730e-01 2.83624675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.108040942 meters 0.01925383297399001 Centerline is valid? [True, True] Translation: X:62.73, Y:13.77, Z:2.84 [[ 8.90685883e-01 -4.51997373e-01 -4.87548185e-02 6.27303350e+01] [ 4.51373341e-01 8.92018867e-01 -2.37580957e-02 1.37676110e+01] [ 5.42288148e-02 -8.45624909e-04 9.98528177e-01 2.83738997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.138040942 meters 0.01934560221615752 Centerline is valid? [True, True] Translation: X:62.76, Y:13.78, Z:2.84 [[ 8.90231847e-01 -4.52866970e-01 -4.89771918e-02 6.27554920e+01] [ 4.52237805e-01 8.91577655e-01 -2.38799819e-02 1.37793988e+01] [ 5.44814248e-02 -8.90617270e-04 9.98514387e-01 2.83887687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.168040942 meters 0.02035463182432707 Centerline is valid? [True, True] Translation: X:62.78, Y:13.79, Z:2.84 [[ 8.89609517e-01 -4.54086730e-01 -4.89913236e-02 6.27799987e+01] [ 4.53458609e-01 8.90956970e-01 -2.38949155e-02 1.37916460e+01] [ 5.44995253e-02 -9.58393184e-04 9.98513337e-01 2.83869233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.198040942 meters 0.01916674229942184 Centerline is valid? [True, True] Translation: X:62.80, Y:13.81, Z:2.84 [[ 8.89350174e-01 -4.54593915e-01 -4.89963273e-02 6.28034166e+01] [ 4.53965858e-01 8.90698272e-01 -2.39078995e-02 1.38075796e+01] [ 5.45093297e-02 -9.80165174e-04 9.98512780e-01 2.84104590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.228040942 meters 0.019504190240102987 Centerline is valid? [True, True] Translation: X:62.83, Y:13.82, Z:2.84 [[ 8.88714370e-01 -4.55885539e-01 -4.85298321e-02 6.28279199e+01] [ 4.55270484e-01 8.90037810e-01 -2.36956445e-02 1.38204376e+01] [ 5.39958872e-02 -1.03554039e-03 9.98540621e-01 2.84233146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.25804094200001 meters 0.01943966398650564 Centerline is valid? [True, True] Translation: X:62.85, Y:13.83, Z:2.84 [[ 8.88252890e-01 -4.56788149e-01 -4.84911368e-02 6.28531366e+01] [ 4.56174923e-01 8.89574852e-01 -2.36858999e-02 1.38335183e+01] [ 5.39559343e-02 -1.08137158e-03 9.98542732e-01 2.84452420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.288040942 meters 0.02001796976139199 Centerline is valid? [True, True] Translation: X:62.88, Y:13.84, Z:2.85 [[ 8.87979951e-01 -4.57297241e-01 -4.86912728e-02 6.28785213e+01] [ 4.56678974e-01 8.89313225e-01 -2.37970967e-02 1.38447508e+01] [ 5.41841395e-02 -1.10493577e-03 9.98530349e-01 2.84565051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.318040942 meters 0.019688484519151766 Centerline is valid? [True, True] Translation: X:62.90, Y:13.86, Z:2.85 [[ 8.87724886e-01 -4.57756309e-01 -4.90274113e-02 6.29039916e+01] [ 4.57129776e-01 8.89076979e-01 -2.39685919e-02 1.38583971e+01] [ 5.45609169e-02 -1.13437401e-03 9.98509799e-01 2.84754875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.348040942 meters 0.019951467592671326 Centerline is valid? [True, True] Translation: X:62.93, Y:13.87, Z:2.85 [[ 8.87890968e-01 -4.57425045e-01 -4.91116906e-02 6.29282969e+01] [ 4.56795118e-01 8.89247496e-01 -2.40231278e-02 1.38711458e+01] [ 5.46612282e-02 -1.10406235e-03 9.98504347e-01 2.84910586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.378040942 meters 0.020185565637913287 Centerline is valid? [True, True] Translation: X:62.95, Y:13.88, Z:2.85 [[ 8.88260784e-01 -4.56719535e-01 -4.89902648e-02 6.29528732e+01] [ 4.56091332e-01 8.89610116e-01 -2.39695260e-02 1.38843223e+01] [ 5.45295859e-02 -1.05284517e-03 9.98511600e-01 2.84971236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.408040942 meters 0.01983728312837323 Centerline is valid? [True, True] Translation: X:62.98, Y:13.90, Z:2.85 [[ 8.88521040e-01 -4.56200366e-01 -4.91079220e-02 6.29775549e+01] [ 4.55567845e-01 8.89876506e-01 -2.40362876e-02 1.38996732e+01] [ 5.46653493e-02 -1.01524293e-03 9.98504216e-01 2.85087869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.438040942 meters 0.01978200473464079 Centerline is valid? [True, True] Translation: X:63.00, Y:13.92, Z:2.85 [[ 8.89166693e-01 -4.54942426e-01 -4.90915509e-02 6.30007634e+01] [ 4.54307697e-01 8.90520371e-01 -2.40413116e-02 1.39155539e+01] [ 5.46544388e-02 -9.25935932e-04 9.98504900e-01 2.85027346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.468040942 meters 0.01933588189929638 Centerline is valid? [True, True] Translation: X:63.03, Y:13.93, Z:2.85 [[ 8.89538101e-01 -4.54241974e-01 -4.88487151e-02 6.30262517e+01] [ 4.53612078e-01 8.90877920e-01 -2.39293539e-02 1.39300509e+01] [ 5.43879587e-02 -8.72295180e-04 9.98519499e-01 2.85187710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.498040942 meters 0.01971753064576655 Centerline is valid? [True, True] Translation: X:63.05, Y:13.94, Z:2.85 [[ 8.89801888e-01 -4.53717026e-01 -4.89230119e-02 6.30520549e+01] [ 4.53083672e-01 8.91145427e-01 -2.39794485e-02 1.39415880e+01] [ 5.44774024e-02 -8.29259304e-04 9.98514659e-01 2.85263672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.528040942 meters 0.019483064879794936 Centerline is valid? [True, True] Translation: X:63.08, Y:13.95, Z:2.85 [[ 8.89686268e-01 -4.53955886e-01 -4.88098200e-02 6.30771051e+01] [ 4.53325301e-01 8.91023770e-01 -2.39335106e-02 1.39540052e+01] [ 5.43554678e-02 -8.33410609e-04 9.98521301e-01 2.85468117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.558040942 meters 0.019619568265740534 Centerline is valid? [True, True] Translation: X:63.10, Y:13.97, Z:2.86 [[ 8.89614176e-01 -4.54154460e-01 -4.82736410e-02 6.31025946e+01] [ 4.53537070e-01 8.90922584e-01 -2.36870246e-02 1.39659632e+01] [ 5.37656448e-02 -8.21572824e-04 9.98553244e-01 2.85586837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.588040942 meters 0.019799969550228638 Centerline is valid? [True, True] Translation: X:63.13, Y:13.98, Z:2.86 [[ 8.89430002e-01 -4.54562729e-01 -4.78225571e-02 6.31275088e+01] [ 4.53956555e-01 8.90714346e-01 -2.34818884e-02 1.39780649e+01] [ 5.32702290e-02 -8.23867263e-04 9.98579793e-01 2.85693623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.61804094200001 meters 0.02027244822785427 Centerline is valid? [True, True] Translation: X:63.15, Y:13.99, Z:2.86 [[ 8.89425276e-01 -4.54678603e-01 -4.67979395e-02 6.31532978e+01] [ 4.54097553e-01 8.90655224e-01 -2.29931352e-02 1.39890160e+01] [ 5.21353159e-02 -8.00154252e-04 9.98639709e-01 2.85759549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.648040942 meters 0.019449952868596205 Centerline is valid? [True, True] Translation: X:63.18, Y:14.00, Z:2.86 [[ 8.89290015e-01 -4.54995704e-01 -4.62836751e-02 6.31780397e+01] [ 4.54427351e-01 8.90493271e-01 -2.27489888e-02 1.40025200e+01] [ 5.15659934e-02 -8.02119306e-04 9.98669267e-01 2.86064133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.678040942 meters 0.019376759600963047 Centerline is valid? [True, True] Translation: X:63.20, Y:14.01, Z:2.86 [[ 8.89190449e-01 -4.55227235e-01 -4.59185108e-02 6.32037346e+01] [ 4.54667298e-01 8.90374940e-01 -2.25857186e-02 1.40138113e+01] [ 5.11663255e-02 -7.94639961e-04 9.98689830e-01 2.86273466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.708040942 meters 0.020073817238784618 Centerline is valid? [True, True] Translation: X:63.23, Y:14.02, Z:2.86 [[ 8.89142670e-01 -4.55334824e-01 -4.57767494e-02 6.32290886e+01] [ 4.54777683e-01 8.90319933e-01 -2.25316749e-02 1.40234159e+01] [ 5.10154086e-02 -7.84370478e-04 9.98697558e-01 2.86283000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.738040942 meters 0.019527377692033554 Centerline is valid? [True, True] Translation: X:63.25, Y:14.04, Z:2.86 [[ 8.89180716e-01 -4.55257827e-01 -4.58035550e-02 6.32536822e+01] [ 4.54699328e-01 8.90359320e-01 -2.25566686e-02 1.40371861e+01] [ 5.10507220e-02 -7.69890982e-04 9.98695765e-01 2.86421463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.768040942 meters 0.019364998418130448 Centerline is valid? [True, True] Translation: X:63.28, Y:14.05, Z:2.87 [[ 8.89133412e-01 -4.55364451e-01 -4.56617201e-02 6.32798764e+01] [ 4.54808728e-01 8.90304802e-01 -2.25029072e-02 1.40484716e+01] [ 5.08998727e-02 -7.59262185e-04 9.98703473e-01 2.86535293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.798040942 meters 0.019450517054968097 Centerline is valid? [True, True] Translation: X:63.30, Y:14.06, Z:2.87 [[ 8.88983884e-01 -4.55683190e-01 -4.53925661e-02 6.33046638e+01] [ 4.55133663e-01 8.90141704e-01 -2.23851597e-02 1.40589877e+01] [ 5.06063571e-02 -7.59638700e-04 9.98718389e-01 2.86683400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.828040942 meters 0.019604561604677793 Centerline is valid? [True, True] Translation: X:63.33, Y:14.07, Z:2.87 [[ 8.88654430e-01 -4.56357528e-01 -4.50678567e-02 6.33301451e+01] [ 4.55816309e-01 8.89796151e-01 -2.22329111e-02 1.40697676e+01] [ 5.02473618e-02 -7.85289160e-04 9.98736495e-01 2.86795800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.858040942 meters 0.019766646589249887 Centerline is valid? [True, True] Translation: X:63.36, Y:14.08, Z:2.87 [[ 8.88574515e-01 -4.56629066e-01 -4.38774128e-02 6.33552663e+01] [ 4.56115714e-01 8.89656849e-01 -2.16598120e-02 1.40795559e+01] [ 4.89263405e-02 -7.66820532e-04 9.98802095e-01 2.87064124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.888040942 meters 0.01946411134208997 Centerline is valid? [True, True] Translation: X:63.38, Y:14.09, Z:2.87 [[ 8.88656708e-01 -4.56572751e-01 -4.27852596e-02 6.33800504e+01] [ 4.56084256e-01 8.89685775e-01 -2.11275722e-02 1.40929718e+01] [ 4.77117106e-02 -7.38524529e-04 9.98860875e-01 2.87266724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.918040942 meters 0.019386262701120014 Centerline is valid? [True, True] Translation: X:63.40, Y:14.11, Z:2.87 [[ 8.88590122e-01 -4.56746124e-01 -4.23151671e-02 6.34046409e+01] [ 4.56267816e-01 8.89596791e-01 -2.09100306e-02 1.41056993e+01] [ 4.71940122e-02 -7.26602250e-04 9.98885478e-01 2.87383478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.948040942 meters 0.019526009054056728 Centerline is valid? [True, True] Translation: X:63.43, Y:14.12, Z:2.87 [[ 8.88435325e-01 -4.57076806e-01 -4.19936450e-02 6.34286786e+01] [ 4.56605453e-01 8.89426932e-01 -2.07652119e-02 1.41177024e+01] [ 4.68415755e-02 -7.25979462e-04 9.98902067e-01 2.87472318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.978040942 meters 0.01963003990986421 Centerline is valid? [True, True] Translation: X:63.46, Y:14.13, Z:2.88 [[ 8.88045104e-01 -4.57866437e-01 -4.16439614e-02 6.34550352e+01] [ 4.57403471e-01 8.89020672e-01 -2.05987768e-02 1.41300865e+01] [ 4.64538311e-02 -7.55449576e-04 9.98920152e-01 2.87581032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00804094200001 meters 0.01995280820558319 Centerline is valid? [True, True] Translation: X:63.48, Y:14.14, Z:2.88 [[ 8.87382968e-01 -4.59143176e-01 -4.17014554e-02 6.34808429e+01] [ 4.58679753e-01 8.88361911e-01 -2.06397620e-02 1.41421868e+01] [ 4.65225905e-02 -8.12239987e-04 9.98916908e-01 2.87681482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.038040942 meters 0.020379301738067908 Centerline is valid? [True, True] Translation: X:63.51, Y:14.15, Z:2.88 [[ 8.86802846e-01 -4.60318610e-01 -4.10790694e-02 6.35060070e+01] [ 4.59869637e-01 8.87753375e-01 -2.03435981e-02 1.41545871e+01] [ 4.58326193e-02 -8.50256053e-04 9.98948771e-01 2.87717672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.068040942 meters 0.020007706297052483 Centerline is valid? [True, True] Translation: X:63.53, Y:14.17, Z:2.88 [[ 8.86477034e-01 -4.61001839e-01 -4.04446910e-02 6.35307513e+01] [ 4.60567148e-01 8.87398755e-01 -2.00337625e-02 1.41691599e+01] [ 4.51261698e-02 -8.68025637e-04 9.98980918e-01 2.87846079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.098040942 meters 0.020155920374970982 Centerline is valid? [True, True] Translation: X:63.56, Y:14.18, Z:2.88 [[ 8.86017935e-01 -4.61990816e-01 -3.92008166e-02 6.35561178e+01] [ 4.61582922e-01 8.86884272e-01 -1.94292306e-02 1.41832637e+01] [ 4.37427138e-02 -8.79780616e-04 9.99042442e-01 2.87950067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.128040942 meters 0.02038014837916377 Centerline is valid? [True, True] Translation: X:63.58, Y:14.20, Z:2.88 [[ 8.85786164e-01 -4.62453306e-01 -3.89847545e-02 6.35805718e+01] [ 4.62049824e-01 8.86643194e-01 -1.93341043e-02 1.41955436e+01] [ 4.35066877e-02 -8.87016917e-04 9.99052742e-01 2.88059942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.158040942 meters 0.02003464440811361 Centerline is valid? [True, True] Translation: X:63.61, Y:14.21, Z:2.88 [[ 8.85431319e-01 -4.63153797e-01 -3.87290481e-02 6.36057870e+01] [ 4.62756093e-01 8.86277456e-01 -1.92111899e-02 1.42093995e+01] [ 4.32224178e-02 -9.11913754e-04 9.99065058e-01 2.88144962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.188040942 meters 0.02012251470924194 Centerline is valid? [True, True] Translation: X:63.63, Y:14.22, Z:2.88 [[ 8.85133729e-01 -4.63733030e-01 -3.85999954e-02 6.36317846e+01] [ 4.63338007e-01 8.85974502e-01 -1.91591246e-02 1.42221437e+01] [ 4.30833307e-02 -9.26457553e-04 9.99071053e-01 2.88279180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.218040942 meters 0.02057968280136504 Centerline is valid? [True, True] Translation: X:63.66, Y:14.24, Z:2.88 [[ 8.85087586e-01 -4.63901399e-01 -3.76225557e-02 6.36564977e+01] [ 4.63525794e-01 8.85886382e-01 -1.86857414e-02 1.42352630e+01] [ 4.19976513e-02 -9.00507279e-04 9.99117304e-01 2.88352312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.248040942 meters 0.020088472319016604 Centerline is valid? [True, True] Translation: X:63.68, Y:14.25, Z:2.89 [[ 8.85362086e-01 -4.63417249e-01 -3.71272080e-02 6.36814382e+01] [ 4.63050904e-01 8.86139780e-01 -1.84431953e-02 1.42493124e+01] [ 4.14467907e-02 -8.62881400e-04 9.99140340e-01 2.88524777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.278040942 meters 0.019984169230229526 Centerline is valid? [True, True] Translation: X:63.71, Y:14.26, Z:2.89 [[ 8.85730456e-01 -4.62764397e-01 -3.64783787e-02 6.37062182e+01] [ 4.62409754e-01 8.86480941e-01 -1.81317253e-02 1.42631742e+01] [ 4.07281044e-02 -8.08136879e-04 9.99169940e-01 2.88638672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.308040942 meters 0.01939582347194261 Centerline is valid? [True, True] Translation: X:63.73, Y:14.28, Z:2.89 [[ 8.86760407e-01 -4.60804211e-01 -3.62692704e-02 6.37308068e+01] [ 4.60451541e-01 8.87501540e-01 -1.80387126e-02 1.42795344e+01] [ 4.05013480e-02 -7.04225304e-04 9.99179236e-01 2.88733448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.338040942 meters 0.01912917197341904 Centerline is valid? [True, True] Translation: X:63.75, Y:14.29, Z:2.89 [[ 8.87360977e-01 -4.59678790e-01 -3.58595330e-02 6.37548373e+01] [ 4.59332707e-01 8.88085021e-01 -1.78454227e-02 1.42934684e+01] [ 4.00494764e-02 -6.36124663e-04 9.99197495e-01 2.88836428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36804094200001 meters 0.018540089985318267 Centerline is valid? [True, True] Translation: X:63.78, Y:14.31, Z:2.89 [[ 8.88309709e-01 -4.57972977e-01 -3.41557084e-02 6.37791989e+01] [ 4.57657662e-01 8.88965956e-01 -1.69998150e-02 1.43096134e+01] [ 3.81487179e-02 -5.30520905e-04 9.99271932e-01 2.88966291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.398040942 meters 0.018485669631854072 Centerline is valid? [True, True] Translation: X:63.80, Y:14.32, Z:2.89 [[ 8.88575691e-01 -4.57512413e-01 -3.34010931e-02 6.38038083e+01] [ 4.57210199e-01 8.89203099e-01 -1.66337653e-02 1.43229655e+01] [ 3.73105096e-02 -4.90960936e-04 9.99303600e-01 2.89164034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.428040942 meters 0.01836557645862329 Centerline is valid? [True, True] Translation: X:63.83, Y:14.34, Z:2.89 [[ 8.88886203e-01 -4.56979270e-01 -3.24232225e-02 6.38285927e+01] [ 4.56693756e-01 8.89477233e-01 -1.61575043e-02 1.43362602e+01] [ 3.62233628e-02 -4.45300673e-04 9.99343619e-01 2.89321552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.458040942 meters 0.018130788487039785 Centerline is valid? [True, True] Translation: X:63.85, Y:14.35, Z:2.89 [[ 8.89368890e-01 -4.56069389e-01 -3.19951380e-02 6.38533826e+01] [ 4.55790398e-01 8.89944132e-01 -1.59548019e-02 1.43504842e+01] [ 3.57503821e-02 -3.93372229e-04 9.99360673e-01 2.89426697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.488040942 meters 0.017918921679398087 Centerline is valid? [True, True] Translation: X:63.88, Y:14.36, Z:2.90 [[ 8.90099516e-01 -4.54682854e-01 -3.14062749e-02 6.38777738e+01] [ 4.54412747e-01 8.90653355e-01 -1.56734189e-02 1.43637974e+01] [ 3.50985390e-02 -3.20509030e-04 9.99383805e-01 2.89570352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.518040942 meters 0.01888017553016828 Centerline is valid? [True, True] Translation: X:63.90, Y:14.38, Z:2.90 [[ 8.90195891e-01 -4.54503644e-01 -3.12684170e-02 6.39025858e+01] [ 4.54235671e-01 8.90744824e-01 -1.56080951e-02 1.43773797e+01] [ 3.49461167e-02 -3.08968284e-04 9.99389150e-01 2.89516550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.548040942 meters 0.017542118954690884 Centerline is valid? [True, True] Translation: X:63.93, Y:14.39, Z:2.90 [[ 8.90322042e-01 -4.54252086e-01 -3.13321452e-02 6.39265235e+01] [ 4.53982484e-01 8.90873144e-01 -1.56507549e-02 1.43921538e+01] [ 3.50223547e-02 -2.90033071e-04 9.99386487e-01 2.89586494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.578040942 meters 0.017621429470761448 Centerline is valid? [True, True] Translation: X:63.95, Y:14.40, Z:2.90 [[ 8.90283745e-01 -4.54307058e-01 -3.16219968e-02 6.39508327e+01] [ 4.54032016e-01 8.90845114e-01 -1.58086174e-02 1.44038693e+01] [ 3.53522678e-02 -2.83243874e-04 9.99374873e-01 2.89746979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.608040942 meters 0.0174677492940306 Centerline is valid? [True, True] Translation: X:63.98, Y:14.42, Z:2.90 [[ 8.89833642e-01 -4.55164951e-01 -3.19524132e-02 6.39755047e+01] [ 4.54884559e-01 8.90407079e-01 -1.59772371e-02 1.44170661e+01] [ 3.57229332e-02 -3.17576293e-04 9.99361682e-01 2.89743697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.638040942 meters 0.01913865160100647 Centerline is valid? [True, True] Translation: X:64.00, Y:14.43, Z:2.90 [[ 8.88808284e-01 -4.57174772e-01 -3.17972184e-02 6.40005020e+01] [ 4.56897928e-01 8.89376793e-01 -1.59123617e-02 1.44288954e+01] [ 3.55544385e-02 -3.85044355e-04 9.99367667e-01 2.89647263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.668040942 meters 0.01816716563961954 Centerline is valid? [True, True] Translation: X:64.03, Y:14.44, Z:2.90 [[ 8.88452194e-01 -4.57894036e-01 -3.13966562e-02 6.40263129e+01] [ 4.57624380e-01 8.89006687e-01 -1.57174490e-02 1.44402492e+01] [ 3.51087634e-02 -4.03673279e-04 9.99383416e-01 2.89999297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.698040942 meters 0.01816716563961954 Centerline is valid? [True, True] Translation: X:64.05, Y:14.45, Z:2.90 [[ 8.88331728e-01 -4.58127744e-01 -3.13960396e-02 6.40508971e+01] [ 4.57858190e-01 8.88886270e-01 -1.57186810e-02 1.44526803e+01] [ 3.51086724e-02 -4.11530780e-04 9.99383416e-01 2.90121908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.728040942 meters 0.01808424980587938 Centerline is valid? [True, True] Translation: X:64.08, Y:14.47, Z:2.90 [[ 8.87515168e-01 -4.59692091e-01 -3.16229134e-02 6.40765001e+01] [ 4.59419238e-01 8.88078242e-01 -1.58430007e-02 1.44660504e+01] [ 3.53665235e-02 -4.67271314e-04 9.99374300e-01 2.90106637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.75804094200001 meters 0.018674431022725806 Centerline is valid? [True, True] Translation: X:64.10, Y:14.48, Z:2.90 [[ 8.85983962e-01 -4.62634985e-01 -3.16431521e-02 6.41030758e+01] [ 4.62363316e-01 8.86548666e-01 -1.58627224e-02 1.44770143e+01] [ 3.53918446e-02 -5.76515076e-04 9.99373346e-01 2.90224439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.788040942 meters 0.018606960500400154 Centerline is valid? [True, True] Translation: X:64.13, Y:14.49, Z:2.90 [[ 8.85257532e-01 -4.64061613e-01 -3.10792767e-02 6.41283021e+01] [ 4.63800046e-01 8.85802712e-01 -1.55908124e-02 1.44898545e+01] [ 3.47652051e-02 -6.12685872e-04 9.99395320e-01 2.90349591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.818040942 meters 0.01943012352678952 Centerline is valid? [True, True] Translation: X:64.15, Y:14.50, Z:2.91 [[ 8.84422800e-01 -4.65660592e-01 -3.09277249e-02 6.41540353e+01] [ 4.65402429e-01 8.84963144e-01 -1.55181695e-02 1.45010185e+01] [ 3.45960966e-02 -6.69215416e-04 9.99401152e-01 2.90546276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.848040942 meters 0.02041714259610769 Centerline is valid? [True, True] Translation: X:64.18, Y:14.51, Z:2.91 [[ 8.82980834e-01 -4.68443441e-01 -3.00930021e-02 6.41787621e+01] [ 4.68200560e-01 8.83493165e-01 -1.51017607e-02 1.45126092e+01] [ 3.36612824e-02 -7.54995157e-04 9.99433013e-01 2.90685072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.878040942 meters 0.020545513109469504 Centerline is valid? [True, True] Translation: X:64.20, Y:14.53, Z:2.91 [[ 8.82367308e-01 -4.69629390e-01 -2.96001667e-02 6.42045798e+01] [ 4.69394927e-01 8.82863309e-01 -1.48586653e-02 1.45263852e+01] [ 3.31109670e-02 -7.83367620e-04 9.99451375e-01 2.90759009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.908040942 meters 0.021167155888866366 Centerline is valid? [True, True] Translation: X:64.23, Y:14.54, Z:2.91 [[ 8.82067464e-01 -4.70208268e-01 -2.93457642e-02 6.42292755e+01] [ 4.69977809e-01 8.82555132e-01 -1.47410145e-02 1.45384546e+01] [ 3.28306017e-02 -7.89288703e-04 9.99460619e-01 2.90919641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.938040942 meters 0.020280615024018584 Centerline is valid? [True, True] Translation: X:64.25, Y:14.55, Z:2.91 [[ 8.81852651e-01 -4.70632286e-01 -2.90026417e-02 6.42531351e+01] [ 4.70407320e-01 8.82329089e-01 -1.45715733e-02 1.45549091e+01] [ 3.24477273e-02 -7.93074409e-04 9.99473119e-01 2.90895554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.968040942 meters 0.01998545851973155 Centerline is valid? [True, True] Translation: X:64.28, Y:14.57, Z:2.91 [[ 8.82002492e-01 -4.70346889e-01 -2.90759048e-02 6.42780971e+01] [ 4.70120343e-01 8.82481275e-01 -1.46171925e-02 1.45698636e+01] [ 3.25340926e-02 -7.76774117e-04 9.99470324e-01 2.90969862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.998040942 meters 0.019245643659475585 Centerline is valid? [True, True] Translation: X:64.30, Y:14.59, Z:2.91 [[ 8.82440231e-01 -4.69506889e-01 -2.93686953e-02 6.43022867e+01] [ 4.69274996e-01 8.82928494e-01 -1.47733874e-02 1.45856364e+01] [ 3.28666650e-02 -7.45362983e-04 9.99459467e-01 2.90987470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.028040942 meters 0.018750607495213217 Centerline is valid? [True, True] Translation: X:64.33, Y:14.60, Z:2.91 [[ 8.83855616e-01 -4.66795159e-01 -3.00254674e-02 6.43252405e+01] [ 4.66550819e-01 8.84365229e-01 -1.51153854e-02 1.46018445e+01] [ 3.36092681e-02 -6.48588106e-04 9.99434839e-01 2.91102088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.058040942 meters 0.018287438482512793 Centerline is valid? [True, True] Translation: X:64.35, Y:14.62, Z:2.91 [[ 8.84731055e-01 -4.65099283e-01 -3.05551471e-02 6.43495455e+01] [ 4.64845176e-01 8.85258327e-01 -1.53836756e-02 1.46173543e+01] [ 3.42041349e-02 -5.92997231e-04 9.99414691e-01 2.91217130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.088040942 meters 0.017358891534105053 Centerline is valid? [True, True] Translation: X:64.37, Y:14.64, Z:2.91 [[ 8.86872605e-01 -4.60942600e-01 -3.14468319e-02 6.43720897e+01] [ 4.60670403e-01 8.87429846e-01 -1.58445185e-02 1.46363426e+01] [ 3.52102707e-02 -4.34555351e-04 9.99379832e-01 2.91237454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.11804094200001 meters 0.01720397522300067 Centerline is valid? [True, True] Translation: X:64.40, Y:14.65, Z:2.91 [[ 8.88030861e-01 -4.58700565e-01 -3.15433216e-02 6.43955134e+01] [ 4.58425186e-01 8.88590835e-01 -1.58957940e-02 1.46516811e+01] [ 3.53205161e-02 -3.44297462e-04 9.99375977e-01 2.91374655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.148040942 meters 0.01676440599155851 Centerline is valid? [True, True] Translation: X:64.42, Y:14.67, Z:2.91 [[ 8.89151211e-01 -4.56503760e-01 -3.18502934e-02 6.44194798e+01] [ 4.56221511e-01 8.89721446e-01 -1.60524869e-02 1.46682786e+01] [ 3.56659097e-02 -2.57700814e-04 9.99363736e-01 2.91432606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.178040942 meters 0.016618706578588105 Centerline is valid? [True, True] Translation: X:64.44, Y:14.68, Z:2.92 [[ 8.90343917e-01 -4.54200844e-01 -3.14531738e-02 6.44430830e+01] [ 4.53923751e-01 8.90899304e-01 -1.58637397e-02 1.46837413e+01] [ 3.52269346e-02 -1.53158486e-04 9.99379327e-01 2.91611792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.208040942 meters 0.016381339078342636 Centerline is valid? [True, True] Translation: X:64.47, Y:14.70, Z:2.92 [[ 8.92531271e-01 -4.49864034e-01 -3.17849262e-02 6.44664474e+01] [ 4.49578237e-01 8.93097056e-01 -1.60330256e-02 1.47023641e+01] [ 3.55997056e-02 2.01656433e-05 9.99366129e-01 2.91771838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.238040942 meters 0.016542582489486403 Centerline is valid? [True, True] Translation: X:64.49, Y:14.72, Z:2.92 [[ 8.93474849e-01 -4.48030446e-01 -3.11675019e-02 6.44894600e+01] [ 4.47754163e-01 8.94018293e-01 -1.57321447e-02 1.47173548e+01] [ 3.49127967e-02 1.00896881e-04 9.99390357e-01 2.92035889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.268040942 meters 0.016991890364076657 Centerline is valid? [True, True] Translation: X:64.51, Y:14.74, Z:2.92 [[ 8.95019084e-01 -4.45001168e-01 -3.02456649e-02 6.45115817e+01] [ 4.44739036e-01 8.95529962e-01 -1.52734351e-02 1.47350765e+01] [ 3.38825956e-02 2.18588095e-04 9.99425796e-01 2.92314602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.298040942 meters 0.016875534178113605 Centerline is valid? [True, True] Translation: X:64.54, Y:14.75, Z:2.92 [[ 8.95630134e-01 -4.43762250e-01 -3.03599760e-02 6.45366698e+01] [ 4.43497375e-01 8.96144516e-01 -1.53324468e-02 1.47497145e+01] [ 3.40108871e-02 2.67631678e-04 9.99421427e-01 2.92315340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.328040942 meters 0.016975127096631782 Centerline is valid? [True, True] Translation: X:64.56, Y:14.76, Z:2.92 [[ 8.95892698e-01 -4.43224994e-01 -3.04610989e-02 6.45600848e+01] [ 4.42957656e-01 8.96410350e-01 -1.53947855e-02 1.47639492e+01] [ 3.41289980e-02 2.99098899e-04 9.99417391e-01 2.92459597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.358040942 meters 0.017288424496046527 Centerline is valid? [True, True] Translation: X:64.58, Y:14.78, Z:2.93 [[ 8.95784871e-01 -4.43377643e-01 -3.13963488e-02 6.45836756e+01] [ 4.43093565e-01 8.96334855e-01 -1.58719948e-02 1.47796780e+01] [ 3.51789294e-02 3.06372693e-04 9.99380983e-01 2.92709468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.388040942 meters 0.016773712970033453 Centerline is valid? [True, True] Translation: X:64.61, Y:14.79, Z:2.93 [[ 8.95242360e-01 -4.44446951e-01 -3.17493917e-02 6.46098308e+01] [ 4.44157050e-01 8.95805132e-01 -1.60524041e-02 1.47924410e+01] [ 3.55757101e-02 2.69075998e-04 9.99366948e-01 2.92676730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.418040942 meters 0.016718317247723432 Centerline is valid? [True, True] Translation: X:64.63, Y:14.81, Z:2.93 [[ 8.94622936e-01 -4.45645102e-01 -3.24074924e-02 6.46343035e+01] [ 4.45343426e-01 8.95209689e-01 -1.63965354e-02 1.48058035e+01] [ 3.63185369e-02 2.36252991e-04 9.99340236e-01 2.92790014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.448040942 meters 0.016246266912991983 Centerline is valid? [True, True] Translation: X:64.66, Y:14.82, Z:2.93 [[ 8.92734064e-01 -4.49315654e-01 -3.37836330e-02 6.46597895e+01] [ 4.48990236e-01 8.93373065e-01 -1.70977880e-02 1.48198124e+01] [ 3.78636916e-02 9.52564412e-05 9.99282909e-01 2.92800917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.478040942 meters 0.01604729501140885 Centerline is valid? [True, True] Translation: X:64.68, Y:14.83, Z:2.93 [[ 8.91595072e-01 -4.51492853e-01 -3.48199882e-02 6.46842511e+01] [ 4.51148386e-01 8.92274736e-01 -1.76332013e-02 1.48326352e+01] [ 3.90302601e-02 1.26938560e-05 9.99238029e-01 2.92816750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50804094200001 meters 0.01605972245340921 Centerline is valid? [True, True] Translation: X:64.71, Y:14.85, Z:2.93 [[ 8.90115978e-01 -4.54359393e-01 -3.53707107e-02 6.47092676e+01] [ 4.54005684e-01 8.90818462e-01 -1.79250540e-02 1.48452692e+01] [ 3.96532988e-02 -1.03126726e-04 9.99213493e-01 2.92887042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.538040942 meters 0.016539274407560683 Centerline is valid? [True, True] Translation: X:64.74, Y:14.86, Z:2.93 [[ 8.86730645e-01 -4.60846508e-01 -3.64589959e-02 6.47353473e+01] [ 4.60475559e-01 8.87479770e-01 -1.84909932e-02 1.48553093e+01] [ 4.08781309e-02 -3.91946197e-04 9.99164063e-01 2.92966417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.568040942 meters 0.01712769525143952 Centerline is valid? [True, True] Translation: X:64.76, Y:14.87, Z:2.93 [[ 8.84750462e-01 -4.64584792e-01 -3.71159170e-02 6.47615864e+01] [ 4.64203454e-01 8.85528455e-01 -1.88283940e-02 1.48663138e+01] [ 4.16145861e-02 -5.70906563e-04 9.99133575e-01 2.93071097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.598040942 meters 0.017712901480302086 Centerline is valid? [True, True] Translation: X:64.79, Y:14.88, Z:2.93 [[ 8.82727817e-01 -4.68377680e-01 -3.76025342e-02 6.47876027e+01] [ 4.67989526e-01 8.83528029e-01 -1.90794660e-02 1.48779205e+01] [ 4.21592889e-02 -7.55616791e-04 9.99110616e-01 2.93174629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.628040942 meters 0.01990997093718286 Centerline is valid? [True, True] Translation: X:64.81, Y:14.89, Z:2.93 [[ 8.79243864e-01 -4.74859679e-01 -3.79277332e-02 6.48137079e+01] [ 4.74470598e-01 8.80060871e-01 -1.92487352e-02 1.48893934e+01] [ 4.25191621e-02 -1.07126196e-03 9.99095077e-01 2.93251141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.658040942 meters 0.020695658258708075 Centerline is valid? [True, True] Translation: X:64.84, Y:14.90, Z:2.93 [[ 8.77782607e-01 -4.77551361e-01 -3.79788460e-02 6.48387573e+01] [ 4.77163570e-01 8.78603015e-01 -1.92787100e-02 1.49028204e+01] [ 4.25749028e-02 -1.19960539e-03 9.99092558e-01 2.93316393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.688040942 meters 0.02204578558989266 Centerline is valid? [True, True] Translation: X:64.86, Y:14.92, Z:2.93 [[ 8.75502025e-01 -4.81649539e-01 -3.88577690e-02 6.48646707e+01] [ 4.81247420e-01 8.76362758e-01 -1.97290791e-02 1.49178522e+01] [ 4.35560035e-02 -1.42735243e-03 9.99049967e-01 2.93299545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.718040942 meters 0.022688464863342188 Centerline is valid? [True, True] Translation: X:64.89, Y:14.93, Z:2.93 [[ 8.74557666e-01 -4.83339412e-01 -3.91395215e-02 6.48903066e+01] [ 4.82932727e-01 8.75431733e-01 -1.98812013e-02 1.49316743e+01] [ 4.38733473e-02 -1.51449885e-03 9.99035953e-01 2.93432057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.748040942 meters 0.022421310812636742 Centerline is valid? [True, True] Translation: X:64.91, Y:14.95, Z:2.94 [[ 8.74075735e-01 -4.84260586e-01 -3.85135572e-02 6.49147762e+01] [ 4.83867195e-01 8.74922487e-01 -1.95749907e-02 1.49461378e+01] [ 4.31757737e-02 -1.52542251e-03 9.99066327e-01 2.93574486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.778040942 meters 0.023234139984368293 Centerline is valid? [True, True] Translation: X:64.94, Y:14.96, Z:2.94 [[ 8.73902951e-01 -4.84606639e-01 -3.80793469e-02 6.49393152e+01] [ 4.84222222e-01 8.74730867e-01 -1.93584466e-02 1.49583505e+01] [ 4.26904120e-02 -1.52146233e-03 9.99087190e-01 2.93741861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.808040942 meters 0.023605329788528084 Centerline is valid? [True, True] Translation: X:64.96, Y:14.97, Z:2.94 [[ 8.73694062e-01 -4.85014219e-01 -3.76814799e-02 6.49643980e+01] [ 4.84638018e-01 8.74504940e-01 -1.91598713e-02 1.49722403e+01] [ 4.22454504e-02 -1.52201202e-03 9.99106103e-01 2.93926647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.838040942 meters 0.023402103883812905 Centerline is valid? [True, True] Translation: X:64.99, Y:14.99, Z:2.94 [[ 8.74083583e-01 -4.84306958e-01 -3.77446700e-02 6.49879899e+01] [ 4.83928352e-01 8.74896896e-01 -1.92034202e-02 1.49893594e+01] [ 4.23230447e-02 -1.48032163e-03 9.99102882e-01 2.94012506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86804094200001 meters 0.023270404869544212 Centerline is valid? [True, True] Translation: X:65.01, Y:15.01, Z:2.94 [[ 8.74518736e-01 -4.83546537e-01 -3.74129290e-02 6.50121086e+01] [ 4.83173395e-01 8.75317501e-01 -1.90458132e-02 1.50050740e+01] [ 4.19577285e-02 -1.42101138e-03 9.99118376e-01 2.94084915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.898040942 meters 0.022764689113834467 Centerline is valid? [True, True] Translation: X:65.04, Y:15.02, Z:2.94 [[ 8.75319788e-01 -4.82058807e-01 -3.78757844e-02 6.50367551e+01] [ 4.81674489e-01 8.76137813e-01 -1.92929904e-02 1.50213263e+01] [ 4.24847629e-02 -1.35626290e-03 9.99096194e-01 2.94195183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.928040942 meters 0.02166811279122955 Centerline is valid? [True, True] Translation: X:65.06, Y:15.04, Z:2.94 [[ 8.77563929e-01 -4.77953063e-01 -3.79792158e-02 6.50591706e+01] [ 4.77562330e-01 8.78384623e-01 -1.93565454e-02 1.50392301e+01] [ 4.26118793e-02 -1.15083674e-03 9.99091039e-01 2.94305334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.958040942 meters 0.02098143994559763 Centerline is valid? [True, True] Translation: X:65.08, Y:15.05, Z:2.94 [[ 8.78903945e-01 -4.75457674e-01 -3.83126140e-02 6.50832847e+01] [ 4.75057518e-01 8.79737988e-01 -1.95301515e-02 1.50541189e+01] [ 4.29908224e-02 -1.03556810e-03 9.99074931e-01 2.94425153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.988040942 meters 0.02048812025789394 Centerline is valid? [True, True] Translation: X:65.11, Y:15.07, Z:2.95 [[ 8.80093506e-01 -4.73244752e-01 -3.84034591e-02 6.51073673e+01] [ 4.72840452e-01 8.80930500e-01 -1.95795953e-02 1.50689437e+01] [ 4.30967192e-02 -9.26834275e-04 9.99070475e-01 2.94542633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.018040942 meters 0.019054885308978853 Centerline is valid? [True, True] Translation: X:65.13, Y:15.09, Z:2.95 [[ 8.82626205e-01 -4.68510110e-01 -3.83309144e-02 6.51301807e+01] [ 4.68102610e-01 8.83457867e-01 -1.95485080e-02 1.50879253e+01] [ 4.30224215e-02 -6.88775691e-04 9.99073870e-01 2.94617440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.048040942 meters 0.018492377780899932 Centerline is valid? [True, True] Translation: X:65.15, Y:15.10, Z:2.95 [[ 8.83885404e-01 -4.66091926e-01 -3.87931556e-02 6.51536932e+01] [ 4.65672063e-01 8.84736111e-01 -1.97874723e-02 1.51028874e+01] [ 4.35444867e-02 -5.75030812e-04 9.99051324e-01 2.94680567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.078040942 meters 0.017536079554814482 Centerline is valid? [True, True] Translation: X:65.18, Y:15.12, Z:2.95 [[ 8.85773890e-01 -4.62513837e-01 -3.85430592e-02 6.51767913e+01] [ 4.62095820e-01 8.86611976e-01 -1.96635955e-02 1.51209990e+01] [ 4.32674229e-02 -3.93087086e-04 9.99063449e-01 2.94793938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.108040942 meters 0.017686452516127105 Centerline is valid? [True, True] Translation: X:65.20, Y:15.13, Z:2.95 [[ 8.86533147e-01 -4.61080391e-01 -3.82603140e-02 6.52011828e+01] [ 4.60666639e-01 8.87358314e-01 -1.95312866e-02 1.51334169e+01] [ 4.29561010e-02 -3.10117277e-04 9.99076913e-01 2.94912096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.138040942 meters 0.017489556427704275 Centerline is valid? [True, True] Translation: X:65.23, Y:15.15, Z:2.95 [[ 8.87298104e-01 -4.59572830e-01 -3.86637977e-02 6.52259176e+01] [ 4.59148587e-01 8.88140056e-01 -1.97437482e-02 1.51469117e+01] [ 4.34125577e-02 -2.33837718e-04 9.99057203e-01 2.95006105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.168040942 meters 0.017374744419114192 Centerline is valid? [True, True] Translation: X:65.25, Y:15.16, Z:2.95 [[ 8.88334246e-01 -4.57552742e-01 -3.88298280e-02 6.52498627e+01] [ 4.57122752e-01 8.89182473e-01 -1.98322615e-02 1.51609527e+01] [ 4.36011081e-02 -1.32320782e-04 9.99049011e-01 2.95040305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.198040942 meters 0.01738990947086077 Centerline is valid? [True, True] Translation: X:65.27, Y:15.17, Z:2.95 [[ 8.88803580e-01 -4.56643668e-01 -3.87911963e-02 6.52736273e+01] [ 4.56213058e-01 8.89649681e-01 -1.98265066e-02 1.51735447e+01] [ 4.35642241e-02 -7.51802522e-05 9.99050626e-01 2.95167992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.228040942 meters 0.017531363164109127 Centerline is valid? [True, True] Translation: X:65.30, Y:15.19, Z:2.95 [[ 8.89116722e-01 -4.56012945e-01 -3.90339446e-02 6.52973360e+01] [ 4.55576053e-01 8.89973142e-01 -1.99566474e-02 1.51860336e+01] [ 4.38396519e-02 -3.91414500e-05 9.99038580e-01 2.95269868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.25804094200001 meters 0.017587347986849407 Centerline is valid? [True, True] Translation: X:65.32, Y:15.20, Z:2.95 [[ 8.89350119e-01 -4.55587840e-01 -3.86792653e-02 6.53217072e+01] [ 4.55158211e-01 8.90190833e-01 -1.97808771e-02 1.51990049e+01] [ 4.34438545e-02 -1.30597689e-05 9.99055870e-01 2.95385730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.288040942 meters 0.017755703085276662 Centerline is valid? [True, True] Translation: X:65.35, Y:15.21, Z:2.95 [[ 8.90076180e-01 -4.54109418e-01 -3.93577352e-02 6.53467993e+01] [ 4.53662508e-01 8.90945920e-01 -2.01419177e-02 1.52118991e+01] [ 4.42122481e-02 7.27122727e-05 9.99022158e-01 2.95406232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.318040942 meters 0.017920690800540345 Centerline is valid? [True, True] Translation: X:65.37, Y:15.22, Z:2.96 [[ 8.90437288e-01 -4.53383701e-01 -3.95557266e-02 6.53707191e+01] [ 4.52930948e-01 8.91315435e-01 -2.02571343e-02 1.52235888e+01] [ 4.44408842e-02 1.21695005e-04 9.99012008e-01 2.95505637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.348040942 meters 0.01818099400526157 Centerline is valid? [True, True] Translation: X:65.40, Y:15.24, Z:2.96 [[ 8.91111470e-01 -4.52055500e-01 -3.95748946e-02 6.53966686e+01] [ 4.51600731e-01 8.91989791e-01 -2.02729433e-02 1.52352436e+01] [ 4.44648975e-02 1.93400979e-04 9.99010929e-01 2.95633321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.378040942 meters 0.018372937904898353 Centerline is valid? [True, True] Translation: X:65.42, Y:15.25, Z:2.96 [[ 8.91385651e-01 -4.51488119e-01 -3.98760434e-02 6.54214677e+01] [ 4.51025213e-01 8.92277100e-01 -2.04410098e-02 1.52476593e+01] [ 4.48093534e-02 2.35721870e-04 9.98995529e-01 2.95739484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.408040942 meters 0.018684139857365716 Centerline is valid? [True, True] Translation: X:65.45, Y:15.26, Z:2.96 [[ 8.91674301e-01 -4.50854101e-01 -4.05896648e-02 6.54472617e+01] [ 4.50373611e-01 8.92597616e-01 -2.08112275e-02 1.52589818e+01] [ 4.56130653e-02 2.76322798e-04 9.98959144e-01 2.95794767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.438040942 meters 0.018830152350260896 Centerline is valid? [True, True] Translation: X:65.47, Y:15.27, Z:2.96 [[ 8.91701106e-01 -4.50737628e-01 -4.12883641e-02 6.54724862e+01] [ 4.50240095e-01 8.92656432e-01 -2.11742916e-02 1.52702794e+01] [ 4.64003737e-02 2.91462293e-04 9.98922880e-01 2.95860251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.468040942 meters 0.018842132793949223 Centerline is valid? [True, True] Translation: X:65.50, Y:15.28, Z:2.96 [[ 8.91464744e-01 -4.51139854e-01 -4.19933572e-02 6.54983412e+01] [ 4.50624942e-01 8.92453220e-01 -2.15502260e-02 1.52813757e+01] [ 4.71992727e-02 2.88012555e-04 9.98885452e-01 2.95938274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.498040942 meters 0.018814528716347003 Centerline is valid? [True, True] Translation: X:65.52, Y:15.29, Z:2.96 [[ 8.91204186e-01 -4.51624338e-01 -4.23149595e-02 6.55240904e+01] [ 4.51101356e-01 8.92208148e-01 -2.17298619e-02 1.52917876e+01] [ 4.75674862e-02 2.77408255e-04 9.98867988e-01 2.96044497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.528040942 meters 0.018967131848933682 Centerline is valid? [True, True] Translation: X:65.55, Y:15.30, Z:2.96 [[ 8.90251174e-01 -4.53486032e-01 -4.24648887e-02 6.55513636e+01] [ 4.52960727e-01 8.91263363e-01 -2.18219582e-02 1.53003545e+01] [ 4.77433528e-02 1.92097069e-04 9.98859617e-01 2.96226230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.558040942 meters 0.018943347871807098 Centerline is valid? [True, True] Translation: X:65.58, Y:15.31, Z:2.96 [[ 8.89715900e-01 -4.54522860e-01 -4.25979743e-02 6.55762249e+01] [ 4.53994719e-01 8.90735060e-01 -2.19054277e-02 1.53106546e+01] [ 4.79000268e-02 1.50351953e-04 9.98852124e-01 2.96369879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.588040942 meters 0.018943347871807098 Centerline is valid? [True, True] Translation: X:65.60, Y:15.32, Z:2.96 [[ 8.89589960e-01 -4.54769708e-01 -4.25935985e-02 6.56006625e+01] [ 4.54241443e-01 8.90609056e-01 -2.19139329e-02 1.53233342e+01] [ 4.79000374e-02 1.46637029e-04 9.98852124e-01 2.96492312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.61804094200001 meters 0.018886393493974248 Centerline is valid? [True, True] Translation: X:65.63, Y:15.33, Z:2.97 [[ 8.88850723e-01 -4.56211243e-01 -4.26109659e-02 6.56265450e+01] [ 4.55683482e-01 8.89871505e-01 -2.19378408e-02 1.53333626e+01] [ 4.79265739e-02 8.23523440e-05 9.98850858e-01 2.96620117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.648040942 meters 0.01895572090423064 Centerline is valid? [True, True] Translation: X:65.65, Y:15.34, Z:2.97 [[ 8.87335320e-01 -4.59055162e-01 -4.36393019e-02 6.56546401e+01] [ 4.58504304e-01 8.88407764e-01 -2.24821848e-02 1.53403724e+01] [ 4.90900577e-02 -5.95711058e-05 9.98794355e-01 2.96742708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.678040942 meters 0.019016156006381124 Centerline is valid? [True, True] Translation: X:65.68, Y:15.35, Z:2.97 [[ 8.86415949e-01 -4.60756925e-01 -4.43826680e-02 6.56807056e+01] [ 4.60188951e-01 8.87526356e-01 -2.28712900e-02 1.53501310e+01] [ 4.99288929e-02 -1.50937167e-04 9.98752764e-01 2.96846020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.708040942 meters 0.019217531347890237 Centerline is valid? [True, True] Translation: X:65.71, Y:15.36, Z:2.97 [[ 8.84796292e-01 -4.63744648e-01 -4.55677900e-02 6.57092575e+01] [ 4.63149040e-01 8.85968850e-01 -2.34981592e-02 1.53582769e+01] [ 5.12687880e-02 -3.13594089e-04 9.98684842e-01 2.97012232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.738040942 meters 0.019483623472807673 Centerline is valid? [True, True] Translation: X:65.74, Y:15.37, Z:2.97 [[ 8.83998575e-01 -4.65307927e-01 -4.51115440e-02 6.57352744e+01] [ 4.64725498e-01 8.85148791e-01 -2.32772208e-02 1.53683586e+01] [ 5.07615041e-02 -3.87454689e-04 9.98710729e-01 2.97159153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.768040942 meters 0.019724784541625743 Centerline is valid? [True, True] Translation: X:65.76, Y:15.38, Z:2.97 [[ 8.83139248e-01 -4.66953072e-01 -4.49432696e-02 6.57622685e+01] [ 4.66376307e-01 8.84281975e-01 -2.32062141e-02 1.53793181e+01] [ 5.05787362e-02 -4.66157626e-04 9.98719968e-01 2.97312308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.798040942 meters 0.019880251489724377 Centerline is valid? [True, True] Translation: X:65.79, Y:15.39, Z:2.97 [[ 8.82377913e-01 -4.68312902e-01 -4.57410601e-02 6.57893180e+01] [ 4.67716542e-01 8.83562524e-01 -2.36326584e-02 1.53906814e+01] [ 5.14825653e-02 -5.40914709e-04 9.98673747e-01 2.97425841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.828040942 meters 0.020171707470201534 Centerline is valid? [True, True] Translation: X:65.82, Y:15.40, Z:2.97 [[ 8.81494807e-01 -4.69927595e-01 -4.62056288e-02 6.58167990e+01] [ 4.69320573e-01 8.82704741e-01 -2.38859994e-02 1.53990702e+01] [ 5.20106178e-02 -6.29867750e-04 9.98646333e-01 2.97414836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.858040942 meters 0.02019009787333996 Centerline is valid? [True, True] Translation: X:65.84, Y:15.41, Z:2.98 [[ 8.81205076e-01 -4.70444278e-01 -4.64735960e-02 6.58430278e+01] [ 4.69830547e-01 8.82429458e-01 -2.40314043e-02 1.54094167e+01] [ 5.23151067e-02 -6.58119612e-04 9.98630410e-01 2.97615483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.888040942 meters 0.020029276144094946 Centerline is valid? [True, True] Translation: X:65.87, Y:15.42, Z:2.98 [[ 8.81390586e-01 -4.70161312e-01 -4.58145715e-02 6.58706431e+01] [ 4.69563679e-01 8.82580285e-01 -2.37063810e-02 1.54191261e+01] [ 5.15808608e-02 -6.18277687e-04 9.98668630e-01 2.97923349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.918040942 meters 0.02189147763959253 Centerline is valid? [True, True] Translation: X:65.90, Y:15.43, Z:2.98 [[ 8.81552526e-01 -4.69784520e-01 -4.65580065e-02 6.58961772e+01] [ 4.69165995e-01 8.82780921e-01 -2.41063283e-02 1.54307214e+01] [ 5.24252997e-02 -5.92438857e-04 9.98624673e-01 2.97866569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.948040942 meters 0.019855910303038165 Centerline is valid? [True, True] Translation: X:65.92, Y:15.44, Z:2.98 [[ 8.81985105e-01 -4.69010959e-01 -4.61626940e-02 6.59222468e+01] [ 4.68400995e-01 8.83192189e-01 -2.39178968e-02 1.54433730e+01] [ 5.19882865e-02 -5.27423068e-04 9.98647555e-01 2.98167168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.978040942 meters 0.01975722976706732 Centerline is valid? [True, True] Translation: X:65.95, Y:15.45, Z:2.98 [[ 8.82481064e-01 -4.68043062e-01 -4.65065918e-02 6.59478864e+01] [ 4.67421900e-01 8.83705539e-01 -2.41099220e-02 1.54549562e+01] [ 5.23826145e-02 -4.61649929e-04 9.98626982e-01 2.98252228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00804094200001 meters 0.019658233768016592 Centerline is valid? [True, True] Translation: X:65.97, Y:15.47, Z:2.98 [[ 8.83080620e-01 -4.66903760e-01 -4.65778744e-02 6.59733971e+01] [ 4.66278729e-01 8.84308051e-01 -2.41540473e-02 1.54662659e+01] [ 5.24668049e-02 -3.88301016e-04 9.98622593e-01 2.98366711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.038040942 meters 0.019548367941745005 Centerline is valid? [True, True] Translation: X:66.00, Y:15.48, Z:2.99 [[ 8.83946840e-01 -4.65182599e-01 -4.73617289e-02 6.59996269e+01] [ 4.64533477e-01 8.85214702e-01 -2.45678639e-02 1.54763636e+01] [ 5.33538415e-02 -2.84422967e-04 9.98575629e-01 2.98602323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.068040942 meters 0.01945662315759324 Centerline is valid? [True, True] Translation: X:66.03, Y:15.49, Z:2.99 [[ 8.84299470e-01 -4.64546808e-01 -4.70181963e-02 6.60255155e+01] [ 4.63905278e-01 8.85548537e-01 -2.44065968e-02 1.54876193e+01] [ 5.29749016e-02 -2.29248814e-04 9.98595818e-01 2.98782945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.098040942 meters 0.021090850479682184 Centerline is valid? [True, True] Translation: X:66.05, Y:15.50, Z:2.99 [[ 8.84626837e-01 -4.63922298e-01 -4.70261687e-02 6.60511372e+01] [ 4.63278812e-01 8.85875877e-01 -2.44268741e-02 1.54959772e+01] [ 5.29915200e-02 -1.77559183e-04 9.98594947e-01 2.98947884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.128040942 meters 0.019494517248525578 Centerline is valid? [True, True] Translation: X:66.08, Y:15.51, Z:2.99 [[ 8.84785413e-01 -4.63702312e-01 -4.62054015e-02 6.60770437e+01] [ 4.63080181e-01 8.85991051e-01 -2.40125632e-02 1.55075585e+01] [ 5.20722534e-02 -1.50840025e-04 9.98643309e-01 2.99360615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.158040942 meters 0.019499835942248724 Centerline is valid? [True, True] Translation: X:66.10, Y:15.52, Z:2.99 [[ 8.84734968e-01 -4.63837459e-01 -4.58131909e-02 6.61014785e+01] [ 4.63225231e-01 8.85920307e-01 -2.38242397e-02 1.55182780e+01] [ 5.16374110e-02 -1.43687975e-04 9.98665889e-01 2.99445365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.188040942 meters 0.01963473945205954 Centerline is valid? [True, True] Translation: X:66.13, Y:15.53, Z:3.00 [[ 8.84217904e-01 -4.64766350e-01 -4.63782060e-02 6.61283900e+01] [ 4.64139732e-01 8.85433342e-01 -2.41268850e-02 1.55275858e+01] [ 5.22781742e-02 -1.92544459e-04 9.98632543e-01 2.99524938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.218040942 meters 0.01964828313174031 Centerline is valid? [True, True] Translation: X:66.16, Y:15.54, Z:3.00 [[ 8.83798623e-01 -4.65474544e-01 -4.72593223e-02 6.61552671e+01] [ 4.64824004e-01 8.85061240e-01 -2.46017719e-02 1.55382852e+01] [ 5.32788929e-02 -2.24255280e-04 9.98579646e-01 2.99598129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.248040942 meters 0.019701094623675065 Centerline is valid? [True, True] Translation: X:66.18, Y:15.55, Z:3.00 [[ 8.83349625e-01 -4.66261474e-01 -4.78923527e-02 6.61820816e+01] [ 4.65593730e-01 8.84646918e-01 -2.49461361e-02 1.55486494e+01] [ 5.39992444e-02 -2.62219171e-04 9.98540942e-01 2.99722120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.278040942 meters 0.020649357478831988 Centerline is valid? [True, True] Translation: X:66.21, Y:15.56, Z:3.00 [[ 8.81971424e-01 -4.68745233e-01 -4.90337951e-02 6.62104138e+01] [ 4.68048224e-01 8.83333311e-01 -2.55562502e-02 1.55566552e+01] [ 5.52925550e-02 -4.10298398e-04 9.98470112e-01 2.99766366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.308040942 meters 0.020099167116018554 Centerline is valid? [True, True] Translation: X:66.24, Y:15.57, Z:3.00 [[ 8.81257904e-01 -4.70013712e-01 -4.97153610e-02 6.62373966e+01] [ 4.69298307e-01 8.82658981e-01 -2.59272331e-02 1.55678524e+01] [ 5.60678650e-02 -4.82755647e-04 9.98426843e-01 3.00030420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.338040942 meters 0.02044589727390568 Centerline is valid? [True, True] Translation: X:66.26, Y:15.58, Z:3.00 [[ 8.80672838e-01 -4.71014738e-01 -5.06010765e-02 6.62634639e+01] [ 4.70274445e-01 8.82125173e-01 -2.64031351e-02 1.55782977e+01] [ 5.70727491e-02 -5.43869208e-04 9.98369874e-01 3.00095879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36804094200001 meters 0.02120451001480054 Centerline is valid? [True, True] Translation: X:66.29, Y:15.59, Z:3.00 [[ 8.81550761e-01 -4.69462062e-01 -4.97355886e-02 6.62879288e+01] [ 4.68744014e-01 8.82952540e-01 -2.59588292e-02 1.55949037e+01] [ 5.61008498e-02 -4.29233854e-04 9.98425015e-01 3.00129295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.398040942 meters 0.020537956541479115 Centerline is valid? [True, True] Translation: X:66.31, Y:15.61, Z:3.00 [[ 8.81583013e-01 -4.69314669e-01 -5.05483264e-02 6.63125855e+01] [ 4.68571812e-01 8.83030901e-01 -2.63985875e-02 1.56091687e+01] [ 5.70249785e-02 -4.12974624e-04 9.98372667e-01 3.00365960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.428040942 meters 0.022236671321859688 Centerline is valid? [True, True] Translation: X:66.34, Y:15.62, Z:3.00 [[ 8.81591765e-01 -4.69189537e-01 -5.15474448e-02 6.63371760e+01] [ 4.68415848e-01 8.83097401e-01 -2.69364831e-02 1.56220898e+01] [ 5.81597306e-02 -3.98658395e-04 9.98307211e-01 3.00171763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.458040942 meters 0.020378646066391046 Centerline is valid? [True, True] Translation: X:66.36, Y:15.64, Z:3.01 [[ 8.81553517e-01 -4.69041038e-01 -5.35154330e-02 6.63632278e+01] [ 4.68206268e-01 8.83176284e-01 -2.79739592e-02 1.56350820e+01] [ 6.03844962e-02 -3.95719038e-04 9.98175113e-01 3.00517015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.488040942 meters 0.021395276500382584 Centerline is valid? [True, True] Translation: X:66.39, Y:15.65, Z:3.01 [[ 8.81305663e-01 -4.69524868e-01 -5.33547300e-02 6.63881104e+01] [ 4.68694942e-01 8.82919152e-01 -2.79073997e-02 1.56477622e+01] [ 6.02111311e-02 -4.12142646e-04 9.98185579e-01 3.00544948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.518040942 meters 0.020520905305503302 Centerline is valid? [True, True] Translation: X:66.41, Y:15.66, Z:3.01 [[ 8.80791867e-01 -4.70534084e-01 -5.29467861e-02 6.64119188e+01] [ 4.69717488e-01 8.82381700e-01 -2.77131363e-02 1.56615763e+01] [ 5.97592503e-02 -4.60526268e-04 9.98212713e-01 3.00936707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.548040942 meters 0.020678650584357094 Centerline is valid? [True, True] Translation: X:66.44, Y:15.68, Z:3.01 [[ 8.80134311e-01 -4.71745269e-01 -5.31036271e-02 6.64371799e+01] [ 4.70924881e-01 8.81734723e-01 -2.78142705e-02 1.56761252e+01] [ 5.99445625e-02 -5.27525479e-04 9.98201568e-01 3.00989347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.578040942 meters 0.020910411276945373 Centerline is valid? [True, True] Translation: X:66.46, Y:15.69, Z:3.01 [[ 8.79363716e-01 -4.73168313e-01 -5.32090489e-02 6.64623964e+01] [ 4.72346234e-01 8.80971835e-01 -2.78865585e-02 1.56904948e+01] [ 6.00707093e-02 -6.10666222e-04 9.98193938e-01 3.01034192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.608040942 meters 0.02309777015879367 Centerline is valid? [True, True] Translation: X:66.49, Y:15.70, Z:3.01 [[ 8.78355335e-01 -4.75089322e-01 -5.27450558e-02 6.64880674e+01] [ 4.74283991e-01 8.79937280e-01 -2.76600572e-02 1.57038703e+01] [ 5.95533387e-02 -7.20776803e-04 9.98224865e-01 3.00881178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.638040942 meters 0.02235773486832931 Centerline is valid? [True, True] Translation: X:66.51, Y:15.72, Z:3.01 [[ 8.77016398e-01 -4.77624657e-01 -5.21241248e-02 6.65146195e+01] [ 4.76841691e-01 8.78563563e-01 -2.73508396e-02 1.57161978e+01] [ 5.88577921e-02 -8.67820986e-04 9.98266000e-01 3.01216803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.668040942 meters 0.022710348559480672 Centerline is valid? [True, True] Translation: X:66.54, Y:15.73, Z:3.01 [[ 8.76447570e-01 -4.78711802e-01 -5.17171867e-02 6.65390091e+01] [ 4.77941916e-01 8.77971621e-01 -2.71543410e-02 1.57290552e+01] [ 5.84053258e-02 -9.18455110e-04 9.98292529e-01 3.01445935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.698040942 meters 0.021670587984287715 Centerline is valid? [True, True] Translation: X:66.56, Y:15.74, Z:3.02 [[ 8.76190215e-01 -4.79150794e-01 -5.20117617e-02 6.65633017e+01] [ 4.78371885e-01 8.77732098e-01 -2.73258792e-02 1.57416225e+01] [ 5.87456094e-02 -9.38296514e-04 9.98272544e-01 3.01733960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.728040942 meters 0.023647419213930855 Centerline is valid? [True, True] Translation: X:66.59, Y:15.76, Z:3.02 [[ 8.76172531e-01 -4.79254540e-01 -5.13495988e-02 6.65885304e+01] [ 4.78494919e-01 8.77675471e-01 -2.69885285e-02 1.57563501e+01] [ 5.80026582e-02 -9.23914777e-04 9.98316001e-01 3.01673545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.75804094200001 meters 0.023501481023518123 Centerline is valid? [True, True] Translation: X:66.61, Y:15.77, Z:3.02 [[ 8.76491484e-01 -4.78697373e-01 -5.11028639e-02 6.66123869e+01] [ 4.77943288e-01 8.77979537e-01 -2.68727822e-02 1.57698694e+01] [ 5.77311990e-02 -8.70506043e-04 9.98331784e-01 3.01772022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.788040942 meters 0.021594972401376363 Centerline is valid? [True, True] Translation: X:66.64, Y:15.78, Z:3.02 [[ 8.77784336e-01 -4.76284201e-01 -5.14589164e-02 6.66359284e+01] [ 4.75515034e-01 8.79291109e-01 -2.70665406e-02 1.57847495e+01] [ 5.81387333e-02 -7.10903014e-04 9.98308260e-01 3.01961109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.818040942 meters 0.021274192804748477 Centerline is valid? [True, True] Translation: X:66.66, Y:15.80, Z:3.02 [[ 8.78420405e-01 -4.75121783e-01 -5.13505897e-02 6.66606011e+01] [ 4.74353267e-01 8.79919827e-01 -2.70199245e-02 1.57992618e+01] [ 5.80221567e-02 -6.23466932e-04 9.98315101e-01 3.02101755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.848040942 meters 0.02114457798542002 Centerline is valid? [True, True] Translation: X:66.69, Y:15.81, Z:3.02 [[ 8.79013150e-01 -4.74043342e-01 -5.11741342e-02 6.66865074e+01] [ 4.73277354e-01 8.80501347e-01 -2.69429700e-02 1.58130917e+01] [ 5.78310297e-02 -5.36333912e-04 9.98326241e-01 3.02253075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.878040942 meters 0.021006569139171535 Centerline is valid? [True, True] Translation: X:66.71, Y:15.83, Z:3.03 [[ 8.79859699e-01 -4.72527051e-01 -5.06467669e-02 6.67121582e+01] [ 4.71773415e-01 8.81316067e-01 -2.66802408e-02 1.58257117e+01] [ 5.72429449e-02 -4.18929526e-04 9.98360190e-01 3.02557132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.908040942 meters 0.020952202237893548 Centerline is valid? [True, True] Translation: X:66.74, Y:15.84, Z:3.03 [[ 8.80099311e-01 -4.72085268e-01 -5.06033889e-02 6.67374497e+01] [ 4.71331256e-01 8.81552811e-01 -2.66737266e-02 1.58384871e+01] [ 5.72018331e-02 -3.75430501e-04 9.98362564e-01 3.02762596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.938040942 meters 0.022387287465043013 Centerline is valid? [True, True] Translation: X:66.76, Y:15.85, Z:3.03 [[ 8.80203252e-01 -4.71958481e-01 -4.99742722e-02 6.67632830e+01] [ 4.71221938e-01 8.81620707e-01 -2.63593158e-02 1.58515131e+01] [ 5.64988558e-02 -3.47417940e-04 9.98402603e-01 3.02833284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.968040942 meters 0.02069437985746537 Centerline is valid? [True, True] Translation: X:66.79, Y:15.86, Z:3.03 [[ 8.80672880e-01 -4.71102220e-01 -4.97792683e-02 6.67880643e+01] [ 4.70369291e-01 8.82078579e-01 -2.62699561e-02 1.58646779e+01] [ 5.62850609e-02 -2.79401202e-04 9.98414700e-01 3.03239529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.998040942 meters 0.020481560069643526 Centerline is valid? [True, True] Translation: X:66.81, Y:15.88, Z:3.03 [[ 8.81724411e-01 -4.69265200e-01 -4.84998503e-02 6.68125870e+01] [ 4.68566418e-01 8.83057274e-01 -2.56000538e-02 1.58783051e+01] [ 5.48413600e-02 -1.53208745e-04 9.98495068e-01 3.03487352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.028040942 meters 0.021892120852440997 Centerline is valid? [True, True] Translation: X:66.84, Y:15.89, Z:3.04 [[ 8.81845890e-01 -4.69048977e-01 -4.83826854e-02 6.68371218e+01] [ 4.68352829e-01 8.83172146e-01 -2.55457955e-02 1.58912292e+01] [ 5.47124694e-02 -1.32712764e-04 9.98502142e-01 3.03516632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.058040942 meters 0.02028520741940057 Centerline is valid? [True, True] Translation: X:66.86, Y:15.90, Z:3.04 [[ 8.82281070e-01 -4.68220331e-01 -4.84750921e-02 6.68619447e+01] [ 4.67519413e-01 8.83611746e-01 -2.56101889e-02 1.59021194e+01] [ 5.48243719e-02 -6.76617121e-05 9.98496011e-01 3.03824438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.088040942 meters 0.020265986970615293 Centerline is valid? [True, True] Translation: X:66.89, Y:15.91, Z:3.04 [[ 8.81830593e-01 -4.69026729e-01 -4.88746628e-02 6.68871171e+01] [ 4.68314908e-01 8.83183964e-01 -2.58308303e-02 1.59137090e+01] [ 5.52806683e-02 -1.10316799e-04 9.98470849e-01 3.04025222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.11804094200001 meters 0.020291059657726016 Centerline is valid? [True, True] Translation: X:66.91, Y:15.93, Z:3.04 [[ 8.81254291e-01 -4.70052838e-01 -4.94085471e-02 6.69134364e+01] [ 4.69326018e-01 8.82638263e-01 -2.61301505e-02 1.59258521e+01] [ 5.58924256e-02 -1.61409400e-04 9.98436784e-01 3.04208549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.148040942 meters 0.020293253346852336 Centerline is valid? [True, True] Translation: X:66.94, Y:15.94, Z:3.04 [[ 8.79754155e-01 -4.72887740e-01 -4.90898324e-02 6.69393160e+01] [ 4.72173942e-01 8.81122624e-01 -2.59747967e-02 1.59360014e+01] [ 5.55373249e-02 -3.27504371e-04 9.98456558e-01 3.04321256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.178040942 meters 0.020523547493134536 Centerline is valid? [True, True] Translation: X:66.97, Y:15.95, Z:3.04 [[ 8.78789682e-01 -4.74646319e-01 -4.93919740e-02 6.69657076e+01] [ 4.73926057e-01 8.80176507e-01 -2.61421012e-02 1.59482944e+01] [ 5.58819073e-02 -4.34734730e-04 9.98437291e-01 3.04499264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.208040942 meters 0.022319418577002113 Centerline is valid? [True, True] Translation: X:66.99, Y:15.96, Z:3.04 [[ 8.77619073e-01 -4.76757458e-01 -4.98707120e-02 6.69914153e+01] [ 4.76025803e-01 8.79034703e-01 -2.64088118e-02 1.59591072e+01] [ 5.64286846e-02 -5.62868771e-04 9.98406474e-01 3.04422461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.238040942 meters 0.02100821770081893 Centerline is valid? [True, True] Translation: X:67.02, Y:15.97, Z:3.05 [[ 8.75597974e-01 -4.80411333e-01 -5.03302953e-02 6.70180607e+01] [ 4.79671693e-01 8.77042937e-01 -2.66599608e-02 1.59694750e+01] [ 5.69495774e-02 -7.98610297e-04 9.98376736e-01 3.04935880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.268040942 meters 0.02336375273235302 Centerline is valid? [True, True] Translation: X:67.04, Y:15.98, Z:3.05 [[ 8.74307634e-01 -4.82726357e-01 -5.06105243e-02 6.70440889e+01] [ 4.81981531e-01 8.75770733e-01 -2.68221393e-02 1.59806233e+01] [ 5.72709695e-02 -9.42536838e-04 9.98358226e-01 3.04803097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.298040942 meters 0.023493928132927645 Centerline is valid? [True, True] Translation: X:67.07, Y:15.99, Z:3.05 [[ 8.73128429e-01 -4.84829621e-01 -5.08624182e-02 6.70703184e+01] [ 4.84080455e-01 8.74607955e-01 -2.69636532e-02 1.59933307e+01] [ 5.75574533e-02 -1.07877036e-03 9.98341613e-01 3.04974701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.328040942 meters 0.024871969778323226 Centerline is valid? [True, True] Translation: X:67.10, Y:16.00, Z:3.05 [[ 8.72087396e-01 -4.86708586e-01 -5.07772240e-02 6.70965369e+01] [ 4.85964327e-01 8.73563586e-01 -2.69320227e-02 1.60039368e+01] [ 5.74651806e-02 -1.18884194e-03 9.98346803e-01 3.04963662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.358040942 meters 0.02439084451721502 Centerline is valid? [True, True] Translation: X:67.12, Y:16.02, Z:3.05 [[ 8.70673563e-01 -4.89355469e-01 -4.95860123e-02 6.71216770e+01] [ 4.88649609e-01 8.72083408e-01 -2.63075925e-02 1.60180654e+01] [ 5.61169029e-02 -1.32486026e-03 9.98423326e-01 3.05255974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.388040942 meters 0.024519024713475418 Centerline is valid? [True, True] Translation: X:67.15, Y:16.03, Z:3.05 [[ 8.70536331e-01 -4.89686860e-01 -4.87162680e-02 6.71457109e+01] [ 4.89005247e-01 8.71897393e-01 -2.58612493e-02 1.60320422e+01] [ 5.51395011e-02 -1.30935358e-03 9.98477802e-01 3.05363217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.418040942 meters 0.02376700493845476 Centerline is valid? [True, True] Translation: X:67.17, Y:16.05, Z:3.06 [[ 8.70232924e-01 -4.90358864e-01 -4.73586570e-02 6.71703010e+01] [ 4.89714862e-01 8.71519647e-01 -2.51566854e-02 1.60463865e+01] [ 5.36098037e-02 -1.30006226e-03 9.98561114e-01 3.05585439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.448040942 meters 0.02428196327418882 Centerline is valid? [True, True] Translation: X:67.19, Y:16.06, Z:3.06 [[ 8.70162334e-01 -4.90580187e-01 -4.63529031e-02 6.71947724e+01] [ 4.89962836e-01 8.71395122e-01 -2.46365763e-02 1.60606275e+01] [ 5.24779098e-02 -1.27337913e-03 9.98621273e-01 3.05643292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.478040942 meters 0.024056932021967653 Centerline is valid? [True, True] Translation: X:67.22, Y:16.08, Z:3.06 [[ 8.69949395e-01 -4.90973694e-01 -4.61831367e-02 6.72174119e+01] [ 4.90361064e-01 8.71173448e-01 -2.45530089e-02 1.60769868e+01] [ 5.22884039e-02 -1.28653681e-03 9.98631197e-01 3.05670905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50804094200001 meters 0.024056932021967653 Centerline is valid? [True, True] Translation: X:67.24, Y:16.09, Z:3.06 [[ 8.69813558e-01 -4.91214945e-01 -4.61763273e-02 6.72417032e+01] [ 4.90601975e-01 8.71037441e-01 -2.45658092e-02 1.60900137e+01] [ 5.22884025e-02 -1.28652347e-03 9.98631197e-01 3.05793276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.538040942 meters 0.02580098373509764 Centerline is valid? [True, True] Translation: X:67.27, Y:16.10, Z:3.06 [[ 8.69993127e-01 -4.90890839e-01 -4.62400636e-02 6.72660493e+01] [ 4.90274945e-01 8.71220183e-01 -2.46144653e-02 1.61042426e+01] [ 5.23682922e-02 -1.25592894e-03 9.98627050e-01 3.05595706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.568040942 meters 0.02472099181525148 Centerline is valid? [True, True] Translation: X:67.29, Y:16.12, Z:3.06 [[ 8.69968045e-01 -4.90993290e-01 -4.56200582e-02 6.72889075e+01] [ 4.90393614e-01 8.71162472e-01 -2.42909513e-02 1.61219087e+01] [ 5.16691768e-02 -1.23943378e-03 9.98663487e-01 3.05776870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.598040942 meters 0.023451057920051154 Centerline is valid? [True, True] Translation: X:67.31, Y:16.14, Z:3.06 [[ 8.70315013e-01 -4.90479689e-01 -4.45135012e-02 6.73132616e+01] [ 4.89907324e-01 8.71451843e-01 -2.37170637e-02 1.61363707e+01] [ 5.04241107e-02 -1.16617364e-03 9.98727215e-01 3.05971295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.628040942 meters 0.023028165419090054 Centerline is valid? [True, True] Translation: X:67.34, Y:16.16, Z:3.06 [[ 8.70433371e-01 -4.90362431e-01 -4.34791182e-02 6.73355875e+01] [ 4.89815572e-01 8.71517889e-01 -2.31791895e-02 1.61554734e+01] [ 4.92590330e-02 -1.12080906e-03 9.98785408e-01 3.06047310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.658040942 meters 0.02272462190734559 Centerline is valid? [True, True] Translation: X:67.36, Y:16.17, Z:3.06 [[ 8.70327424e-01 -4.90645420e-01 -4.23939520e-02 6.73586786e+01] [ 4.90125248e-01 8.71358634e-01 -2.26135599e-02 1.61694364e+01] [ 4.80355757e-02 -1.09714487e-03 9.98845023e-01 3.06135924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.688040942 meters 0.02398358299795443 Centerline is valid? [True, True] Translation: X:67.38, Y:16.18, Z:3.06 [[ 8.70206975e-01 -4.90869660e-01 -4.22705304e-02 6.73836154e+01] [ 4.90352455e-01 8.71232326e-01 -2.25544728e-02 1.61811879e+01] [ 4.78987589e-02 -1.10039878e-03 9.98851590e-01 3.06162341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.718040942 meters 0.02297041433235694 Centerline is valid? [True, True] Translation: X:67.41, Y:16.20, Z:3.06 [[ 8.69862107e-01 -4.91491196e-01 -4.21464088e-02 6.74056198e+01] [ 4.90977413e-01 8.70881817e-01 -2.24953597e-02 1.62008713e+01] [ 4.77608123e-02 -1.12507383e-03 9.98858168e-01 3.06229911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.748040942 meters 0.022308736024542683 Centerline is valid? [True, True] Translation: X:67.43, Y:16.22, Z:3.06 [[ 8.69739833e-01 -4.91779430e-01 -4.12991015e-02 6.74300543e+01] [ 4.91285814e-01 8.70719110e-01 -2.20563031e-02 1.62154891e+01] [ 4.68067530e-02 -1.10641734e-03 9.98903351e-01 3.06358059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.778040942 meters 0.02217922868486123 Centerline is valid? [True, True] Translation: X:67.46, Y:16.23, Z:3.06 [[ 8.69414870e-01 -4.92430042e-01 -4.03786868e-02 6.74552810e+01] [ 4.91958224e-01 8.70351329e-01 -2.15793584e-02 1.62304578e+01] [ 4.57699681e-02 -1.10321202e-03 9.98951397e-01 3.06482996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.808040942 meters 0.022479357640171064 Centerline is valid? [True, True] Translation: X:67.48, Y:16.24, Z:3.07 [[ 8.68731446e-01 -4.93752998e-01 -3.89056838e-02 6.74797794e+01] [ 4.93315768e-01 8.69601475e-01 -2.08045418e-02 1.62438841e+01] [ 4.41047449e-02 -1.11922756e-03 9.99026285e-01 3.06580174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.838040942 meters 0.023443735258413877 Centerline is valid? [True, True] Translation: X:67.51, Y:16.26, Z:3.07 [[ 8.68211004e-01 -4.94700371e-01 -3.84863066e-02 6.75053412e+01] [ 4.94273256e-01 8.69062839e-01 -2.05847130e-02 1.62554941e+01] [ 4.36302840e-02 -1.15087770e-03 9.99047083e-01 3.06693850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86804094200001 meters 0.02285169311843059 Centerline is valid? [True, True] Translation: X:67.53, Y:16.27, Z:3.07 [[ 8.67581604e-01 -4.95812403e-01 -3.83695333e-02 6.75299979e+01] [ 4.95388779e-01 8.68428824e-01 -2.05264583e-02 1.62707671e+01] [ 4.34984813e-02 -1.19945866e-03 9.99052773e-01 3.06770089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.898040942 meters 0.023393351015369983 Centerline is valid? [True, True] Translation: X:67.56, Y:16.28, Z:3.07 [[ 8.66807478e-01 -4.97203241e-01 -3.78646813e-02 6.75554427e+01] [ 4.96791485e-01 8.67633215e-01 -2.02687996e-02 1.62829889e+01] [ 4.29303680e-02 -1.24170421e-03 9.99077295e-01 3.06834389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.928040942 meters 0.023979699532111782 Centerline is valid? [True, True] Translation: X:67.58, Y:16.30, Z:3.07 [[ 8.66480194e-01 -4.97767077e-01 -3.79474644e-02 6.75811792e+01] [ 4.97353882e-01 8.67309822e-01 -2.03172080e-02 1.62964044e+01] [ 4.30254458e-02 -1.26886045e-03 9.99073171e-01 3.06900626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.958040942 meters 0.02504626263129437 Centerline is valid? [True, True] Translation: X:67.61, Y:16.31, Z:3.07 [[ 8.66340318e-01 -4.97961215e-01 -3.85886301e-02 6.76052649e+01] [ 4.97533575e-01 8.67198343e-01 -2.06730676e-02 1.63085839e+01] [ 4.37583820e-02 -1.28922713e-03 9.99041311e-01 3.06943416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.988040942 meters 0.023731156206991344 Centerline is valid? [True, True] Translation: X:67.63, Y:16.32, Z:3.07 [[ 8.66457778e-01 -4.97875377e-01 -3.70274025e-02 6.76299182e+01] [ 4.97481359e-01 8.67247716e-01 -1.98418124e-02 1.63219200e+01] [ 4.19906801e-02 -1.22834983e-03 9.99117247e-01 3.07112045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.018040942 meters 0.025640000518822096 Centerline is valid? [True, True] Translation: X:67.65, Y:16.33, Z:3.07 [[ 8.66326744e-01 -4.98005650e-01 -3.83189823e-02 6.76543176e+01] [ 4.97583155e-01 8.67172861e-01 -2.05482918e-02 1.63344498e+01] [ 4.34623469e-02 -1.26534533e-03 9.99054264e-01 3.07070291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.048040942 meters 0.023675524496881227 Centerline is valid? [True, True] Translation: X:67.68, Y:16.35, Z:3.07 [[ 8.66608768e-01 -4.97600206e-01 -3.71924538e-02 6.76795853e+01] [ 4.97201602e-01 8.67405664e-01 -1.99494629e-02 1.63490640e+01] [ 4.21878019e-02 -1.20376813e-03 9.99108973e-01 3.07202691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.078040942 meters 0.023859792391344156 Centerline is valid? [True, True] Translation: X:67.70, Y:16.36, Z:3.07 [[ 8.66697187e-01 -4.97393774e-01 -3.78869396e-02 6.77044077e+01] [ 4.96979412e-01 8.67524052e-01 -2.03342905e-02 1.63619714e+01] [ 4.29819808e-02 -1.20535659e-03 9.99075121e-01 3.07261154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.108040942 meters 0.024020767896037385 Centerline is valid? [True, True] Translation: X:67.73, Y:16.37, Z:3.07 [[ 8.66776715e-01 -4.97184399e-01 -3.88046211e-02 6.77293823e+01] [ 4.96749310e-01 8.67644042e-01 -2.08312068e-02 1.63743617e+01] [ 4.40255493e-02 -1.22016370e-03 9.99029660e-01 3.07221414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.138040942 meters 0.023809811993217602 Centerline is valid? [True, True] Translation: X:67.75, Y:16.39, Z:3.07 [[ 8.66571503e-01 -4.97526658e-01 -3.90006937e-02 6.77539008e+01] [ 4.97087317e-01 8.67447801e-01 -2.09406852e-02 1.63880548e+01] [ 4.42496151e-02 -1.24014917e-03 9.99019736e-01 3.07277920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.168040942 meters 0.023677969376102708 Centerline is valid? [True, True] Translation: X:67.78, Y:16.40, Z:3.07 [[ 8.66163624e-01 -4.98266718e-01 -3.86115777e-02 6.77784619e+01] [ 4.97836242e-01 8.67022898e-01 -2.07453490e-02 1.64021487e+01] [ 4.38138390e-02 -1.25337605e-03 9.99038926e-01 3.07387720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.198040942 meters 0.02387508024294306 Centerline is valid? [True, True] Translation: X:67.80, Y:16.42, Z:3.08 [[ 8.65915338e-01 -4.98695513e-01 -3.86447058e-02 6.78032506e+01] [ 4.98264541e-01 8.66776307e-01 -2.07673185e-02 1.64155380e+01] [ 4.38528840e-02 -1.27254696e-03 9.99037189e-01 3.07542103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.228040942 meters 0.023230476287622114 Centerline is valid? [True, True] Translation: X:67.83, Y:16.43, Z:3.08 [[ 8.65704727e-01 -4.99106048e-01 -3.80588802e-02 6.78271059e+01] [ 4.98687870e-01 8.66539993e-01 -2.04658064e-02 1.64313147e+01] [ 4.31941495e-02 -1.26215654e-03 9.99065900e-01 3.07680462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.25804094200001 meters 0.02367559255523947 Centerline is valid? [True, True] Translation: X:67.85, Y:16.44, Z:3.08 [[ 8.65624382e-01 -4.99239902e-01 -3.81306999e-02 6.78515233e+01] [ 4.98819657e-01 8.66462888e-01 -2.05186177e-02 1.64438760e+01] [ 4.32825490e-02 -1.25892690e-03 9.99062078e-01 3.07837648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.288040942 meters 0.024347266957469738 Centerline is valid? [True, True] Translation: X:67.88, Y:16.46, Z:3.08 [[ 8.65763338e-01 -4.99021744e-01 -3.78304372e-02 6.78769918e+01] [ 4.98607629e-01 8.66588587e-01 -2.03630457e-02 1.64554403e+01] [ 4.29450277e-02 -1.23296621e-03 9.99076676e-01 3.08018441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.318040942 meters 0.02358041032194342 Centerline is valid? [True, True] Translation: X:67.90, Y:16.47, Z:3.08 [[ 8.65530706e-01 -4.99428555e-01 -3.77851299e-02 6.79011275e+01] [ 4.99015654e-01 8.66354177e-01 -2.03424966e-02 1.64701026e+01] [ 4.28949288e-02 -1.24831584e-03 9.99078809e-01 3.08201767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.348040942 meters 0.02364754783352241 Centerline is valid? [True, True] Translation: X:67.93, Y:16.48, Z:3.08 [[ 8.65723051e-01 -4.99071046e-01 -3.81010438e-02 6.79267262e+01] [ 4.98650260e-01 8.66560200e-01 -2.05265201e-02 1.64845290e+01] [ 4.32610401e-02 -1.22881375e-03 9.99063047e-01 3.08249248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.378040942 meters 0.02365178795517573 Centerline is valid? [True, True] Translation: X:67.95, Y:16.50, Z:3.08 [[ 8.65894268e-01 -4.98754117e-01 -3.83594465e-02 6.79522730e+01] [ 4.98326799e-01 8.66742674e-01 -2.06769777e-02 1.64990305e+01] [ 4.35604970e-02 -1.21146373e-03 9.99050057e-01 3.08317372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.408040942 meters 0.023584050094254193 Centerline is valid? [True, True] Translation: X:67.98, Y:16.51, Z:3.08 [[ 8.66182338e-01 -4.98245207e-01 -3.84690977e-02 6.79775499e+01] [ 4.97814455e-01 8.67035364e-01 -2.07472139e-02 1.65131608e+01] [ 4.36912680e-02 -1.17960269e-03 9.99044384e-01 3.08405025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.438040942 meters 0.022567269455649946 Centerline is valid? [True, True] Translation: X:68.00, Y:16.53, Z:3.09 [[ 8.67019800e-01 -4.96818383e-01 -3.80547063e-02 6.80017326e+01] [ 4.96394987e-01 8.67853856e-01 -2.05353716e-02 1.65285735e+01] [ 4.32282737e-02 -1.08559167e-03 9.99064631e-01 3.08581082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.468040942 meters 0.02256820086015155 Centerline is valid? [True, True] Translation: X:68.03, Y:16.54, Z:3.09 [[ 8.67477513e-01 -4.96012120e-01 -3.81410730e-02 6.80260399e+01] [ 4.95585482e-01 8.68314978e-01 -2.05943831e-02 1.65413121e+01] [ 4.33335286e-02 -1.03699779e-03 9.99060123e-01 3.08739649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.498040942 meters 0.022325109734362057 Centerline is valid? [True, True] Translation: X:68.05, Y:16.56, Z:3.09 [[ 8.67990732e-01 -4.95128185e-01 -3.79495524e-02 6.80510599e+01] [ 4.94704805e-01 8.68819378e-01 -2.04949895e-02 1.65551321e+01] [ 4.31189535e-02 -9.84364934e-04 9.99069460e-01 3.08874943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.528040942 meters 0.021545352402679054 Centerline is valid? [True, True] Translation: X:68.08, Y:16.57, Z:3.09 [[ 8.69172039e-01 -4.93019540e-01 -3.83627349e-02 6.80762756e+01] [ 4.92584292e-01 8.70017794e-01 -2.07305107e-02 1.65701232e+01] [ 4.35968088e-02 -8.78500379e-04 9.99048821e-01 3.09056915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.558040942 meters 0.021451950731470458 Centerline is valid? [True, True] Translation: X:68.10, Y:16.58, Z:3.09 [[ 8.70078501e-01 -4.91417094e-01 -3.83750295e-02 6.81004611e+01] [ 4.90979727e-01 8.70923999e-01 -2.07435814e-02 1.65830560e+01] [ 4.36154846e-02 -7.92817263e-04 9.99048077e-01 3.09174453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.588040942 meters 0.020687601553093394 Centerline is valid? [True, True] Translation: X:68.12, Y:16.60, Z:3.09 [[ 8.71878973e-01 -4.88233206e-01 -3.81496011e-02 6.81247509e+01] [ 4.87797735e-01 8.72712979e-01 -2.06258363e-02 1.65991669e+01] [ 4.33638702e-02 -6.26056064e-04 9.99059149e-01 3.09341420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.61804094200001 meters 0.020301808971984414 Centerline is valid? [True, True] Translation: X:68.15, Y:16.61, Z:3.10 [[ 8.72780027e-01 -4.86644585e-01 -3.78427309e-02 6.81497176e+01] [ 4.86214094e-01 8.73599888e-01 -2.04716991e-02 1.66135223e+01] [ 4.30218470e-02 -5.32379039e-04 9.99073990e-01 3.09531954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.648040942 meters 0.02023052657153253 Centerline is valid? [True, True] Translation: X:68.17, Y:16.63, Z:3.10 [[ 8.73375452e-01 -4.85614167e-01 -3.73390048e-02 6.81749384e+01] [ 4.85193631e-01 8.74173132e-01 -2.02107695e-02 1.66273617e+01] [ 4.24553908e-02 -4.65057386e-04 9.99098255e-01 3.09763418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.678040942 meters 0.020007792155320253 Centerline is valid? [True, True] Translation: X:68.20, Y:16.64, Z:3.10 [[ 8.73561024e-01 -4.85341037e-01 -3.65405977e-02 6.81998355e+01] [ 4.84937603e-01 8.74324820e-01 -1.97896747e-02 1.66406422e+01] [ 4.15530928e-02 -4.32421341e-04 9.99136204e-01 3.10017823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.708040942 meters 0.01979294944715568 Centerline is valid? [True, True] Translation: X:68.22, Y:16.65, Z:3.10 [[ 8.73651362e-01 -4.85231237e-01 -3.58321646e-02 6.82245392e+01] [ 4.84842699e-01 8.74385773e-01 -1.94184718e-02 1.66530089e+01] [ 4.07535840e-02 -4.07989014e-04 9.99169144e-01 3.10271642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.738040942 meters 0.01996128002957966 Centerline is valid? [True, True] Translation: X:68.25, Y:16.67, Z:3.10 [[ 8.73460803e-01 -4.85591007e-01 -3.56033707e-02 6.82492351e+01] [ 4.85207166e-01 8.74186025e-01 -1.93080507e-02 1.66651278e+01] [ 4.04997849e-02 -4.10185093e-04 9.99179463e-01 3.10462949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.768040942 meters 0.019987530812987733 Centerline is valid? [True, True] Translation: X:68.27, Y:16.68, Z:3.11 [[ 8.73222972e-01 -4.86013705e-01 -3.56695820e-02 6.82737328e+01] [ 4.85628659e-01 8.73951083e-01 -1.93470958e-02 1.66778345e+01] [ 4.05764235e-02 -4.27842771e-04 9.99176346e-01 3.10596724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.798040942 meters 0.019968851152252016 Centerline is valid? [True, True] Translation: X:68.30, Y:16.69, Z:3.11 [[ 8.72093675e-01 -4.88059534e-01 -3.53626072e-02 6.82992889e+01] [ 4.87682266e-01 8.72810193e-01 -1.91930603e-02 1.66912120e+01] [ 4.02322001e-02 -5.07569983e-04 9.99190228e-01 3.10730893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.828040942 meters 0.020166298286143282 Centerline is valid? [True, True] Translation: X:68.33, Y:16.70, Z:3.11 [[ 8.71292169e-01 -4.89477940e-01 -3.55148214e-02 6.83252111e+01] [ 4.89098132e-01 8.72015497e-01 -1.92870514e-02 1.67044089e+01] [ 4.04100608e-02 -5.65576011e-04 9.99183020e-01 3.10886744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.858040942 meters 0.02020776715236253 Centerline is valid? [True, True] Translation: X:68.35, Y:16.72, Z:3.11 [[ 8.70027695e-01 -4.91616959e-01 -3.69401598e-02 6.83507969e+01] [ 4.91207451e-01 8.70811290e-01 -2.00733158e-02 1.67178475e+01] [ 4.20362907e-02 -6.80941025e-04 9.99115852e-01 3.10876210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.888040942 meters 0.02049858425023382 Centerline is valid? [True, True] Translation: X:68.38, Y:16.73, Z:3.11 [[ 8.69523327e-01 -4.92457855e-01 -3.76091060e-02 6.83755634e+01] [ 4.92033622e-01 8.70335991e-01 -2.04493807e-02 1.67308847e+01] [ 4.28030167e-02 -7.23731117e-04 9.99083269e-01 3.10942742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.918040942 meters 0.020539884011695944 Centerline is valid? [True, True] Translation: X:68.40, Y:16.75, Z:3.11 [[ 8.69019864e-01 -4.93296156e-01 -3.82541307e-02 6.84010354e+01] [ 4.92857767e-01 8.69861084e-01 -2.08066276e-02 1.67451911e+01] [ 4.35396090e-02 -7.72472736e-04 9.99051403e-01 3.10986815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.948040942 meters 0.02058782441988856 Centerline is valid? [True, True] Translation: X:68.43, Y:16.76, Z:3.11 [[ 8.68471980e-01 -4.94223636e-01 -3.87223031e-02 6.84262003e+01] [ 4.93774814e-01 8.69334417e-01 -2.10737900e-02 1.67592839e+01] [ 4.40777959e-02 -8.18101885e-04 9.99027767e-01 3.11074455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.978040942 meters 0.022691160858097432 Centerline is valid? [True, True] Translation: X:68.45, Y:16.77, Z:3.11 [[ 8.67953912e-01 -4.95114515e-01 -3.89566888e-02 6.84501859e+01] [ 4.94660579e-01 8.68827302e-01 -2.12139075e-02 1.67730520e+01] [ 4.43499483e-02 -8.57644228e-04 9.99015689e-01 3.11076348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00804094200001 meters 0.020852084100575003 Centerline is valid? [True, True] Translation: X:68.47, Y:16.79, Z:3.11 [[ 8.67637957e-01 -4.95683706e-01 -3.87561470e-02 6.84746534e+01] [ 4.95234808e-01 8.68502673e-01 -2.11090667e-02 1.67871931e+01] [ 4.41232377e-02 -8.78365482e-04 9.99025710e-01 3.11338399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.038040942 meters 0.02046375629342242 Centerline is valid? [True, True] Translation: X:68.50, Y:16.80, Z:3.12 [[ 8.67517425e-01 -4.95846085e-01 -3.93722761e-02 6.84990470e+01] [ 4.95382755e-01 8.68409958e-01 -2.14492531e-02 1.68016444e+01] [ 4.48268048e-02 -8.96745796e-04 9.98994371e-01 3.11566717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.068040942 meters 0.02079505515465473 Centerline is valid? [True, True] Translation: X:68.52, Y:16.81, Z:3.12 [[ 8.67390796e-01 -4.96029428e-01 -3.98498802e-02 6.85231106e+01] [ 4.95554307e-01 8.68305239e-01 -2.17241813e-02 1.68140711e+01] [ 4.53776930e-02 -9.04424900e-04 9.98969493e-01 3.11669935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.098040942 meters 0.020889068599242486 Centerline is valid? [True, True] Translation: X:68.55, Y:16.83, Z:3.12 [[ 8.67254050e-01 -4.96237755e-01 -4.02306276e-02 6.85466126e+01] [ 4.95753434e-01 8.68186182e-01 -2.19382390e-02 1.68267555e+01] [ 4.58142575e-02 -9.18445173e-04 9.98949553e-01 3.11809039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.128040942 meters 0.020497429301479138 Centerline is valid? [True, True] Translation: X:68.57, Y:16.84, Z:3.12 [[ 8.67144810e-01 -4.96362455e-01 -4.10389142e-02 6.85702984e+01] [ 4.95858280e-01 8.68114874e-01 -2.23859856e-02 1.68427932e+01] [ 4.67380546e-02 -9.37594221e-04 9.98906740e-01 3.11891936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.158040942 meters 0.020461989611114704 Centerline is valid? [True, True] Translation: X:68.59, Y:16.86, Z:3.12 [[ 8.66903112e-01 -4.96735836e-01 -4.16233484e-02 6.85949019e+01] [ 4.96216883e-01 8.67901257e-01 -2.27203252e-02 1.68570626e+01] [ 4.74109561e-02 -9.57887615e-04 9.98875009e-01 3.12032626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.188040942 meters 0.021434215413208065 Centerline is valid? [True, True] Translation: X:68.62, Y:16.87, Z:3.12 [[ 8.66339815e-01 -4.97670518e-01 -4.21826949e-02 6.86197576e+01] [ 4.97137895e-01 8.67365572e-01 -2.30407772e-02 1.68701730e+01] [ 4.80545328e-02 -1.00947347e-03 9.98844203e-01 3.12132566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.218040942 meters 0.020754522660538267 Centerline is valid? [True, True] Translation: X:68.64, Y:16.88, Z:3.12 [[ 8.66203951e-01 -4.97894695e-01 -4.23271546e-02 6.86440148e+01] [ 4.97358302e-01 8.67236897e-01 -2.31275604e-02 1.68837691e+01] [ 4.82227599e-02 -1.01857755e-03 9.98836087e-01 3.12384617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.248040942 meters 0.020682009488798198 Centerline is valid? [True, True] Translation: X:68.67, Y:16.90, Z:3.13 [[ 8.65543401e-01 -4.99016447e-01 -4.26287008e-02 6.86686763e+01] [ 4.98472984e-01 8.66591847e-01 -2.33078249e-02 1.68980282e+01] [ 4.85726726e-02 -1.07532164e-03 9.98819072e-01 3.12568258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.278040942 meters 0.0222772318142357 Centerline is valid? [True, True] Translation: X:68.69, Y:16.91, Z:3.13 [[ 8.65178119e-01 -4.99641446e-01 -4.27229137e-02 6.86941572e+01] [ 4.99095662e-01 8.66231617e-01 -2.33731956e-02 1.69122361e+01] [ 4.86861558e-02 -1.10084351e-03 9.98813519e-01 3.12607589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.308040942 meters 0.022586153458773708 Centerline is valid? [True, True] Translation: X:68.72, Y:16.93, Z:3.13 [[ 8.64557141e-01 -5.00681798e-01 -4.31125002e-02 6.87184295e+01] [ 5.00126653e-01 8.65630634e-01 -2.35994950e-02 1.69251948e+01] [ 4.91353385e-02 -1.15859846e-03 9.98791458e-01 3.12771906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.338040942 meters 0.022265345774996517 Centerline is valid? [True, True] Translation: X:68.74, Y:16.94, Z:3.13 [[ 8.64301728e-01 -5.01102679e-01 -4.33431302e-02 6.87419488e+01] [ 5.00541806e-01 8.65387025e-01 -2.37317704e-02 1.69400648e+01] [ 4.94006362e-02 -1.18363846e-03 9.98778342e-01 3.12909509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36804094200001 meters 0.022861561995086228 Centerline is valid? [True, True] Translation: X:68.77, Y:16.95, Z:3.13 [[ 8.63918582e-01 -5.01683218e-01 -4.42564402e-02 6.87673571e+01] [ 5.01098393e-01 8.65050541e-01 -2.42479128e-02 1.69548052e+01] [ 5.04488285e-02 -1.22860864e-03 9.98725891e-01 3.12976444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.398040942 meters 0.022861561995086228 Centerline is valid? [True, True] Translation: X:68.79, Y:16.97, Z:3.13 [[ 8.63778761e-01 -5.01924448e-01 -4.42504278e-02 6.87914760e+01] [ 5.01339378e-01 8.64910594e-01 -2.42588805e-02 1.69681299e+01] [ 5.04487890e-02 -1.23017619e-03 9.98725892e-01 3.13098863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.428040942 meters 0.023267083507137597 Centerline is valid? [True, True] Translation: X:68.82, Y:16.98, Z:3.13 [[ 8.63278810e-01 -5.02693846e-01 -4.52614027e-02 6.88155020e+01] [ 5.02081990e-01 8.64463551e-01 -2.48283007e-02 1.69824713e+01] [ 5.16078668e-02 -1.29118928e-03 9.98666591e-01 3.13197392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.458040942 meters 0.02163660590899394 Centerline is valid? [True, True] Translation: X:68.84, Y:17.00, Z:3.14 [[ 8.63061578e-01 -5.03083201e-01 -4.50777765e-02 6.88393809e+01] [ 5.02476496e-01 8.64237001e-01 -2.47341317e-02 1.69978367e+01] [ 5.14012085e-02 -1.30344445e-03 9.98677234e-01 3.13502138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.488040942 meters 0.024128105214410518 Centerline is valid? [True, True] Translation: X:68.86, Y:17.01, Z:3.13 [[ 8.62392925e-01 -5.04108219e-01 -4.64041604e-02 6.88640988e+01] [ 5.03465847e-01 8.63639376e-01 -2.54788116e-02 1.70134759e+01] [ 5.29205385e-02 -1.39016307e-03 9.98597759e-01 3.13466726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.518040942 meters 0.02338544489844791 Centerline is valid? [True, True] Translation: X:68.89, Y:17.03, Z:3.14 [[ 8.62200018e-01 -5.04386815e-01 -4.69581713e-02 6.88888822e+01] [ 5.03728615e-01 8.63476664e-01 -2.57979335e-02 1.70282736e+01] [ 5.35594226e-02 -1.41119591e-03 9.98563667e-01 3.13617828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.548040942 meters 0.022263794576157785 Centerline is valid? [True, True] Translation: X:68.91, Y:17.04, Z:3.14 [[ 8.62033613e-01 -5.04655365e-01 -4.71276228e-02 6.89128287e+01] [ 5.03991986e-01 8.63319724e-01 -2.59061972e-02 1.70428806e+01] [ 5.37599077e-02 -1.41993150e-03 9.98552881e-01 3.13840526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.578040942 meters 0.023356469331673246 Centerline is valid? [True, True] Translation: X:68.94, Y:17.06, Z:3.14 [[ 8.61853244e-01 -5.04828142e-01 -4.85544376e-02 6.89376809e+01] [ 5.04123269e-01 8.63218639e-01 -2.67078909e-02 1.70573461e+01] [ 5.53959904e-02 -1.45913943e-03 9.98463397e-01 3.13843954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.608040942 meters 0.02192670725864881 Centerline is valid? [True, True] Translation: X:68.96, Y:17.07, Z:3.14 [[ 8.61826551e-01 -5.04823981e-01 -4.90687835e-02 6.89612842e+01] [ 5.04103183e-01 8.63221070e-01 -2.70067634e-02 1.70731939e+01] [ 5.59908696e-02 -1.46058421e-03 9.98430212e-01 3.14115837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.638040942 meters 0.023960026160242853 Centerline is valid? [True, True] Translation: X:68.99, Y:17.09, Z:3.14 [[ 8.61446072e-01 -5.05280062e-01 -5.10168968e-02 6.89852969e+01] [ 5.04500708e-01 8.62954055e-01 -2.80951047e-02 1.70872658e+01] [ 5.82211342e-02 -1.53564302e-03 9.98302530e-01 3.14044732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.668040942 meters 0.02358475562213511 Centerline is valid? [True, True] Translation: X:69.01, Y:17.10, Z:3.14 [[ 8.61556060e-01 -5.05015764e-01 -5.17709747e-02 6.90087334e+01] [ 5.04212170e-01 8.63108759e-01 -2.85194285e-02 1.71020555e+01] [ 5.90867427e-02 -1.53246911e-03 9.98251676e-01 3.14153800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.698040942 meters 0.023345007949689876 Centerline is valid? [True, True] Translation: X:69.03, Y:17.12, Z:3.14 [[ 8.62246055e-01 -5.03702243e-01 -5.30640256e-02 6.90311203e+01] [ 5.02854522e-01 8.63876094e-01 -2.92476475e-02 1.71189822e+01] [ 6.05728488e-02 -1.46481651e-03 9.98162704e-01 3.14169371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.728040942 meters 0.021885867291636704 Centerline is valid? [True, True] Translation: X:69.05, Y:17.13, Z:3.14 [[ 8.62896661e-01 -5.02633072e-01 -5.26245988e-02 6.90549863e+01] [ 5.01796845e-01 8.64498766e-01 -2.90139699e-02 1.71345927e+01] [ 6.00772815e-02 -1.37079991e-03 9.98192788e-01 3.14427769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.75804094200001 meters 0.02181276471403819 Centerline is valid? [True, True] Translation: X:69.08, Y:17.15, Z:3.15 [[ 8.63611724e-01 -5.01318300e-01 -5.34298804e-02 6.90781879e+01] [ 5.00452844e-01 8.65261988e-01 -2.94727522e-02 1.71531134e+01] [ 6.10060745e-02 -1.28612121e-03 9.98136566e-01 3.14713116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.788040942 meters 0.020052023162321575 Centerline is valid? [True, True] Translation: X:69.10, Y:17.17, Z:3.15 [[ 8.64267747e-01 -5.00264158e-01 -5.26975711e-02 6.91026950e+01] [ 4.99419776e-01 8.65872025e-01 -2.90779102e-02 1.71692069e+01] [ 6.01759888e-02 -1.18710917e-03 9.98187077e-01 3.15061760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.818040942 meters 0.020481084221066495 Centerline is valid? [True, True] Translation: X:69.13, Y:17.18, Z:3.15 [[ 8.64409275e-01 -5.00065099e-01 -5.22637712e-02 6.91270637e+01] [ 4.99233718e-01 8.65987043e-01 -2.88467695e-02 1.71831698e+01] [ 5.96850114e-02 -1.15642164e-03 9.98216591e-01 3.15112148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.848040942 meters 0.02005024382542738 Centerline is valid? [True, True] Translation: X:69.15, Y:17.20, Z:3.15 [[ 8.65112990e-01 -4.98872831e-01 -5.20135858e-02 6.91506537e+01] [ 4.98046732e-01 8.66674548e-01 -2.87172624e-02 1.71997249e+01] [ 5.94051130e-02 -1.06151968e-03 9.98233392e-01 3.15306571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.878040942 meters 0.02076883158692485 Centerline is valid? [True, True] Translation: X:69.18, Y:17.21, Z:3.15 [[ 8.65360397e-01 -4.98472603e-01 -5.17343832e-02 6.91750511e+01] [ 4.97653837e-01 8.66904856e-01 -2.85767179e-02 1.72130092e+01] [ 5.90934990e-02 -1.01665431e-03 9.98251935e-01 3.15295567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.908040942 meters 0.019296104243189265 Centerline is valid? [True, True] Translation: X:69.20, Y:17.23, Z:3.16 [[ 8.65837902e-01 -4.97683855e-01 -5.13371967e-02 6.91983558e+01] [ 4.96875752e-01 8.67357989e-01 -2.83655753e-02 1.72306239e+01] [ 5.86448166e-02 -9.48218045e-04 9.98278461e-01 3.15692376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.938040942 meters 0.01842279508595104 Centerline is valid? [True, True] Translation: X:69.22, Y:17.25, Z:3.16 [[ 8.67051118e-01 -4.95632796e-01 -5.07000108e-02 6.92216865e+01] [ 4.94840203e-01 8.68531816e-01 -2.80295926e-02 1.72479407e+01] [ 5.79269578e-02 -7.85314025e-04 9.98320515e-01 3.15953682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.968040942 meters 0.018340815759823652 Centerline is valid? [True, True] Translation: X:69.25, Y:17.26, Z:3.16 [[ 8.67699520e-01 -4.94541435e-01 -5.02624376e-02 6.92458128e+01] [ 4.93759811e-01 8.69153777e-01 -2.78021690e-02 1.72627790e+01] [ 5.74351120e-02 -6.93642983e-04 9.98349000e-01 3.16032118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.998040942 meters 0.01795694590630961 Centerline is valid? [True, True] Translation: X:69.27, Y:17.28, Z:3.16 [[ 8.68416423e-01 -4.93298060e-01 -5.00993083e-02 6.92695926e+01] [ 4.92518851e-01 8.69860140e-01 -2.77221409e-02 1.72787744e+01] [ 5.72546697e-02 -6.00491306e-04 9.98359425e-01 3.16148798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.028040942 meters 0.018410491156381464 Centerline is valid? [True, True] Translation: X:69.29, Y:17.29, Z:3.16 [[ 8.69023780e-01 -4.92191579e-01 -5.04491699e-02 6.92933460e+01] [ 4.91398614e-01 8.70486750e-01 -2.79324087e-02 1.72942176e+01] [ 5.76634303e-02 -5.16724780e-04 9.98335946e-01 3.16129334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.058040942 meters 0.017065862543299854 Centerline is valid? [True, True] Translation: X:69.32, Y:17.31, Z:3.16 [[ 8.71022895e-01 -4.88713898e-01 -4.97779317e-02 6.93168230e+01] [ 4.87935231e-01 8.72444070e-01 -2.75781825e-02 1.73114298e+01] [ 5.69063024e-02 -2.67178217e-04 9.98379488e-01 3.16280941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.088040942 meters 0.017002333249085233 Centerline is valid? [True, True] Translation: X:69.34, Y:17.33, Z:3.16 [[ 8.71861436e-01 -4.87284764e-01 -4.91039219e-02 6.93407554e+01] [ 4.86524028e-01 8.73243112e-01 -2.72183203e-02 1.73260698e+01] [ 5.61427344e-02 -1.59634079e-04 9.98422740e-01 3.16351221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.11804094200001 meters 0.01664860781288028 Centerline is valid? [True, True] Translation: X:69.37, Y:17.34, Z:3.17 [[ 8.73234363e-01 -4.84893486e-01 -4.83741072e-02 6.93650199e+01] [ 4.84151123e-01 8.74573214e-01 -2.68213156e-02 1.73415248e+01] [ 5.53121796e-02 9.16085928e-07 9.98469110e-01 3.16588883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.148040942 meters 0.016710998025607573 Centerline is valid? [True, True] Translation: X:69.39, Y:17.36, Z:3.17 [[ 8.73638268e-01 -4.84198424e-01 -4.80422964e-02 6.93882506e+01] [ 4.83464376e-01 8.74958218e-01 -2.66517245e-02 1.73553959e+01] [ 5.49397250e-02 5.72275426e-05 9.98489671e-01 3.16594389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.178040942 meters 0.016642299096031963 Centerline is valid? [True, True] Translation: X:69.41, Y:17.37, Z:3.17 [[ 8.73873530e-01 -4.83839687e-01 -4.73731092e-02 6.94125183e+01] [ 4.83124922e-01 8.75156643e-01 -2.62899224e-02 1.73694135e+01] [ 5.41789990e-02 8.69376445e-05 9.98531236e-01 3.16675796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.208040942 meters 0.016612889003086453 Centerline is valid? [True, True] Translation: X:69.44, Y:17.38, Z:3.17 [[ 8.73470269e-01 -4.84641899e-01 -4.66038438e-02 6.94373357e+01] [ 4.83950413e-01 8.74712654e-01 -2.58799246e-02 1.73833511e+01] [ 5.33074677e-02 5.13952069e-05 9.98578145e-01 3.16719928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.238040942 meters 0.016764187426009818 Centerline is valid? [True, True] Translation: X:69.46, Y:17.40, Z:3.17 [[ 8.73124145e-01 -4.85312032e-01 -4.61135570e-02 6.94611351e+01] [ 4.84635136e-01 8.74341027e-01 -2.56233066e-02 1.73964684e+01] [ 5.27542738e-02 2.40777327e-05 9.98607524e-01 3.16716066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.268040942 meters 0.016706909970406844 Centerline is valid? [True, True] Translation: X:69.49, Y:17.41, Z:3.17 [[ 8.72636268e-01 -4.86263690e-01 -4.53163033e-02 6.94860560e+01] [ 4.85610935e-01 8.73812121e-01 -2.51872272e-02 1.74094621e+01] [ 5.18455691e-02 -2.68044361e-05 9.98655114e-01 3.16809955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.298040942 meters 0.0166620941747315 Centerline is valid? [True, True] Translation: X:69.51, Y:17.42, Z:3.17 [[ 8.71976384e-01 -4.87518237e-01 -4.45326224e-02 6.95110634e+01] [ 4.86889196e-01 8.73112799e-01 -2.47578467e-02 1.74224486e+01] [ 5.09519043e-02 -9.41950946e-05 9.98701104e-01 3.17051299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.328040942 meters 0.017944756704443267 Centerline is valid? [True, True] Translation: X:69.54, Y:17.43, Z:3.17 [[ 8.70915028e-01 -4.89538262e-01 -4.31196423e-02 6.95367582e+01] [ 4.88950241e-01 8.71981796e-01 -2.39876934e-02 1.74346618e+01] [ 4.93424369e-02 -1.92116799e-04 9.98781902e-01 3.17113568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.358040942 meters 0.0168119590807649 Centerline is valid? [True, True] Translation: X:69.56, Y:17.45, Z:3.17 [[ 8.70598401e-01 -4.90253862e-01 -4.13470161e-02 6.95601107e+01] [ 4.89713357e-01 8.71579662e-01 -2.30156840e-02 1.74471949e+01] [ 4.73207463e-02 -2.10768367e-04 9.98879724e-01 3.17306452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.388040942 meters 0.017000843919334565 Centerline is valid? [True, True] Translation: X:69.58, Y:17.46, Z:3.17 [[ 8.70055621e-01 -4.91403154e-01 -3.90660645e-02 6.95841377e+01] [ 4.90921561e-01 8.70932188e-01 -2.17518852e-02 1.74601543e+01] [ 4.47128381e-02 -2.53023403e-04 9.98999849e-01 3.17314573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.418040942 meters 0.017159475500682392 Centerline is valid? [True, True] Translation: X:69.61, Y:17.47, Z:3.17 [[ 8.69743776e-01 -4.92006515e-01 -3.84103323e-02 6.96087045e+01] [ 4.91541291e-01 8.70591474e-01 -2.13926491e-02 1.74733858e+01] [ 4.39650305e-02 -2.74140897e-04 9.99033033e-01 3.17404072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.448040942 meters 0.017203380623417197 Centerline is valid? [True, True] Translation: X:69.63, Y:17.49, Z:3.17 [[ 8.69580035e-01 -4.92337732e-01 -3.78697767e-02 6.96331926e+01] [ 4.91885249e-01 8.70404206e-01 -2.11049873e-02 1.74866112e+01] [ 4.33527945e-02 -2.75108935e-04 9.99059788e-01 3.17443522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.478040942 meters 0.017319893918954426 Centerline is valid? [True, True] Translation: X:69.66, Y:17.50, Z:3.17 [[ 8.69484547e-01 -4.92533101e-01 -3.75202224e-02 6.96578565e+01] [ 4.92088535e-01 8.70293670e-01 -2.09237212e-02 1.74984398e+01] [ 4.29592373e-02 -2.70419046e-04 9.99076789e-01 3.17476672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50804094200001 meters 0.01737010892231898 Centerline is valid? [True, True] Translation: X:69.68, Y:17.51, Z:3.18 [[ 8.69573633e-01 -4.92417221e-01 -3.69726534e-02 6.96824161e+01] [ 4.91985215e-01 8.70359245e-01 -2.06236162e-02 1.75112403e+01] [ 4.23349144e-02 -2.56245951e-04 9.99103443e-01 3.17558348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.538040942 meters 0.017347777055669544 Centerline is valid? [True, True] Translation: X:69.71, Y:17.52, Z:3.18 [[ 8.70275549e-01 -4.91239963e-01 -3.61077198e-02 6.97075381e+01] [ 4.90826417e-01 8.71024262e-01 -2.01534883e-02 1.75247354e+01] [ 4.13508988e-02 -1.83534675e-04 9.99144669e-01 3.17619783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.568040942 meters 0.017358617932193926 Centerline is valid? [True, True] Translation: X:69.73, Y:17.54, Z:3.18 [[ 8.70639293e-01 -4.90624349e-01 -3.57067149e-02 6.97319835e+01] [ 4.90218917e-01 8.71371177e-01 -1.99420480e-02 1.75386089e+01] [ 4.08978565e-02 -1.41776582e-04 9.99163323e-01 3.17697371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.598040942 meters 0.017393386644791065 Centerline is valid? [True, True] Translation: X:69.76, Y:17.55, Z:3.18 [[ 8.71259551e-01 -4.89582857e-01 -3.48628992e-02 6.97552237e+01] [ 4.89195027e-01 8.71956776e-01 -1.94834671e-02 1.75519134e+01] [ 3.99377127e-02 -7.96001483e-05 9.99202168e-01 3.17802108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.628040942 meters 0.017427494008689325 Centerline is valid? [True, True] Translation: X:69.78, Y:17.57, Z:3.18 [[ 8.71843237e-01 -4.88580326e-01 -3.43312607e-02 6.97799297e+01] [ 4.88203295e-01 8.72518919e-01 -1.91905991e-02 1.75655870e+01] [ 3.93308236e-02 -2.94405160e-05 9.99226243e-01 3.17929356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.658040942 meters 0.017657705318501863 Centerline is valid? [True, True] Translation: X:69.80, Y:17.58, Z:3.18 [[ 8.73162334e-01 -4.86243121e-01 -3.39877469e-02 6.98043799e+01] [ 4.85871331e-01 8.73823564e-01 -1.90113053e-02 1.75778439e+01] [ 3.89434105e-02 8.62839143e-05 9.99241414e-01 3.18053734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.688040942 meters 0.017808848134348097 Centerline is valid? [True, True] Translation: X:69.83, Y:17.59, Z:3.18 [[ 8.73435445e-01 -4.85787440e-01 -3.34826204e-02 6.98293528e+01] [ 4.85426169e-01 8.74076971e-01 -1.87318785e-02 1.75906349e+01] [ 3.83660987e-02 1.07746501e-04 9.99263744e-01 3.18241799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.718040942 meters 0.01811654669752533 Centerline is valid? [True, True] Translation: X:69.85, Y:17.60, Z:3.18 [[ 8.73942103e-01 -4.84977529e-01 -3.19686787e-02 6.98541514e+01] [ 4.84647224e-01 8.74526600e-01 -1.78967557e-02 1.76023226e+01] [ 3.66369843e-02 1.47196968e-04 9.99328629e-01 3.18464019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.748040942 meters 0.018258917678022592 Centerline is valid? [True, True] Translation: X:69.88, Y:17.61, Z:3.19 [[ 8.73875960e-01 -4.85066746e-01 -3.24200170e-02 6.98788681e+01] [ 4.84727032e-01 8.74477118e-01 -1.81514243e-02 1.76147620e+01] [ 3.71552153e-02 1.47234761e-04 9.99309496e-01 3.18589668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.778040942 meters 0.018208110813472896 Centerline is valid? [True, True] Translation: X:69.90, Y:17.63, Z:3.19 [[ 8.73574875e-01 -4.85653637e-01 -3.17408648e-02 6.99034728e+01] [ 4.85327996e-01 8.74151319e-01 -1.77822424e-02 1.76261504e+01] [ 3.63823295e-02 1.29389883e-04 9.99337936e-01 3.18744449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.808040942 meters 0.018115040402723197 Centerline is valid? [True, True] Translation: X:69.93, Y:17.64, Z:3.19 [[ 8.72888703e-01 -4.86879608e-01 -3.18364408e-02 6.99303864e+01] [ 4.86552579e-01 8.73469084e-01 -1.78423131e-02 1.76357861e+01] [ 3.64952052e-02 8.42511834e-05 9.99333825e-01 3.18905914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.838040942 meters 0.018143687653011286 Centerline is valid? [True, True] Translation: X:69.96, Y:17.65, Z:3.19 [[ 8.72389400e-01 -4.87772850e-01 -3.18493541e-02 6.99563672e+01] [ 4.87445764e-01 8.72970586e-01 -1.78601039e-02 1.76476650e+01] [ 3.65152231e-02 5.61325756e-05 9.99333095e-01 3.19003015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86804094200001 meters 0.018069476098383695 Centerline is valid? [True, True] Translation: X:69.98, Y:17.66, Z:3.19 [[ 8.71844798e-01 -4.88729702e-01 -3.20924647e-02 6.99811739e+01] [ 4.88397832e-01 8.72435257e-01 -1.80077637e-02 1.76588224e+01] [ 3.67995267e-02 2.60849155e-05 9.99322668e-01 3.19056350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.898040942 meters 0.01800849246015853 Centerline is valid? [True, True] Translation: X:70.01, Y:17.67, Z:3.19 [[ 8.71114140e-01 -4.90008114e-01 -3.24376678e-02 7.00064243e+01] [ 4.89669702e-01 8.71717871e-01 -1.82081092e-02 1.76702083e+01] [ 3.71986160e-02 -2.24017620e-05 9.99307892e-01 3.19070336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.928040942 meters 0.018102304570622424 Centerline is valid? [True, True] Translation: X:70.03, Y:17.68, Z:3.19 [[ 8.69794440e-01 -4.92436597e-01 -3.10456115e-02 7.00343814e+01] [ 4.92127806e-01 8.70348313e-01 -1.74366538e-02 1.76794511e+01] [ 3.56069420e-02 -1.12104172e-04 9.99365865e-01 3.19235574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.958040942 meters 0.01856147148139613 Centerline is valid? [True, True] Translation: X:70.06, Y:17.69, Z:3.20 [[ 8.68526741e-01 -4.94715345e-01 -3.02989869e-02 7.00615039e+01] [ 4.94422272e-01 8.69055056e-01 -1.70272295e-02 1.76874660e+01] [ 3.47551195e-02 -1.91889839e-04 9.99395840e-01 3.19565635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.988040942 meters 0.01874814736105273 Centerline is valid? [True, True] Translation: X:70.09, Y:17.70, Z:3.20 [[ 8.67611155e-01 -4.96310875e-01 -3.04368086e-02 7.00880855e+01] [ 4.96015977e-01 8.68144833e-01 -1.71084540e-02 1.76981578e+01] [ 3.49146699e-02 -2.53657781e-04 9.99390265e-01 3.19662274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.018040942 meters 0.018986903275425168 Centerline is valid? [True, True] Translation: X:70.11, Y:17.71, Z:3.20 [[ 8.66608653e-01 -4.98043328e-01 -3.06966736e-02 7.01146782e+01] [ 4.97744150e-01 8.67152087e-01 -1.72632358e-02 1.77092607e+01] [ 3.52165240e-02 -3.18620133e-04 9.99379655e-01 3.19718938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.048040942 meters 0.019346214049662025 Centerline is valid? [True, True] Translation: X:70.14, Y:17.72, Z:3.20 [[ 8.65582630e-01 -4.99828771e-01 -3.06253203e-02 7.01412450e+01] [ 4.99531792e-01 8.66124156e-01 -1.72318117e-02 1.77201309e+01] [ 3.51382850e-02 -3.82764258e-04 9.99382386e-01 3.19837691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.078040942 meters 0.02011650727203494 Centerline is valid? [True, True] Translation: X:70.17, Y:17.73, Z:3.20 [[ 8.63483730e-01 -5.03448350e-01 -3.05876757e-02 7.01694631e+01] [ 5.03154062e-01 8.64025165e-01 -1.72192689e-02 1.77288420e+01] [ 3.50975340e-02 -5.21754707e-04 9.99383756e-01 3.19847259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.108040942 meters 0.020986355518536216 Centerline is valid? [True, True] Translation: X:70.20, Y:17.74, Z:3.20 [[ 8.62317510e-01 -5.05426335e-01 -3.08663565e-02 7.01958081e+01] [ 5.05127565e-01 8.62869550e-01 -1.73862559e-02 1.77387266e+01] [ 3.54211108e-02 -5.98974632e-04 9.99372296e-01 3.19915154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.138040942 meters 0.021647330180258943 Centerline is valid? [True, True] Translation: X:70.22, Y:17.75, Z:3.20 [[ 8.61190099e-01 -5.07285172e-01 -3.18334239e-02 7.02232008e+01] [ 5.06968497e-01 8.61777973e-01 -1.79351466e-02 1.77493785e+01] [ 3.65315774e-02 -6.92972400e-04 9.99332259e-01 3.19941582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.168040942 meters 0.023096232134022066 Centerline is valid? [True, True] Translation: X:70.25, Y:17.76, Z:3.20 [[ 8.59293602e-01 -5.10447169e-01 -3.25298711e-02 7.02525042e+01] [ 5.10118387e-01 8.59908708e-01 -1.83369821e-02 1.77562811e+01] [ 3.73327801e-02 -8.37233994e-04 9.99302538e-01 3.19958640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.198040942 meters 0.02037722558305129 Centerline is valid? [True, True] Translation: X:70.28, Y:17.77, Z:3.20 [[ 8.58508339e-01 -5.11760492e-01 -3.26286746e-02 7.02762937e+01] [ 5.11430320e-01 8.59127702e-01 -1.84016209e-02 1.77736692e+01] [ 3.74494208e-02 -8.89348544e-04 9.99298129e-01 3.19864275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.228040942 meters 0.02435805972050627 Centerline is valid? [True, True] Translation: X:70.31, Y:17.78, Z:3.20 [[ 8.58115563e-01 -5.12404658e-01 -3.28503869e-02 7.03054985e+01] [ 5.12069999e-01 8.58743636e-01 -1.85387008e-02 1.77782446e+01] [ 3.77093773e-02 -9.13349932e-04 9.99288331e-01 3.20204994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.25804094200001 meters 0.025104045082075012 Centerline is valid? [True, True] Translation: X:70.33, Y:17.79, Z:3.20 [[ 8.57483252e-01 -5.13465862e-01 -3.27914637e-02 7.03334181e+01] [ 5.13133072e-01 8.58109489e-01 -1.85082638e-02 1.77878566e+01] [ 3.76420278e-02 -9.55858264e-04 9.99290831e-01 3.20364887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.288040942 meters 0.025104045082075012 Centerline is valid? [True, True] Translation: X:70.36, Y:17.80, Z:3.20 [[ 8.57360480e-01 -5.13671076e-01 -3.27876918e-02 7.03573399e+01] [ 5.13338180e-01 8.57986661e-01 -1.85149432e-02 1.78015271e+01] [ 3.76419930e-02 -9.57193477e-04 9.99290831e-01 3.20487307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.318040942 meters 0.025314372215147027 Centerline is valid? [True, True] Translation: X:70.38, Y:17.81, Z:3.21 [[ 8.57167027e-01 -5.14005742e-01 -3.26003746e-02 7.03827319e+01] [ 5.13676500e-01 8.57786209e-01 -1.84193894e-02 1.78134537e+01] [ 3.74318236e-02 -9.57553027e-04 9.99298725e-01 3.20638968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.348040942 meters 0.021135640151178796 Centerline is valid? [True, True] Translation: X:70.41, Y:17.83, Z:3.21 [[ 8.57489920e-01 -5.13442412e-01 -3.29837441e-02 7.04051590e+01] [ 5.13104563e-01 8.58123543e-01 -1.86465026e-02 1.78317501e+01] [ 3.78780326e-02 -9.34921629e-04 9.99281932e-01 3.20525962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.378040942 meters 0.02082637207782762 Centerline is valid? [True, True] Translation: X:70.43, Y:17.85, Z:3.21 [[ 8.57912352e-01 -5.12737341e-01 -3.29668912e-02 7.04304553e+01] [ 5.12398918e-01 8.58545060e-01 -1.86475029e-02 1.78459576e+01] [ 3.78648326e-02 -8.94276347e-04 9.99282470e-01 3.20644234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.408040942 meters 0.020205892308629465 Centerline is valid? [True, True] Translation: X:70.45, Y:17.86, Z:3.21 [[ 8.58994607e-01 -5.10938726e-01 -3.27090642e-02 7.04547523e+01] [ 5.10603883e-01 8.59616763e-01 -1.85120540e-02 1.78621086e+01] [ 3.75757851e-02 -7.99620688e-04 9.99293461e-01 3.20749706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.438040942 meters 0.01933399471159387 Centerline is valid? [True, True] Translation: X:70.48, Y:17.88, Z:3.21 [[ 8.61815015e-01 -5.06104242e-01 -3.36656543e-02 7.04787726e+01] [ 5.05745336e-01 8.62472111e-01 -1.90660202e-02 1.78782877e+01] [ 3.86850816e-02 -5.94865182e-04 9.99251275e-01 3.20802539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.468040942 meters 0.01927368652113046 Centerline is valid? [True, True] Translation: X:70.50, Y:17.89, Z:3.21 [[ 8.62697704e-01 -5.04583971e-01 -3.38775394e-02 7.05035842e+01] [ 5.04219278e-01 8.63362460e-01 -1.91880649e-02 1.78924997e+01] [ 3.89305857e-02 -5.28208904e-04 9.99241778e-01 3.20929127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.498040942 meters 0.018996461378870518 Centerline is valid? [True, True] Translation: X:70.53, Y:17.91, Z:3.21 [[ 8.63472219e-01 -5.03244101e-01 -3.40749464e-02 7.05282822e+01] [ 5.02873667e-01 8.64144179e-01 -1.93109582e-02 1.79074175e+01] [ 3.91637924e-02 -4.60917310e-04 9.99232698e-01 3.21054470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.528040942 meters 0.018851963601267892 Centerline is valid? [True, True] Translation: X:70.55, Y:17.92, Z:3.21 [[ 8.65028315e-01 -5.00587369e-01 -3.37387067e-02 7.05522534e+01] [ 5.00221721e-01 8.65685959e-01 -1.91324446e-02 1.79220671e+01] [ 3.87845848e-02 -3.26727661e-04 9.99247542e-01 3.21256517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.558040942 meters 0.018905356138993815 Centerline is valid? [True, True] Translation: X:70.58, Y:17.94, Z:3.21 [[ 8.65567531e-01 -4.99646700e-01 -3.38529906e-02 7.05770142e+01] [ 4.99277735e-01 8.66229240e-01 -1.92001981e-02 1.79366230e+01] [ 3.89177659e-02 -2.82976375e-04 9.99242377e-01 3.21448185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.588040942 meters 0.01897916703979553 Centerline is valid? [True, True] Translation: X:70.60, Y:17.95, Z:3.22 [[ 8.66017905e-01 -4.98845904e-01 -3.41431079e-02 7.06007794e+01] [ 4.98469486e-01 8.66690664e-01 -1.93769109e-02 1.79508489e+01] [ 3.92576055e-02 -2.38545674e-04 9.99229095e-01 3.21618966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.61804094200001 meters 0.019099611719658783 Centerline is valid? [True, True] Translation: X:70.63, Y:17.97, Z:3.22 [[ 8.66071774e-01 -4.98664966e-01 -3.53968131e-02 7.06250820e+01] [ 4.98260095e-01 8.66794783e-01 -2.00918146e-02 1.79658860e+01] [ 4.07008570e-02 -2.35865992e-04 9.99171349e-01 3.21639764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.648040942 meters 0.019212430295240886 Centerline is valid? [True, True] Translation: X:70.65, Y:17.98, Z:3.22 [[ 8.65564429e-01 -4.99500872e-01 -3.60152517e-02 7.06484099e+01] [ 4.99081866e-01 8.66313342e-01 -2.04568823e-02 1.79787853e+01] [ 4.14187236e-02 -2.67809409e-04 9.99141841e-01 3.21708917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.678040942 meters 0.019546948265018075 Centerline is valid? [True, True] Translation: X:70.67, Y:17.99, Z:3.22 [[ 8.64125612e-01 -5.01952320e-01 -3.64800633e-02 7.06740241e+01] [ 5.01524353e-01 8.64895208e-01 -2.07268808e-02 1.79910393e+01] [ 4.19553378e-02 -3.85011580e-04 9.99119413e-01 3.21807060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.708040942 meters 0.019810617499307723 Centerline is valid? [True, True] Translation: X:70.70, Y:18.00, Z:3.22 [[ 8.63197222e-01 -5.03514849e-01 -3.69236040e-02 7.06995151e+01] [ 5.03077668e-01 8.63986448e-01 -2.09827824e-02 1.80043001e+01] [ 4.24666360e-02 -4.63161081e-04 9.99097778e-01 3.21945690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.738040942 meters 0.02009136168326963 Centerline is valid? [True, True] Translation: X:70.72, Y:18.02, Z:3.22 [[ 8.62046267e-01 -5.05477934e-01 -3.69904262e-02 7.07248497e+01] [ 5.05040467e-01 8.62839356e-01 -2.10326450e-02 1.80173414e+01] [ 4.25483335e-02 -5.50549001e-04 9.99094258e-01 3.22020364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.768040942 meters 0.02069336465360635 Centerline is valid? [True, True] Translation: X:70.75, Y:18.03, Z:3.22 [[ 8.61003769e-01 -5.07164401e-01 -3.81677915e-02 7.07496943e+01] [ 5.06699721e-01 8.61849091e-01 -2.17148804e-02 1.80292770e+01] [ 4.39078907e-02 -6.43015474e-04 9.99035377e-01 3.22119752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.798040942 meters 0.0210864980998886 Centerline is valid? [True, True] Translation: X:70.77, Y:18.04, Z:3.22 [[ 8.59169610e-01 -5.10259451e-01 -3.82475381e-02 7.07746950e+01] [ 5.09795695e-01 8.60020148e-01 -2.17645281e-02 1.80444326e+01] [ 4.39992095e-02 -7.99009109e-04 9.99031246e-01 3.22213755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.828040942 meters 0.021502017218936846 Centerline is valid? [True, True] Translation: X:70.80, Y:18.06, Z:3.22 [[ 8.58330600e-01 -5.11654008e-01 -3.84546200e-02 7.07992807e+01] [ 5.11186062e-01 8.59191148e-01 -2.18947724e-02 1.80576738e+01] [ 4.42424172e-02 -8.64512656e-04 9.99020451e-01 3.22329436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.858040942 meters 0.022441303608867348 Centerline is valid? [True, True] Translation: X:70.82, Y:18.07, Z:3.23 [[ 8.56938532e-01 -5.13935043e-01 -3.90784373e-02 7.08248167e+01] [ 5.13453947e-01 8.57828528e-01 -2.22544641e-02 1.80696755e+01] [ 4.49599473e-02 -9.94270090e-04 9.98988296e-01 3.22528598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.888040942 meters 0.022984012591383527 Centerline is valid? [True, True] Translation: X:70.85, Y:18.08, Z:3.23 [[ 8.56361060e-01 -5.14885609e-01 -3.92243004e-02 7.08493053e+01] [ 5.14401610e-01 8.57258259e-01 -2.23441251e-02 1.80823670e+01] [ 4.51300240e-02 -1.04240464e-03 9.98980578e-01 3.22694523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.918040942 meters 0.023020941620558344 Centerline is valid? [True, True] Translation: X:70.87, Y:18.10, Z:3.23 [[ 8.55614654e-01 -5.16123216e-01 -3.92477878e-02 7.08742580e+01] [ 5.15639735e-01 8.56513634e-01 -2.23619852e-02 1.80973071e+01] [ 4.51578051e-02 -1.10447665e-03 9.98979255e-01 3.22876725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.948040942 meters 0.02341883309099175 Centerline is valid? [True, True] Translation: X:70.90, Y:18.11, Z:3.23 [[ 8.55223743e-01 -5.16722991e-01 -3.98710337e-02 7.08991111e+01] [ 5.16224089e-01 8.56151881e-01 -2.27298744e-02 1.81114678e+01] [ 4.58807092e-02 -1.14325975e-03 9.98946272e-01 3.22998318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.978040942 meters 0.022401936139399985 Centerline is valid? [True, True] Translation: X:70.92, Y:18.13, Z:3.23 [[ 8.55097701e-01 -5.16839283e-01 -4.10496940e-02 7.09204123e+01] [ 5.16309933e-01 8.56081644e-01 -2.34151936e-02 1.81302713e+01] [ 4.72437814e-02 -1.17208653e-03 9.98882701e-01 3.23009585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00804094200001 meters 0.022878515538082123 Centerline is valid? [True, True] Translation: X:70.94, Y:18.14, Z:3.23 [[ 8.55276704e-01 -5.16501583e-01 -4.15677146e-02 7.09438843e+01] [ 5.15957656e-01 8.56285455e-01 -2.37258632e-02 1.81446490e+01] [ 4.78482753e-02 -1.15500247e-03 9.98853948e-01 3.23082271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.038040942 meters 0.02375377596156799 Centerline is valid? [True, True] Translation: X:70.97, Y:18.16, Z:3.23 [[ 8.56089695e-01 -5.15065507e-01 -4.26375224e-02 7.09680836e+01] [ 5.14491175e-01 8.57150114e-01 -2.43415961e-02 1.81578420e+01] [ 4.90842738e-02 -1.09803940e-03 9.98794037e-01 3.23129467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.068040942 meters 0.022186453228677638 Centerline is valid? [True, True] Translation: X:70.99, Y:18.18, Z:3.23 [[ 8.56380955e-01 -5.14555676e-01 -4.29431717e-02 7.09906830e+01] [ 5.13972142e-01 8.57456301e-01 -2.45219937e-02 1.81756448e+01] [ 4.94398242e-02 -1.07142556e-03 9.98776529e-01 3.23363957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.098040942 meters 0.02354276819688971 Centerline is valid? [True, True] Translation: X:71.02, Y:18.19, Z:3.23 [[ 8.57008647e-01 -5.13474328e-01 -4.33623471e-02 7.10167464e+01] [ 5.12877283e-01 8.58104364e-01 -2.47748513e-02 1.81866672e+01] [ 4.99306694e-02 -1.00730101e-03 9.98752178e-01 3.23425961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.128040942 meters 0.023430560648200177 Centerline is valid? [True, True] Translation: X:71.04, Y:18.20, Z:3.24 [[ 8.57217257e-01 -5.13069346e-01 -4.40275001e-02 7.10405890e+01] [ 5.12452971e-01 8.58346585e-01 -2.51613369e-02 1.82012007e+01] [ 5.07003650e-02 -9.93291043e-04 9.98713416e-01 3.23536042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.158040942 meters 0.022220336617000958 Centerline is valid? [True, True] Translation: X:71.06, Y:18.22, Z:3.24 [[ 8.57697627e-01 -5.12133283e-01 -4.55442659e-02 7.10637084e+01] [ 5.11471522e-01 8.58905458e-01 -2.60441480e-02 1.82193145e+01] [ 5.24562936e-02 -9.56591012e-04 9.98622763e-01 3.23818183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.188040942 meters 0.022218132817922592 Centerline is valid? [True, True] Translation: X:71.09, Y:18.23, Z:3.24 [[ 8.57700419e-01 -5.12093873e-01 -4.59331859e-02 7.10874959e+01] [ 5.11419874e-01 8.58928964e-01 -2.62820737e-02 1.82341375e+01] [ 5.29122327e-02 -9.48998590e-04 9.98598716e-01 3.23944642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.218040942 meters 0.022674992094319016 Centerline is valid? [True, True] Translation: X:71.11, Y:18.25, Z:3.24 [[ 8.57452169e-01 -5.12451494e-01 -4.65751487e-02 7.11119754e+01] [ 5.11758197e-01 8.58715624e-01 -2.66650538e-02 1.82483692e+01] [ 5.36593546e-02 -9.71205890e-04 9.98558827e-01 3.24016099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.248040942 meters 0.02270421627554758 Centerline is valid? [True, True] Translation: X:71.14, Y:18.26, Z:3.24 [[ 8.57178503e-01 -5.12889299e-01 -4.67929591e-02 7.11363799e+01] [ 5.12189742e-01 8.58454176e-01 -2.67972990e-02 1.82621007e+01] [ 5.39136590e-02 -9.96805050e-04 9.98545104e-01 3.24198091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.278040942 meters 0.022950136346838994 Centerline is valid? [True, True] Translation: X:71.16, Y:18.27, Z:3.24 [[ 8.57050109e-01 -5.13102935e-01 -4.68026628e-02 7.11603499e+01] [ 5.12402561e-01 8.58326502e-01 -2.68185021e-02 1.82745724e+01] [ 5.39326180e-02 -9.97004134e-04 9.98544080e-01 3.24394521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.308040942 meters 0.02344953745111996 Centerline is valid? [True, True] Translation: X:71.19, Y:18.29, Z:3.25 [[ 8.56698952e-01 -5.13700741e-01 -4.66739125e-02 7.11852261e+01] [ 5.13004696e-01 8.57968821e-01 -2.67522883e-02 1.82862013e+01] [ 5.37874320e-02 -1.02527894e-03 9.98551882e-01 3.24625251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.338040942 meters 0.02325062222251764 Centerline is valid? [True, True] Translation: X:71.21, Y:18.30, Z:3.25 [[ 8.56380632e-01 -5.14232716e-01 -4.66575506e-02 7.12088704e+01] [ 5.13537432e-01 8.57650051e-01 -2.67524857e-02 1.83003726e+01] [ 5.37728540e-02 -1.05008814e-03 9.98552641e-01 3.24863084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36804094200001 meters 0.02347182613101836 Centerline is valid? [True, True] Translation: X:71.23, Y:18.31, Z:3.25 [[ 8.56119094e-01 -5.14703078e-01 -4.62691913e-02 7.12323474e+01] [ 5.14019153e-01 8.57367847e-01 -2.65459120e-02 1.83131672e+01] [ 5.33329795e-02 -1.05678837e-03 9.98576225e-01 3.25027678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.398040942 meters 0.023850733267211998 Centerline is valid? [True, True] Translation: X:71.26, Y:18.33, Z:3.25 [[ 8.55636279e-01 -5.15574377e-01 -4.54930773e-02 7.12567622e+01] [ 5.14913816e-01 8.56844146e-01 -2.61126700e-02 1.83262317e+01] [ 5.24435006e-02 -1.08206622e-03 9.98623307e-01 3.25262752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.428040942 meters 0.023887693479505853 Centerline is valid? [True, True] Translation: X:71.28, Y:18.34, Z:3.25 [[ 8.55001340e-01 -5.16636251e-01 -4.53838437e-02 7.12816230e+01] [ 5.15979506e-01 8.56204243e-01 -2.60661425e-02 1.83406747e+01] [ 5.23245537e-02 -1.13054646e-03 9.98629492e-01 3.25483067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.458040942 meters 0.02446725459475082 Centerline is valid? [True, True] Translation: X:71.31, Y:18.35, Z:3.26 [[ 8.53903131e-01 -5.18479705e-01 -4.50359662e-02 7.13077479e+01] [ 5.17834806e-01 8.55089061e-01 -2.58806933e-02 1.83538658e+01] [ 5.19283763e-02 -1.22158580e-03 9.98650065e-01 3.25727236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.488040942 meters 0.024817247751208797 Centerline is valid? [True, True] Translation: X:71.33, Y:18.37, Z:3.26 [[ 8.53284998e-01 -5.19496387e-01 -4.50357209e-02 7.13329358e+01] [ 5.18852161e-01 8.54471701e-01 -2.58949230e-02 1.83672324e+01] [ 5.19340680e-02 -1.27113183e-03 9.98649707e-01 3.25889252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.518040942 meters 0.026811341327043256 Centerline is valid? [True, True] Translation: X:71.36, Y:18.38, Z:3.26 [[ 8.52647525e-01 -5.20513156e-01 -4.53679645e-02 7.13593399e+01] [ 5.19860131e-01 8.53852611e-01 -2.60990963e-02 1.83778039e+01] [ 5.23224779e-02 -1.33166608e-03 9.98629353e-01 3.25939829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.548040942 meters 0.02549760228345351 Centerline is valid? [True, True] Translation: X:71.38, Y:18.39, Z:3.26 [[ 8.51990234e-01 -5.21557801e-01 -4.57176363e-02 7.13830585e+01] [ 5.20895813e-01 8.53214802e-01 -2.63069100e-02 1.83945346e+01] [ 5.27275381e-02 -1.40089500e-03 9.98607953e-01 3.26159232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.578040942 meters 0.02608205942736656 Centerline is valid? [True, True] Translation: X:71.41, Y:18.41, Z:3.26 [[ 8.51049577e-01 -5.23005459e-01 -4.66894789e-02 7.14076308e+01] [ 5.22316367e-01 8.52327996e-01 -2.68812418e-02 1.84091532e+01] [ 5.38537862e-02 -1.50940956e-03 9.98547691e-01 3.26237093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.608040942 meters 0.026440543428754463 Centerline is valid? [True, True] Translation: X:71.43, Y:18.42, Z:3.26 [[ 8.50785768e-01 -5.23403951e-01 -4.70306453e-02 7.14321120e+01] [ 5.22704539e-01 8.52083302e-01 -2.70926287e-02 1.84242486e+01] [ 5.42544164e-02 -1.53310890e-03 9.98525968e-01 3.26336968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.638040942 meters 0.025748886405113337 Centerline is valid? [True, True] Translation: X:71.45, Y:18.44, Z:3.27 [[ 8.50521109e-01 -5.23852138e-01 -4.68271329e-02 7.14546782e+01] [ 5.23158630e-01 8.51807819e-01 -2.69905167e-02 1.84408480e+01] [ 5.40267578e-02 -1.54201450e-03 9.98538298e-01 3.26584984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.668040942 meters 0.027099203748263738 Centerline is valid? [True, True] Translation: X:71.48, Y:18.45, Z:3.27 [[ 8.50471885e-01 -5.23934592e-01 -4.67986719e-02 7.14793151e+01] [ 5.23241209e-01 8.51757121e-01 -2.69897046e-02 1.84524430e+01] [ 5.40019419e-02 -1.53300868e-03 9.98539654e-01 3.26699661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.698040942 meters 0.025939185553000867 Centerline is valid? [True, True] Translation: X:71.50, Y:18.47, Z:3.27 [[ 8.50367288e-01 -5.24085839e-01 -4.70054071e-02 7.15017936e+01] [ 5.23386037e-01 8.51664052e-01 -2.71182444e-02 1.84685058e+01] [ 5.42451034e-02 -1.54150580e-03 9.98526461e-01 3.26976873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.728040942 meters 0.026214373239742128 Centerline is valid? [True, True] Translation: X:71.53, Y:18.48, Z:3.27 [[ 8.50237221e-01 -5.24297260e-01 -4.70005395e-02 7.15254180e+01] [ 5.23597043e-01 8.51533915e-01 -2.71316806e-02 1.84822924e+01] [ 5.42476192e-02 -1.54097884e-03 9.98526325e-01 3.27104126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.75804094200001 meters 0.026455196632137308 Centerline is valid? [True, True] Translation: X:71.55, Y:18.50, Z:3.27 [[ 8.50065142e-01 -5.24562667e-01 -4.71514882e-02 7.15491681e+01] [ 5.23857744e-01 8.51370422e-01 -2.72299177e-02 1.84972337e+01] [ 5.44271806e-02 -1.55346835e-03 9.98516534e-01 3.27348690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.788040942 meters 0.02613062534693415 Centerline is valid? [True, True] Translation: X:71.57, Y:18.51, Z:3.28 [[ 8.50039824e-01 -5.24576313e-01 -4.74551320e-02 7.15728377e+01] [ 5.23861757e-01 8.51362009e-01 -2.74151140e-02 1.85128928e+01] [ 5.47828159e-02 -1.55599015e-03 9.98497082e-01 3.27563983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.818040942 meters 0.024724005444743714 Centerline is valid? [True, True] Translation: X:71.60, Y:18.53, Z:3.28 [[ 8.50531791e-01 -5.23705375e-01 -4.82530015e-02 7.15952362e+01] [ 5.22964194e-01 8.51898116e-01 -2.78935967e-02 1.85321491e+01] [ 5.57146676e-02 -1.51020126e-03 9.98445589e-01 3.27808831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.848040942 meters 0.026746597187995883 Centerline is valid? [True, True] Translation: X:71.62, Y:18.55, Z:3.28 [[ 8.51056956e-01 -5.22718188e-01 -4.96764761e-02 7.16195598e+01] [ 5.21930081e-01 8.52504262e-01 -2.87310583e-02 1.85466361e+01] [ 5.73676544e-02 -1.47588012e-03 9.98352029e-01 3.27659701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.878040942 meters 0.026255676183555784 Centerline is valid? [True, True] Translation: X:71.64, Y:18.56, Z:3.28 [[ 8.51709958e-01 -5.21610870e-01 -5.01223332e-02 7.16434990e+01] [ 5.20806140e-01 8.53182349e-01 -2.89972931e-02 1.85629762e+01] [ 5.78887933e-02 -1.40673564e-03 9.98322047e-01 3.27801274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.908040942 meters 0.024121744750215474 Centerline is valid? [True, True] Translation: X:71.67, Y:18.58, Z:3.28 [[ 8.53966544e-01 -5.17894910e-01 -5.02593598e-02 7.16660260e+01] [ 5.17078487e-01 8.55443482e-01 -2.90910327e-02 1.85799878e+01] [ 5.80601395e-02 -1.14526503e-03 9.98312430e-01 3.28081516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.938040942 meters 0.024935316801890407 Centerline is valid? [True, True] Translation: X:71.69, Y:18.60, Z:3.28 [[ 8.54826681e-01 -5.16359707e-01 -5.14198239e-02 7.16889760e+01] [ 5.15501706e-01 8.56371145e-01 -2.97733734e-02 1.85975597e+01] [ 5.94082238e-02 -1.05593298e-03 9.98233213e-01 3.28081535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.968040942 meters 0.023173149727478214 Centerline is valid? [True, True] Translation: X:71.71, Y:18.61, Z:3.28 [[ 8.55879218e-01 -5.14718805e-01 -5.03519166e-02 7.17125587e+01] [ 5.13892316e-01 8.57358575e-01 -2.91712356e-02 1.86131888e+01] [ 5.81846310e-02 -9.08408682e-04 9.98305426e-01 3.28366066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.998040942 meters 0.02247003745276426 Centerline is valid? [True, True] Translation: X:71.74, Y:18.63, Z:3.29 [[ 8.57393960e-01 -5.12267671e-01 -4.95724740e-02 7.17359399e+01] [ 5.11461580e-01 8.58825546e-01 -2.87355671e-02 1.86309521e+01] [ 5.72944091e-02 -7.16714193e-04 9.98357069e-01 3.28661784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.028040942 meters 0.022277100898452282 Centerline is valid? [True, True] Translation: X:71.76, Y:18.65, Z:3.29 [[ 8.57903009e-01 -5.11438392e-01 -4.93274629e-02 7.17606848e+01] [ 5.10637977e-01 8.59319705e-01 -2.86094504e-02 1.86465323e+01] [ 5.70200322e-02 -6.44342302e-04 9.98372827e-01 3.28914282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.058040942 meters 0.02216727190426157 Centerline is valid? [True, True] Translation: X:71.78, Y:18.66, Z:3.29 [[ 8.58378501e-01 -5.10697347e-01 -4.87295501e-02 7.17847994e+01] [ 5.09914273e-01 8.59760366e-01 -2.82762657e-02 1.86608811e+01] [ 5.63363497e-02 -5.76154586e-04 9.98411680e-01 3.29093320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.088040942 meters 0.022014699888846943 Centerline is valid? [True, True] Translation: X:71.81, Y:18.68, Z:3.29 [[ 8.58352016e-01 -5.10845686e-01 -4.76287877e-02 7.18092594e+01] [ 5.10097438e-01 8.59672242e-01 -2.76448818e-02 1.86762638e+01] [ 5.50674153e-02 -5.66282524e-04 9.98482478e-01 3.29447799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.11804094200001 meters 0.0220648517043074 Centerline is valid? [True, True] Translation: X:71.83, Y:18.69, Z:3.30 [[ 8.58212326e-01 -5.11061884e-01 -4.78262983e-02 7.18330192e+01] [ 5.10306964e-01 8.59543731e-01 -2.77736833e-02 1.86901674e+01] [ 5.53028658e-02 -5.70375744e-04 9.98469463e-01 3.29568561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.148040942 meters 0.022184022646544004 Centerline is valid? [True, True] Translation: X:71.86, Y:18.70, Z:3.30 [[ 8.57380337e-01 -5.12503460e-01 -4.73197786e-02 7.18581917e+01] [ 5.11766165e-01 8.58684915e-01 -2.74883582e-02 1.87043952e+01] [ 5.47206588e-02 -6.48683815e-04 9.98501492e-01 3.29742529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.178040942 meters 0.022184022646544004 Centerline is valid? [True, True] Translation: X:71.88, Y:18.72, Z:3.30 [[ 8.57237311e-01 -5.12743293e-01 -4.73128771e-02 7.18819664e+01] [ 5.12005707e-01 8.58541725e-01 -2.75002326e-02 1.87183183e+01] [ 5.47206389e-02 -6.50237626e-04 9.98501492e-01 3.29864925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.208040942 meters 0.021959370776798763 Centerline is valid? [True, True] Translation: X:71.91, Y:18.73, Z:3.30 [[ 8.56459557e-01 -5.14055559e-01 -4.71583322e-02 7.19069591e+01] [ 5.13323829e-01 8.57756590e-01 -2.74276926e-02 1.87329619e+01] [ 5.45497281e-02 -7.16786197e-04 9.98510798e-01 3.30088253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.238040942 meters 0.022173458511721998 Centerline is valid? [True, True] Translation: X:71.93, Y:18.75, Z:3.30 [[ 8.55669444e-01 -5.15405967e-01 -4.67599515e-02 7.19322420e+01] [ 5.14687714e-01 8.56945784e-01 -2.72117564e-02 1.87466174e+01] [ 5.40958449e-02 -7.82504112e-04 9.98535441e-01 3.30282149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.268040942 meters 0.022569242735027018 Centerline is valid? [True, True] Translation: X:71.96, Y:18.76, Z:3.30 [[ 8.54900674e-01 -5.16720308e-01 -4.63137213e-02 7.19571900e+01] [ 5.16016891e-01 8.56153846e-01 -2.69659109e-02 1.87589239e+01] [ 5.35855044e-02 -8.45487071e-04 9.98562907e-01 3.30398751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.298040942 meters 0.02292235386751557 Centerline is valid? [True, True] Translation: X:71.98, Y:18.77, Z:3.31 [[ 8.52994351e-01 -5.19875107e-01 -4.61574486e-02 7.19827789e+01] [ 5.19180740e-01 8.54241653e-01 -2.68804259e-02 1.87713149e+01] [ 5.34040795e-02 -1.03520691e-03 9.98572447e-01 3.30528125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.328040942 meters 0.023303236443259517 Centerline is valid? [True, True] Translation: X:72.01, Y:18.79, Z:3.31 [[ 8.51876419e-01 -5.21686273e-01 -4.63680819e-02 7.20084657e+01] [ 5.20987838e-01 8.53136634e-01 -2.70103090e-02 1.87854335e+01] [ 5.36492168e-02 -1.14776141e-03 9.98559184e-01 3.30581548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.358040942 meters 0.02520677438637131 Centerline is valid? [True, True] Translation: X:72.03, Y:18.80, Z:3.30 [[ 8.49684735e-01 -5.25135980e-01 -4.76240958e-02 7.20338485e+01] [ 5.24403775e-01 8.51017197e-01 -2.77562755e-02 1.87979469e+01] [ 5.51047435e-02 -1.39017209e-03 9.98479612e-01 3.30446146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.388040942 meters 0.02442128899098747 Centerline is valid? [True, True] Translation: X:72.06, Y:18.81, Z:3.31 [[ 8.48495161e-01 -5.27071202e-01 -4.74542974e-02 7.20589468e+01] [ 5.26346792e-01 8.49819797e-01 -2.76652663e-02 1.88117785e+01] [ 5.49091665e-02 -1.50357259e-03 9.98490222e-01 3.30693501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.418040942 meters 0.025088015385312933 Centerline is valid? [True, True] Translation: X:72.08, Y:18.82, Z:3.31 [[ 8.47442479e-01 -5.28728557e-01 -4.78263299e-02 7.20838629e+01] [ 5.27994596e-01 8.48789441e-01 -2.78960799e-02 1.88248657e+01] [ 5.53439379e-02 -1.61172060e-03 9.98466049e-01 3.30743282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.448040942 meters 0.026829610325979168 Centerline is valid? [True, True] Translation: X:72.11, Y:18.84, Z:3.31 [[ 8.45757101e-01 -5.31393983e-01 -4.81181986e-02 7.21092682e+01] [ 5.30655011e-01 8.47122909e-01 -2.80719681e-02 1.88376869e+01] [ 5.56793033e-02 -1.79209686e-03 9.98447096e-01 3.30739563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.478040942 meters 0.025684245999338377 Centerline is valid? [True, True] Translation: X:72.13, Y:18.85, Z:3.31 [[ 8.44918207e-01 -5.32732416e-01 -4.80561714e-02 7.21332202e+01] [ 5.31997083e-01 8.46281673e-01 -2.80434063e-02 1.88540743e+01] [ 5.56086887e-02 -1.87135842e-03 9.98450886e-01 3.30987674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50804094200001 meters 0.02699420813022432 Centerline is valid? [True, True] Translation: X:72.16, Y:18.87, Z:3.31 [[ 8.44041234e-01 -5.34121263e-01 -4.80507171e-02 7.21578164e+01] [ 5.33387556e-01 8.45405625e-01 -2.80543029e-02 1.88663793e+01] [ 5.56067462e-02 -1.95066614e-03 9.98450842e-01 3.31067617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.538040942 meters 0.02794532100527623 Centerline is valid? [True, True] Translation: X:72.18, Y:18.88, Z:3.31 [[ 8.43194056e-01 -5.35407143e-01 -4.86104359e-02 7.21808609e+01] [ 5.34657986e-01 8.44591602e-01 -2.83877506e-02 1.88831021e+01] [ 5.62549704e-02 -2.05357510e-03 9.98414323e-01 3.31096042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.568040942 meters 0.026995930395253703 Centerline is valid? [True, True] Translation: X:72.20, Y:18.90, Z:3.31 [[ 8.42931745e-01 -5.35869802e-01 -4.80585921e-02 7.22042447e+01] [ 5.35137873e-01 8.44298132e-01 -2.80734873e-02 1.88977730e+01] [ 5.56195136e-02 -2.05393910e-03 9.98449924e-01 3.31322714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.598040942 meters 0.026778135425158566 Centerline is valid? [True, True] Translation: X:72.23, Y:18.91, Z:3.31 [[ 8.42783467e-01 -5.36106671e-01 -4.80173443e-02 7.22277517e+01] [ 5.35375389e-01 8.44147750e-01 -2.80672210e-02 1.89138652e+01] [ 5.55807576e-02 -2.05271450e-03 9.98452085e-01 3.31434805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.628040942 meters 0.027512390241715208 Centerline is valid? [True, True] Translation: X:72.25, Y:18.93, Z:3.31 [[ 8.43526901e-01 -5.34909148e-01 -4.83173935e-02 7.22512493e+01] [ 5.34165858e-01 8.44907280e-01 -2.82581795e-02 1.89287456e+01] [ 5.59392762e-02 -1.97296742e-03 9.98432223e-01 3.31458154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.658040942 meters 0.027443296125001033 Centerline is valid? [True, True] Translation: X:72.27, Y:18.95, Z:3.31 [[ 8.43982395e-01 -5.34159752e-01 -4.86526107e-02 7.22742886e+01] [ 5.33404426e-01 8.45381354e-01 -2.84619866e-02 1.89465455e+01] [ 5.63332576e-02 -1.93010224e-03 9.98410156e-01 3.31489535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.688040942 meters 0.025908225572781808 Centerline is valid? [True, True] Translation: X:72.30, Y:18.97, Z:3.32 [[ 8.45638588e-01 -5.31538026e-01 -4.86076647e-02 7.22960316e+01] [ 5.30779018e-01 8.47032639e-01 -2.84489498e-02 1.89652473e+01] [ 5.62939772e-02 -1.74239877e-03 9.98412716e-01 3.31597070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.718040942 meters 0.02558899771411855 Centerline is valid? [True, True] Translation: X:72.32, Y:18.98, Z:3.32 [[ 8.46544618e-01 -5.30113563e-01 -4.83923572e-02 7.23190485e+01] [ 5.29358686e-01 8.47925075e-01 -2.83275346e-02 1.89817547e+01] [ 5.60499034e-02 -1.63639269e-03 9.98426628e-01 3.31632483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.748040942 meters 0.026721573905598064 Centerline is valid? [True, True] Translation: X:72.34, Y:19.00, Z:3.32 [[ 8.47467130e-01 -5.28625971e-01 -4.85185139e-02 7.23421203e+01] [ 5.27864378e-01 8.48853474e-01 -2.84073532e-02 1.89978061e+01] [ 5.62019738e-02 -1.53689706e-03 9.98418237e-01 3.31579395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.778040942 meters 0.02582188511892129 Centerline is valid? [True, True] Translation: X:72.37, Y:19.01, Z:3.32 [[ 8.48364231e-01 -5.27246677e-01 -4.78442562e-02 7.23657810e+01] [ 5.26503421e-01 8.49711087e-01 -2.80217077e-02 1.90149566e+01] [ 5.54281473e-02 -1.41755004e-03 9.98461672e-01 3.31711058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.808040942 meters 0.023143282800714485 Centerline is valid? [True, True] Translation: X:72.39, Y:19.03, Z:3.32 [[ 8.50357812e-01 -5.24182106e-01 -4.60945940e-02 7.23876608e+01] [ 5.23487094e-01 8.51605406e-01 -2.70091566e-02 1.90342182e+01] [ 5.34121221e-02 -1.16247779e-03 9.98571877e-01 3.32069997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.838040942 meters 0.022815224020994215 Centerline is valid? [True, True] Translation: X:72.41, Y:19.05, Z:3.32 [[ 8.51085896e-01 -5.23070938e-01 -4.52724194e-02 7.24110953e+01] [ 5.22398651e-01 8.52288479e-01 -2.65329509e-02 1.90506352e+01] [ 5.24637770e-02 -1.06843057e-03 9.98622256e-01 3.32262231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86804094200001 meters 0.022470239980235462 Centerline is valid? [True, True] Translation: X:72.44, Y:19.07, Z:3.32 [[ 8.51842252e-01 -5.21938488e-01 -4.41020737e-02 7.24350185e+01] [ 5.21298328e-01 8.52982585e-01 -2.58604444e-02 1.90676730e+01] [ 5.11158621e-02 -9.61318090e-04 9.98692267e-01 3.32418301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.898040942 meters 0.022012252492972693 Centerline is valid? [True, True] Translation: X:72.46, Y:19.08, Z:3.33 [[ 8.52832652e-01 -5.20403858e-01 -4.30846976e-02 7.24576982e+01] [ 5.19790334e-01 8.53919856e-01 -2.52762314e-02 1.90848578e+01] [ 4.99447271e-02 -8.38613916e-04 9.98751631e-01 3.32554982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.928040942 meters 0.02181629285543998 Centerline is valid? [True, True] Translation: X:72.48, Y:19.10, Z:3.33 [[ 8.53054922e-01 -5.20081260e-01 -4.25767906e-02 7.24822989e+01] [ 5.19481076e-01 8.54116412e-01 -2.49913239e-02 1.91007909e+01] [ 4.93630548e-02 -7.98865085e-04 9.98780582e-01 3.32700128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.958040942 meters 0.020772952674692178 Centerline is valid? [True, True] Translation: X:72.50, Y:19.12, Z:3.33 [[ 8.53505693e-01 -5.19431808e-01 -4.14563563e-02 7.25047724e+01] [ 5.18861442e-01 8.54511593e-01 -2.43462700e-02 1.91186866e+01] [ 4.80711642e-02 -7.30424773e-04 9.98843646e-01 3.32925870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.988040942 meters 0.020903339075841222 Centerline is valid? [True, True] Translation: X:72.53, Y:19.13, Z:3.33 [[ 8.53564894e-01 -5.19370778e-01 -4.09995801e-02 7.25279748e+01] [ 5.18812212e-01 8.54548708e-01 -2.40913761e-02 1.91325896e+01] [ 4.75484949e-02 -7.07529972e-04 9.98868680e-01 3.33062235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.018040942 meters 0.02209097553192944 Centerline is valid? [True, True] Translation: X:72.55, Y:19.15, Z:3.33 [[ 8.53632686e-01 -5.19292010e-01 -4.05838039e-02 7.25512912e+01] [ 5.18744290e-01 8.54596590e-01 -2.38543215e-02 1.91485468e+01] [ 4.70701390e-02 -6.89788053e-04 9.98891349e-01 3.33055914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.048040942 meters 0.02080649943394302 Centerline is valid? [True, True] Translation: X:72.58, Y:19.16, Z:3.33 [[ 8.54017509e-01 -5.18648348e-01 -4.07183542e-02 7.25751481e+01] [ 5.18095536e-01 8.54987413e-01 -2.39486707e-02 1.91637812e+01] [ 4.72346189e-02 -6.43413422e-04 9.98883615e-01 3.33058203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.078040942 meters 0.02251207123949945 Centerline is valid? [True, True] Translation: X:72.60, Y:19.18, Z:3.33 [[ 8.53915977e-01 -5.18782372e-01 -4.11382369e-02 7.25986291e+01] [ 5.18217867e-01 8.54906092e-01 -2.42036243e-02 1.91791464e+01] [ 4.77257430e-02 -6.50707939e-04 9.98860266e-01 3.33050892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.108040942 meters 0.02047079359346085 Centerline is valid? [True, True] Translation: X:72.62, Y:19.19, Z:3.33 [[ 8.54002236e-01 -5.18636869e-01 -4.11822673e-02 7.26220203e+01] [ 5.18070263e-01 8.54994387e-01 -2.42446214e-02 1.91926929e+01] [ 4.77847618e-02 -6.30347153e-04 9.98857457e-01 3.33176265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.138040942 meters 0.02043102076777746 Centerline is valid? [True, True] Translation: X:72.65, Y:19.21, Z:3.33 [[ 8.53489124e-01 -5.19481040e-01 -4.11796526e-02 7.26470692e+01] [ 5.18915139e-01 8.54481713e-01 -2.42503670e-02 1.92080311e+01] [ 4.77848660e-02 -6.71320652e-04 9.98857425e-01 3.33238441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.168040942 meters 0.020396722880451922 Centerline is valid? [True, True] Translation: X:72.67, Y:19.22, Z:3.33 [[ 8.53011716e-01 -5.20307769e-01 -4.06304976e-02 7.26711153e+01] [ 5.19757161e-01 8.53978536e-01 -2.39406072e-02 1.92225563e+01] [ 4.71540568e-02 -6.96373710e-04 9.98887386e-01 3.33308211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.198040942 meters 0.02071598544471327 Centerline is valid? [True, True] Translation: X:72.70, Y:19.24, Z:3.33 [[ 8.52310857e-01 -5.21396714e-01 -4.13723189e-02 7.26958561e+01] [ 5.20826340e-01 8.53314065e-01 -2.43932492e-02 1.92359609e+01] [ 4.80221415e-02 -7.57162295e-04 9.98845984e-01 3.33396141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.228040942 meters 0.02065842062986572 Centerline is valid? [True, True] Translation: X:72.72, Y:19.25, Z:3.33 [[ 8.51195027e-01 -5.23226040e-01 -4.12497006e-02 7.27207532e+01] [ 5.22660919e-01 8.52193513e-01 -2.43265278e-02 1.92510905e+01] [ 4.78810001e-02 -8.52986963e-04 9.98852683e-01 3.33365769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.25804094200001 meters 0.021129237225190035 Centerline is valid? [True, True] Translation: X:72.75, Y:19.26, Z:3.33 [[ 8.50647307e-01 -5.24103119e-01 -4.14135170e-02 7.27452294e+01] [ 5.23533893e-01 8.51654343e-01 -2.44365057e-02 1.92639233e+01] [ 4.80772504e-02 -8.94531999e-04 9.98843220e-01 3.33400112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.288040942 meters 0.022506451392285833 Centerline is valid? [True, True] Translation: X:72.77, Y:19.28, Z:3.33 [[ 8.49451424e-01 -5.26031305e-01 -4.15131897e-02 7.27710989e+01] [ 5.25461358e-01 8.50464617e-01 -2.45009558e-02 1.92769976e+01] [ 4.81937687e-02 -1.00120524e-03 9.98837503e-01 3.33457021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.318040942 meters 0.020801854218068735 Centerline is valid? [True, True] Translation: X:72.80, Y:19.29, Z:3.34 [[ 8.48851465e-01 -5.27015980e-01 -4.12958572e-02 7.27955836e+01] [ 5.26452501e-01 8.49854738e-01 -2.43862566e-02 1.92922147e+01] [ 4.79474268e-02 -1.03999768e-03 9.98849319e-01 3.33695465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.348040942 meters 0.023095060165345092 Centerline is valid? [True, True] Translation: X:72.82, Y:19.31, Z:3.34 [[ 8.48383527e-01 -5.27730722e-01 -4.17812867e-02 7.28207872e+01] [ 5.27154108e-01 8.49411041e-01 -2.46866513e-02 1.93052451e+01] [ 4.85173905e-02 -1.08142860e-03 9.98821753e-01 3.33674482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.378040942 meters 0.021290030352102557 Centerline is valid? [True, True] Translation: X:72.85, Y:19.32, Z:3.34 [[ 8.48076731e-01 -5.28238858e-01 -4.15880687e-02 7.28451569e+01] [ 5.27667894e-01 8.49095105e-01 -2.45783723e-02 1.93188184e+01] [ 4.82954769e-02 -1.10034301e-03 9.98832487e-01 3.33878584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.408040942 meters 0.022510941493471423 Centerline is valid? [True, True] Translation: X:72.87, Y:19.33, Z:3.34 [[ 8.47627770e-01 -5.28937383e-01 -4.18617716e-02 7.28705682e+01] [ 5.28358949e-01 8.48660096e-01 -2.47560657e-02 1.93331212e+01] [ 4.86208237e-02 -1.13411292e-03 9.98816665e-01 3.33947273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.438040942 meters 0.022287799375891867 Centerline is valid? [True, True] Translation: X:72.89, Y:19.35, Z:3.34 [[ 8.47424898e-01 -5.29295549e-01 -4.14398955e-02 7.28949144e+01] [ 5.28728478e-01 8.48436764e-01 -2.45204879e-02 1.93474239e+01] [ 4.81377160e-02 -1.13118091e-03 9.98840068e-01 3.34105562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.468040942 meters 0.021468586160156535 Centerline is valid? [True, True] Translation: X:72.92, Y:19.36, Z:3.34 [[ 8.47282820e-01 -5.29540819e-01 -4.12109721e-02 7.29188118e+01] [ 5.28979568e-01 8.48283710e-01 -2.44000686e-02 1.93606214e+01] [ 4.78794287e-02 -1.12600325e-03 9.98852488e-01 3.34311528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.498040942 meters 0.021392987552639745 Centerline is valid? [True, True] Translation: X:72.94, Y:19.37, Z:3.34 [[ 8.47005599e-01 -5.29968032e-01 -4.14173964e-02 7.29436489e+01] [ 5.29401288e-01 8.48016842e-01 -2.45298194e-02 1.93744573e+01] [ 4.81226698e-02 -1.14952861e-03 9.98840772e-01 3.34456348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.528040942 meters 0.021624511220510012 Centerline is valid? [True, True] Translation: X:72.97, Y:19.39, Z:3.35 [[ 8.46828972e-01 -5.30255911e-01 -4.13444210e-02 7.29685627e+01] [ 5.29690791e-01 8.47836861e-01 -2.45014848e-02 1.93876462e+01] [ 4.80453813e-02 -1.15119187e-03 9.98844490e-01 3.34583868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.558040942 meters 0.021285596617412063 Centerline is valid? [True, True] Translation: X:72.99, Y:19.40, Z:3.35 [[ 8.46717231e-01 -5.30428518e-01 -4.14188037e-02 7.29931584e+01] [ 5.29861293e-01 8.47728875e-01 -2.45512591e-02 1.94012646e+01] [ 4.81346038e-02 -1.15824677e-03 9.98840187e-01 3.34689504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.588040942 meters 0.02297354473072106 Centerline is valid? [True, True] Translation: X:73.02, Y:19.42, Z:3.35 [[ 8.46988426e-01 -5.29974194e-01 -4.16888366e-02 7.30184852e+01] [ 5.29398232e-01 8.48013021e-01 -2.47270581e-02 1.94156462e+01] [ 4.84573790e-02 -1.12646436e-03 9.98824616e-01 3.34646656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.61804094200001 meters 0.02181217945674981 Centerline is valid? [True, True] Translation: X:73.04, Y:19.43, Z:3.35 [[ 8.46923575e-01 -5.30101717e-01 -4.13839085e-02 7.30422100e+01] [ 5.29533677e-01 8.47933328e-01 -2.45592433e-02 1.94286764e+01] [ 4.81096923e-02 -1.11437115e-03 9.98841437e-01 3.34846676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.648040942 meters 0.020753713729577145 Centerline is valid? [True, True] Translation: X:73.07, Y:19.44, Z:3.35 [[ 8.47640857e-01 -5.28991499e-01 -4.09019745e-02 7.30661637e+01] [ 5.28434992e-01 8.48626494e-01 -2.42802907e-02 1.94447115e+01] [ 4.75545666e-02 -1.03306817e-03 9.98868107e-01 3.35010752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.678040942 meters 0.020521234933776063 Centerline is valid? [True, True] Translation: X:73.09, Y:19.46, Z:3.35 [[ 8.47875162e-01 -5.28656026e-01 -4.03796603e-02 7.30910468e+01] [ 5.28112653e-01 8.48835571e-01 -2.39833108e-02 1.94590930e+01] [ 4.69546138e-02 -9.90156026e-04 9.98896533e-01 3.35156467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.708040942 meters 0.021712733381005402 Centerline is valid? [True, True] Translation: X:73.12, Y:19.47, Z:3.35 [[ 8.48360871e-01 -5.27856295e-01 -4.06394436e-02 7.31160294e+01] [ 5.27304355e-01 8.49333178e-01 -2.41509925e-02 1.94728525e+01] [ 4.72646812e-02 -9.40598555e-04 9.98881958e-01 3.35208975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.738040942 meters 0.020079722504566435 Centerline is valid? [True, True] Translation: X:73.14, Y:19.49, Z:3.35 [[ 8.49030386e-01 -5.26857501e-01 -3.96052769e-02 7.31407192e+01] [ 5.26331655e-01 8.49953203e-01 -2.35486951e-02 1.94864411e+01] [ 4.60694386e-02 -8.51953285e-04 9.98937876e-01 3.35486828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.768040942 meters 0.01994395865231415 Centerline is valid? [True, True] Translation: X:73.17, Y:19.50, Z:3.36 [[ 8.49281299e-01 -5.26480830e-01 -3.92327834e-02 7.31653934e+01] [ 5.25964218e-01 8.50186606e-01 -2.33319002e-02 1.95004982e+01] [ 4.56389852e-02 -8.19693706e-04 9.98957662e-01 3.35634810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.798040942 meters 0.01994004001630482 Centerline is valid? [True, True] Translation: X:73.19, Y:19.51, Z:3.36 [[ 8.49621678e-01 -5.25945638e-01 -3.90408868e-02 7.31902624e+01] [ 5.25432944e-01 8.50517832e-01 -2.32301141e-02 1.95137736e+01] [ 4.54227476e-02 -7.76559563e-04 9.98967553e-01 3.35702568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.828040942 meters 0.01909944744712068 Centerline is valid? [True, True] Translation: X:73.21, Y:19.53, Z:3.36 [[ 8.49846353e-01 -5.25559505e-01 -3.93495037e-02 7.32143260e+01] [ 5.25038038e-01 8.50756506e-01 -2.34185150e-02 1.95300528e+01] [ 4.57846694e-02 -7.57846671e-04 9.98951045e-01 3.35846209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.858040942 meters 0.0198849702107115 Centerline is valid? [True, True] Translation: X:73.24, Y:19.54, Z:3.36 [[ 8.49864877e-01 -5.25539022e-01 -3.92227851e-02 7.32394049e+01] [ 5.25020292e-01 8.50769172e-01 -2.33561437e-02 1.95411573e+01] [ 4.56441013e-02 -7.43191912e-04 9.98957488e-01 3.35898476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.888040942 meters 0.019874661088376152 Centerline is valid? [True, True] Translation: X:73.26, Y:19.55, Z:3.36 [[ 8.50013246e-01 -5.25299165e-01 -3.92207838e-02 7.32639327e+01] [ 5.24779924e-01 8.50917306e-01 -2.33617029e-02 1.95545913e+01] [ 4.56455267e-02 -7.24523060e-04 9.98957437e-01 3.35991732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.918040942 meters 0.01953457693286851 Centerline is valid? [True, True] Translation: X:73.29, Y:19.57, Z:3.36 [[ 8.50496569e-01 -5.24536761e-01 -3.89457646e-02 7.32897721e+01] [ 5.24023360e-01 8.51387539e-01 -2.32115655e-02 1.95678830e+01] [ 4.53332580e-02 -6.67133586e-04 9.98971697e-01 3.36178967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.948040942 meters 0.019298084237047444 Centerline is valid? [True, True] Translation: X:73.31, Y:19.58, Z:3.36 [[ 8.50728701e-01 -5.24189149e-01 -3.85540354e-02 7.33141661e+01] [ 5.23685143e-01 8.51601630e-01 -2.29898747e-02 1.95821763e+01] [ 4.48837222e-02 -6.32029324e-04 9.98992018e-01 3.36317317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.978040942 meters 0.01884683924485765 Centerline is valid? [True, True] Translation: X:73.34, Y:19.60, Z:3.36 [[ 8.51788996e-01 -5.22466708e-01 -3.85232920e-02 7.33382446e+01] [ 5.21961141e-01 8.52659521e-01 -2.29849741e-02 1.95960791e+01] [ 4.48561355e-02 -5.29313453e-04 9.98993317e-01 3.36364770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00804094200001 meters 0.018085213481740324 Centerline is valid? [True, True] Translation: X:73.36, Y:19.61, Z:3.36 [[ 8.52183891e-01 -5.21815601e-01 -3.86147081e-02 7.33618198e+01] [ 5.21306677e-01 8.53058168e-01 -2.30458268e-02 1.96124942e+01] [ 4.49662641e-02 -4.90822846e-04 9.98988385e-01 3.36458576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.038040942 meters 0.01831934106901991 Centerline is valid? [True, True] Translation: X:73.39, Y:19.62, Z:3.37 [[ 8.52789439e-01 -5.20831553e-01 -3.85313630e-02 7.33876118e+01] [ 5.20323238e-01 8.53659365e-01 -2.30090442e-02 1.96244217e+01] [ 4.48764951e-02 -4.26893684e-04 9.98992451e-01 3.36569922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.068040942 meters 0.017560745090589903 Centerline is valid? [True, True] Translation: X:73.41, Y:19.64, Z:3.37 [[ 8.53829029e-01 -5.19096281e-01 -3.89235306e-02 7.34122193e+01] [ 5.18575536e-01 8.54715707e-01 -2.32480992e-02 1.96398520e+01] [ 4.53365548e-02 -3.34888802e-04 9.98971714e-01 3.36688209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.098040942 meters 0.017560745090589903 Centerline is valid? [True, True] Translation: X:73.44, Y:19.65, Z:3.37 [[ 8.53682706e-01 -5.19337312e-01 -3.89177793e-02 7.34358196e+01] [ 5.18816379e-01 8.54569273e-01 -2.32577231e-02 1.96540586e+01] [ 4.53365418e-02 -3.36465309e-04 9.98971714e-01 3.36810593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.128040942 meters 0.017511569756404513 Centerline is valid? [True, True] Translation: X:73.46, Y:19.67, Z:3.37 [[ 8.54134378e-01 -5.18592514e-01 -3.89392976e-02 7.34600013e+01] [ 5.18069553e-01 8.55021476e-01 -2.32855103e-02 1.96679684e+01] [ 4.53696270e-02 -2.84309654e-04 9.98970228e-01 3.36911228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.158040942 meters 0.017510629851562307 Centerline is valid? [True, True] Translation: X:73.48, Y:19.68, Z:3.37 [[ 8.54669981e-01 -5.17696662e-01 -3.91074192e-02 7.34843330e+01] [ 5.17167537e-01 8.55564209e-01 -2.34013367e-02 1.96798309e+01] [ 4.55737020e-02 -2.24667674e-04 9.98960954e-01 3.37013855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.188040942 meters 0.01729373537998394 Centerline is valid? [True, True] Translation: X:73.51, Y:19.69, Z:3.37 [[ 8.55411959e-01 -5.16470550e-01 -3.90967058e-02 7.35087750e+01] [ 5.15939954e-01 8.56304939e-01 -2.34054515e-02 1.96941718e+01] [ 4.55669287e-02 -1.50249518e-04 9.98961277e-01 3.37148527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.218040942 meters 0.0170991033051593 Centerline is valid? [True, True] Translation: X:73.53, Y:19.71, Z:3.37 [[ 8.55578263e-01 -5.16185136e-01 -3.92268036e-02 7.35326501e+01] [ 5.15650002e-01 8.56477023e-01 -2.34986109e-02 1.97081823e+01] [ 4.57264896e-02 -1.22400683e-04 9.98953990e-01 3.37251987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.248040942 meters 0.017115715563543753 Centerline is valid? [True, True] Translation: X:73.56, Y:19.72, Z:3.37 [[ 8.55702825e-01 -5.15973579e-01 -3.92930103e-02 7.35581372e+01] [ 5.15435710e-01 8.56604492e-01 -2.35536132e-02 1.97205737e+01] [ 4.58116113e-02 -9.81273052e-05 9.98950092e-01 3.37376999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.278040942 meters 0.017089458651427 Centerline is valid? [True, True] Translation: X:73.58, Y:19.73, Z:3.37 [[ 8.55608501e-01 -5.16109911e-01 -3.95556952e-02 7.35823134e+01] [ 5.15564263e-01 8.56522359e-01 -2.37263577e-02 1.97323722e+01] [ 4.61257457e-02 -9.30294881e-05 9.98935637e-01 3.37464656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.308040942 meters 0.01703179786597323 Centerline is valid? [True, True] Translation: X:73.61, Y:19.75, Z:3.38 [[ 8.55163983e-01 -5.16821379e-01 -3.98776084e-02 7.36076944e+01] [ 5.16267247e-01 8.56093246e-01 -2.39266383e-02 1.97452490e+01] [ 4.65047494e-02 -1.26303826e-04 9.98918061e-01 3.37556194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.338040942 meters 0.01704762828545308 Centerline is valid? [True, True] Translation: X:73.63, Y:19.76, Z:3.38 [[ 8.54213558e-01 -5.18355343e-01 -4.03352881e-02 7.36338005e+01] [ 5.17789398e-01 8.55165305e-01 -2.42165485e-02 1.97557755e+01] [ 4.70461163e-02 -1.99080512e-04 9.98892699e-01 3.37595928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36804094200001 meters 0.017048700851501224 Centerline is valid? [True, True] Translation: X:73.66, Y:19.77, Z:3.38 [[ 8.53693757e-01 -5.19233937e-01 -4.00385806e-02 7.36581984e+01] [ 5.18677029e-01 8.54632120e-01 -2.40432767e-02 1.97675529e+01] [ 4.67023422e-02 -2.41496839e-04 9.98908821e-01 3.37690686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.398040942 meters 0.01712457804444164 Centerline is valid? [True, True] Translation: X:73.68, Y:19.78, Z:3.38 [[ 8.53088469e-01 -5.20231004e-01 -3.99970880e-02 7.36835908e+01] [ 5.19676022e-01 8.54025537e-01 -2.40252815e-02 1.97802051e+01] [ 4.66572309e-02 -2.89836995e-04 9.98910916e-01 3.37807743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.428040942 meters 0.017150071887213323 Centerline is valid? [True, True] Translation: X:73.71, Y:19.79, Z:3.38 [[ 8.52746753e-01 -5.20773977e-01 -4.02174040e-02 7.37082018e+01] [ 5.20212733e-01 8.53694541e-01 -2.41731752e-02 1.97915959e+01] [ 4.69221389e-02 -3.08009002e-04 9.98898502e-01 3.37893618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.458040942 meters 0.017315765583872766 Centerline is valid? [True, True] Translation: X:73.73, Y:19.80, Z:3.38 [[ 8.51821811e-01 -5.22247032e-01 -4.07141191e-02 7.37349863e+01] [ 5.21672982e-01 8.52794166e-01 -2.44828627e-02 1.98034346e+01] [ 4.75068656e-02 -3.84419488e-04 9.98870837e-01 3.37935459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.488040942 meters 0.018782427013191706 Centerline is valid? [True, True] Translation: X:73.76, Y:19.82, Z:3.38 [[ 8.51930613e-01 -5.22058669e-01 -4.08531122e-02 7.37589068e+01] [ 5.21479807e-01 8.52909499e-01 -2.45804132e-02 1.98182468e+01] [ 4.76764253e-02 -3.63266618e-04 9.98862767e-01 3.37915825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.518040942 meters 0.017233541355808398 Centerline is valid? [True, True] Translation: X:73.78, Y:19.84, Z:3.38 [[ 8.52985984e-01 -5.20439062e-01 -3.94726992e-02 7.37817356e+01] [ 5.19896264e-01 8.53898776e-01 -2.37645517e-02 1.98351455e+01] [ 4.60736905e-02 -2.50879396e-04 9.98938012e-01 3.38196949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.548040942 meters 0.01718330684024306 Centerline is valid? [True, True] Translation: X:73.80, Y:19.85, Z:3.38 [[ 8.53512530e-01 -5.19574469e-01 -3.94807956e-02 7.38046664e+01] [ 5.19029910e-01 8.54425148e-01 -2.37827254e-02 1.98505419e+01] [ 4.60902816e-02 -1.92859642e-04 9.98937260e-01 3.38310338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.578040942 meters 0.017158219781283297 Centerline is valid? [True, True] Translation: X:73.83, Y:19.87, Z:3.38 [[ 8.54130456e-01 -5.18530467e-01 -3.98411754e-02 7.38281202e+01] [ 5.17974073e-01 8.55059143e-01 -2.40150251e-02 1.98669325e+01] [ 4.65190835e-02 -1.24731577e-04 9.98917394e-01 3.38402358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.608040942 meters 0.017102623166268805 Centerline is valid? [True, True] Translation: X:73.85, Y:19.88, Z:3.38 [[ 8.54978899e-01 -5.17069055e-01 -4.06285086e-02 7.38498646e+01] [ 5.16488073e-01 8.55943685e-01 -2.45046695e-02 1.98830567e+01] [ 4.74463216e-02 -3.31647270e-05 9.98873789e-01 3.38426366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.638040942 meters 0.01711254950389559 Centerline is valid? [True, True] Translation: X:73.87, Y:19.90, Z:3.39 [[ 8.54784406e-01 -5.17403277e-01 -4.04656440e-02 7.38738729e+01] [ 5.16826985e-01 8.55741694e-01 -2.44135182e-02 1.98974882e+01] [ 4.72597731e-02 -4.54421222e-05 9.98882632e-01 3.38597969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.668040942 meters 0.01726109996268092 Centerline is valid? [True, True] Translation: X:73.90, Y:19.91, Z:3.39 [[ 8.53737520e-01 -5.19141003e-01 -4.03096198e-02 7.38974284e+01] [ 5.18570392e-01 8.54688600e-01 -2.43340474e-02 1.99107507e+01] [ 4.70849743e-02 -1.28486084e-04 9.98890879e-01 3.38760606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.698040942 meters 0.017338977735386004 Centerline is valid? [True, True] Translation: X:73.92, Y:19.92, Z:3.39 [[ 8.52911472e-01 -5.20508332e-01 -4.01633932e-02 7.39214779e+01] [ 5.19942884e-01 8.53856568e-01 -2.42561113e-02 1.99249151e+01] [ 4.69192851e-02 -1.94354921e-04 9.98898665e-01 3.38902747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.728040942 meters 0.017464071919579393 Centerline is valid? [True, True] Translation: X:73.95, Y:19.94, Z:3.39 [[ 8.51818142e-01 -5.22321006e-01 -3.98324016e-02 7.39457259e+01] [ 5.21766168e-01 8.52748901e-01 -2.40702555e-02 1.99382520e+01] [ 4.65394367e-02 -2.79719260e-04 9.98916414e-01 3.39034792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.75804094200001 meters 0.017700671929705206 Centerline is valid? [True, True] Translation: X:73.97, Y:19.95, Z:3.39 [[ 8.50641420e-01 -5.24275562e-01 -3.92976943e-02 7.39711580e+01] [ 5.23737397e-01 8.51548585e-01 -2.37517726e-02 1.99517219e+01] [ 4.59163699e-02 -3.77430558e-04 9.98945216e-01 3.39235400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.788040942 meters 0.01823994327377174 Centerline is valid? [True, True] Translation: X:74.00, Y:19.97, Z:3.39 [[ 8.47820462e-01 -5.28891499e-01 -3.83959201e-02 7.39968965e+01] [ 5.28381944e-01 8.48689236e-01 -2.32185685e-02 1.99652390e+01] [ 4.48663076e-02 -6.02533438e-04 9.98992818e-01 3.39463315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.818040942 meters 0.018726958283449512 Centerline is valid? [True, True] Translation: X:74.02, Y:19.98, Z:3.40 [[ 8.46490798e-01 -5.31028391e-01 -3.82384164e-02 7.40214662e+01] [ 5.30524614e-01 8.47353737e-01 -2.31360837e-02 1.99782924e+01] [ 4.46873823e-02 -7.01939146e-04 9.99000773e-01 3.39580105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.848040942 meters 0.02097658263275078 Centerline is valid? [True, True] Translation: X:74.05, Y:19.99, Z:3.40 [[ 8.43869671e-01 -5.35158072e-01 -3.85981361e-02 7.40488883e+01] [ 5.34648861e-01 8.44751432e-01 -2.33583669e-02 1.99871806e+01] [ 4.51062493e-02 -9.25032161e-04 9.98981767e-01 3.39692137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.878040942 meters 0.021804316152334646 Centerline is valid? [True, True] Translation: X:74.07, Y:20.00, Z:3.40 [[ 8.42638198e-01 -5.37082333e-01 -3.87741498e-02 7.40743265e+01] [ 5.36570256e-01 8.43529199e-01 -2.34701892e-02 2.00000815e+01] [ 4.53125515e-02 -1.02817758e-03 9.98972330e-01 3.39778433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.908040942 meters 0.020138188312146966 Centerline is valid? [True, True] Translation: X:74.10, Y:20.02, Z:3.40 [[ 8.41624339e-01 -5.38649722e-01 -3.90505840e-02 7.40970451e+01] [ 5.38131790e-01 8.42529068e-01 -2.36420479e-02 2.00176760e+01] [ 4.56360347e-02 -1.11663778e-03 9.98957509e-01 3.39897625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.938040942 meters 0.021281944023518202 Centerline is valid? [True, True] Translation: X:74.12, Y:20.03, Z:3.40 [[ 8.41051727e-01 -5.39515521e-01 -3.94334255e-02 7.41217248e+01] [ 5.38987717e-01 8.41974850e-01 -2.38870825e-02 2.00297870e+01] [ 4.60894043e-02 -1.16385997e-03 9.98936641e-01 3.40023959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.968040942 meters 0.023431214198324585 Centerline is valid? [True, True] Translation: X:74.15, Y:20.04, Z:3.40 [[ 8.41219120e-01 -5.39275887e-01 -3.91396149e-02 7.41471501e+01] [ 5.38755450e-01 8.42128388e-01 -2.37137827e-02 2.00413709e+01] [ 4.57488520e-02 -1.13819340e-03 9.98952325e-01 3.40145772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.998040942 meters 0.020322125842518916 Centerline is valid? [True, True] Translation: X:74.17, Y:20.06, Z:3.40 [[ 8.41256526e-01 -5.39240339e-01 -3.88241478e-02 7.41676153e+01] [ 5.38728011e-01 8.42151171e-01 -2.35273213e-02 2.00618855e+01] [ 4.53826823e-02 -1.12314333e-03 9.98969044e-01 3.40314774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.028040942 meters 0.020420464916667026 Centerline is valid? [True, True] Translation: X:74.19, Y:20.08, Z:3.40 [[ 8.41971301e-01 -5.38078505e-01 -3.94442753e-02 7.41907403e+01] [ 5.37547692e-01 8.42894056e-01 -2.39183859e-02 2.00769329e+01] [ 4.61173145e-02 -1.06458463e-03 9.98935463e-01 3.40433937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.058040942 meters 0.020331669381031942 Centerline is valid? [True, True] Translation: X:74.22, Y:20.09, Z:3.41 [[ 8.42299532e-01 -5.37583933e-01 -3.91792331e-02 7.42153064e+01] [ 5.37059472e-01 8.43209619e-01 -2.37626142e-02 2.00925101e+01] [ 4.58107058e-02 -1.02633942e-03 9.98949611e-01 3.40609522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.088040942 meters 0.020349468551207683 Centerline is valid? [True, True] Translation: X:74.24, Y:20.11, Z:3.41 [[ 8.42668245e-01 -5.37044248e-01 -3.86484737e-02 7.42403022e+01] [ 5.36532761e-01 8.43553513e-01 -2.34534984e-02 2.01078383e+01] [ 4.51976222e-02 -9.72653939e-04 9.98977592e-01 3.40846634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.11804094200001 meters 0.02043332904010546 Centerline is valid? [True, True] Translation: X:74.26, Y:20.12, Z:3.41 [[ 8.42613925e-01 -5.37182537e-01 -3.79037615e-02 7.42642392e+01] [ 5.36690211e-01 8.43465480e-01 -2.30130634e-02 2.01223506e+01] [ 4.43327302e-02 -9.51450084e-04 9.99016368e-01 3.40992045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.148040942 meters 0.02059018868826484 Centerline is valid? [True, True] Translation: X:74.29, Y:20.14, Z:3.41 [[ 8.42596204e-01 -5.37209888e-01 -3.79100702e-02 7.42875021e+01] [ 5.36716783e-01 8.43448073e-01 -2.30313591e-02 2.01362158e+01] [ 4.43478495e-02 -9.40835144e-04 9.99015707e-01 3.41131104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.178040942 meters 0.020794244904578253 Centerline is valid? [True, True] Translation: X:74.31, Y:20.15, Z:3.41 [[ 8.42268107e-01 -5.37739827e-01 -3.76870625e-02 7.43118975e+01] [ 5.37252769e-01 8.43110290e-01 -2.29020037e-02 2.01513728e+01] [ 4.40896697e-02 -9.57851391e-04 9.99027119e-01 3.41295915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.208040942 meters 0.020701794942774042 Centerline is valid? [True, True] Translation: X:74.34, Y:20.17, Z:3.41 [[ 8.42041060e-01 -5.38078284e-01 -3.79290741e-02 7.43350947e+01] [ 5.37584732e-01 8.42894310e-01 -2.30616297e-02 2.01677610e+01] [ 4.43791629e-02 -9.71251961e-04 9.99014287e-01 3.41345417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.238040942 meters 0.020473786716835325 Centerline is valid? [True, True] Translation: X:74.36, Y:20.18, Z:3.41 [[ 8.42364186e-01 -5.37478118e-01 -3.92409343e-02 7.43594458e+01] [ 5.36948462e-01 8.43277151e-01 -2.38746002e-02 2.01842293e+01] [ 4.59230585e-02 -9.59251146e-04 9.98944519e-01 3.41371228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.268040942 meters 0.020256637212323524 Centerline is valid? [True, True] Translation: X:74.38, Y:20.20, Z:3.41 [[ 8.42570414e-01 -5.37144390e-01 -3.93827619e-02 7.43837677e+01] [ 5.36609924e-01 8.43489795e-01 -2.39740703e-02 2.01999261e+01] [ 4.60964951e-02 -9.33338566e-04 9.98936556e-01 3.41499906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.298040942 meters 0.020267091724314703 Centerline is valid? [True, True] Translation: X:74.41, Y:20.21, Z:3.42 [[ 8.42812772e-01 -5.36717106e-01 -4.00172359e-02 7.44071204e+01] [ 5.36164164e-01 8.43761764e-01 -2.43736689e-02 2.02142821e+01] [ 4.68467786e-02 -9.13368350e-04 9.98901669e-01 3.41629367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.328040942 meters 0.020649500218021637 Centerline is valid? [True, True] Translation: X:74.43, Y:20.23, Z:3.42 [[ 8.43097758e-01 -5.36248517e-01 -4.02951307e-02 7.44315584e+01] [ 5.35686992e-01 8.44059678e-01 -2.45500750e-02 2.02276492e+01] [ 4.71764363e-02 -8.87464169e-04 9.98886178e-01 3.41773902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.358040942 meters 0.019982221220095377 Centerline is valid? [True, True] Translation: X:74.46, Y:20.24, Z:3.42 [[ 8.44000009e-01 -5.34801656e-01 -4.06346422e-02 7.44553538e+01] [ 5.34228689e-01 8.44977239e-01 -2.47623272e-02 2.02438864e+01] [ 4.75782813e-02 -8.08787261e-04 9.98867185e-01 3.41996223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.388040942 meters 0.01989698421237376 Centerline is valid? [True, True] Translation: X:74.48, Y:20.26, Z:3.42 [[ 8.44177871e-01 -5.34484028e-01 -4.11162565e-02 7.44786905e+01] [ 5.33896339e-01 8.45178208e-01 -2.50698410e-02 2.02591707e+01] [ 4.81499936e-02 -7.88413791e-04 9.98839805e-01 3.42066631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.418040942 meters 0.019423201166165246 Centerline is valid? [True, True] Translation: X:74.50, Y:20.28, Z:3.42 [[ 8.45345747e-01 -5.32557337e-01 -4.21099924e-02 7.45024273e+01] [ 5.31937683e-01 8.46393655e-01 -2.56920713e-02 2.02764262e+01] [ 4.93241315e-02 -6.81208576e-04 9.98782592e-01 3.42101461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.448040942 meters 0.01957304032529936 Centerline is valid? [True, True] Translation: X:74.53, Y:20.29, Z:3.42 [[ 8.45644572e-01 -5.32009115e-01 -4.30297654e-02 7.45263607e+01] [ 5.31360648e-01 8.46738376e-01 -2.62675359e-02 2.02898552e+01] [ 5.04095222e-02 -6.51324941e-04 9.98728419e-01 3.42173663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.478040942 meters 0.019472263623308176 Centerline is valid? [True, True] Translation: X:74.55, Y:20.30, Z:3.42 [[ 8.46031134e-01 -5.31281009e-01 -4.44050596e-02 7.45512574e+01] [ 5.30588918e-01 8.47195435e-01 -2.71163195e-02 2.03023746e+01] [ 5.20261494e-02 -6.19582058e-04 9.98645531e-01 3.42335401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.508040942 meters 0.019658341256702457 Centerline is valid? [True, True] Translation: X:74.58, Y:20.32, Z:3.42 [[ 8.45923999e-01 -5.31410429e-01 -4.48948171e-02 7.45758637e+01] [ 5.30702221e-01 8.47114262e-01 -2.74331886e-02 2.03157765e+01] [ 5.26093223e-02 -6.19386603e-04 9.98614979e-01 3.42445559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.538040942 meters 0.019683294851618127 Centerline is valid? [True, True] Translation: X:74.60, Y:20.33, Z:3.43 [[ 8.45958749e-01 -5.31338148e-01 -4.50950892e-02 7.46002747e+01] [ 5.30622566e-01 8.47159612e-01 -2.75732433e-02 2.03296926e+01] [ 5.28534544e-02 -6.02645519e-04 9.98602098e-01 3.42590302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.568040942 meters 0.019856711423135248 Centerline is valid? [True, True] Translation: X:74.62, Y:20.35, Z:3.43 [[ 8.46658877e-01 -5.30264712e-01 -4.45879102e-02 7.46238357e+01] [ 5.29562769e-01 8.47831982e-01 -2.72800958e-02 2.03457262e+01] [ 5.22687284e-02 -5.15161942e-04 9.98632923e-01 3.42735589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.598040942 meters 0.019742819949610104 Centerline is valid? [True, True] Translation: X:74.65, Y:20.36, Z:3.43 [[ 8.46994849e-01 -5.29757914e-01 -4.42298376e-02 7.46479928e+01] [ 5.29065735e-01 8.48148769e-01 -2.70760588e-02 2.03620191e+01] [ 5.18572387e-02 -4.67209203e-04 9.98654399e-01 3.42861921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.628040942 meters 0.019967543462526747 Centerline is valid? [True, True] Translation: X:74.67, Y:20.38, Z:3.43 [[ 8.46963928e-01 -5.29812479e-01 -4.41683413e-02 7.46709961e+01] [ 5.29121500e-01 8.48114690e-01 -2.70538403e-02 2.03776717e+01] [ 5.17932813e-02 -4.56792212e-04 9.98657723e-01 3.42945275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.658040942 meters 0.02168509224752356 Centerline is valid? [True, True] Translation: X:74.69, Y:20.39, Z:3.43 [[ 8.46896415e-01 -5.29889444e-01 -4.45380639e-02 7.46939291e+01] [ 5.29186030e-01 8.48066610e-01 -2.72978109e-02 2.03934976e+01] [ 5.22360667e-02 -4.50503028e-04 9.98634663e-01 3.42926373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.688040942 meters 0.021347193146280932 Centerline is valid? [True, True] Translation: X:74.72, Y:20.41, Z:3.43 [[ 8.46788929e-01 -5.30067253e-01 -4.44659027e-02 7.47172176e+01] [ 5.29365538e-01 8.47955486e-01 -2.72693978e-02 2.04076707e+01] [ 5.21597210e-02 -4.47292334e-04 9.98638655e-01 3.43056279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.718040942 meters 0.020573588152490423 Centerline is valid? [True, True] Translation: X:74.74, Y:20.42, Z:3.43 [[ 8.46064843e-01 -5.31248945e-01 -4.41456550e-02 7.47406226e+01] [ 5.30558547e-01 8.47215615e-01 -2.70800793e-02 2.04217703e+01] [ 5.17871518e-02 -5.10351557e-04 9.98658015e-01 3.43283870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.748040942 meters 0.020598056860421547 Centerline is valid? [True, True] Translation: X:74.77, Y:20.44, Z:3.43 [[ 8.45244502e-01 -5.32522098e-01 -4.45190496e-02 7.47652179e+01] [ 5.31821372e-01 8.46415896e-01 -2.73159130e-02 2.04376677e+01] [ 5.22279586e-02 -5.87556751e-04 9.98635016e-01 3.43401616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.778040942 meters 0.021266222363708592 Centerline is valid? [True, True] Translation: X:74.79, Y:20.45, Z:3.43 [[ 8.44293893e-01 -5.33967406e-01 -4.52397099e-02 7.47889284e+01] [ 5.33245124e-01 8.45504791e-01 -2.77720268e-02 2.04518712e+01] [ 5.30797485e-02 -6.76102111e-04 9.98590048e-01 3.43370241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.808040942 meters 0.02136104827661523 Centerline is valid? [True, True] Translation: X:74.81, Y:20.47, Z:3.43 [[ 8.43174055e-01 -5.35701036e-01 -4.56279737e-02 7.48136102e+01] [ 5.34968447e-01 8.44407355e-01 -2.80174813e-02 2.04670927e+01] [ 5.35375904e-02 -7.85912845e-04 9.98565526e-01 3.43360530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.838040942 meters 0.021443188141199346 Centerline is valid? [True, True] Translation: X:74.84, Y:20.48, Z:3.43 [[ 8.40803931e-01 -5.39296209e-01 -4.69930731e-02 7.48378845e+01] [ 5.38523808e-01 8.42115512e-01 -2.88716569e-02 2.04831211e+01] [ 5.51439709e-02 -1.03148609e-03 9.98477881e-01 3.43413711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86804094200001 meters 0.021907273478013245 Centerline is valid? [True, True] Translation: X:74.86, Y:20.50, Z:3.43 [[ 8.39779927e-01 -5.40863271e-01 -4.72926709e-02 7.48627449e+01] [ 5.40082665e-01 8.41109771e-01 -2.90700755e-02 2.04966336e+01] [ 5.55012637e-02 -1.12948584e-03 9.98457978e-01 3.43481170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.898040942 meters 0.022331437859763815 Centerline is valid? [True, True] Translation: X:74.89, Y:20.51, Z:3.44 [[ 8.37490837e-01 -5.44446777e-01 -4.67632786e-02 7.48881101e+01] [ 5.43688704e-01 8.38794312e-01 -2.87523058e-02 2.05103411e+01] [ 5.48788723e-02 -1.34487369e-03 9.98492113e-01 3.43647155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.928040942 meters 0.024322280800185312 Centerline is valid? [True, True] Translation: X:74.91, Y:20.52, Z:3.44 [[ 8.36679125e-01 -5.45587671e-01 -4.79805636e-02 7.49130700e+01] [ 5.44790508e-01 8.38052511e-01 -2.95176317e-02 2.05246989e+01] [ 5.63146878e-02 -1.44256937e-03 9.98412027e-01 3.43693258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.958040942 meters 0.023073838443103702 Centerline is valid? [True, True] Translation: X:74.94, Y:20.54, Z:3.44 [[ 8.35937903e-01 -5.46747108e-01 -4.77013869e-02 7.49369268e+01] [ 5.45960291e-01 8.37296453e-01 -2.93600281e-02 2.05386797e+01] [ 5.59927125e-02 -1.49990272e-03 9.98430051e-01 3.43854219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.988040942 meters 0.023073838443103702 Centerline is valid? [True, True] Translation: X:74.96, Y:20.55, Z:3.44 [[ 8.35783567e-01 -5.46983333e-01 -4.76976243e-02 7.49603579e+01] [ 5.46196550e-01 8.37142137e-01 -2.93661394e-02 2.05531991e+01] [ 5.59924800e-02 -1.50854117e-03 9.98430051e-01 3.43976898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.018040942 meters 0.023610336280444528 Centerline is valid? [True, True] Translation: X:74.98, Y:20.57, Z:3.44 [[ 8.35605218e-01 -5.47205300e-01 -4.82729586e-02 7.49843372e+01] [ 5.46398859e-01 8.36997027e-01 -2.97365571e-02 2.05683510e+01] [ 5.66763245e-02 -1.52826720e-03 9.98391436e-01 3.43952488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.048040942 meters 0.02306593355226917 Centerline is valid? [True, True] Translation: X:75.01, Y:20.59, Z:3.44 [[ 8.36062690e-01 -5.46501538e-01 -4.83244040e-02 7.50084071e+01] [ 5.45691741e-01 8.37456801e-01 -2.97763604e-02 2.05850444e+01] [ 5.67424276e-02 -1.47532414e-03 9.98387761e-01 3.44063360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.078040942 meters 0.022758719557800355 Centerline is valid? [True, True] Translation: X:75.03, Y:20.60, Z:3.44 [[ 8.36739084e-01 -5.45460404e-01 -4.83802917e-02 7.50322954e+01] [ 5.44646059e-01 8.38135436e-01 -2.98272078e-02 2.06007436e+01] [ 5.68187977e-02 -1.39254467e-03 9.98383536e-01 3.44217867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.108040942 meters 0.022394104209177177 Centerline is valid? [True, True] Translation: X:75.06, Y:20.62, Z:3.44 [[ 8.37817437e-01 -5.43838175e-01 -4.79789617e-02 7.50564489e+01] [ 5.43033726e-01 8.39189166e-01 -2.95958920e-02 2.06164868e+01] [ 5.63588007e-02 -1.25823996e-03 9.98409787e-01 3.44397703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.138040942 meters 0.021435496659667326 Centerline is valid? [True, True] Translation: X:75.08, Y:20.63, Z:3.45 [[ 8.40642716e-01 -5.39507085e-01 -4.74544933e-02 7.50794612e+01] [ 5.38712385e-01 8.41980531e-01 -2.92874000e-02 2.06335389e+01] [ 5.57565193e-02 -9.44083794e-04 9.98443949e-01 3.44626051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.168040942 meters 0.020974705038360665 Centerline is valid? [True, True] Translation: X:75.10, Y:20.65, Z:3.45 [[ 8.41960941e-01 -5.37452887e-01 -4.73937553e-02 7.51028269e+01] [ 5.36656252e-01 8.43293401e-01 -2.92627349e-02 2.06498752e+01] [ 5.56941824e-02 -7.96075280e-04 9.98447557e-01 3.44790202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.198040942 meters 0.020277203896872438 Centerline is valid? [True, True] Translation: X:75.12, Y:20.67, Z:3.45 [[ 8.45031993e-01 -5.32637237e-01 -4.71010053e-02 7.51243118e+01] [ 5.31842164e-01 8.46343523e-01 -2.90955996e-02 2.06675874e+01] [ 5.53610305e-02 -4.63588062e-04 9.98466295e-01 3.44912563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.228040942 meters 0.0199301897514411 Centerline is valid? [True, True] Translation: X:75.15, Y:20.68, Z:3.45 [[ 8.46271890e-01 -5.30677518e-01 -4.69601847e-02 7.51471037e+01] [ 5.29883763e-01 8.47573751e-01 -2.90160855e-02 2.06849556e+01] [ 5.52004042e-02 -3.27941812e-04 9.98475241e-01 3.45069611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.258040942 meters 0.019738328972455435 Centerline is valid? [True, True] Translation: X:75.17, Y:20.70, Z:3.45 [[ 8.48636300e-01 -5.26936856e-01 -4.64110057e-02 7.51693783e+01] [ 5.26155204e-01 8.49904433e-01 -2.86906967e-02 2.07023931e+01] [ 5.45631050e-02 -7.14255411e-05 9.98510322e-01 3.45190163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.288040942 meters 0.019619063965608956 Centerline is valid? [True, True] Translation: X:75.19, Y:20.72, Z:3.45 [[ 8.49425450e-01 -5.25696927e-01 -4.60341752e-02 7.51917547e+01] [ 5.24925676e-01 8.50671935e-01 -2.84656622e-02 2.07168630e+01] [ 5.41242920e-02 1.49373537e-05 9.98534206e-01 3.45341951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.318040942 meters 0.020830717699706597 Centerline is valid? [True, True] Translation: X:75.22, Y:20.73, Z:3.46 [[ 8.49764763e-01 -5.25177802e-01 -4.56960044e-02 7.52156238e+01] [ 5.24416610e-01 8.50992523e-01 -2.82656306e-02 2.07314297e+01] [ 5.37314398e-02 5.53931612e-05 9.98555421e-01 3.45510328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.348040942 meters 0.019391138326705564 Centerline is valid? [True, True] Translation: X:75.24, Y:20.75, Z:3.46 [[ 8.49753910e-01 -5.25296786e-01 -4.45149288e-02 7.52401605e+01] [ 5.24573763e-01 8.50919082e-01 -2.75514806e-02 2.07458393e+01] [ 5.23513065e-02 6.06146554e-05 9.98628728e-01 3.45797716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.378040942 meters 0.019205953943021086 Centerline is valid? [True, True] Translation: X:75.27, Y:20.76, Z:3.46 [[ 8.49298185e-01 -5.26180111e-01 -4.27444074e-02 7.52653191e+01] [ 5.25513900e-01 8.50373148e-01 -2.64698019e-02 2.07593692e+01] [ 5.02765795e-02 1.79744697e-05 9.98735333e-01 3.46003725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.408040942 meters 0.0191497012793004 Centerline is valid? [True, True] Translation: X:75.29, Y:20.77, Z:3.46 [[ 8.48709340e-01 -5.27164584e-01 -4.23078975e-02 7.52895789e+01] [ 5.26512407e-01 8.49763203e-01 -2.62142152e-02 2.07739426e+01] [ 4.97709003e-02 -2.73836943e-05 9.98760660e-01 3.46161562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.438040942 meters 0.019052167045537517 Centerline is valid? [True, True] Translation: X:75.31, Y:20.79, Z:3.46 [[ 8.47813351e-01 -5.28702410e-01 -4.10643850e-02 7.53141720e+01] [ 5.28089065e-01 8.48807252e-01 -2.54595360e-02 2.07881187e+01] [ 4.83162659e-02 -1.00718191e-04 9.98832082e-01 3.46327114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.468040942 meters 0.019033907142939132 Centerline is valid? [True, True] Translation: X:75.34, Y:20.80, Z:3.46 [[ 8.47321722e-01 -5.29528415e-01 -4.05654719e-02 7.53386898e+01] [ 5.28930078e-01 8.48292190e-01 -2.51661007e-02 2.08025719e+01] [ 4.77375384e-02 -1.32514419e-04 9.98859905e-01 3.46498065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.498040942 meters 0.019013270560684588 Centerline is valid? [True, True] Translation: X:75.36, Y:20.82, Z:3.47 [[ 8.46943508e-01 -5.30148685e-01 -4.03616900e-02 7.53618284e+01] [ 5.29556321e-01 8.47904681e-01 -2.50550327e-02 2.08162090e+01] [ 4.75057585e-02 -1.53590774e-04 9.98870952e-01 3.46667570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.528040942 meters 0.018999344226608844 Centerline is valid? [True, True] Translation: X:75.39, Y:20.83, Z:3.47 [[ 8.45999818e-01 -5.31711780e-01 -3.95839711e-02 7.53853826e+01] [ 5.31143415e-01 8.46925339e-01 -2.45793202e-02 2.08306654e+01] [ 4.65937823e-02 -2.30665195e-04 9.98913893e-01 3.46795351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.558040942 meters 0.019149493627837695 Centerline is valid? [True, True] Translation: X:75.41, Y:20.84, Z:3.47 [[ 8.45506494e-01 -5.32508461e-01 -3.94145556e-02 7.54081078e+01] [ 5.31945113e-01 8.46424640e-01 -2.44893016e-02 2.08448289e+01] [ 4.64022113e-02 -2.60516700e-04 9.98922803e-01 3.46870454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.588040942 meters 0.019303198438371194 Centerline is valid? [True, True] Translation: X:75.43, Y:20.86, Z:3.47 [[ 8.44667104e-01 -5.33838472e-01 -3.94204189e-02 7.54328533e+01] [ 5.33276086e-01 8.45586411e-01 -2.44997562e-02 2.08606076e+01] [ 4.64122830e-02 -3.27828586e-04 9.98922316e-01 3.46947495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.61804094200001 meters 0.019612285490895758 Centerline is valid? [True, True] Translation: X:75.46, Y:20.88, Z:3.47 [[ 8.43074444e-01 -5.36303325e-01 -4.00527848e-02 7.54564394e+01] [ 5.35724880e-01 8.44025196e-01 -2.49062453e-02 2.08751066e+01] [ 4.71628618e-02 -4.59454422e-04 9.98887107e-01 3.46918491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.648040942 meters 0.01989557351023929 Centerline is valid? [True, True] Translation: X:75.48, Y:20.89, Z:3.47 [[ 8.41923663e-01 -5.38104749e-01 -4.00976968e-02 7.54814773e+01] [ 5.37526790e-01 8.42877790e-01 -2.49395505e-02 2.08900344e+01] [ 4.72175486e-02 -5.56388534e-04 9.98884475e-01 3.47036164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.678040942 meters 0.020783119317668092 Centerline is valid? [True, True] Translation: X:75.51, Y:20.90, Z:3.47 [[ 8.39118088e-01 -5.42552673e-01 -3.89542175e-02 7.55067009e+01] [ 5.42011411e-01 8.40021429e-01 -2.42410695e-02 2.09042602e+01] [ 4.58744345e-02 -7.72510537e-04 9.98946915e-01 3.47225127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.708040942 meters 0.02156876397494047 Centerline is valid? [True, True] Translation: X:75.53, Y:20.92, Z:3.47 [[ 8.37633585e-01 -5.44872369e-01 -3.85237524e-02 7.55304651e+01] [ 5.44344886e-01 8.38518532e-01 -2.39857503e-02 2.09181527e+01] [ 4.53720529e-02 -8.78937551e-04 9.98969771e-01 3.47396009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.738040942 meters 0.022373098540757197 Centerline is valid? [True, True] Translation: X:75.56, Y:20.93, Z:3.48 [[ 8.35050192e-01 -5.48939153e-01 -3.68372442e-02 7.55554167e+01] [ 5.48460622e-01 8.35861656e-01 -2.29398896e-02 2.09331609e+01] [ 4.33834435e-02 -1.04781867e-03 9.99057946e-01 3.47594639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.768040942 meters 0.023389142022531017 Centerline is valid? [True, True] Translation: X:75.58, Y:20.95, Z:3.48 [[ 8.34197934e-01 -5.50260010e-01 -3.64379929e-02 7.55796197e+01] [ 5.49792947e-01 8.34992638e-01 -2.26938077e-02 2.09462859e+01] [ 4.29129507e-02 -1.10222399e-03 9.99078207e-01 3.47759384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.798040942 meters 0.023898804745268697 Centerline is valid? [True, True] Translation: X:75.60, Y:20.96, Z:3.48 [[ 8.33321994e-01 -5.51612904e-01 -3.60230244e-02 7.56042832e+01] [ 5.51157520e-01 8.34099436e-01 -2.24392156e-02 2.09611011e+01] [ 4.24245452e-02 -1.15526893e-03 9.99099006e-01 3.47939966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.828040942 meters 0.023424605746779906 Centerline is valid? [True, True] Translation: X:75.63, Y:20.98, Z:3.48 [[ 8.32849219e-01 -5.52347924e-01 -3.56924218e-02 7.56267609e+01] [ 5.51901056e-01 8.33612858e-01 -2.22447185e-02 2.09792421e+01] [ 4.20404859e-02 -1.17218887e-03 9.99115220e-01 3.48070065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.858040942 meters 0.024322380184738132 Centerline is valid? [True, True] Translation: X:75.65, Y:20.99, Z:3.48 [[ 8.33131068e-01 -5.51958745e-01 -3.51307172e-02 7.56508468e+01] [ 5.51524992e-01 8.33870661e-01 -2.19066979e-02 2.09938717e+01] [ 4.13860679e-02 -1.12431791e-03 9.99142597e-01 3.48202620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.888040942 meters 0.021886014427512507 Centerline is valid? [True, True] Translation: X:75.67, Y:21.02, Z:3.48 [[ 8.34424508e-01 -5.50038817e-01 -3.45404097e-02 7.56706620e+01] [ 5.49617746e-01 8.35138481e-01 -2.15418435e-02 2.10167094e+01] [ 4.06948754e-02 -1.00897993e-03 9.99171111e-01 3.48335733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.918040942 meters 0.021816555783813838 Centerline is valid? [True, True] Translation: X:75.69, Y:21.03, Z:3.49 [[ 8.35576978e-01 -5.48309700e-01 -3.41699660e-02 7.56932586e+01] [ 5.47895665e-01 8.36274868e-01 -2.13233316e-02 2.10326061e+01] [ 4.02672734e-02 -9.04291300e-04 9.99188535e-01 3.48503078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.948040942 meters 0.021457728558838658 Centerline is valid? [True, True] Translation: X:75.72, Y:21.05, Z:3.49 [[ 8.36275897e-01 -5.47247504e-01 -3.40997603e-02 7.57166305e+01] [ 5.46834151e-01 8.36970399e-01 -2.12829028e-02 2.10502814e+01] [ 4.01875054e-02 -8.48534845e-04 9.99191796e-01 3.48625681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.978040942 meters 0.020974948933942777 Centerline is valid? [True, True] Translation: X:75.74, Y:21.07, Z:3.49 [[ 8.37102081e-01 -5.45981817e-01 -3.41168723e-02 7.57397573e+01] [ 5.45566526e-01 8.37796664e-01 -2.13053060e-02 2.10687034e+01] [ 4.02153114e-02 -7.78307530e-04 9.99190734e-01 3.48736458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.008040942 meters 0.02049432395048501 Centerline is valid? [True, True] Translation: X:75.76, Y:21.09, Z:3.49 [[ 8.39007330e-01 -5.42961352e-01 -3.54918452e-02 7.57612241e+01] [ 5.42508694e-01 8.39757435e-01 -2.21758274e-02 2.10884456e+01] [ 4.18451581e-02 -6.48952870e-04 9.99123897e-01 3.48746318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.038040942 meters 0.020384793600396495 Centerline is valid? [True, True] Translation: X:75.78, Y:21.11, Z:3.49 [[ 8.39642168e-01 -5.41964073e-01 -3.57207517e-02 7.57840468e+01] [ 5.41504130e-01 8.40401447e-01 -2.23312605e-02 2.11060305e+01] [ 4.21225123e-02 -5.92666601e-04 9.99112277e-01 3.48816589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.068040942 meters 0.020389656636685564 Centerline is valid? [True, True] Translation: X:75.81, Y:21.12, Z:3.49 [[ 8.40111797e-01 -5.41213490e-01 -3.60572675e-02 7.58062408e+01] [ 5.40743596e-01 8.40885044e-01 -2.25545333e-02 2.11227690e+01] [ 4.25268346e-02 -5.49406965e-04 9.99095174e-01 3.48891133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.098040942 meters 0.02036562715242833 Centerline is valid? [True, True] Translation: X:75.83, Y:21.14, Z:3.49 [[ 8.40212340e-01 -5.41059980e-01 -3.60183565e-02 7.58278505e+01] [ 5.40590776e-01 8.40983834e-01 -2.25344953e-02 2.11388994e+01] [ 4.24833691e-02 -5.37430278e-04 9.99097030e-01 3.49001256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.128040942 meters 0.02049498453314721 Centerline is valid? [True, True] Translation: X:75.85, Y:21.16, Z:3.49 [[ 8.39726677e-01 -5.41851431e-01 -3.54419990e-02 7.58504471e+01] [ 5.41397604e-01 8.40474098e-01 -2.21793725e-02 2.11579742e+01] [ 4.18060069e-02 -5.63602574e-04 9.99125588e-01 3.49135972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.158040942 meters 0.020394851266691594 Centerline is valid? [True, True] Translation: X:75.87, Y:21.17, Z:3.49 [[ 8.39377636e-01 -5.42397632e-01 -3.53552409e-02 7.58737396e+01] [ 5.41946003e-01 8.40121701e-01 -2.21372206e-02 2.11743653e+01] [ 4.17098812e-02 -5.79143580e-04 9.99129596e-01 3.49304511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.188040942 meters 0.02083364538368224 Centerline is valid? [True, True] Translation: X:75.90, Y:21.19, Z:3.49 [[ 8.38497921e-01 -5.43764632e-01 -3.52315556e-02 7.58954433e+01] [ 5.43316748e-01 8.39237526e-01 -2.20745454e-02 2.11913036e+01] [ 4.15710006e-02 -6.32433798e-04 9.99135352e-01 3.49467002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.218040942 meters 0.021027111166186743 Centerline is valid? [True, True] Translation: X:75.92, Y:21.21, Z:3.50 [[ 8.37996351e-01 -5.44535776e-01 -3.52548451e-02 7.59191431e+01] [ 5.44087822e-01 8.38737350e-01 -2.20929734e-02 2.12079302e+01] [ 4.15999697e-02 -6.67900763e-04 9.99134123e-01 3.49616973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.248040942 meters 0.021271270389595066 Centerline is valid? [True, True] Translation: X:75.94, Y:21.22, Z:3.50 [[ 8.37473403e-01 -5.45355124e-01 -3.50155417e-02 7.59418258e+01] [ 5.44913429e-01 8.38204813e-01 -2.19555693e-02 2.12240092e+01] [ 4.13237778e-02 -6.93233569e-04 9.99145567e-01 3.49719350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.278040942 meters 0.021666333916190352 Centerline is valid? [True, True] Translation: X:75.96, Y:21.24, Z:3.50 [[ 8.36492199e-01 -5.46808548e-01 -3.57940286e-02 7.59634527e+01] [ 5.46348125e-01 8.37257312e-01 -2.24481634e-02 2.12416633e+01] [ 4.22436598e-02 -7.78286888e-04 9.99107035e-01 3.49779513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.308040942 meters 0.022042739004736862 Centerline is valid? [True, True] Translation: X:75.99, Y:21.26, Z:3.50 [[ 8.35749221e-01 -5.47885443e-01 -3.66712415e-02 7.59871640e+01] [ 5.47403015e-01 8.36552939e-01 -2.30026129e-02 2.12576764e+01] [ 4.32802316e-02 -8.49532373e-04 9.99062611e-01 3.49797298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.338040942 meters 0.022330401179571868 Centerline is valid? [True, True] Translation: X:76.01, Y:21.27, Z:3.50 [[ 8.34963819e-01 -5.49025834e-01 -3.74973806e-02 7.60114065e+01] [ 5.48521992e-01 8.35804875e-01 -2.35336907e-02 2.12735943e+01] [ 4.42610977e-02 -9.18357665e-04 9.99019575e-01 3.49843033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36804094200001 meters 0.023005596522719614 Centerline is valid? [True, True] Translation: X:76.03, Y:21.29, Z:3.50 [[ 8.33632741e-01 -5.50994508e-01 -3.82296426e-02 7.60349145e+01] [ 5.50472260e-01 8.34508231e-01 -2.40063200e-02 2.12909452e+01] [ 4.51303019e-02 -1.03190344e-03 9.98980576e-01 3.49920639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.398040942 meters 0.023225664351610102 Centerline is valid? [True, True] Translation: X:76.06, Y:21.31, Z:3.50 [[ 8.33119308e-01 -5.51749844e-01 -3.85269925e-02 7.60584998e+01] [ 5.51219649e-01 8.34008972e-01 -2.42060637e-02 2.13081268e+01] [ 4.54875493e-02 -1.07029631e-03 9.98964332e-01 3.50017179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.428040942 meters 0.02348929652187682 Centerline is valid? [True, True] Translation: X:76.08, Y:21.33, Z:3.50 [[ 8.32714303e-01 -5.52385177e-01 -3.81772915e-02 7.60816068e+01] [ 5.51864665e-01 8.33588292e-01 -2.39989730e-02 2.13250588e+01] [ 4.50808202e-02 -1.08441015e-03 9.98982754e-01 3.50155456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.458040942 meters 0.022574338621841477 Centerline is valid? [True, True] Translation: X:76.10, Y:21.35, Z:3.50 [[ 8.32841703e-01 -5.52177450e-01 -3.84026184e-02 7.61033130e+01] [ 5.51649970e-01 8.33725927e-01 -2.41534507e-02 2.13452112e+01] [ 4.53542494e-02 -1.06880221e-03 9.98970395e-01 3.50241348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.488040942 meters 0.022537551008822914 Centerline is valid? [True, True] Translation: X:76.13, Y:21.36, Z:3.50 [[ 8.33240559e-01 -5.51555314e-01 -3.86898707e-02 7.61257447e+01] [ 5.51018635e-01 8.34137681e-01 -2.43473347e-02 2.13612151e+01] [ 4.57015809e-02 -1.03165293e-03 9.98954604e-01 3.50415267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.518040942 meters 0.022130507613302496 Centerline is valid? [True, True] Translation: X:76.15, Y:21.38, Z:3.51 [[ 8.34370087e-01 -5.49856118e-01 -3.85332007e-02 7.61479508e+01] [ 5.49321750e-01 8.35258872e-01 -2.42534797e-02 2.13808878e+01] [ 4.55211219e-02 -9.30747296e-04 9.98962943e-01 3.50557989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.548040942 meters 0.021682445877022512 Centerline is valid? [True, True] Translation: X:76.17, Y:21.40, Z:3.51 [[ 8.35231291e-01 -5.48541292e-01 -3.86153014e-02 7.61704092e+01] [ 5.48002914e-01 8.36123029e-01 -2.43122687e-02 2.13985570e+01] [ 4.56234261e-02 -8.54930085e-04 9.98958344e-01 3.50668914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.578040942 meters 0.02138665158338363 Centerline is valid? [True, True] Translation: X:76.19, Y:21.42, Z:3.51 [[ 8.35965576e-01 -5.47410839e-01 -3.87676184e-02 7.61934388e+01] [ 5.46866372e-01 8.36863643e-01 -2.44215982e-02 2.14165904e+01] [ 4.58118580e-02 -7.85091398e-04 9.98949777e-01 3.50809254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.608040942 meters 0.020759978265075123 Centerline is valid? [True, True] Translation: X:76.21, Y:21.44, Z:3.51 [[ 8.38226496e-01 -5.43948455e-01 -3.86835959e-02 7.62142642e+01] [ 5.43402044e-01 8.39118429e-01 -2.43819629e-02 2.14365092e+01] [ 4.57226492e-02 -5.83137750e-04 9.98954003e-01 3.50974502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.638040942 meters 0.020277406908303087 Centerline is valid? [True, True] Translation: X:76.24, Y:21.45, Z:3.51 [[ 8.39511646e-01 -5.41954219e-01 -3.88049220e-02 7.62369714e+01] [ 5.41401630e-01 8.40407882e-01 -2.44717423e-02 2.14545438e+01] [ 4.58745263e-02 -4.64735377e-04 9.98947102e-01 3.51126034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.668040942 meters 0.020061578276121605 Centerline is valid? [True, True] Translation: X:76.26, Y:21.47, Z:3.51 [[ 8.41049936e-01 -5.39565085e-01 -3.87882074e-02 7.62586531e+01] [ 5.39009834e-01 8.41943831e-01 -2.44741453e-02 2.14716327e+01] [ 4.58628862e-02 -3.23246959e-04 9.98947692e-01 3.51283059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.698040942 meters 0.01962035782523601 Centerline is valid? [True, True] Translation: X:76.28, Y:21.49, Z:3.51 [[ 8.44404088e-01 -5.34336435e-01 -3.82924261e-02 7.62783841e+01] [ 5.33789694e-01 8.45271893e-01 -2.41658788e-02 2.14915845e+01] [ 4.52802210e-02 -3.43355559e-05 9.98974324e-01 3.51498040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.728040942 meters 0.019626035319908103 Centerline is valid? [True, True] Translation: X:76.30, Y:21.51, Z:3.52 [[ 8.45938899e-01 -5.31934422e-01 -3.78569700e-02 7.63005007e+01] [ 5.31397440e-01 8.46785546e-01 -2.38955899e-02 2.15095911e+01] [ 4.47676218e-02 9.71120895e-05 9.98997423e-01 3.51679911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.758040942 meters 0.019691716480257714 Centerline is valid? [True, True] Translation: X:76.32, Y:21.53, Z:3.52 [[ 8.47237090e-01 -5.29847555e-01 -3.80904502e-02 7.63231555e+01] [ 5.29301153e-01 8.48092872e-01 -2.40576296e-02 2.15272495e+01] [ 4.50511155e-02 2.21196871e-04 9.98984659e-01 3.51786431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.788040942 meters 0.020062246829084914 Centerline is valid? [True, True] Translation: X:76.34, Y:21.55, Z:3.52 [[ 8.49735308e-01 -5.25832214e-01 -3.80839844e-02 7.63444991e+01] [ 5.25281373e-01 8.50588199e-01 -2.40664517e-02 2.15462758e+01] [ 4.50487033e-02 4.45306106e-04 9.98984693e-01 3.51919066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.818040942 meters 0.020208869200708697 Centerline is valid? [True, True] Translation: X:76.37, Y:21.56, Z:3.52 [[ 8.50663593e-01 -5.24309002e-01 -3.83604236e-02 7.63675879e+01] [ 5.23748267e-01 8.51527911e-01 -2.42480774e-02 2.15627758e+01] [ 4.53784567e-02 5.35751226e-04 9.98969724e-01 3.52058105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.848040942 meters 0.020486055869275807 Centerline is valid? [True, True] Translation: X:76.39, Y:21.58, Z:3.52 [[ 8.51417131e-01 -5.23060910e-01 -3.86801390e-02 7.63903561e+01] [ 5.22489280e-01 8.52295084e-01 -2.44548912e-02 2.15787433e+01] [ 4.57582899e-02 6.11355335e-04 9.98952354e-01 3.52139827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.878040942 meters 0.020997184170740524 Centerline is valid? [True, True] Translation: X:76.41, Y:21.60, Z:3.52 [[ 8.52774659e-01 -5.20783317e-01 -3.94983209e-02 7.64138140e+01] [ 5.20184544e-01 8.53688567e-01 -2.49774125e-02 2.15951972e+01] [ 4.67270847e-02 7.53688319e-04 9.98907409e-01 3.52280606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.908040942 meters 0.020997184170740524 Centerline is valid? [True, True] Translation: X:76.44, Y:21.61, Z:3.52 [[ 8.52632507e-01 -5.21016473e-01 -3.94923113e-02 7.64370171e+01] [ 5.20417510e-01 8.53546290e-01 -2.49869109e-02 2.16100018e+01] [ 4.67271080e-02 7.52162134e-04 9.98907409e-01 3.52402989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.938040942 meters 0.021430567476070812 Centerline is valid? [True, True] Translation: X:76.46, Y:21.63, Z:3.53 [[ 8.53108807e-01 -5.20223851e-01 -3.96548739e-02 7.64596697e+01] [ 5.19618398e-01 8.54029558e-01 -2.51044589e-02 2.16254416e+01] [ 4.69263728e-02 8.11432951e-04 9.98898021e-01 3.52541248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.968040942 meters 0.02173002891221826 Centerline is valid? [True, True] Translation: X:76.48, Y:21.64, Z:3.53 [[ 8.53391070e-01 -5.19681520e-01 -4.06792361e-02 7.64836090e+01] [ 5.19043479e-01 8.54359623e-01 -2.57585314e-02 2.16410640e+01] [ 4.81409295e-02 8.67808486e-04 9.98840176e-01 3.52617300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.998040942 meters 0.021059051920906402 Centerline is valid? [True, True] Translation: X:76.51, Y:21.65, Z:3.53 [[ 8.53799287e-01 -5.18926546e-01 -4.17374748e-02 7.65099010e+01] [ 5.18253258e-01 8.54818311e-01 -2.64426964e-02 2.16537856e+01] [ 4.93997748e-02 9.46172998e-04 9.98778638e-01 3.52730917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.028040942 meters 0.022334305866558376 Centerline is valid? [True, True] Translation: X:76.53, Y:21.67, Z:3.53 [[ 8.54080117e-01 -5.18437817e-01 -4.20640448e-02 7.65325603e+01] [ 5.17752661e-01 8.55114754e-01 -2.66634580e-02 2.16699682e+01] [ 4.97929303e-02 9.93958231e-04 9.98759068e-01 3.52760230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.058040942 meters 0.02113730960184915 Centerline is valid? [True, True] Translation: X:76.56, Y:21.68, Z:3.53 [[ 8.54161082e-01 -5.18273961e-01 -4.24375720e-02 7.65603606e+01] [ 5.17576049e-01 8.55214046e-01 -2.69066669e-02 2.16792608e+01] [ 5.02382325e-02 1.01795686e-03 9.98736744e-01 3.53029853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.088040942 meters 0.02142052832525234 Centerline is valid? [True, True] Translation: X:76.58, Y:21.69, Z:3.53 [[ 8.54233383e-01 -5.18125443e-01 -4.27943201e-02 7.65846160e+01] [ 5.17414836e-01 8.55303998e-01 -2.71469899e-02 2.16931636e+01] [ 5.06676992e-02 1.04744890e-03 9.98715018e-01 3.53176840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.11804094200001 meters 0.021772501991628734 Centerline is valid? [True, True] Translation: X:76.61, Y:21.71, Z:3.53 [[ 8.54256367e-01 -5.18072765e-01 -4.29728905e-02 7.66090936e+01] [ 5.17355868e-01 8.55335892e-01 -2.72656917e-02 2.17073970e+01] [ 5.08818679e-02 1.05961369e-03 9.98704117e-01 3.53302808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.148040942 meters 0.021468644148234555 Centerline is valid? [True, True] Translation: X:76.63, Y:21.72, Z:3.53 [[ 8.54186433e-01 -5.18171525e-01 -4.31718591e-02 7.66342888e+01] [ 5.17447740e-01 8.55276059e-01 -2.73988850e-02 2.17203966e+01] [ 5.11211795e-02 1.06457499e-03 9.98691890e-01 3.53466748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.178040942 meters 0.02202364857524812 Centerline is valid? [True, True] Translation: X:76.66, Y:21.73, Z:3.53 [[ 8.53845193e-01 -5.18628186e-01 -4.44206216e-02 7.66585887e+01] [ 5.17861624e-01 8.54999202e-01 -2.82082262e-02 2.17325204e+01] [ 5.26091772e-02 1.08172307e-03 9.98614592e-01 3.53475789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.208040942 meters 0.021960546382605882 Centerline is valid? [True, True] Translation: X:76.68, Y:21.75, Z:3.54 [[ 8.53594691e-01 -5.19002867e-01 -4.48567403e-02 7.66841709e+01] [ 5.18221181e-01 8.54771820e-01 -2.84946229e-02 2.17452503e+01] [ 5.31310685e-02 1.07714591e-03 9.98586966e-01 3.53662606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.238040942 meters 0.021686491760483328 Centerline is valid? [True, True] Translation: X:76.71, Y:21.75, Z:3.54 [[ 8.52718996e-01 -5.20489905e-01 -4.42783538e-02 7.67112236e+01] [ 5.19729470e-01 8.53867255e-01 -2.81422962e-02 2.17544954e+01] [ 5.24556175e-02 9.84705181e-04 9.98622771e-01 3.53943942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.268040942 meters 0.021038293097903386 Centerline is valid? [True, True] Translation: X:76.74, Y:21.77, Z:3.54 [[ 8.51898499e-01 -5.21851668e-01 -4.40429747e-02 7.67378900e+01] [ 5.21100771e-01 8.53035769e-01 -2.79993523e-02 2.17663053e+01] [ 5.21817415e-02 9.01778106e-04 9.98637198e-01 3.54178534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.298040942 meters 0.020827743946159168 Centerline is valid? [True, True] Translation: X:76.76, Y:21.78, Z:3.54 [[ 8.51116793e-01 -5.23144559e-01 -4.38175220e-02 7.67641369e+01] [ 5.22402274e-01 8.52243557e-01 -2.78708530e-02 2.17787866e+01] [ 5.19236859e-02 8.30977912e-04 9.98650710e-01 3.54364618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.328040942 meters 0.02041027314403566 Centerline is valid? [True, True] Translation: X:76.79, Y:21.79, Z:3.55 [[ 8.49574299e-01 -5.25600065e-01 -4.43630613e-02 7.67914179e+01] [ 5.24841787e-01 8.50731497e-01 -2.82315268e-02 2.17880356e+01] [ 5.25795459e-02 7.01191257e-04 9.98616493e-01 3.54527979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.358040942 meters 0.01996620373137716 Centerline is valid? [True, True] Translation: X:76.82, Y:21.80, Z:3.55 [[ 8.48790591e-01 -5.26865780e-01 -4.43506787e-02 7.68180778e+01] [ 5.26109291e-01 8.49948266e-01 -2.82304708e-02 2.17999737e+01] [ 5.25694515e-02 6.28453839e-04 9.98617073e-01 3.54697264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.388040942 meters 0.01957477750420579 Centerline is valid? [True, True] Translation: X:76.85, Y:21.81, Z:3.55 [[ 8.47334110e-01 -5.29177838e-01 -4.46735165e-02 7.68452647e+01] [ 5.28412735e-01 8.48510793e-01 -2.84502358e-02 2.18088273e+01] [ 5.29611951e-02 5.00800180e-04 9.98596446e-01 3.54845347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.418040942 meters 0.019599579839614557 Centerline is valid? [True, True] Translation: X:76.87, Y:21.82, Z:3.55 [[ 8.46639294e-01 -5.30285706e-01 -4.47099107e-02 7.68700980e+01] [ 5.29520492e-01 8.47818895e-01 -2.84810588e-02 2.18212086e+01] [ 5.30090054e-02 4.38369608e-04 9.98593938e-01 3.54950377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.448040942 meters 0.019351771050031403 Centerline is valid? [True, True] Translation: X:76.90, Y:21.83, Z:3.55 [[ 8.45893501e-01 -5.31491430e-01 -4.45089373e-02 7.68964434e+01] [ 5.30734391e-01 8.47063590e-01 -2.83598597e-02 2.18334578e+01] [ 5.27749226e-02 3.66997259e-04 9.98606365e-01 3.55182646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.478040942 meters 0.019033832194659008 Centerline is valid? [True, True] Translation: X:76.92, Y:21.85, Z:3.55 [[ 8.44945468e-01 -5.33026005e-01 -4.41637156e-02 7.69226239e+01] [ 5.32281982e-01 8.46098811e-01 -2.81548156e-02 2.18453417e+01] [ 5.23741162e-02 2.81733748e-04 9.98627494e-01 3.55450205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.508040942 meters 0.018973241662453802 Centerline is valid? [True, True] Translation: X:76.95, Y:21.85, Z:3.56 [[ 8.43353075e-01 -5.35570452e-01 -4.38164568e-02 7.69501997e+01] [ 5.34840711e-01 8.44490540e-01 -2.79488940e-02 2.18548351e+01] [ 5.19711850e-02 1.35960780e-04 9.98648576e-01 3.55537518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.538040942 meters 0.018871056412183417 Centerline is valid? [True, True] Translation: X:76.98, Y:21.87, Z:3.56 [[ 8.42423570e-01 -5.37025780e-01 -4.38844043e-02 7.69761307e+01] [ 5.36294925e-01 8.43565829e-01 -2.80079470e-02 2.18665924e+01] [ 5.20603734e-02 5.95713721e-05 9.98643938e-01 3.55739317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.568040942 meters 0.01886927277071804 Centerline is valid? [True, True] Translation: X:77.00, Y:21.88, Z:3.56 [[ 8.41461058e-01 -5.38593973e-01 -4.31256250e-02 7.70017254e+01] [ 5.37889397e-01 8.42565447e-01 -2.75402316e-02 2.18786708e+01] [ 5.11691643e-02 -2.27840652e-05 9.98690000e-01 3.55941325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.598040942 meters 0.01897188858890551 Centerline is valid? [True, True] Translation: X:77.03, Y:21.89, Z:3.56 [[ 8.39814528e-01 -5.41172111e-01 -4.29453681e-02 7.70287878e+01] [ 5.40475926e-01 8.40911838e-01 -2.74418370e-02 2.18880419e+01] [ 5.09640252e-02 -1.64884168e-04 9.98700476e-01 3.56140159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.628040942 meters 0.019116237958304378 Centerline is valid? [True, True] Translation: X:77.05, Y:21.90, Z:3.56 [[ 8.38906072e-01 -5.42570889e-01 -4.30515212e-02 7.70546205e+01] [ 5.41872306e-01 8.40009985e-01 -2.75250821e-02 2.19000279e+01] [ 5.10980159e-02 -2.37468551e-04 9.98693615e-01 3.56202890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.658040942 meters 0.01950489700402246 Centerline is valid? [True, True] Translation: X:77.08, Y:21.91, Z:3.56 [[ 8.37449535e-01 -5.44680769e-01 -4.47340581e-02 7.70822850e+01] [ 5.43929183e-01 8.38643380e-01 -2.86063872e-02 2.19084989e+01] [ 5.30972707e-02 -3.75753978e-04 9.98589274e-01 3.56137559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.688040942 meters 0.019674379493333016 Centerline is valid? [True, True] Translation: X:77.11, Y:21.92, Z:3.56 [[ 8.36899527e-01 -5.45453878e-01 -4.55987768e-02 7.71082668e+01] [ 5.44673694e-01 8.38140731e-01 -2.91664688e-02 2.19209296e+01] [ 5.41271556e-02 -4.27050259e-04 9.98533960e-01 3.56170029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.718040942 meters 0.019701785389918954 Centerline is valid? [True, True] Translation: X:77.13, Y:21.93, Z:3.56 [[ 8.36372337e-01 -5.46210108e-01 -4.62150620e-02 7.71342839e+01] [ 5.45408993e-01 8.37648075e-01 -2.95758893e-02 2.19344970e+01] [ 5.48666074e-02 -4.69654798e-04 9.98493583e-01 3.56332789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.748040942 meters 0.01994725749882417 Centerline is valid? [True, True] Translation: X:77.16, Y:21.95, Z:3.56 [[ 8.36195868e-01 -5.46489727e-01 -4.61025824e-02 7.71592115e+01] [ 5.45692169e-01 8.37465673e-01 -2.95178515e-02 2.19460008e+01] [ 5.47405328e-02 -4.75112712e-04 9.98500500e-01 3.56350118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.778040942 meters 0.01997844134680203 Centerline is valid? [True, True] Translation: X:77.19, Y:21.96, Z:3.57 [[ 8.35963130e-01 -5.46888744e-01 -4.55888954e-02 7.71857015e+01] [ 5.46108971e-01 8.37205150e-01 -2.91980812e-02 2.19569356e+01] [ 5.41353600e-02 -4.87985402e-04 9.98533487e-01 3.56580486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.808040942 meters 0.019660291705834453 Centerline is valid? [True, True] Translation: X:77.21, Y:21.97, Z:3.57 [[ 8.36186662e-01 -5.46598117e-01 -4.49707180e-02 7.72108550e+01] [ 5.45838086e-01 8.37394947e-01 -2.88181716e-02 2.19709833e+01] [ 5.34102103e-02 -4.49359892e-04 9.98572555e-01 3.56827045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.838040942 meters 0.019379903287744554 Centerline is valid? [True, True] Translation: X:77.24, Y:21.99, Z:3.57 [[ 8.36564761e-01 -5.46072549e-01 -4.43189827e-02 7.72355963e+01] [ 5.45332905e-01 8.37737795e-01 -2.84149458e-02 2.19854590e+01] [ 5.26443087e-02 -3.97657287e-04 9.98613248e-01 3.57155442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.86804094200001 meters 0.019240889240841132 Centerline is valid? [True, True] Translation: X:77.26, Y:22.00, Z:3.57 [[ 8.38150202e-01 -5.43702830e-01 -4.34910472e-02 7.72612839e+01] [ 5.42986690e-01 8.39277772e-01 -2.78975984e-02 2.19972958e+01] [ 5.16690724e-02 -2.32682013e-04 9.98664234e-01 3.57330571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.898040942 meters 0.01915384216374495 Centerline is valid? [True, True] Translation: X:77.28, Y:22.01, Z:3.58 [[ 8.38858901e-01 -5.42616874e-01 -4.33897729e-02 7.72849812e+01] [ 5.41902258e-01 8.39980299e-01 -2.78395410e-02 2.20123158e+01] [ 5.15527591e-02 -1.59569192e-04 9.98670260e-01 3.57572906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.928040942 meters 0.019022163703463133 Centerline is valid? [True, True] Translation: X:77.31, Y:22.03, Z:3.58 [[ 8.40879544e-01 -5.39497540e-01 -4.31740377e-02 7.73091172e+01] [ 5.38785107e-01 8.41987175e-01 -2.77165200e-02 2.20265978e+01] [ 5.13049804e-02 4.47261881e-05 9.98683031e-01 3.57608389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.958040942 meters 0.019134757018660985 Centerline is valid? [True, True] Translation: X:77.33, Y:22.04, Z:3.58 [[ 8.41601541e-01 -5.38428062e-01 -4.24507714e-02 7.73331112e+01] [ 5.37737605e-01 8.42671471e-01 -2.72591122e-02 2.20416223e+01] [ 5.04491250e-02 1.13934729e-04 9.98726626e-01 3.57786211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.988040942 meters 0.01930016138818723 Centerline is valid? [True, True] Translation: X:77.36, Y:22.06, Z:3.58 [[ 8.42086397e-01 -5.37697614e-01 -4.20924691e-02 7.73571725e+01] [ 5.37017106e-01 8.43137739e-01 -2.70440602e-02 2.20558385e+01] [ 5.00312758e-02 1.69059291e-04 9.98747637e-01 3.58045890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.018040942 meters 0.019484982305655884 Centerline is valid? [True, True] Translation: X:77.38, Y:22.07, Z:3.58 [[ 8.42664261e-01 -5.36885068e-01 -4.08823577e-02 7.73808309e+01] [ 5.36241507e-01 8.43655365e-01 -2.62806376e-02 2.20681223e+01] [ 4.86003023e-02 2.22936902e-04 9.98818282e-01 3.58331252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.048040942 meters 0.019523742452024984 Centerline is valid? [True, True] Translation: X:77.41, Y:22.08, Z:3.59 [[ 8.42565793e-01 -5.37086620e-01 -4.02597403e-02 7.74055898e+01] [ 5.36462420e-01 8.43527069e-01 -2.58873679e-02 2.20819523e+01] [ 4.78639397e-02 2.13972975e-04 9.98853842e-01 3.58502858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.078040942 meters 0.019525598856793714 Centerline is valid? [True, True] Translation: X:77.43, Y:22.09, Z:3.59 [[ 8.42462080e-01 -5.37227625e-01 -4.05477872e-02 7.74301325e+01] [ 5.36593898e-01 8.43437271e-01 -2.60875110e-02 2.20947714e+01] [ 4.82144466e-02 2.20043622e-04 9.98836983e-01 3.58699003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.108040942 meters 0.01968221616888124 Centerline is valid? [True, True] Translation: X:77.45, Y:22.11, Z:3.59 [[ 8.42266565e-01 -5.37537900e-01 -4.04973981e-02 7.74547974e+01] [ 5.36905351e-01 8.43239562e-01 -2.60707646e-02 2.21077947e+01] [ 4.81630323e-02 2.15263640e-04 9.98839465e-01 3.58828910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.138040942 meters 0.019706342204363524 Centerline is valid? [True, True] Translation: X:77.48, Y:22.12, Z:3.59 [[ 8.41526298e-01 -5.38637610e-01 -4.12675909e-02 7.74815793e+01] [ 5.37981276e-01 8.42537534e-01 -2.65828926e-02 2.21189138e+01] [ 4.90880400e-02 1.69011991e-04 9.98794441e-01 3.58917299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.168040942 meters 0.01969598145248391 Centerline is valid? [True, True] Translation: X:77.51, Y:22.13, Z:3.59 [[ 8.40447710e-01 -5.40265949e-01 -4.19565456e-02 7.75069495e+01] [ 5.39588717e-01 8.41494323e-01 -2.70429326e-02 2.21303323e+01] [ 4.99165706e-02 8.88921453e-05 9.98753387e-01 3.58871746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.198040942 meters 0.019801654691625932 Centerline is valid? [True, True] Translation: X:77.53, Y:22.14, Z:3.59 [[ 8.39765338e-01 -5.41292611e-01 -4.23849737e-02 7.75308806e+01] [ 5.40602374e-01 8.40834293e-01 -2.73270121e-02 2.21430549e+01] [ 5.04306491e-02 3.48601289e-05 9.98727565e-01 3.58911644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.228040942 meters 0.01975682914821429 Centerline is valid? [True, True] Translation: X:77.56, Y:22.16, Z:3.59 [[ 8.39300436e-01 -5.41988831e-01 -4.26952620e-02 7.75556983e+01] [ 5.41288739e-01 8.40385690e-01 -2.75389600e-02 2.21562132e+01] [ 5.08062959e-02 2.99661642e-06 9.98708526e-01 3.59057092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.258040942 meters 0.0197601041324352 Centerline is valid? [True, True] Translation: X:77.58, Y:22.17, Z:3.59 [[ 8.38328729e-01 -5.43460819e-01 -4.30729757e-02 7.75813658e+01] [ 5.42749396e-01 8.39434532e-01 -2.77985563e-02 2.21669629e+01] [ 5.12643693e-02 -7.35032047e-05 9.98685115e-01 3.59118208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.288040942 meters 0.019748687928238726 Centerline is valid? [True, True] Translation: X:77.61, Y:22.18, Z:3.59 [[ 8.37783348e-01 -5.44287039e-01 -4.32513636e-02 7.76064614e+01] [ 5.43570367e-01 8.38899043e-01 -2.79222376e-02 2.21805895e+01] [ 5.14812396e-02 -1.17373869e-04 9.98673955e-01 3.59277734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.318040942 meters 0.019849401430844568 Centerline is valid? [True, True] Translation: X:77.63, Y:22.19, Z:3.59 [[ 8.37375377e-01 -5.44891462e-01 -4.35404687e-02 7.76315777e+01] [ 5.44165076e-01 8.38506574e-01 -2.81263990e-02 2.21938577e+01] [ 5.18348039e-02 -1.40848467e-04 9.98655663e-01 3.59431624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.348040942 meters 0.019942024940051355 Centerline is valid? [True, True] Translation: X:77.66, Y:22.21, Z:3.60 [[ 8.36753165e-01 -5.45892589e-01 -4.29583684e-02 7.76561407e+01] [ 5.45185995e-01 8.37855146e-01 -2.77666164e-02 2.22055744e+01] [ 5.11504801e-02 -1.86496615e-04 9.98690940e-01 3.59640141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.378040942 meters 0.0200809408325746 Centerline is valid? [True, True] Translation: X:77.68, Y:22.22, Z:3.60 [[ 8.36631422e-01 -5.46084117e-01 -4.28952308e-02 7.76791991e+01] [ 5.45379285e-01 8.37730328e-01 -2.77368736e-02 2.22194262e+01] [ 5.10813018e-02 -1.88630230e-04 9.98694480e-01 3.59795754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.408040942 meters 0.020018290579826584 Centerline is valid? [True, True] Translation: X:77.70, Y:22.23, Z:3.60 [[ 8.36663974e-01 -5.46050052e-01 -4.26935042e-02 7.77031207e+01] [ 5.45351365e-01 8.37752534e-01 -2.76148386e-02 2.22342109e+01] [ 5.08456754e-02 -1.78620223e-04 9.98706506e-01 3.60021659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.438040942 meters 0.020066889248622616 Centerline is valid? [True, True] Translation: X:77.73, Y:22.25, Z:3.60 [[ 8.36721558e-01 -5.45969688e-01 -4.25926588e-02 7.77270261e+01] [ 5.45273344e-01 8.37804915e-01 -2.75663901e-02 2.22493500e+01] [ 5.07347523e-02 -1.59248611e-04 9.98712150e-01 3.60162043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.468040942 meters 0.02011414521596223 Centerline is valid? [True, True] Translation: X:77.75, Y:22.26, Z:3.60 [[ 8.36724766e-01 -5.45949513e-01 -4.27877935e-02 7.77504667e+01] [ 5.45245876e-01 8.37818064e-01 -2.77096815e-02 2.22645302e+01] [ 5.09764734e-02 -1.44491101e-04 9.98699844e-01 3.60347833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.498040942 meters 0.020234602516419613 Centerline is valid? [True, True] Translation: X:77.77, Y:22.28, Z:3.61 [[ 8.37262581e-01 -5.45156743e-01 -4.23732971e-02 7.77735355e+01] [ 5.44464816e-01 8.38334133e-01 -2.74580621e-02 2.22805541e+01] [ 5.04919290e-02 -8.11614912e-05 9.98724466e-01 3.60549946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.528040942 meters 0.02021666575573251 Centerline is valid? [True, True] Translation: X:77.80, Y:22.30, Z:3.61 [[ 8.37581829e-01 -5.44682827e-01 -4.21580027e-02 7.77963696e+01] [ 5.43996460e-01 8.38642127e-01 -2.73355935e-02 2.22968825e+01] [ 5.02447054e-02 -3.80078661e-05 9.98736936e-01 3.60711322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.558040942 meters 0.020274216751214318 Centerline is valid? [True, True] Translation: X:77.82, Y:22.31, Z:3.61 [[ 8.37964974e-01 -5.44083148e-01 -4.22874776e-02 7.78183372e+01] [ 5.43390982e-01 8.39031303e-01 -2.74356143e-02 2.23128719e+01] [ 5.04077728e-02 1.14498751e-05 9.98728720e-01 3.60787755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.588040942 meters 0.02035450169640312 Centerline is valid? [True, True] Translation: X:77.84, Y:22.33, Z:3.61 [[ 8.38501830e-01 -5.43195181e-01 -4.30543408e-02 7.78404785e+01] [ 5.42476097e-01 8.39606450e-01 -2.79409039e-02 2.23294823e+01] [ 5.13260666e-02 7.25483689e-05 9.98681946e-01 3.60819233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.61804094200001 meters 0.0203610117298193 Centerline is valid? [True, True] Translation: X:77.86, Y:22.35, Z:3.61 [[ 8.38319901e-01 -5.43424512e-01 -4.36983267e-02 7.78636343e+01] [ 5.42683550e-01 8.39458037e-01 -2.83684588e-02 2.23451251e+01] [ 5.20990275e-02 6.74805211e-05 9.98641921e-01 3.60966565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.648040942 meters 0.020389540769187073 Centerline is valid? [True, True] Translation: X:77.89, Y:22.36, Z:3.61 [[ 8.37656503e-01 -5.44401304e-01 -4.42583606e-02 7.78869924e+01] [ 5.43641617e-01 8.38824904e-01 -2.87501794e-02 2.23600095e+01] [ 5.27766502e-02 2.20880416e-05 9.98606341e-01 3.61134236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.678040942 meters 0.02031421787298977 Centerline is valid? [True, True] Translation: X:77.91, Y:22.37, Z:3.61 [[ 8.36900399e-01 -5.45595422e-01 -4.38560889e-02 7.79094831e+01] [ 5.44850286e-01 8.38048706e-01 -2.85049427e-02 2.23743966e+01] [ 5.23057048e-02 -3.92046617e-05 9.98631119e-01 3.61279485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.708040942 meters 0.02034671784013174 Centerline is valid? [True, True] Translation: X:77.93, Y:22.39, Z:3.61 [[ 8.35939149e-01 -5.47078950e-01 -4.37076893e-02 7.79330248e+01] [ 5.46340404e-01 8.37081004e-01 -2.84175394e-02 2.23891455e+01] [ 5.21335140e-02 -1.23942934e-04 9.98640116e-01 3.61446450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.738040942 meters 0.02036297541943067 Centerline is valid? [True, True] Translation: X:77.96, Y:22.40, Z:3.62 [[ 8.34930381e-01 -5.48630066e-01 -4.35466344e-02 7.79570238e+01] [ 5.47898161e-01 8.36065194e-01 -2.83301223e-02 2.24041565e+01] [ 5.19505822e-02 -2.05441131e-04 9.98649636e-01 3.61619611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.768040942 meters 0.020453408273166263 Centerline is valid? [True, True] Translation: X:77.98, Y:22.42, Z:3.62 [[ 8.33948904e-01 -5.50170859e-01 -4.29098119e-02 7.79801269e+01] [ 5.49461454e-01 8.35052061e-01 -2.79314357e-02 2.24190789e+01] [ 5.11989889e-02 -2.83897533e-04 9.98688431e-01 3.61765264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.798040942 meters 0.020453408273166263 Centerline is valid? [True, True] Translation: X:78.00, Y:22.43, Z:3.62 [[ 8.33792544e-01 -5.50408113e-01 -4.29057513e-02 7.80031846e+01] [ 5.49698701e-01 8.34895697e-01 -2.79376719e-02 2.24341909e+01] [ 5.11989484e-02 -2.91013271e-04 9.98688431e-01 3.61887877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.828040942 meters 0.020772658575276964 Centerline is valid? [True, True] Translation: X:78.03, Y:22.45, Z:3.62 [[ 8.31697335e-01 -5.53623913e-01 -4.21913032e-02 7.80277658e+01] [ 5.52941289e-01 8.32766681e-01 -2.74879397e-02 2.24481378e+01] [ 5.03534922e-02 -4.67667380e-04 9.98731349e-01 3.62048462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.858040942 meters 0.020991423027799504 Centerline is valid? [True, True] Translation: X:78.05, Y:22.46, Z:3.62 [[ 8.30504163e-01 -5.55414515e-01 -4.21610116e-02 7.80522796e+01] [ 5.54734852e-01 8.31573443e-01 -2.74745784e-02 2.24628190e+01] [ 5.03197572e-02 -5.70430839e-04 9.98732996e-01 3.62194771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.888040942 meters 0.021560046143587332 Centerline is valid? [True, True] Translation: X:78.08, Y:22.48, Z:3.62 [[ 8.28521842e-01 -5.58404126e-01 -4.16700048e-02 7.80773935e+01] [ 5.57743313e-01 8.29568741e-01 -2.71680172e-02 2.24754733e+01] [ 4.97388663e-02 -7.31870864e-04 9.98761988e-01 3.62361589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.918040942 meters 0.021749287161995878 Centerline is valid? [True, True] Translation: X:78.10, Y:22.49, Z:3.63 [[ 8.27480789e-01 -5.59930365e-01 -4.18751676e-02 7.81023810e+01] [ 5.59264662e-01 8.28539263e-01 -2.73080091e-02 2.24906009e+01] [ 4.99858040e-02 -8.22448505e-04 9.98749590e-01 3.62521228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.948040942 meters 0.022040785154017403 Centerline is valid? [True, True] Translation: X:78.13, Y:22.50, Z:3.63 [[ 8.26969892e-01 -5.60711114e-01 -4.15192109e-02 7.81263655e+01] [ 5.60056991e-01 8.28011064e-01 -2.70895516e-02 2.25047526e+01] [ 4.95677787e-02 -8.50880732e-04 9.98770400e-01 3.62680628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.978040942 meters 0.022193420067793422 Centerline is valid? [True, True] Translation: X:78.15, Y:22.52, Z:3.63 [[ 8.26387485e-01 -5.61602135e-01 -4.10702736e-02 7.81511257e+01] [ 5.60962788e-01 8.27406946e-01 -2.68047719e-02 2.25192028e+01] [ 4.90354468e-02 -8.87767135e-04 9.98796644e-01 3.62863454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.008040942 meters 0.022167140974610738 Centerline is valid? [True, True] Translation: X:78.18, Y:22.53, Z:3.63 [[ 8.26268500e-01 -5.61801056e-01 -4.07423509e-02 7.81751099e+01] [ 5.61171440e-01 8.27271901e-01 -2.66048276e-02 2.25344404e+01] [ 4.86516224e-02 -8.80712723e-04 9.98815420e-01 3.63036476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.038040942 meters 0.022438920969166873 Centerline is valid? [True, True] Translation: X:78.20, Y:22.55, Z:3.63 [[ 8.26608574e-01 -5.61263504e-01 -4.12497721e-02 7.81987633e+01] [ 5.60616663e-01 8.27636733e-01 -2.69517150e-02 2.25484931e+01] [ 4.92668406e-02 -8.46790936e-04 9.98785293e-01 3.63105936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.068040942 meters 0.022404887409610365 Centerline is valid? [True, True] Translation: X:78.22, Y:22.56, Z:3.63 [[ 8.26705807e-01 -5.61098611e-01 -4.15434478e-02 7.82217992e+01] [ 5.60441892e-01 8.27748543e-01 -2.71520897e-02 2.25637751e+01] [ 4.96225282e-02 -8.35898291e-04 9.98767694e-01 3.63191793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.098040942 meters 0.02208952969855315 Centerline is valid? [True, True] Translation: X:78.24, Y:22.58, Z:3.63 [[ 8.26819402e-01 -5.60960690e-01 -4.11434170e-02 7.82441861e+01] [ 5.60315632e-01 8.27842046e-01 -2.69061349e-02 2.25802119e+01] [ 4.91535345e-02 -8.06785304e-04 9.98790909e-01 3.63277110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.128040942 meters 0.021726942343369332 Centerline is valid? [True, True] Translation: X:78.27, Y:22.60, Z:3.63 [[ 8.27174984e-01 -5.60413659e-01 -4.14496998e-02 7.82675135e+01] [ 5.59757469e-01 8.28212499e-01 -2.71225457e-02 2.25971534e+01] [ 4.95290046e-02 -7.66687757e-04 9.98772391e-01 3.63399739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.158040942 meters 0.021856100852335508 Centerline is valid? [True, True] Translation: X:78.29, Y:22.61, Z:3.63 [[ 8.28131238e-01 -5.59016988e-01 -4.12147932e-02 7.82910351e+01] [ 5.58365825e-01 8.29155932e-01 -2.69823112e-02 2.26124739e+01] [ 4.92570606e-02 -6.68037267e-04 9.98785911e-01 3.63473468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.188040942 meters 0.021463347847287366 Centerline is valid? [True, True] Translation: X:78.31, Y:22.63, Z:3.64 [[ 8.28471938e-01 -5.58523061e-01 -4.10638291e-02 7.83148760e+01] [ 5.57875764e-01 8.29488753e-01 -2.68894139e-02 2.26294993e+01] [ 4.90803421e-02 -6.31390200e-04 9.98794634e-01 3.63645129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.218040942 meters 0.021266119662352808 Centerline is valid? [True, True] Translation: X:78.34, Y:22.65, Z:3.64 [[ 8.28825361e-01 -5.58018626e-01 -4.07888926e-02 7.83384279e+01] [ 5.57378673e-01 8.29828217e-01 -2.67234918e-02 2.26457739e+01] [ 4.87599801e-02 -5.85751105e-04 9.98810353e-01 3.63831848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.248040942 meters 0.021092234799263202 Centerline is valid? [True, True] Translation: X:78.36, Y:22.66, Z:3.64 [[ 8.29872864e-01 -5.56532950e-01 -3.97756815e-02 7.83611313e+01] [ 5.55922080e-01 8.30825403e-01 -2.60727889e-02 2.26618754e+01] [ 4.75570127e-02 -4.75079624e-04 9.98868412e-01 3.63987801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.278040942 meters 0.021055491726605362 Centerline is valid? [True, True] Translation: X:78.38, Y:22.68, Z:3.64 [[ 8.30137556e-01 -5.56133679e-01 -3.98367848e-02 7.83842834e+01] [ 5.55520200e-01 8.31092733e-01 -2.61185287e-02 2.26776926e+01] [ 4.76334558e-02 -4.48167114e-04 9.98864782e-01 3.64116642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.308040942 meters 0.02087468019568519 Centerline is valid? [True, True] Translation: X:78.41, Y:22.69, Z:3.64 [[ 8.31078175e-01 -5.54717864e-01 -3.99644721e-02 7.84076812e+01] [ 5.54098052e-01 8.32038440e-01 -2.62179903e-02 2.26949198e+01] [ 4.77955646e-02 -3.55036666e-04 9.98857076e-01 3.64260586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.338040942 meters 0.020761345062658518 Centerline is valid? [True, True] Translation: X:78.43, Y:22.71, Z:3.64 [[ 8.31252979e-01 -5.54463821e-01 -3.98541988e-02 7.84310052e+01] [ 5.53846450e-01 8.32207765e-01 -2.61599959e-02 2.27109997e+01] [ 4.76717450e-02 -3.27532025e-04 9.98863002e-01 3.64392487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.36804094200001 meters 0.020751000438727542 Centerline is valid? [True, True] Translation: X:78.45, Y:22.73, Z:3.65 [[ 8.31411123e-01 -5.54209381e-01 -4.00937322e-02 7.84540516e+01] [ 5.53583468e-01 8.32377241e-01 -2.63338542e-02 2.27265888e+01] [ 4.79675792e-02 -3.00968057e-04 9.98848848e-01 3.64536741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.398040942 meters 0.020810467543352768 Centerline is valid? [True, True] Translation: X:78.48, Y:22.74, Z:3.65 [[ 8.31205458e-01 -5.54508779e-01 -4.02181585e-02 7.84766554e+01] [ 5.53878552e-01 8.32177818e-01 -2.64316020e-02 2.27408540e+01] [ 4.81252147e-02 -3.05883574e-04 9.98841264e-01 3.64599116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.428040942 meters 0.020863022549182406 Centerline is valid? [True, True] Translation: X:78.50, Y:22.76, Z:3.65 [[ 8.30655437e-01 -5.55338131e-01 -4.01385735e-02 7.84999730e+01] [ 5.54711003e-01 8.31624579e-01 -2.63867966e-02 2.27554734e+01] [ 4.80338186e-02 -3.46972303e-04 9.98845650e-01 3.64768345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.458040942 meters 0.020992912976218737 Centerline is valid? [True, True] Translation: X:78.52, Y:22.77, Z:3.65 [[ 8.29959948e-01 -5.56355139e-01 -4.04406172e-02 7.85243794e+01] [ 5.55719172e-01 8.30944523e-01 -2.65970289e-02 2.27705602e+01] [ 4.84013030e-02 -3.99157552e-04 9.98827890e-01 3.64925159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.488040942 meters 0.02122202765834779 Centerline is valid? [True, True] Translation: X:78.55, Y:22.79, Z:3.65 [[ 8.29023905e-01 -5.57722622e-01 -4.08024772e-02 7.85488630e+01] [ 5.57076147e-01 8.30027261e-01 -2.68497964e-02 2.27855693e+01] [ 4.88419072e-02 -4.70963787e-04 9.98806411e-01 3.65067104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.518040942 meters 0.021680769204857557 Centerline is valid? [True, True] Translation: X:78.57, Y:22.80, Z:3.65 [[ 8.27478363e-01 -5.59957996e-01 -4.15523926e-02 7.85735120e+01] [ 5.59289630e-01 8.28520778e-01 -2.73574540e-02 2.27989348e+01] [ 4.97460458e-02 -6.02120975e-04 9.98761718e-01 3.65125505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.548040942 meters 0.02184649231956021 Centerline is valid? [True, True] Translation: X:78.60, Y:22.81, Z:3.65 [[ 8.26789296e-01 -5.60969954e-01 -4.16193480e-02 7.85974151e+01] [ 5.60300446e-01 8.27835899e-01 -2.74068457e-02 2.28141254e+01] [ 4.98284073e-02 -6.59652558e-04 9.98757576e-01 3.65262604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.578040942 meters 0.02211685828106272 Centerline is valid? [True, True] Translation: X:78.62, Y:22.83, Z:3.65 [[ 8.26029028e-01 -5.62080866e-01 -4.17270301e-02 7.86216242e+01] [ 5.61409021e-01 8.27081965e-01 -2.74833514e-02 2.28288534e+01] [ 4.99595400e-02 -7.23885098e-04 9.98750980e-01 3.65374499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.608040942 meters 0.022763418652150206 Centerline is valid? [True, True] Translation: X:78.65, Y:22.84, Z:3.65 [[ 8.24447954e-01 -5.64383038e-01 -4.19208510e-02 7.86457967e+01] [ 5.63707517e-01 8.25512596e-01 -2.76186437e-02 2.28420791e+01] [ 5.01936845e-02 -8.60964588e-04 9.98739131e-01 3.65476422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.638040942 meters 0.022998853141218866 Centerline is valid? [True, True] Translation: X:78.67, Y:22.86, Z:3.66 [[ 8.23636844e-01 -5.65573580e-01 -4.18195547e-02 7.86697639e+01] [ 5.64902593e-01 8.24697318e-01 -2.75571027e-02 2.28571577e+01] [ 5.00740438e-02 -9.26929815e-04 9.98745078e-01 3.65629508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.668040942 meters 0.023779494440751836 Centerline is valid? [True, True] Translation: X:78.69, Y:22.87, Z:3.66 [[ 8.22313801e-01 -5.67483253e-01 -4.19853617e-02 7.86934837e+01] [ 5.66809127e-01 8.23384279e-01 -2.76720586e-02 2.28708478e+01] [ 5.02735166e-02 -1.04257051e-03 9.98734943e-01 3.65775087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.698040942 meters 0.02393120062557946 Centerline is valid? [True, True] Translation: X:78.72, Y:22.89, Z:3.66 [[ 8.21827302e-01 -5.68196220e-01 -4.18681568e-02 7.87173142e+01] [ 5.67526294e-01 8.22892399e-01 -2.76044585e-02 2.28863723e+01] [ 5.01377369e-02 -1.07518225e-03 9.98741734e-01 3.65922689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.728040942 meters 0.023633595056115838 Centerline is valid? [True, True] Translation: X:78.74, Y:22.90, Z:3.66 [[ 8.21646151e-01 -5.68446040e-01 -4.20321547e-02 7.87400260e+01] [ 5.67770436e-01 8.22719836e-01 -2.77273212e-02 2.29025251e+01] [ 5.03421734e-02 -1.08256804e-03 9.98731442e-01 3.66050870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.758040942 meters 0.024128713311753335 Centerline is valid? [True, True] Translation: X:78.76, Y:22.92, Z:3.66 [[ 8.21540354e-01 -5.68613031e-01 -4.18409732e-02 7.87624649e+01] [ 5.67942973e-01 8.22604441e-01 -2.76172562e-02 2.29171208e+01] [ 5.01221022e-02 -1.07459625e-03 9.98742519e-01 3.66181673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.788040942 meters 0.02419961058539498 Centerline is valid? [True, True] Translation: X:78.79, Y:22.93, Z:3.66 [[ 8.21600413e-01 -5.68530510e-01 -4.17830271e-02 7.87855943e+01] [ 5.67861606e-01 8.22661498e-01 -2.75908851e-02 2.29335062e+01] [ 5.00595476e-02 -1.05829427e-03 9.98745674e-01 3.66334322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.818040942 meters 0.023751711377344036 Centerline is valid? [True, True] Translation: X:78.81, Y:22.95, Z:3.66 [[ 8.22088420e-01 -5.67715019e-01 -4.32468018e-02 7.88082603e+01] [ 5.66996385e-01 8.23224511e-01 -2.85745174e-02 2.29518606e+01] [ 5.18240100e-02 -1.03000044e-03 9.98655702e-01 3.66429276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.848040942 meters 0.023704373625607324 Centerline is valid? [True, True] Translation: X:78.83, Y:22.97, Z:3.67 [[ 8.22378239e-01 -5.67277308e-01 -4.34797494e-02 7.88315946e+01] [ 5.66549505e-01 8.23526238e-01 -2.87435677e-02 2.29684903e+01] [ 5.21122882e-02 -9.95345975e-04 9.98640736e-01 3.66529692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.878040942 meters 0.023625473672632454 Centerline is valid? [True, True] Translation: X:78.86, Y:22.99, Z:3.67 [[ 8.22748348e-01 -5.66727392e-01 -4.36488040e-02 7.88553429e+01] [ 5.65992358e-01 8.23904823e-01 -2.88702924e-02 2.29858615e+01] [ 5.23240456e-02 -9.51904139e-04 9.98629705e-01 3.66606827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.908040942 meters 0.023746265387134254 Centerline is valid? [True, True] Translation: X:78.88, Y:23.00, Z:3.67 [[ 8.22657218e-01 -5.66835871e-01 -4.39567695e-02 7.88775539e+01] [ 5.66089804e-01 8.23830193e-01 -2.90886197e-02 2.30028830e+01] [ 5.27013870e-02 -9.53516076e-04 9.98609861e-01 3.66659166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.938040942 meters 0.023409714158954962 Centerline is valid? [True, True] Translation: X:78.90, Y:23.02, Z:3.67 [[ 8.22277225e-01 -5.67395108e-01 -4.38515387e-02 7.89002881e+01] [ 5.66652496e-01 8.23445108e-01 -2.90362383e-02 2.30197715e+01] [ 5.25843546e-02 -9.72746437e-04 9.98616012e-01 3.66918883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.968040942 meters 0.023741117864275234 Centerline is valid? [True, True] Translation: X:78.92, Y:23.03, Z:3.67 [[ 8.22010498e-01 -5.67825774e-01 -4.32739068e-02 7.89232948e+01] [ 5.67102379e-01 8.23148189e-01 -2.86696705e-02 2.30346465e+01] [ 5.19002158e-02 -9.73965378e-04 9.98651801e-01 3.67087931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.998040942 meters 0.023861396266993122 Centerline is valid? [True, True] Translation: X:78.95, Y:23.05, Z:3.67 [[ 8.20992159e-01 -5.69431794e-01 -4.14645155e-02 7.89467810e+01] [ 5.68769320e-01 8.22037945e-01 -2.74786735e-02 2.30515996e+01] [ 4.97326355e-02 -1.02396881e-03 9.98762042e-01 3.67459612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.028040942 meters 0.024034836261245043 Centerline is valid? [True, True] Translation: X:78.97, Y:23.07, Z:3.68 [[ 8.20336024e-01 -5.70443764e-01 -4.05304704e-02 7.89706765e+01] [ 5.69811371e-01 8.21335992e-01 -2.68735956e-02 2.30683618e+01] [ 4.86190091e-02 -1.04934428e-03 9.98816845e-01 3.67661878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.058040942 meters 0.024453064829660077 Centerline is valid? [True, True] Translation: X:78.99, Y:23.08, Z:3.68 [[ 8.19414233e-01 -5.71859153e-01 -3.92099911e-02 7.89932046e+01] [ 5.71268322e-01 8.20351102e-01 -2.60110219e-02 2.30837824e+01] [ 4.70406004e-02 -1.08562425e-03 9.98892388e-01 3.67854213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.088040942 meters 0.024651229550239104 Centerline is valid? [True, True] Translation: X:79.02, Y:23.10, Z:3.68 [[ 8.19127436e-01 -5.72285994e-01 -3.89741444e-02 7.90163530e+01] [ 5.71702466e-01 8.20053372e-01 -2.58603226e-02 2.30991139e+01] [ 4.67603790e-02 -1.09871476e-03 9.98905531e-01 3.67972926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.11804094200001 meters 0.02465292242389734 Centerline is valid? [True, True] Translation: X:79.04, Y:23.11, Z:3.68 [[ 8.18796884e-01 -5.72763810e-01 -3.89009110e-02 7.90390512e+01] [ 5.72182766e-01 8.19719686e-01 -2.58170083e-02 2.31149267e+01] [ 4.66748907e-02 -1.11954492e-03 9.98909506e-01 3.68084270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.148040942 meters 0.02398103158104225 Centerline is valid? [True, True] Translation: X:79.06, Y:23.13, Z:3.68 [[ 8.18688185e-01 -5.72906900e-01 -3.90811934e-02 7.90604663e+01] [ 5.72319890e-01 8.19619685e-01 -2.59521737e-02 2.31330419e+01] [ 4.68998948e-02 -1.12020633e-03 9.98898966e-01 3.68117450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.178040942 meters 0.024044072182734792 Centerline is valid? [True, True] Translation: X:79.08, Y:23.15, Z:3.68 [[ 8.18776070e-01 -5.72772017e-01 -3.92168921e-02 7.90828068e+01] [ 5.72180034e-01 8.19713974e-01 -2.60578212e-02 2.31487160e+01] [ 4.70718253e-02 -1.10360227e-03 9.98890898e-01 3.68211934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.208040942 meters 0.023663944700155388 Centerline is valid? [True, True] Translation: X:79.11, Y:23.17, Z:3.68 [[ 8.19013655e-01 -5.72435629e-01 -3.91673865e-02 7.91057096e+01] [ 5.71844419e-01 8.19948956e-01 -2.60320867e-02 2.31667687e+01] [ 4.70169515e-02 -1.07701691e-03 9.98893511e-01 3.68308562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.238040942 meters 0.023332093841449863 Centerline is valid? [True, True] Translation: X:79.13, Y:23.18, Z:3.68 [[ 8.19350042e-01 -5.71948623e-01 -3.92464092e-02 7.91286070e+01] [ 5.71353801e-01 8.20288786e-01 -2.60987076e-02 2.31837395e+01] [ 4.71205092e-02 -1.03960785e-03 9.98888671e-01 3.68394750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.268040942 meters 0.023240478169635672 Centerline is valid? [True, True] Translation: X:79.15, Y:23.20, Z:3.68 [[ 8.20111938e-01 -5.70831490e-01 -3.95956994e-02 7.91506967e+01] [ 5.70224072e-01 8.21066662e-01 -2.63446991e-02 2.32001826e+01] [ 4.75490926e-02 -9.72818722e-04 9.98868428e-01 3.68458521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.298040942 meters 0.022858771696426007 Centerline is valid? [True, True] Translation: X:79.17, Y:23.22, Z:3.69 [[ 8.20184121e-01 -5.70721064e-01 -3.96922658e-02 7.91726691e+01] [ 5.70110273e-01 8.21143433e-01 -2.64147283e-02 2.32169425e+01] [ 4.76684852e-02 -9.64027807e-04 9.98862746e-01 3.68664317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.328040942 meters 0.02253966439319758 Centerline is valid? [True, True] Translation: X:79.19, Y:23.24, Z:3.69 [[ 8.20575127e-01 -5.70205212e-01 -3.90189485e-02 7.91947708e+01] [ 5.69613668e-01 8.21501794e-01 -2.59821633e-02 2.32350374e+01] [ 4.68693011e-02 -9.05409459e-04 9.98900620e-01 3.68917550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.358040942 meters 0.02251577832889411 Centerline is valid? [True, True] Translation: X:79.22, Y:23.25, Z:3.69 [[ 8.20673926e-01 -5.70081560e-01 -3.87468886e-02 7.92167786e+01] [ 5.69497464e-01 8.21587633e-01 -2.58147137e-02 2.32517343e+01] [ 4.65504567e-02 -8.80792293e-04 9.98915552e-01 3.69023886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.388040942 meters 0.022334467797466766 Centerline is valid? [True, True] Translation: X:79.24, Y:23.27, Z:3.69 [[ 8.20658085e-01 -5.70106099e-01 -3.87213508e-02 7.92390382e+01] [ 5.69522076e-01 8.21570618e-01 -2.58132559e-02 2.32690951e+01] [ 4.65286188e-02 -8.68806905e-04 9.98916580e-01 3.69104394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.418040942 meters 0.022251713698997526 Centerline is valid? [True, True] Translation: X:79.26, Y:23.29, Z:3.69 [[ 8.20298693e-01 -5.70670519e-01 -3.80159561e-02 7.92612430e+01] [ 5.70107508e-01 8.21178664e-01 -2.53580709e-02 2.32859835e+01] [ 4.56889955e-02 -8.71989586e-04 9.98955332e-01 3.69255621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.448040942 meters 0.022465559819334305 Centerline is valid? [True, True] Translation: X:79.28, Y:23.30, Z:3.69 [[ 8.19881265e-01 -5.71284550e-01 -3.77977998e-02 7.92847591e+01] [ 5.70727960e-01 8.20751590e-01 -2.52274269e-02 2.33015495e+01] [ 4.54346435e-02 -8.88766464e-04 9.98966918e-01 3.69426793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.478040942 meters 0.022654571725495124 Centerline is valid? [True, True] Translation: X:79.31, Y:23.32, Z:3.70 [[ 8.19004338e-01 -5.72555542e-01 -3.75771954e-02 7.93082422e+01] [ 5.72006558e-01 8.19865385e-01 -2.50848338e-02 2.33174601e+01] [ 4.51707023e-02 -9.49814512e-04 9.98978831e-01 3.69602750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.508040942 meters 0.02335247348844468 Centerline is valid? [True, True] Translation: X:79.33, Y:23.33, Z:3.70 [[ 8.17455742e-01 -5.74787515e-01 -3.72212794e-02 7.93312040e+01] [ 5.74250987e-01 8.18302017e-01 -2.48518166e-02 2.33326023e+01] [ 4.47427620e-02 -1.05909623e-03 9.98997980e-01 3.69723915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.538040942 meters 0.02410788955563051 Centerline is valid? [True, True] Translation: X:79.36, Y:23.35, Z:3.70 [[ 8.16888695e-01 -5.75614714e-01 -3.68857967e-02 7.93551694e+01] [ 5.75088460e-01 8.17720314e-01 -2.46323246e-02 2.33471928e+01] [ 4.43409938e-02 -1.09072856e-03 9.99015859e-01 3.69912651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.568040942 meters 0.023223279502369295 Centerline is valid? [True, True] Translation: X:79.38, Y:23.37, Z:3.70 [[ 8.16048923e-01 -5.76838275e-01 -3.63560053e-02 7.93769158e+01] [ 5.76328058e-01 8.16857583e-01 -2.42828868e-02 2.33657012e+01] [ 4.37049772e-02 -1.13696234e-03 9.99043834e-01 3.70050006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.598040942 meters 0.02413572208264497 Centerline is valid? [True, True] Translation: X:79.40, Y:23.38, Z:3.70 [[ 8.15459282e-01 -5.77655130e-01 -3.66157237e-02 7.94002760e+01] [ 5.77138208e-01 8.16280066e-01 -2.44610378e-02 2.33802152e+01] [ 4.40187293e-02 -1.18535286e-03 9.99030003e-01 3.70184334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.628040942 meters 0.023795398365895146 Centerline is valid? [True, True] Translation: X:79.42, Y:23.40, Z:3.70 [[ 8.14518476e-01 -5.78972718e-01 -3.67456687e-02 7.94226406e+01] [ 5.78453252e-01 8.15345945e-01 -2.45524898e-02 2.33976959e+01] [ 4.41756538e-02 -1.25719496e-03 9.99022988e-01 3.70276363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.658040942 meters 0.023462198692748706 Centerline is valid? [True, True] Translation: X:79.45, Y:23.42, Z:3.70 [[ 8.13976261e-01 -5.79724492e-01 -3.69074468e-02 7.94461063e+01] [ 5.79201004e-01 8.14811527e-01 -2.46652176e-02 2.34153192e+01] [ 4.43716438e-02 -1.29992868e-03 9.99014248e-01 3.70398027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.688040942 meters 0.02347399936926208 Centerline is valid? [True, True] Translation: X:79.47, Y:23.43, Z:3.71 [[ 8.13268541e-01 -5.80734211e-01 -3.66340775e-02 7.94690330e+01] [ 5.80218899e-01 8.14092130e-01 -2.44955782e-02 2.34336975e+01] [ 4.40489345e-02 -1.33430094e-03 9.99028484e-01 3.70541047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.718040942 meters 0.02347399936926208 Centerline is valid? [True, True] Translation: X:79.49, Y:23.45, Z:3.71 [[ 8.13103583e-01 -5.80965536e-01 -3.66279932e-02 7.94919052e+01] [ 5.80450049e-01 8.13927062e-01 -2.45046726e-02 2.34490975e+01] [ 4.40488851e-02 -1.33588334e-03 9.99028484e-01 3.70663490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.748040942 meters 0.0237050174230418 Centerline is valid? [True, True] Translation: X:79.51, Y:23.47, Z:3.71 [[ 8.13076976e-01 -5.81003886e-01 -3.66103084e-02 7.95134869e+01] [ 5.80488268e-01 8.13899704e-01 -2.45079920e-02 2.34653674e+01] [ 4.40363578e-02 -1.32497050e-03 9.99029050e-01 3.70749434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.778040942 meters 0.023740423752678555 Centerline is valid? [True, True] Translation: X:79.54, Y:23.48, Z:3.71 [[ 8.12929053e-01 -5.81199702e-01 -3.67866914e-02 7.95361052e+01] [ 5.80679012e-01 8.13759866e-01 -2.46326136e-02 2.34828763e+01] [ 4.42520008e-02 -1.33669235e-03 9.99019506e-01 3.70853107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.808040942 meters 0.023593959837790966 Centerline is valid? [True, True] Translation: X:79.56, Y:23.50, Z:3.71 [[ 8.13597579e-01 -5.80236604e-01 -3.72083710e-02 7.95590375e+01] [ 5.79702208e-01 8.14446947e-01 -2.49303196e-02 2.35013664e+01] [ 4.47697281e-02 -1.28652715e-03 9.98996505e-01 3.70950127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.838040942 meters 0.023766823899251152 Centerline is valid? [True, True] Translation: X:79.58, Y:23.52, Z:3.71 [[ 8.13857588e-01 -5.79894514e-01 -3.68534781e-02 7.95820051e+01] [ 5.79369384e-01 8.14690616e-01 -2.47045788e-02 2.35173471e+01] [ 4.43502325e-02 -1.24576797e-03 9.99015268e-01 3.71138925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.86804094200001 meters 0.023951629848720613 Centerline is valid? [True, True] Translation: X:79.60, Y:23.53, Z:3.71 [[ 8.13808319e-01 -5.79994385e-01 -3.63666425e-02 7.96037999e+01] [ 5.79482947e-01 8.14619542e-01 -2.43827072e-02 2.35328331e+01] [ 4.37668110e-02 -1.23099919e-03 9.99041016e-01 3.71343478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.898040942 meters 0.022799469467742035 Centerline is valid? [True, True] Translation: X:79.62, Y:23.55, Z:3.72 [[ 8.14113507e-01 -5.79602220e-01 -3.57835784e-02 7.96248800e+01] [ 5.79106423e-01 8.14898681e-01 -2.39976984e-02 2.35528262e+01] [ 4.30691101e-02 -1.18564969e-03 9.99071392e-01 3.71560969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.928040942 meters 0.023724546093698864 Centerline is valid? [True, True] Translation: X:79.65, Y:23.57, Z:3.72 [[ 8.14322102e-01 -5.79328223e-01 -3.54728628e-02 7.96483246e+01] [ 5.78840183e-01 8.15093545e-01 -2.38024211e-02 2.35675021e+01] [ 4.27031158e-02 -1.15028075e-03 9.99087144e-01 3.71707655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.958040942 meters 0.024477509747872633 Centerline is valid? [True, True] Translation: X:79.67, Y:23.58, Z:3.72 [[ 8.14344615e-01 -5.79253530e-01 -3.61689958e-02 7.96693721e+01] [ 5.78745860e-01 8.15146607e-01 -2.42742353e-02 2.35839778e+01] [ 4.35439707e-02 -1.16506378e-03 9.99050832e-01 3.71755807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.988040942 meters 0.02323768323922185 Centerline is valid? [True, True] Translation: X:79.69, Y:23.60, Z:3.72 [[ 8.14279378e-01 -5.79298132e-01 -3.69156955e-02 7.96905594e+01] [ 5.78769040e-01 8.15114879e-01 -2.47816769e-02 2.36033690e+01] [ 4.44465119e-02 -1.18645318e-03 9.99011061e-01 3.71784147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.018040942 meters 0.024302630187223888 Centerline is valid? [True, True] Translation: X:79.71, Y:23.62, Z:3.72 [[ 8.14317779e-01 -5.79194733e-01 -3.76830922e-02 7.97127666e+01] [ 5.78642592e-01 8.15188345e-01 -2.53122941e-02 2.36188917e+01] [ 4.53795650e-02 -1.19279106e-03 9.98969105e-01 3.71757012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.048040942 meters 0.023633750594127957 Centerline is valid? [True, True] Translation: X:79.73, Y:23.64, Z:3.72 [[ 8.14052188e-01 -5.79556331e-01 -3.78615098e-02 7.97346093e+01] [ 5.78999028e-01 8.14931277e-01 -2.54389156e-02 2.36372803e+01] [ 4.55978131e-02 -1.21317250e-03 9.98959142e-01 3.71854096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.078040942 meters 0.02393592912293921 Centerline is valid? [True, True] Translation: X:79.76, Y:23.65, Z:3.72 [[ 8.13763242e-01 -5.79953748e-01 -3.79873045e-02 7.97575903e+01] [ 5.79392481e-01 8.14648479e-01 -2.55383943e-02 2.36536895e+01] [ 4.57573873e-02 -1.22735206e-03 9.98951828e-01 3.71973188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.108040942 meters 0.024999233104697913 Centerline is valid? [True, True] Translation: X:79.78, Y:23.67, Z:3.72 [[ 8.12148487e-01 -5.82191943e-01 -3.83063400e-02 7.97795492e+01] [ 5.81623462e-01 8.13050238e-01 -2.57576874e-02 2.36700668e+01] [ 4.61408969e-02 -1.36079925e-03 9.98934015e-01 3.71986421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.138040942 meters 0.025618230135695693 Centerline is valid? [True, True] Translation: X:79.80, Y:23.69, Z:3.72 [[ 8.11045479e-01 -5.83685177e-01 -3.89467047e-02 7.98034025e+01] [ 5.83098945e-01 8.11978736e-01 -2.61944981e-02 2.36864758e+01] [ 4.69132363e-02 -1.46485316e-03 9.98897894e-01 3.72061399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.168040942 meters 0.027032267683114102 Centerline is valid? [True, True] Translation: X:79.83, Y:23.70, Z:3.72 [[ 8.09261747e-01 -5.86167298e-01 -3.87727128e-02 7.98269204e+01] [ 5.85588531e-01 8.10188477e-01 -2.60903052e-02 2.37023436e+01] [ 4.67064889e-02 -1.59096997e-03 9.98907389e-01 3.72188027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.198040942 meters 0.027636955982069642 Centerline is valid? [True, True] Translation: X:79.85, Y:23.72, Z:3.72 [[ 8.08505292e-01 -5.87209499e-01 -3.87839686e-02 7.98510037e+01] [ 5.86631295e-01 8.09433316e-01 -2.61042295e-02 2.37187854e+01] [ 4.67216879e-02 -1.64648197e-03 9.98906589e-01 3.72339763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.228040942 meters 0.0283524894574262 Centerline is valid? [True, True] Translation: X:79.87, Y:23.74, Z:3.72 [[ 8.07808957e-01 -5.88188571e-01 -3.84563767e-02 7.98744477e+01] [ 5.87620612e-01 8.08722071e-01 -2.58965095e-02 2.37352959e+01] [ 4.63325515e-02 -1.67832730e-03 9.98924661e-01 3.72433996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.258040942 meters 0.028506734008361036 Centerline is valid? [True, True] Translation: X:79.90, Y:23.75, Z:3.73 [[ 8.07303825e-01 -5.88853523e-01 -3.88852406e-02 7.98974244e+01] [ 5.88272975e-01 8.08237930e-01 -2.61983749e-02 2.37525748e+01] [ 4.68555318e-02 -1.72508787e-03 9.98900187e-01 3.72520315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.288040942 meters 0.02967168982774705 Centerline is valid? [True, True] Translation: X:79.92, Y:23.77, Z:3.73 [[ 8.06515948e-01 -5.89932891e-01 -3.88742766e-02 7.99192676e+01] [ 5.89353329e-01 8.07450324e-01 -2.62035753e-02 2.37691503e+01] [ 4.68473982e-02 -1.77708297e-03 9.98900477e-01 3.72615917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.318040942 meters 0.02698560230069203 Centerline is valid? [True, True] Translation: X:79.94, Y:23.79, Z:3.73 [[ 8.06306062e-01 -5.90239289e-01 -3.85761143e-02 7.99388367e+01] [ 5.89668664e-01 8.07226379e-01 -2.60084550e-02 2.37901567e+01] [ 4.64908690e-02 -1.77635088e-03 9.98917136e-01 3.72779415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.348040942 meters 0.03026495776908349 Centerline is valid? [True, True] Translation: X:79.96, Y:23.80, Z:3.73 [[ 8.06097515e-01 -5.90517061e-01 -3.86832946e-02 7.99636361e+01] [ 5.89942873e-01 8.07023180e-01 -2.60958400e-02 2.38028845e+01] [ 4.66283542e-02 -1.78514217e-03 9.98910712e-01 3.72870387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.378040942 meters 0.0278412708049779 Centerline is valid? [True, True] Translation: X:79.98, Y:23.83, Z:3.73 [[ 8.06154342e-01 -5.90442599e-01 -3.86356551e-02 7.99830199e+01] [ 5.89869391e-01 8.07077689e-01 -2.60711726e-02 2.38258081e+01] [ 4.65755061e-02 -1.77260136e-03 9.98913199e-01 3.72935881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.408040942 meters 0.027811897714108382 Centerline is valid? [True, True] Translation: X:80.01, Y:23.84, Z:3.73 [[ 8.06510589e-01 -5.89940469e-01 -3.88704683e-02 8.00058704e+01] [ 5.89359058e-01 8.07444861e-01 -2.62430236e-02 2.38435819e+01] [ 4.68675815e-02 -1.74338613e-03 9.98899590e-01 3.73012838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.438040942 meters 0.02766547291383033 Centerline is valid? [True, True] Translation: X:80.03, Y:23.86, Z:3.73 [[ 8.07343095e-01 -5.88781884e-01 -3.91538148e-02 8.00266796e+01] [ 5.88189989e-01 8.08290219e-01 -2.64472734e-02 2.38626283e+01] [ 4.72193210e-02 -1.67785836e-03 9.98883137e-01 3.73053805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.468040942 meters 0.027609126070605092 Centerline is valid? [True, True] Translation: X:80.05, Y:23.88, Z:3.73 [[ 8.07582926e-01 -5.88480752e-01 -3.87326964e-02 8.00497568e+01] [ 5.87900946e-01 8.08509568e-01 -2.61678534e-02 2.38806744e+01] [ 4.67150336e-02 -1.63827723e-03 9.98906913e-01 3.73160644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.498040942 meters 0.02758123214355736 Centerline is valid? [True, True] Translation: X:80.07, Y:23.90, Z:3.73 [[ 8.08063873e-01 -5.87797410e-01 -3.90766139e-02 8.00714107e+01] [ 5.87205856e-01 8.09006574e-01 -2.64130034e-02 2.38976068e+01] [ 4.71387325e-02 -1.60262267e-03 9.98887066e-01 3.73266789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.528040942 meters 0.027033728305531107 Centerline is valid? [True, True] Translation: X:80.09, Y:23.92, Z:3.73 [[ 8.08410502e-01 -5.87328238e-01 -3.89615197e-02 8.00938096e+01] [ 5.86739382e-01 8.09347321e-01 -2.63402918e-02 2.39159712e+01] [ 4.70037987e-02 -1.56648947e-03 9.98893482e-01 3.73398183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.558040942 meters 0.026746095068588206 Centerline is valid? [True, True] Translation: X:80.11, Y:23.93, Z:3.74 [[ 8.09159528e-01 -5.86325589e-01 -3.85118264e-02 8.01149714e+01] [ 5.85748537e-01 8.10074139e-01 -2.60488026e-02 2.39338205e+01] [ 4.64705142e-02 -1.48060912e-03 9.98918565e-01 3.73569947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.588040942 meters 0.025108591443546487 Centerline is valid? [True, True] Translation: X:80.14, Y:23.95, Z:3.74 [[ 8.09243051e-01 -5.86199254e-01 -3.86797029e-02 8.01370811e+01] [ 5.85616683e-01 8.10165577e-01 -2.61694360e-02 2.39535341e+01] [ 4.66774677e-02 -1.47404511e-03 9.98908925e-01 3.73707277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.61804094200001 meters 0.026926596127418732 Centerline is valid? [True, True] Translation: X:80.16, Y:23.97, Z:3.74 [[ 8.09678473e-01 -5.85578383e-01 -3.89708661e-02 8.01608204e+01] [ 5.84985708e-01 8.10614511e-01 -2.63786877e-02 2.39682296e+01] [ 4.70371389e-02 -1.43914418e-03 9.98892105e-01 3.73772543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.648040942 meters 0.02725036420652381 Centerline is valid? [True, True] Translation: X:80.18, Y:23.98, Z:3.74 [[ 8.10049775e-01 -5.85061149e-01 -3.90232370e-02 8.01834951e+01] [ 5.84466054e-01 8.10987960e-01 -2.64189363e-02 2.39849228e+01] [ 4.71040686e-02 -1.40710388e-03 9.98888996e-01 3.73805124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.678040942 meters 0.024565571661072583 Centerline is valid? [True, True] Translation: X:80.20, Y:24.01, Z:3.74 [[ 8.10770770e-01 -5.84088761e-01 -3.86144672e-02 8.02037351e+01] [ 5.83504748e-01 8.11688699e-01 -2.61470118e-02 2.40066754e+01] [ 4.66151024e-02 -1.33249205e-03 9.98912037e-01 3.73968252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.708040942 meters 0.023709015851189504 Centerline is valid? [True, True] Translation: X:80.23, Y:24.03, Z:3.74 [[ 8.12533692e-01 -5.81670026e-01 -3.80654769e-02 8.02254816e+01] [ 5.81099264e-01 8.13424011e-01 -2.57880625e-02 2.40260813e+01] [ 4.59635158e-02 -1.16615097e-03 9.98942438e-01 3.74100947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.738040942 meters 0.023358199917804058 Centerline is valid? [True, True] Translation: X:80.25, Y:24.04, Z:3.74 [[ 8.13396558e-01 -5.80475613e-01 -3.78695539e-02 8.02488089e+01] [ 5.79908910e-01 8.14276911e-01 -2.56664673e-02 2.40432633e+01] [ 4.57350617e-02 -1.08387555e-03 9.98953017e-01 3.74253929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.768040942 meters 0.02433439386601421 Centerline is valid? [True, True] Translation: X:80.27, Y:24.06, Z:3.74 [[ 8.14057775e-01 -5.79560763e-01 -3.76730722e-02 8.02728990e+01] [ 5.78998380e-01 8.14928394e-01 -2.55458055e-02 2.40576677e+01] [ 4.55062028e-02 -1.01688622e-03 9.98963539e-01 3.74392284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.798040942 meters 0.02256462802939814 Centerline is valid? [True, True] Translation: X:80.29, Y:24.08, Z:3.75 [[ 8.15523574e-01 -5.77535956e-01 -3.70610396e-02 8.02942355e+01] [ 5.76989417e-01 8.16364769e-01 -2.51351722e-02 2.40785312e+01] [ 4.47717927e-02 -8.85502196e-04 9.98996848e-01 3.74571677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.828040942 meters 0.02210940492776549 Centerline is valid? [True, True] Translation: X:80.32, Y:24.10, Z:3.75 [[ 8.16389127e-01 -5.76366453e-01 -3.62008946e-02 8.03173714e+01] [ 5.75843591e-01 8.17190967e-01 -2.45577384e-02 2.40961295e+01] [ 4.37373007e-02 -7.97382578e-04 9.99042748e-01 3.74720762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.858040942 meters 0.021601579525665954 Centerline is valid? [True, True] Translation: X:80.34, Y:24.11, Z:3.75 [[ 8.17588523e-01 -5.74718295e-01 -3.53254776e-02 8.03395019e+01] [ 5.74218401e-01 8.18351035e-01 -2.39752458e-02 2.41141357e+01] [ 4.26876535e-02 -6.82653476e-04 9.99088233e-01 3.74826761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.888040942 meters 0.02128921526091532 Centerline is valid? [True, True] Translation: X:80.36, Y:24.13, Z:3.75 [[ 8.18029718e-01 -5.74115380e-01 -3.49129013e-02 8.03624399e+01] [ 5.73626074e-01 8.18774162e-01 -2.37065344e-02 2.41311718e+01] [ 4.21960675e-02 -6.34300881e-04 9.99109148e-01 3.74965422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.918040942 meters 0.020903551653167773 Centerline is valid? [True, True] Translation: X:80.39, Y:24.15, Z:3.75 [[ 8.18660428e-01 -5.73229569e-01 -3.46837704e-02 8.03854255e+01] [ 5.72745400e-01 8.19394612e-01 -2.35621934e-02 2.41480245e+01] [ 4.19262405e-02 -5.75534573e-04 9.99120543e-01 3.75076932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.948040942 meters 0.02049425747844487 Centerline is valid? [True, True] Translation: X:80.41, Y:24.16, Z:3.75 [[ 8.19638312e-01 -5.71840331e-01 -3.45206239e-02 8.04079700e+01] [ 5.71358990e-01 8.20364793e-01 -2.34629848e-02 2.41645080e+01] [ 4.17365854e-02 -4.92507540e-04 9.99128528e-01 3.75213395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.978040942 meters 0.01963593106856668 Centerline is valid? [True, True] Translation: X:80.43, Y:24.18, Z:3.75 [[ 8.19912072e-01 -5.71428147e-01 -3.48434587e-02 8.04288248e+01] [ 5.70937239e-01 8.20651966e-01 -2.36858621e-02 2.41829722e+01] [ 4.21291212e-02 -4.73103785e-04 9.99112062e-01 3.75208624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.008040942 meters 0.020047880933548503 Centerline is valid? [True, True] Translation: X:80.45, Y:24.20, Z:3.75 [[ 8.20369343e-01 -5.70756447e-01 -3.50887483e-02 8.04529063e+01] [ 5.70257339e-01 8.21119294e-01 -2.38678221e-02 2.41971410e+01] [ 4.24347615e-02 -4.29186657e-04 9.99099148e-01 3.75324441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.038040942 meters 0.019827144019658013 Centerline is valid? [True, True] Translation: X:80.48, Y:24.21, Z:3.75 [[ 8.20944443e-01 -5.69916572e-01 -3.52891319e-02 8.04754430e+01] [ 5.69410772e-01 8.21702473e-01 -2.40087231e-02 2.42129946e+01] [ 4.26801361e-02 -3.84183995e-04 9.99088714e-01 3.75339666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.068040942 meters 0.019768835671467366 Centerline is valid? [True, True] Translation: X:80.50, Y:24.23, Z:3.75 [[ 8.20760429e-01 -5.70169317e-01 -3.54861653e-02 8.04987687e+01] [ 5.69657929e-01 8.21527110e-01 -2.41464610e-02 2.42287183e+01] [ 4.29204180e-02 -3.96515758e-04 9.99078416e-01 3.75429851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.098040942 meters 0.01912950127504316 Centerline is valid? [True, True] Translation: X:80.52, Y:24.25, Z:3.75 [[ 8.19999716e-01 -5.71240240e-01 -3.58476524e-02 8.05215646e+01] [ 5.70718834e-01 8.20782790e-01 -2.44053939e-02 2.42458858e+01] [ 4.33644792e-02 -4.46514366e-04 9.99059219e-01 3.75484862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.128040942 meters 0.0192477498478014 Centerline is valid? [True, True] Translation: X:80.55, Y:24.26, Z:3.76 [[ 8.19234285e-01 -5.72350293e-01 -3.56416552e-02 8.05459587e+01] [ 5.71835349e-01 8.20009085e-01 -2.42782571e-02 2.42609398e+01] [ 4.31221486e-02 -4.91577763e-04 9.99069687e-01 3.75611258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.158040942 meters 0.01956673530679269 Centerline is valid? [True, True] Translation: X:80.57, Y:24.28, Z:3.76 [[ 8.18269123e-01 -5.73735166e-01 -3.55471765e-02 8.05701247e+01] [ 5.73223681e-01 8.19040691e-01 -2.42272109e-02 2.42750720e+01] [ 4.30145869e-02 -5.52104757e-04 9.99074292e-01 3.75759477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.188040942 meters 0.01989781612982049 Centerline is valid? [True, True] Translation: X:80.60, Y:24.29, Z:3.76 [[ 8.16293753e-01 -5.76522215e-01 -3.58698294e-02 8.05958148e+01] [ 5.76003885e-01 8.17081173e-01 -2.44516055e-02 2.42889165e+01] [ 4.34054560e-02 -7.01468272e-04 9.99057293e-01 3.75860356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.218040942 meters 0.02009851472984985 Centerline is valid? [True, True] Translation: X:80.62, Y:24.30, Z:3.76 [[ 8.15182438e-01 -5.78098225e-01 -3.57775645e-02 8.06205829e+01] [ 5.77583519e-01 8.15966816e-01 -2.44015165e-02 2.43042220e+01] [ 4.32997788e-02 -7.72843854e-04 9.99061826e-01 3.75959868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.248040942 meters 0.02021458674084259 Centerline is valid? [True, True] Translation: X:80.64, Y:24.32, Z:3.76 [[ 8.14501507e-01 -5.79044317e-01 -3.59857490e-02 8.06449533e+01] [ 5.78523951e-01 8.15295659e-01 -2.45566125e-02 2.43191160e+01] [ 4.35583918e-02 -8.17219726e-04 9.99050549e-01 3.76102580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.278040942 meters 0.020338753677782997 Centerline is valid? [True, True] Translation: X:80.67, Y:24.33, Z:3.76 [[ 8.13775471e-01 -5.80079933e-01 -3.57316934e-02 8.06699217e+01] [ 5.79567333e-01 8.14559107e-01 -2.43960694e-02 2.43344916e+01] [ 4.32572466e-02 -8.55999366e-04 9.99063601e-01 3.76221965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.308040942 meters 0.020363450436854235 Centerline is valid? [True, True] Translation: X:80.69, Y:24.35, Z:3.76 [[ 8.13834921e-01 -5.80004990e-01 -3.55940047e-02 8.06921421e+01] [ 5.79495704e-01 8.14612490e-01 -2.43150107e-02 2.43495646e+01] [ 4.30981484e-02 -8.38168086e-04 9.99070492e-01 3.76340986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.338040942 meters 0.01984890153877013 Centerline is valid? [True, True] Translation: X:80.72, Y:24.37, Z:3.77 [[ 8.14402565e-01 -5.79239721e-01 -3.50686237e-02 8.07159933e+01] [ 5.78744408e-01 8.15156878e-01 -2.39619482e-02 2.43661808e+01] [ 4.24661420e-02 -7.81097754e-04 9.99097601e-01 3.76502818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.36804094200001 meters 0.019842028127643078 Centerline is valid? [True, True] Translation: X:80.74, Y:24.38, Z:3.77 [[ 8.14665282e-01 -5.78889497e-01 -3.47480763e-02 8.07396339e+01] [ 5.78402359e-01 8.15405663e-01 -2.37553464e-02 2.43818221e+01] [ 4.20854987e-02 -7.45713342e-04 9.99113735e-01 3.76644430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.398040942 meters 0.019732196676601282 Centerline is valid? [True, True] Translation: X:80.76, Y:24.40, Z:3.77 [[ 8.15217233e-01 -5.78081978e-01 -3.52432894e-02 8.07624722e+01] [ 5.77579534e-01 8.15978389e-01 -2.41070477e-02 2.43976008e+01] [ 4.26936123e-02 -7.03321965e-04 9.99087965e-01 3.76729733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.428040942 meters 0.01925517090076245 Centerline is valid? [True, True] Translation: X:80.79, Y:24.42, Z:3.77 [[ 8.16123167e-01 -5.76770556e-01 -3.57589422e-02 8.07856424e+01] [ 5.76251847e-01 8.16905940e-01 -2.44641423e-02 2.44152045e+01] [ 4.33218892e-02 -6.40403219e-04 9.99060961e-01 3.76745009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.458040942 meters 0.01891262314250263 Centerline is valid? [True, True] Translation: X:80.81, Y:24.43, Z:3.77 [[ 8.16460659e-01 -5.76290717e-01 -3.57910863e-02 8.08086616e+01] [ 5.75770066e-01 8.17244543e-01 -2.44987351e-02 2.44319750e+01] [ 4.33684636e-02 -6.05182705e-04 9.99058962e-01 3.76846404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.488040942 meters 0.0187817522466052 Centerline is valid? [True, True] Translation: X:80.83, Y:24.45, Z:3.77 [[ 8.17298436e-01 -5.75077442e-01 -3.61828978e-02 8.08319218e+01] [ 5.74543553e-01 8.18098801e-01 -2.47801846e-02 2.44472032e+01] [ 4.38517105e-02 -5.35844547e-04 9.99037907e-01 3.76927221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.518040942 meters 0.01824838582994758 Centerline is valid? [True, True] Translation: X:80.85, Y:24.46, Z:3.77 [[ 8.17751258e-01 -5.74431624e-01 -3.62103329e-02 8.08547215e+01] [ 5.73896095e-01 8.18552418e-01 -2.48034541e-02 2.44646781e+01] [ 4.38879440e-02 -4.97912819e-04 9.99036336e-01 3.77030118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.548040942 meters 0.018162299375430218 Centerline is valid? [True, True] Translation: X:80.88, Y:24.48, Z:3.77 [[ 8.18206474e-01 -5.73761131e-01 -3.65558592e-02 8.08790478e+01] [ 5.73214057e-01 8.19022562e-01 -2.50537005e-02 2.44810306e+01] [ 4.43149130e-02 -4.55232455e-04 9.99017508e-01 3.77210559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.578040942 meters 0.018124532555860762 Centerline is valid? [True, True] Translation: X:80.90, Y:24.50, Z:3.77 [[ 8.18839101e-01 -5.72885133e-01 -3.61268778e-02 8.09024923e+01] [ 5.72349396e-01 8.19635572e-01 -2.47729339e-02 2.44962665e+01] [ 4.38029197e-02 -3.92149798e-04 9.99040115e-01 3.77373470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.608040942 meters 0.018124532555860762 Centerline is valid? [True, True] Translation: X:80.93, Y:24.51, Z:3.77 [[ 8.18678832e-01 -5.73114274e-01 -3.61247641e-02 8.09251551e+01] [ 5.72578624e-01 8.19475361e-01 -2.47760158e-02 2.45119156e+01] [ 4.38028424e-02 -4.00668044e-04 9.99040115e-01 3.77496059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.638040942 meters 0.018074546440250618 Centerline is valid? [True, True] Translation: X:80.95, Y:24.53, Z:3.78 [[ 8.19806484e-01 -5.71523150e-01 -3.57577684e-02 8.09485727e+01] [ 5.70996177e-01 8.20585887e-01 -2.45390940e-02 2.45270827e+01] [ 4.33669804e-02 -3.00240671e-04 9.99059165e-01 3.77713458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.668040942 meters 0.017853304270458344 Centerline is valid? [True, True] Translation: X:80.97, Y:24.54, Z:3.78 [[ 8.20503098e-01 -5.70529433e-01 -3.56487411e-02 8.09708969e+01] [ 5.70004448e-01 8.21277120e-01 -2.44708267e-02 2.45441301e+01] [ 4.32388223e-02 -2.41551898e-04 9.99064736e-01 3.77790029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.698040942 meters 0.017789215351983346 Centerline is valid? [True, True] Translation: X:80.99, Y:24.56, Z:3.78 [[ 8.21564404e-01 -5.68999359e-01 -3.56603485e-02 8.09940155e+01] [ 5.68471942e-01 8.22337952e-01 -2.44937463e-02 2.45597348e+01] [ 4.32617839e-02 -1.48717465e-04 9.99063760e-01 3.77901542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.728040942 meters 0.01772551628026223 Centerline is valid? [True, True] Translation: X:81.02, Y:24.58, Z:3.78 [[ 8.21994483e-01 -5.68392068e-01 -3.54334026e-02 8.10177453e+01] [ 5.67870604e-01 8.22757828e-01 -2.43420017e-02 2.45753112e+01] [ 4.29889101e-02 -1.12596614e-04 9.99075543e-01 3.78067816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.758040942 meters 0.017768562975420444 Centerline is valid? [True, True] Translation: X:81.04, Y:24.59, Z:3.78 [[ 8.22734496e-01 -5.67365907e-01 -3.46969258e-02 8.10412394e+01] [ 5.66864404e-01 8.23465801e-01 -2.38499932e-02 2.45893623e+01] [ 4.21034048e-02 -4.62399943e-05 9.99113257e-01 3.78342918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.788040942 meters 0.017747380463552336 Centerline is valid? [True, True] Translation: X:81.06, Y:24.60, Z:3.78 [[ 8.22770369e-01 -5.67313108e-01 -3.47096216e-02 8.10644391e+01] [ 5.66810802e-01 8.23502177e-01 -2.38679426e-02 2.46045357e+01] [ 4.21240457e-02 -3.59525336e-05 9.99112388e-01 3.78457576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.818040942 meters 0.01786343083179519 Centerline is valid? [True, True] Translation: X:81.09, Y:24.62, Z:3.79 [[ 8.22880415e-01 -5.67165247e-01 -3.45167312e-02 8.10871885e+01] [ 5.66667751e-01 8.23604020e-01 -2.37503216e-02 2.46195011e+01] [ 4.18984756e-02 -1.58439787e-05 9.99121873e-01 3.78643477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.848040942 meters 0.01781729494475814 Centerline is valid? [True, True] Translation: X:81.11, Y:24.64, Z:3.79 [[ 8.23023901e-01 -5.66949741e-01 -3.46359511e-02 8.11107372e+01] [ 5.66448360e-01 8.23752385e-01 -2.38382932e-02 2.46352403e+01] [ 4.20465615e-02 7.38193426e-09 9.99115652e-01 3.78748390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.878040942 meters 0.017813888149326766 Centerline is valid? [True, True] Translation: X:81.13, Y:24.65, Z:3.79 [[ 8.22946588e-01 -5.67069898e-01 -3.45057025e-02 8.11340490e+01] [ 5.66571823e-01 8.23669673e-01 -2.37621169e-02 2.46502128e+01] [ 4.18960819e-02 4.99429575e-06 9.99121974e-01 3.78826112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.908040942 meters 0.017670556010806925 Centerline is valid? [True, True] Translation: X:81.16, Y:24.66, Z:3.79 [[ 8.23189215e-01 -5.66739052e-01 -3.41520636e-02 8.11577686e+01] [ 5.66250229e-01 8.23897352e-01 -2.35336261e-02 2.46635318e+01] [ 4.14752197e-02 3.40133041e-05 9.99139532e-01 3.78968733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.938040942 meters 0.01760027922789223 Centerline is valid? [True, True] Translation: X:81.18, Y:24.68, Z:3.79 [[ 8.23075675e-01 -5.66908131e-01 -3.40822996e-02 8.11815581e+01] [ 5.66421215e-01 8.23781020e-01 -2.34912258e-02 2.46786081e+01] [ 4.13937185e-02 3.01189858e-05 9.99142912e-01 3.79118310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.968040942 meters 0.01765131248261425 Centerline is valid? [True, True] Translation: X:81.20, Y:24.69, Z:3.79 [[ 8.22909373e-01 -5.67151381e-01 -3.40510645e-02 8.12047570e+01] [ 5.66664954e-01 8.23613568e-01 -2.34844632e-02 2.46919857e+01] [ 4.13641645e-02 3.00399320e-05 9.99144136e-01 3.79278843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.998040942 meters 0.017590196724120703 Centerline is valid? [True, True] Translation: X:81.23, Y:24.71, Z:3.79 [[ 8.22539840e-01 -5.67680474e-01 -3.41627202e-02 8.12283437e+01] [ 5.67190910e-01 8.23248978e-01 -2.35710047e-02 2.47068821e+01] [ 4.15052235e-02 1.13060699e-05 9.99138287e-01 3.79323196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.028040942 meters 0.017543148222843752 Centerline is valid? [True, True] Translation: X:81.25, Y:24.72, Z:3.79 [[ 8.21437264e-01 -5.69271424e-01 -3.42179341e-02 8.12527749e+01] [ 5.68781060e-01 8.22149647e-01 -2.36233600e-02 2.47210956e+01] [ 4.15803662e-02 -5.74046479e-05 9.99135161e-01 3.79366655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.058040942 meters 0.017653361895068397 Centerline is valid? [True, True] Translation: X:81.28, Y:24.74, Z:3.80 [[ 8.20463572e-01 -5.70671347e-01 -3.42599104e-02 8.12761075e+01] [ 5.70180374e-01 8.21178544e-01 -2.36672759e-02 2.47351798e+01] [ 4.16397395e-02 -1.16190768e-04 9.99132683e-01 3.79513843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.088040942 meters 0.017640229432551186 Centerline is valid? [True, True] Translation: X:81.30, Y:24.75, Z:3.80 [[ 8.19592754e-01 -5.71898396e-01 -3.46401787e-02 8.12994537e+01] [ 5.71397137e-01 8.20324445e-01 -2.39398489e-02 2.47501368e+01] [ 4.21073465e-02 -1.72372187e-04 9.99113078e-01 3.79542880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.11804094200001 meters 0.017792528500964536 Centerline is valid? [True, True] Translation: X:81.33, Y:24.76, Z:3.80 [[ 8.17151788e-01 -5.75352662e-01 -3.51036988e-02 8.13259571e+01] [ 5.74840419e-01 8.17905372e-01 -2.42754124e-02 2.47633449e+01] [ 4.26784269e-02 -3.42328240e-04 9.99088802e-01 3.79609099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.148040942 meters 0.01797407106474678 Centerline is valid? [True, True] Translation: X:81.35, Y:24.78, Z:3.80 [[ 8.15969516e-01 -5.77005557e-01 -3.54730360e-02 8.13498173e+01] [ 5.76483443e-01 8.16740111e-01 -2.45444535e-02 2.47770769e+01] [ 4.31345374e-02 -4.22092104e-04 9.99069184e-01 3.79746563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.178040942 meters 0.01809759766871954 Centerline is valid? [True, True] Translation: X:81.37, Y:24.79, Z:3.80 [[ 8.14679968e-01 -5.78831891e-01 -3.53580471e-02 8.13745028e+01] [ 5.78314688e-01 8.15446735e-01 -2.44692419e-02 2.47924157e+01] [ 4.29961816e-02 -5.13476805e-04 9.99075105e-01 3.79846410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.208040942 meters 0.018567628844850102 Centerline is valid? [True, True] Translation: X:81.40, Y:24.81, Z:3.80 [[ 8.12465648e-01 -5.81953970e-01 -3.50592164e-02 8.14000883e+01] [ 5.81447826e-01 8.13221457e-01 -2.42752299e-02 2.48067590e+01] [ 4.26379734e-02 -6.62314780e-04 9.99090369e-01 3.79993111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.238040942 meters 0.018882069279143644 Centerline is valid? [True, True] Translation: X:81.42, Y:24.82, Z:3.80 [[ 8.11651820e-01 -5.83085895e-01 -3.51021790e-02 8.14235665e+01] [ 5.82579001e-01 8.12410200e-01 -2.43182106e-02 2.48216157e+01] [ 4.26969738e-02 -7.11872441e-04 9.99087815e-01 3.80132012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.268040942 meters 0.01881929255502823 Centerline is valid? [True, True] Translation: X:81.45, Y:24.84, Z:3.80 [[ 8.10707169e-01 -5.84411185e-01 -3.48920166e-02 8.14480221e+01] [ 5.83911396e-01 8.11457312e-01 -2.41766968e-02 2.48374872e+01] [ 4.24425140e-02 -7.73624707e-04 9.99098611e-01 3.80245249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.298040942 meters 0.01910950303659308 Centerline is valid? [True, True] Translation: X:81.47, Y:24.85, Z:3.80 [[ 8.10657699e-01 -5.84482037e-01 -3.48546041e-02 8.14714151e+01] [ 5.83982821e-01 8.11406287e-01 -2.41640736e-02 2.48515652e+01] [ 4.24047119e-02 -7.65697672e-04 9.99100222e-01 3.80392283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.328040942 meters 0.018862900334968003 Centerline is valid? [True, True] Translation: X:81.49, Y:24.87, Z:3.81 [[ 8.10374570e-01 -5.84889738e-01 -3.45984249e-02 8.14942892e+01] [ 5.84397960e-01 8.11112441e-01 -2.39923344e-02 2.48683187e+01] [ 4.20960830e-02 -7.76471241e-04 9.99113265e-01 3.80554441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.358040942 meters 0.01879225263653492 Centerline is valid? [True, True] Translation: X:81.52, Y:24.88, Z:3.81 [[ 8.10663602e-01 -5.84523147e-01 -3.40178532e-02 8.15174114e+01] [ 5.84046804e-01 8.11376703e-01 -2.36046108e-02 2.48835276e+01] [ 4.13987350e-02 -7.32619606e-04 9.99142436e-01 3.80727030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.388040942 meters 0.01870080494839095 Centerline is valid? [True, True] Translation: X:81.54, Y:24.90, Z:3.81 [[ 8.11017227e-01 -5.84041347e-01 -3.38638876e-02 8.15403606e+01] [ 5.83568647e-01 8.11723607e-01 -2.35036064e-02 2.49002735e+01] [ 4.12151949e-02 -7.00073340e-04 9.99150048e-01 3.80843939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.418040942 meters 0.018293930073987483 Centerline is valid? [True, True] Translation: X:81.56, Y:24.92, Z:3.81 [[ 8.12201382e-01 -5.82407197e-01 -3.36269455e-02 8.15631276e+01] [ 5.81939184e-01 8.12896976e-01 -2.33514931e-02 2.49179660e+01] [ 4.09353200e-02 -6.02722250e-04 9.99161617e-01 3.80954805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.448040942 meters 0.018182437800698843 Centerline is valid? [True, True] Translation: X:81.59, Y:24.94, Z:3.81 [[ 8.12849993e-01 -5.81527213e-01 -3.31811577e-02 8.15868865e+01] [ 5.81070310e-01 8.13526771e-01 -2.30540112e-02 2.49351244e+01] [ 4.04002950e-02 -5.41132728e-04 9.99183428e-01 3.81099041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.478040942 meters 0.018118468769617247 Centerline is valid? [True, True] Translation: X:81.61, Y:24.95, Z:3.81 [[ 8.13374249e-01 -5.80806890e-01 -3.29497844e-02 8.16102855e+01] [ 5.80355263e-01 8.14041224e-01 -2.29053368e-02 2.49517923e+01] [ 4.01260603e-02 -4.91969690e-04 9.99194504e-01 3.81247430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.508040942 meters 0.01787388134359312 Centerline is valid? [True, True] Translation: X:81.63, Y:24.97, Z:3.81 [[ 8.15033383e-01 -5.78482896e-01 -3.28347964e-02 8.16331090e+01] [ 5.78032010e-01 8.15694431e-01 -2.28383580e-02 2.49675315e+01] [ 3.99947601e-02 -3.65539201e-04 9.99199823e-01 3.81425544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.538040942 meters 0.017719153731965538 Centerline is valid? [True, True] Translation: X:81.66, Y:24.98, Z:3.82 [[ 8.15749979e-01 -5.77463433e-01 -3.29841814e-02 8.16566711e+01] [ 5.77007460e-01 8.16416490e-01 -2.29457213e-02 2.49846829e+01] [ 4.01791446e-02 -3.14147105e-04 9.99192443e-01 3.81569549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.568040942 meters 0.017735610500202465 Centerline is valid? [True, True] Translation: X:81.68, Y:25.00, Z:3.82 [[ 8.16616946e-01 -5.76236511e-01 -3.29885881e-02 8.16792042e+01] [ 5.75778890e-01 8.17282952e-01 -2.29618354e-02 2.50006384e+01] [ 4.01924586e-02 -2.43108708e-04 9.99191927e-01 3.81724130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.598040942 meters 0.01759584188666557 Centerline is valid? [True, True] Translation: X:81.70, Y:25.02, Z:3.82 [[ 8.18404575e-01 -5.73657531e-01 -3.36301666e-02 8.17012296e+01] [ 5.73179456e-01 8.19095247e-01 -2.34155133e-02 2.50171154e+01] [ 4.09787952e-02 -1.12757421e-04 9.99160010e-01 3.81735038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.628040942 meters 0.017543590917301757 Centerline is valid? [True, True] Translation: X:81.72, Y:25.03, Z:3.82 [[ 8.18822361e-01 -5.73033102e-01 -3.41028753e-02 8.17238398e+01] [ 5.72540791e-01 8.19532219e-01 -2.37483622e-02 2.50331416e+01] [ 4.15570027e-02 -7.95971712e-05 9.99136131e-01 3.81785522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.658040942 meters 0.01758112399148023 Centerline is valid? [True, True] Translation: X:81.75, Y:25.05, Z:3.82 [[ 8.19382847e-01 -5.72226678e-01 -3.41815481e-02 8.17479180e+01] [ 5.71730776e-01 8.20095499e-01 -2.38178847e-02 2.50483502e+01] [ 4.16613628e-02 -2.66768664e-05 9.99131788e-01 3.81902756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.688040942 meters 0.017731293886022594 Centerline is valid? [True, True] Translation: X:81.77, Y:25.06, Z:3.82 [[ 8.19299074e-01 -5.72359332e-01 -3.39679581e-02 8.17710053e+01] [ 5.71869100e-01 8.20002924e-01 -2.36841285e-02 2.50630158e+01] [ 4.14096570e-02 -2.08410996e-05 9.99142252e-01 3.82044493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.718040942 meters 0.01759581909458962 Centerline is valid? [True, True] Translation: X:81.79, Y:25.08, Z:3.82 [[ 8.18921296e-01 -5.72869045e-01 -3.44814156e-02 8.17938726e+01] [ 5.72364052e-01 8.19646909e-01 -2.40486383e-02 2.50773873e+01] [ 4.20393061e-02 -4.19806973e-05 9.99115957e-01 3.82165701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.748040942 meters 0.01755217928277376 Centerline is valid? [True, True] Translation: X:81.82, Y:25.09, Z:3.82 [[ 8.17942446e-01 -5.74220476e-01 -3.52278400e-02 8.18192867e+01] [ 5.73694353e-01 8.18700698e-01 -2.45755296e-02 2.50908607e+01] [ 4.29528295e-02 -1.08644076e-04 9.99077095e-01 3.82229425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.778040942 meters 0.01757350087409895 Centerline is valid? [True, True] Translation: X:81.84, Y:25.10, Z:3.82 [[ 8.17337862e-01 -5.75062698e-01 -3.55205871e-02 8.18423262e+01] [ 5.74527917e-01 8.18109328e-01 -2.47951548e-02 2.51045402e+01] [ 4.33184923e-02 -1.41550085e-04 9.99061304e-01 3.82338208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.808040942 meters 0.01754034765217013 Centerline is valid? [True, True] Translation: X:81.87, Y:25.12, Z:3.82 [[ 8.16337915e-01 -5.76420668e-01 -3.64913925e-02 8.18669781e+01] [ 5.75857289e-01 8.17153087e-01 -2.54796991e-02 2.51174372e+01] [ 4.45060792e-02 -2.13789924e-04 9.99009091e-01 3.82424369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.838040942 meters 0.017603648138936594 Centerline is valid? [True, True] Translation: X:81.89, Y:25.13, Z:3.83 [[ 8.15933013e-01 -5.76971115e-01 -3.68463233e-02 8.18908906e+01] [ 5.76396595e-01 8.16764518e-01 -2.57427235e-02 2.51325519e+01] [ 4.49475774e-02 -2.33757308e-04 9.98989320e-01 3.82537705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.86804094200001 meters 0.01759833514167731 Centerline is valid? [True, True] Translation: X:81.91, Y:25.15, Z:3.83 [[ 8.15419727e-01 -5.77671291e-01 -3.72363826e-02 8.19148793e+01] [ 5.77084551e-01 8.16269447e-01 -2.60309492e-02 2.51473043e+01] [ 4.54322535e-02 -2.62391666e-04 9.98967388e-01 3.82661255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.898040942 meters 0.017604681657453356 Centerline is valid? [True, True] Translation: X:81.94, Y:25.16, Z:3.83 [[ 8.15064887e-01 -5.78149316e-01 -3.75845463e-02 8.19388609e+01] [ 5.77551330e-01 8.15930935e-01 -2.62901336e-02 2.51621268e+01] [ 4.58660167e-02 -2.78839971e-04 9.98947562e-01 3.82774011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.928040942 meters 0.017806189909578652 Centerline is valid? [True, True] Translation: X:81.96, Y:25.18, Z:3.83 [[ 8.13919856e-01 -5.79673182e-01 -3.89033378e-02 8.19645804e+01] [ 5.79033411e-01 8.14848986e-01 -2.72293670e-02 2.51753379e+01] [ 4.74844792e-02 -3.63809871e-04 9.98871910e-01 3.82823859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.958040942 meters 0.019240745247616046 Centerline is valid? [True, True] Translation: X:81.99, Y:25.19, Z:3.83 [[ 8.12961149e-01 -5.81002111e-01 -3.91243753e-02 8.19893417e+01] [ 5.80355894e-01 8.13901935e-01 -2.73984702e-02 2.51902038e+01] [ 4.77619738e-02 -4.32170040e-04 9.98858652e-01 3.82705353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.988040942 meters 0.018116514586065932 Centerline is valid? [True, True] Translation: X:82.02, Y:25.20, Z:3.83 [[ 8.11524558e-01 -5.82995182e-01 -3.93002361e-02 8.20158523e+01] [ 5.82344776e-01 8.12475431e-01 -2.75360768e-02 2.52025926e+01] [ 4.79838763e-02 -5.40084680e-04 9.98847964e-01 3.83077340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.018040942 meters 0.018248441788317034 Centerline is valid? [True, True] Translation: X:82.04, Y:25.22, Z:3.83 [[ 8.10428949e-01 -5.84504607e-01 -3.94877492e-02 8.20413710e+01] [ 5.83849061e-01 8.11390152e-01 -2.76820279e-02 2.52166375e+01] [ 4.82202436e-02 -6.20568508e-04 9.98836535e-01 3.83185856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.048040942 meters 0.018566993722475392 Centerline is valid? [True, True] Translation: X:82.07, Y:25.23, Z:3.83 [[ 8.09640436e-01 -5.85548975e-01 -4.01840988e-02 8.20665071e+01] [ 5.84870679e-01 8.10636744e-01 -2.81843598e-02 2.52297532e+01] [ 4.90780300e-02 -6.83303767e-04 9.98794714e-01 3.83319765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.078040942 meters 0.018837371112087758 Centerline is valid? [True, True] Translation: X:82.09, Y:25.24, Z:3.83 [[ 8.08998586e-01 -5.86382409e-01 -4.09506975e-02 8.20917170e+01] [ 5.85678764e-01 8.10034023e-01 -2.87274718e-02 2.52415715e+01] [ 5.00167424e-02 -7.43469844e-04 9.98748103e-01 3.83394989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.108040942 meters 0.018848717459407055 Centerline is valid? [True, True] Translation: X:82.12, Y:25.26, Z:3.83 [[ 8.09392726e-01 -5.85874522e-01 -4.04284528e-02 8.21150431e+01] [ 5.85187786e-01 8.10401479e-01 -2.83672001e-02 2.52589736e+01] [ 4.93828977e-02 -6.98031423e-04 9.98779676e-01 3.83494978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.138040942 meters 0.01871790793335105 Centerline is valid? [True, True] Translation: X:82.14, Y:25.28, Z:3.84 [[ 8.09662371e-01 -5.85494366e-01 -4.05363157e-02 8.21372758e+01] [ 5.84802749e-01 8.10676203e-01 -2.84576725e-02 2.52765938e+01] [ 4.95236334e-02 -6.64642287e-04 9.98772731e-01 3.83592148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.168040942 meters 0.01857006323991972 Centerline is valid? [True, True] Translation: X:82.16, Y:25.30, Z:3.84 [[ 8.10373543e-01 -5.84510432e-01 -4.05249960e-02 8.21598334e+01] [ 5.83817160e-01 8.11385978e-01 -2.84660894e-02 2.52954815e+01] [ 4.95201397e-02 -5.91022371e-04 9.98772950e-01 3.83641196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.198040942 meters 0.018662498278505472 Centerline is valid? [True, True] Translation: X:82.18, Y:25.31, Z:3.84 [[ 8.10223162e-01 -5.84697222e-01 -4.08361027e-02 8.21823128e+01] [ 5.83992793e-01 8.11251382e-01 -2.86986630e-02 2.53112901e+01] [ 4.99083733e-02 -5.95668251e-04 9.98753623e-01 3.83716511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.228040942 meters 0.018916272801702015 Centerline is valid? [True, True] Translation: X:82.21, Y:25.33, Z:3.84 [[ 8.09211663e-01 -5.86074125e-01 -4.11534133e-02 8.22068979e+01] [ 5.85360061e-01 8.10257156e-01 -2.89299250e-02 2.53269834e+01] [ 5.02999281e-02 -6.79131780e-04 9.98733927e-01 3.83867351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.258040942 meters 0.019181696215885894 Centerline is valid? [True, True] Translation: X:82.23, Y:25.34, Z:3.84 [[ 8.08554612e-01 -5.86961908e-01 -4.14144582e-02 8.22316850e+01] [ 5.86239161e-01 8.09614223e-01 -2.91282742e-02 2.53426214e+01] [ 5.06269218e-02 -7.26976782e-04 9.98717371e-01 3.84035188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.288040942 meters 0.01969787931883064 Centerline is valid? [True, True] Translation: X:82.25, Y:25.36, Z:3.84 [[ 8.08083481e-01 -5.87610960e-01 -4.14058816e-02 8.22549153e+01] [ 5.86888679e-01 8.09143242e-01 -2.91357410e-02 2.53573264e+01] [ 5.06237700e-02 -7.56532123e-04 9.98717508e-01 3.84156538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.318040942 meters 0.020534030218527604 Centerline is valid? [True, True] Translation: X:82.28, Y:25.37, Z:3.84 [[ 8.07606814e-01 -5.88253038e-01 -4.15884270e-02 8.22765865e+01] [ 5.87524955e-01 8.08676530e-01 -2.92694028e-02 2.53743247e+01] [ 5.08494000e-02 -7.96069561e-04 9.98706015e-01 3.84162701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.348040942 meters 0.01988157264161817 Centerline is valid? [True, True] Translation: X:82.30, Y:25.39, Z:3.84 [[ 8.07440337e-01 -5.88475620e-01 -4.16718878e-02 8.22969435e+01] [ 5.87744569e-01 8.08514560e-01 -2.93347523e-02 2.53940016e+01] [ 5.09551146e-02 -8.06363421e-04 9.98700619e-01 3.84238378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.378040942 meters 0.020416949711869276 Centerline is valid? [True, True] Translation: X:82.32, Y:25.41, Z:3.84 [[ 8.07402007e-01 -5.88512650e-01 -4.18910578e-02 8.23176038e+01] [ 5.87773112e-01 8.08487613e-01 -2.95050453e-02 2.54117462e+01] [ 5.12324937e-02 -8.00004595e-04 9.98686433e-01 3.84142180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.408040942 meters 0.020245861019299528 Centerline is valid? [True, True] Translation: X:82.34, Y:25.43, Z:3.84 [[ 8.07197236e-01 -5.88800854e-01 -4.17872876e-02 8.23394909e+01] [ 5.88064919e-01 8.08277737e-01 -2.94406440e-02 2.54287552e+01] [ 5.11104106e-02 -8.09231474e-04 9.98692681e-01 3.84289958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.438040942 meters 0.020275692345248682 Centerline is valid? [True, True] Translation: X:82.36, Y:25.44, Z:3.84 [[ 8.07118546e-01 -5.88899926e-01 -4.19109611e-02 8.23620360e+01] [ 5.88158871e-01 8.08205562e-01 -2.95450893e-02 2.54449809e+01] [ 5.12717728e-02 -8.03914001e-04 9.98684414e-01 3.84433115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.468040942 meters 0.020343045942009214 Centerline is valid? [True, True] Translation: X:82.39, Y:25.46, Z:3.85 [[ 8.07346812e-01 -5.88617383e-01 -4.14813383e-02 8.23854575e+01] [ 5.87890235e-01 8.08411400e-01 -2.92588237e-02 2.54619249e+01] [ 5.07562390e-02 -7.64455717e-04 9.98710779e-01 3.84660932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.498040942 meters 0.020273974490724073 Centerline is valid? [True, True] Translation: X:82.41, Y:25.48, Z:3.85 [[ 8.07611285e-01 -5.88253495e-01 -4.14950405e-02 8.24082743e+01] [ 5.87524623e-01 8.08676260e-01 -2.92835259e-02 2.54789135e+01] [ 5.07821907e-02 -7.29652040e-04 9.98709486e-01 3.84812666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.528040942 meters 0.02023576884511517 Centerline is valid? [True, True] Translation: X:82.43, Y:25.50, Z:3.85 [[ 8.07997563e-01 -5.87756267e-01 -4.10183937e-02 8.24302757e+01] [ 5.87042651e-01 8.09037769e-01 -2.89623102e-02 2.54958342e+01] [ 5.02082090e-02 -6.78070521e-04 9.98738542e-01 3.84949188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.558040942 meters 0.02023576884511517 Centerline is valid? [True, True] Translation: X:82.45, Y:25.51, Z:3.85 [[ 8.07839800e-01 -5.87973298e-01 -4.10153562e-02 8.24527247e+01] [ 5.87259742e-01 8.08880047e-01 -2.89666110e-02 2.55118120e+01] [ 5.02080971e-02 -6.86286283e-04 9.98738542e-01 3.85071821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.588040942 meters 0.020236307254864132 Centerline is valid? [True, True] Translation: X:82.47, Y:25.53, Z:3.85 [[ 8.08415957e-01 -5.87155427e-01 -4.13780735e-02 8.24745445e+01] [ 5.86427336e-01 8.09473970e-01 -2.92381737e-02 2.55294752e+01] [ 5.06618258e-02 -6.28627202e-04 9.98715667e-01 3.85124281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.61804094200001 meters 0.020334344661667718 Centerline is valid? [True, True] Translation: X:82.50, Y:25.54, Z:3.85 [[ 8.08608247e-01 -5.86875839e-01 -4.15866952e-02 8.24962024e+01] [ 5.86139735e-01 8.09676712e-01 -2.93910515e-02 2.55448005e+01] [ 5.09206766e-02 -6.09767904e-04 9.98702515e-01 3.85254082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.648040942 meters 0.020386531322778238 Centerline is valid? [True, True] Translation: X:82.52, Y:25.56, Z:3.85 [[ 8.08958719e-01 -5.86406122e-01 -4.13962589e-02 8.25193769e+01] [ 5.85675783e-01 8.10016995e-01 -2.92633636e-02 2.55598078e+01] [ 5.06918888e-02 -5.71933211e-04 9.98714176e-01 3.85385445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.678040942 meters 0.020494194625321174 Centerline is valid? [True, True] Translation: X:82.54, Y:25.58, Z:3.86 [[ 8.08889566e-01 -5.86494833e-01 -4.14907323e-02 8.25424477e+01] [ 5.85760937e-01 8.09952766e-01 -2.93367134e-02 2.55752801e+01] [ 5.08113642e-02 -5.73488868e-04 9.98708104e-01 3.85539839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.708040942 meters 0.020648855636693487 Centerline is valid? [True, True] Translation: X:82.57, Y:25.59, Z:3.86 [[ 8.08873052e-01 -5.86521240e-01 -4.14393567e-02 8.25651847e+01] [ 5.85788431e-01 8.09933651e-01 -2.93154357e-02 2.55903181e+01] [ 5.07572552e-02 -5.62229818e-04 9.98710862e-01 3.85654798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.738040942 meters 0.020814408743925407 Centerline is valid? [True, True] Translation: X:82.59, Y:25.60, Z:3.86 [[ 8.08823328e-01 -5.86572945e-01 -4.16773876e-02 8.25883260e+01] [ 5.85831394e-01 8.09896205e-01 -2.94909304e-02 2.56049048e+01] [ 5.10529400e-02 -5.62969616e-04 9.98695790e-01 3.85762663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.768040942 meters 0.020755439028955866 Centerline is valid? [True, True] Translation: X:82.61, Y:25.62, Z:3.86 [[ 8.08405790e-01 -5.87155931e-01 -4.15691143e-02 8.26104009e+01] [ 5.86418584e-01 8.09473633e-01 -2.94224803e-02 2.56214103e+01] [ 5.09246858e-02 -5.91597716e-04 9.98702321e-01 3.85930965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.798040942 meters 0.020787943101455014 Centerline is valid? [True, True] Translation: X:82.63, Y:25.64, Z:3.86 [[ 8.08108952e-01 -5.87577181e-01 -4.13881379e-02 8.26337904e+01] [ 5.86845960e-01 8.09167902e-01 -2.93108538e-02 2.56375487e+01] [ 5.07123416e-02 -6.02098142e-04 9.98713120e-01 3.86045473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.828040942 meters 0.020943855622055692 Centerline is valid? [True, True] Translation: X:82.66, Y:25.65, Z:3.86 [[ 8.07897751e-01 -5.87953240e-01 -4.01523413e-02 8.26550616e+01] [ 5.87264800e-01 8.08894698e-01 -2.84503354e-02 2.56539376e+01] [ 4.92064829e-02 -5.95094725e-04 9.98788450e-01 3.86259011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.858040942 meters 0.021102374782457457 Centerline is valid? [True, True] Translation: X:82.68, Y:25.67, Z:3.86 [[ 8.07447970e-01 -5.88590984e-01 -3.98551057e-02 8.26777023e+01] [ 5.87913109e-01 8.08430743e-01 -2.82473240e-02 2.56701933e+01] [ 4.88462129e-02 -6.23094679e-04 9.98806117e-01 3.86406576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.888040942 meters 0.02069037854057878 Centerline is valid? [True, True] Translation: X:82.70, Y:25.69, Z:3.87 [[ 8.07506626e-01 -5.88547479e-01 -3.93053905e-02 8.26977637e+01] [ 5.87887395e-01 8.08462433e-01 -2.78730208e-02 2.56899323e+01] [ 4.81815277e-02 -5.99494642e-04 9.98838416e-01 3.86605052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.918040942 meters 0.0214215826896677 Centerline is valid? [True, True] Translation: X:82.72, Y:25.71, Z:3.87 [[ 8.07111746e-01 -5.89070058e-01 -3.95865682e-02 8.27211946e+01] [ 5.88400341e-01 8.08081729e-01 -2.80884125e-02 2.57052161e+01] [ 4.85352253e-02 -6.22262545e-04 9.98821278e-01 3.86588425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.948040942 meters 0.02104685694811362 Centerline is valid? [True, True] Translation: X:82.74, Y:25.72, Z:3.87 [[ 8.06686494e-01 -5.89623428e-01 -4.00139139e-02 8.27419865e+01] [ 5.88939532e-01 8.07678018e-01 -2.83980160e-02 2.57236000e+01] [ 4.90624942e-02 -6.57479715e-04 9.98795494e-01 3.86696559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.978040942 meters 0.021734389646666897 Centerline is valid? [True, True] Translation: X:82.76, Y:25.74, Z:3.87 [[ 8.05239185e-01 -5.91629221e-01 -3.95565434e-02 8.27642016e+01] [ 5.90962528e-01 8.06209830e-01 -2.80891392e-02 2.57397036e+01] [ 4.85092297e-02 -7.57959377e-04 9.98822447e-01 3.86691935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.008040942 meters 0.022117915452732204 Centerline is valid? [True, True] Translation: X:82.79, Y:25.76, Z:3.87 [[ 8.04150236e-01 -5.93126184e-01 -3.92903049e-02 8.27877106e+01] [ 5.92469777e-01 8.05109081e-01 -2.79093355e-02 2.57562995e+01] [ 4.81867389e-02 -8.35019454e-04 9.98837995e-01 3.86800580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.038040942 meters 0.02324012865933858 Centerline is valid? [True, True] Translation: X:82.81, Y:25.77, Z:3.87 [[ 8.01669961e-01 -5.96482871e-01 -3.91593903e-02 8.28112835e+01] [ 5.95834171e-01 8.02625155e-01 -2.78298541e-02 2.57706154e+01] [ 4.80303430e-02 -1.02214481e-03 9.98845354e-01 3.86853123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.068040942 meters 0.022977338880013253 Centerline is valid? [True, True] Translation: X:82.83, Y:25.79, Z:3.87 [[ 8.00110467e-01 -5.98577598e-01 -3.90909146e-02 8.28341340e+01] [ 5.97933341e-01 8.01064017e-01 -2.77877829e-02 2.57878415e+01] [ 4.79474694e-02 -1.14046520e-03 9.98849208e-01 3.86981534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.098040942 meters 0.023926803372373805 Centerline is valid? [True, True] Translation: X:82.86, Y:25.80, Z:3.87 [[ 7.98700843e-01 -6.00473298e-01 -3.88430473e-02 8.28582419e+01] [ 5.99838766e-01 7.99643854e-01 -2.76253780e-02 2.58018684e+01] [ 4.76489059e-02 -1.23515281e-03 9.98863382e-01 3.87112623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.128040942 meters 0.02530810635614458 Centerline is valid? [True, True] Translation: X:82.88, Y:25.82, Z:3.87 [[ 7.96491792e-01 -6.03431130e-01 -3.83627127e-02 8.28822025e+01] [ 6.02815381e-01 7.97413907e-01 -2.72887727e-02 2.58158038e+01] [ 4.70578555e-02 -1.39034979e-03 9.98891198e-01 3.87247683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.158040942 meters 0.024453301215268102 Centerline is valid? [True, True] Translation: X:82.90, Y:25.83, Z:3.87 [[ 7.95643751e-01 -6.04568488e-01 -3.80521295e-02 8.29046013e+01] [ 6.03963715e-01 7.96551860e-01 -2.70733218e-02 2.58346014e+01] [ 4.66781717e-02 -1.44138620e-03 9.98908940e-01 3.87406895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.188040942 meters 0.025035734446192334 Centerline is valid? [True, True] Translation: X:82.93, Y:25.85, Z:3.88 [[ 7.95198863e-01 -6.05180493e-01 -3.76209957e-02 8.29274016e+01] [ 6.04589412e-01 7.96086973e-01 -2.67800949e-02 2.58496465e+01] [ 4.61563756e-02 -1.44975464e-03 9.98933175e-01 3.87557862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.218040942 meters 0.025183911712885504 Centerline is valid? [True, True] Translation: X:82.95, Y:25.87, Z:3.88 [[ 7.94539174e-01 -6.06096716e-01 -3.68004464e-02 8.29509068e+01] [ 6.05531868e-01 7.95389605e-01 -2.62017859e-02 2.58660830e+01] [ 4.51515089e-02 -1.46549777e-03 9.98979076e-01 3.87781904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.248040942 meters 0.025426103385710327 Centerline is valid? [True, True] Translation: X:82.97, Y:25.88, Z:3.88 [[ 7.94624506e-01 -6.06011605e-01 -3.63569627e-02 8.29734967e+01] [ 6.05459621e-01 7.95454513e-01 -2.58991298e-02 2.58815384e+01] [ 4.46154833e-02 -1.43258962e-03 9.99003206e-01 3.87913575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.278040942 meters 0.025179748709837208 Centerline is valid? [True, True] Translation: X:83.00, Y:25.90, Z:3.88 [[ 7.95202854e-01 -6.05255887e-01 -3.63005710e-02 8.29965816e+01] [ 6.04704503e-01 7.96029774e-01 -2.58662654e-02 2.58983113e+01] [ 4.45520447e-02 -1.38219070e-03 9.99006109e-01 3.88071294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.308040942 meters 0.02472342882579754 Centerline is valid? [True, True] Translation: X:83.02, Y:25.92, Z:3.88 [[ 7.95338933e-01 -6.05090677e-01 -3.60729000e-02 8.30195391e+01] [ 6.04545449e-01 7.96155411e-01 -2.57169367e-02 2.59158860e+01] [ 4.42807132e-02 -1.35402657e-03 9.99018211e-01 3.88218506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.338040942 meters 0.02441171488441339 Centerline is valid? [True, True] Translation: X:83.04, Y:25.93, Z:3.88 [[ 7.95507441e-01 -6.04892712e-01 -3.56751608e-02 8.30424796e+01] [ 6.04358686e-01 7.96305889e-01 -2.54462143e-02 2.59335015e+01] [ 4.38005703e-02 -1.31794044e-03 9.99039425e-01 3.88396138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36804094200001 meters 0.024893452893687305 Centerline is valid? [True, True] Translation: X:83.06, Y:25.95, Z:3.89 [[ 7.95580972e-01 -6.04806548e-01 -3.54958790e-02 8.30649907e+01] [ 6.04277221e-01 7.96371371e-01 -2.53314164e-02 2.59485902e+01] [ 4.35885083e-02 -1.29615821e-03 9.99048729e-01 3.88533021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.398040942 meters 0.02479383223128357 Centerline is valid? [True, True] Translation: X:83.09, Y:25.97, Z:3.89 [[ 7.95491679e-01 -6.04968067e-01 -3.47365427e-02 8.30876142e+01] [ 6.04461067e-01 7.96248717e-01 -2.47951633e-02 2.59657673e+01] [ 4.26592095e-02 -1.27254154e-03 9.99088871e-01 3.88759535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.428040942 meters 0.02496524491814591 Centerline is valid? [True, True] Translation: X:83.11, Y:25.98, Z:3.89 [[ 7.95250670e-01 -6.05322467e-01 -3.40746648e-02 8.31107382e+01] [ 6.04834360e-01 7.95979355e-01 -2.43364714e-02 2.59825959e+01] [ 4.18541427e-02 -1.25593287e-03 9.99122942e-01 3.88928314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.458040942 meters 0.023890602907632886 Centerline is valid? [True, True] Translation: X:83.13, Y:26.00, Z:3.89 [[ 7.94748180e-01 -6.06021305e-01 -3.33692666e-02 8.31327416e+01] [ 6.05553343e-01 7.95447421e-01 -2.38442732e-02 2.60013251e+01] [ 4.09936346e-02 -1.25667825e-03 9.99158617e-01 3.89103991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.488040942 meters 0.023797778220835016 Centerline is valid? [True, True] Translation: X:83.16, Y:26.02, Z:3.89 [[ 7.94407198e-01 -6.06461704e-01 -3.34873793e-02 8.31561063e+01] [ 6.05990301e-01 7.95111676e-01 -2.39411161e-02 2.60178689e+01] [ 4.11455764e-02 -1.27403209e-03 9.99152350e-01 3.89258311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.518040942 meters 0.024392395784415627 Centerline is valid? [True, True] Translation: X:83.18, Y:26.03, Z:3.89 [[ 7.94202358e-01 -6.06725528e-01 -3.35670683e-02 8.31791349e+01] [ 6.06251570e-01 7.94910369e-01 -2.40112244e-02 2.60334265e+01] [ 4.12510334e-02 -1.28031681e-03 9.99147994e-01 3.89410819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.548040942 meters 0.024540801911085822 Centerline is valid? [True, True] Translation: X:83.20, Y:26.05, Z:3.89 [[ 7.94008316e-01 -6.06977395e-01 -3.36040917e-02 8.32011066e+01] [ 6.06502461e-01 7.94718046e-01 -2.40414623e-02 2.60501787e+01] [ 4.12984023e-02 -1.29184335e-03 9.99146022e-01 3.89487627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.578040942 meters 0.023879151639507643 Centerline is valid? [True, True] Translation: X:83.22, Y:26.07, Z:3.90 [[ 7.94000031e-01 -6.06979579e-01 -3.37600567e-02 8.32227346e+01] [ 6.06499643e-01 7.94716386e-01 -2.41670996e-02 2.60687486e+01] [ 4.14986062e-02 -1.28678447e-03 9.99137733e-01 3.89539685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.608040942 meters 0.023773745522677192 Centerline is valid? [True, True] Translation: X:83.25, Y:26.09, Z:3.90 [[ 7.94171062e-01 -6.06715080e-01 -3.44838336e-02 8.32459391e+01] [ 6.06213448e-01 7.94918330e-01 -2.47002762e-02 2.60867050e+01] [ 4.23978615e-02 -1.28831906e-03 9.99099976e-01 3.89612464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.638040942 meters 0.023625210170001566 Centerline is valid? [True, True] Translation: X:83.27, Y:26.10, Z:3.90 [[ 7.94592311e-01 -6.06124595e-01 -3.51572863e-02 8.32689698e+01] [ 6.05602018e-01 7.95368695e-01 -2.51959479e-02 2.61047652e+01] [ 4.32348886e-02 -1.27081700e-03 9.99064127e-01 3.89645069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.668040942 meters 0.023330875464095464 Centerline is valid? [True, True] Translation: X:83.29, Y:26.12, Z:3.90 [[ 7.94774361e-01 -6.05911247e-01 -3.47170911e-02 8.32919785e+01] [ 6.05400938e-01 7.95531294e-01 -2.48930755e-02 2.61222730e+01] [ 4.27015268e-02 -1.23338137e-03 9.99087113e-01 3.89769366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.698040942 meters 0.0232411691969555 Centerline is valid? [True, True] Translation: X:83.31, Y:26.14, Z:3.90 [[ 7.94969386e-01 -6.05674070e-01 -3.43889105e-02 8.33147311e+01] [ 6.05172610e-01 7.95711935e-01 -2.46703975e-02 2.61394078e+01] [ 4.23058866e-02 -1.19901595e-03 9.99103986e-01 3.89930239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.728040942 meters 0.023295815613922695 Centerline is valid? [True, True] Translation: X:83.34, Y:26.16, Z:3.90 [[ 7.94897083e-01 -6.05784505e-01 -3.41139341e-02 8.33377086e+01] [ 6.05290616e-01 7.95627883e-01 -2.44855437e-02 2.61560993e+01] [ 4.19749601e-02 -1.18535694e-03 9.99117960e-01 3.90068220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.758040942 meters 0.02347599188762931 Centerline is valid? [True, True] Translation: X:83.36, Y:26.17, Z:3.90 [[ 7.94760372e-01 -6.05981243e-01 -3.38036201e-02 8.33601851e+01] [ 6.05495890e-01 7.95478068e-01 -2.42769727e-02 2.61725359e+01] [ 4.16014284e-02 -1.17357719e-03 9.99133597e-01 3.90177344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.788040942 meters 0.02358231796337007 Centerline is valid? [True, True] Translation: X:83.38, Y:26.19, Z:3.90 [[ 7.95286826e-01 -6.05315420e-01 -3.33482693e-02 8.33819423e+01] [ 6.04841873e-01 7.95984929e-01 -2.39645972e-02 2.61906576e+01] [ 4.10508599e-02 -1.11170123e-03 9.99156440e-01 3.90186865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.818040942 meters 0.023518290139558532 Centerline is valid? [True, True] Translation: X:83.40, Y:26.21, Z:3.90 [[ 7.95729559e-01 -6.04740029e-01 -3.32259783e-02 8.34044346e+01] [ 6.04269301e-01 7.96422213e-01 -2.38803500e-02 2.62081138e+01] [ 4.09033107e-02 -1.07513831e-03 9.99162531e-01 3.90267511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.848040942 meters 0.023226555372014176 Centerline is valid? [True, True] Translation: X:83.43, Y:26.23, Z:3.90 [[ 7.96438952e-01 -6.03807610e-01 -3.31868342e-02 8.34273020e+01] [ 6.03336688e-01 7.97129436e-01 -2.38642658e-02 2.62256273e+01] [ 4.08636277e-02 -1.01640384e-03 9.99164216e-01 3.90367123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.878040942 meters 0.02208555374004122 Centerline is valid? [True, True] Translation: X:83.45, Y:26.25, Z:3.90 [[ 7.98232556e-01 -6.01446386e-01 -3.29701578e-02 8.34487914e+01] [ 6.00979100e-01 7.98912680e-01 -2.37202756e-02 2.62453800e+01] [ 4.06067511e-02 -8.80079559e-04 9.99174818e-01 3.90419264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.908040942 meters 0.021434448476030994 Centerline is valid? [True, True] Translation: X:83.47, Y:26.26, Z:3.91 [[ 7.99061359e-01 -6.00357760e-01 -3.27338578e-02 8.34711965e+01] [ 5.99895744e-01 7.99731146e-01 -2.35624807e-02 2.62645004e+01] [ 4.03242037e-02 -8.09034187e-04 9.99186321e-01 3.90528681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.938040942 meters 0.02118301646308613 Centerline is valid? [True, True] Translation: X:83.49, Y:26.28, Z:3.91 [[ 8.00759078e-01 -5.98122138e-01 -3.21684261e-02 8.34928045e+01] [ 5.97673702e-01 8.01404674e-01 -2.31666512e-02 2.62829019e+01] [ 3.96364139e-02 -6.75316058e-04 9.99213940e-01 3.90609798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.968040942 meters 0.021246122519786477 Centerline is valid? [True, True] Translation: X:83.51, Y:26.30, Z:3.91 [[ 8.01508971e-01 -5.97114402e-01 -3.22142907e-02 8.35149396e+01] [ 5.96663344e-01 8.02155852e-01 -2.32129733e-02 2.62993382e+01] [ 3.97016825e-02 -6.15680132e-04 9.99211388e-01 3.90769556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.998040942 meters 0.020858913812621466 Centerline is valid? [True, True] Translation: X:83.54, Y:26.32, Z:3.91 [[ 8.01858870e-01 -5.96647641e-01 -3.21550166e-02 8.35374170e+01] [ 5.96197734e-01 8.02503113e-01 -2.31735977e-02 2.63174486e+01] [ 3.96309732e-02 -5.88793164e-04 9.99214211e-01 3.90802494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.028040942 meters 0.020563283447596656 Centerline is valid? [True, True] Translation: X:83.56, Y:26.33, Z:3.91 [[ 8.02976631e-01 -5.95122734e-01 -3.25186416e-02 8.35601063e+01] [ 5.94660841e-01 8.03634663e-01 -2.34480723e-02 2.63346033e+01] [ 4.00875885e-02 -5.09308643e-04 9.99196040e-01 3.90915316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.058040942 meters 0.020538598950599483 Centerline is valid? [True, True] Translation: X:83.58, Y:26.35, Z:3.91 [[ 8.03351113e-01 -5.94612846e-01 -3.25968261e-02 8.35831101e+01] [ 5.94147815e-01 8.04012026e-01 -2.35167291e-02 2.63515238e+01] [ 4.01915894e-02 -4.75142539e-04 9.99191879e-01 3.91021500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.088040942 meters 0.021589053748246097 Centerline is valid? [True, True] Translation: X:83.60, Y:26.37, Z:3.91 [[ 8.03540150e-01 -5.94354296e-01 -3.26526906e-02 8.36048110e+01] [ 5.93886972e-01 8.04203186e-01 -2.35690372e-02 2.63689089e+01] [ 4.02677564e-02 -4.53339873e-04 9.99188822e-01 3.91047092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.11804094200001 meters 0.020569554400866077 Centerline is valid? [True, True] Translation: X:83.63, Y:26.39, Z:3.91 [[ 8.04016629e-01 -5.93745485e-01 -3.19931172e-02 8.36268117e+01] [ 5.93295791e-01 8.04652805e-01 -2.31077288e-02 2.63851480e+01] [ 3.94634611e-02 -4.02383619e-04 9.99220933e-01 3.91253172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.148040942 meters 0.020450077831496043 Centerline is valid? [True, True] Translation: X:83.65, Y:26.40, Z:3.91 [[ 8.03636394e-01 -5.94266042e-01 -3.18813039e-02 8.36486810e+01] [ 5.93819730e-01 8.04268421e-01 -2.30311843e-02 2.64022747e+01] [ 3.93277766e-02 -4.23049354e-04 9.99226274e-01 3.91290388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.178040942 meters 0.02079059585886009 Centerline is valid? [True, True] Translation: X:83.67, Y:26.42, Z:3.91 [[ 8.01803618e-01 -5.96695743e-01 -3.26366179e-02 8.36724293e+01] [ 5.96229441e-01 8.02467380e-01 -2.35914719e-02 2.64181694e+01] [ 4.02667521e-02 -5.43184907e-04 9.99188818e-01 3.91254529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.208040942 meters 0.021009904586448528 Centerline is valid? [True, True] Translation: X:83.70, Y:26.43, Z:3.91 [[ 8.00722386e-01 -5.98141391e-01 -3.27190440e-02 8.36959118e+01] [ 5.97673406e-01 8.01390359e-01 -2.36641565e-02 2.64330155e+01] [ 4.03752379e-02 -6.06882664e-04 9.99184403e-01 3.91371126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.238040942 meters 0.02125411836434768 Centerline is valid? [True, True] Translation: X:83.72, Y:26.45, Z:3.91 [[ 7.99348044e-01 -5.99967531e-01 -3.28887134e-02 8.37203004e+01] [ 5.99496072e-01 8.00024045e-01 -2.37904871e-02 2.64490475e+01] [ 4.05852814e-02 -6.99775207e-04 9.99175833e-01 3.91474497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.268040942 meters 0.022134349719019095 Centerline is valid? [True, True] Translation: X:83.75, Y:26.46, Z:3.92 [[ 7.96932473e-01 -6.03142691e-01 -3.34294518e-02 8.37450355e+01] [ 6.02657836e-01 7.97632839e-01 -2.41947591e-02 2.64615992e+01] [ 4.12573207e-02 -8.64931954e-04 9.99148180e-01 3.91622453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.298040942 meters 0.022196897479043874 Centerline is valid? [True, True] Translation: X:83.77, Y:26.48, Z:3.92 [[ 7.95962785e-01 -6.04403683e-01 -3.37554844e-02 8.37691622e+01] [ 6.03910134e-01 7.96677674e-01 -2.44383636e-02 2.64780711e+01] [ 4.16628778e-02 -9.33251137e-04 9.99131290e-01 3.91755802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.328040942 meters 0.02310366980646081 Centerline is valid? [True, True] Translation: X:83.79, Y:26.49, Z:3.92 [[ 7.94462173e-01 -6.06385983e-01 -3.35543669e-02 8.37926990e+01] [ 6.05899522e-01 7.95169792e-01 -2.43057761e-02 2.64931757e+01] [ 4.14201009e-02 -1.02055521e-03 9.99141298e-01 3.91841295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.358040942 meters 0.02299070429456196 Centerline is valid? [True, True] Translation: X:83.82, Y:26.51, Z:3.92 [[ 7.93932659e-01 -6.07097386e-01 -3.32219285e-02 8.38156591e+01] [ 6.06620992e-01 7.94626751e-01 -2.40686303e-02 2.65110991e+01] [ 4.10110357e-02 -1.04424759e-03 9.99158148e-01 3.91910966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.388040942 meters 0.02333897862604078 Centerline is valid? [True, True] Translation: X:83.84, Y:26.53, Z:3.92 [[ 7.94012356e-01 -6.07000678e-01 -3.30840754e-02 8.38374722e+01] [ 6.06527628e-01 7.94700652e-01 -2.39814519e-02 2.65264662e+01] [ 4.08486939e-02 -1.02483664e-03 9.99164818e-01 3.92032288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.418040942 meters 0.02295696715636808 Centerline is valid? [True, True] Translation: X:83.86, Y:26.54, Z:3.92 [[ 7.94122380e-01 -6.06852466e-01 -3.31621808e-02 8.38605474e+01] [ 6.06376824e-01 7.94813848e-01 -2.40435790e-02 2.65442859e+01] [ 4.09486657e-02 -1.01523373e-03 9.99160736e-01 3.92156498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.448040942 meters 0.02295696715636808 Centerline is valid? [True, True] Translation: X:83.88, Y:26.56, Z:3.92 [[ 7.93956610e-01 -6.07069640e-01 -3.31565031e-02 8.38827972e+01] [ 6.06593861e-01 7.94647984e-01 -2.40514059e-02 2.65605453e+01] [ 4.09486267e-02 -1.01675851e-03 9.99160736e-01 3.92278918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.478040942 meters 0.022318097090995068 Centerline is valid? [True, True] Translation: X:83.91, Y:26.58, Z:3.92 [[ 7.94742227e-01 -6.06051978e-01 -3.29513694e-02 8.39050930e+01] [ 6.05580633e-01 7.95424479e-01 -2.39164128e-02 2.65787958e+01] [ 4.07049151e-02 -9.47328024e-04 9.99170762e-01 3.92457959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.508040942 meters 0.021838632889359253 Centerline is valid? [True, True] Translation: X:83.93, Y:26.60, Z:3.93 [[ 7.95200923e-01 -6.05475602e-01 -3.24774796e-02 8.39274882e+01] [ 6.05016769e-01 7.95863364e-01 -2.35842142e-02 2.65975625e+01] [ 4.01273025e-02 -8.95230886e-04 9.99194174e-01 3.92536576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.538040942 meters 0.021625311780206335 Centerline is valid? [True, True] Translation: X:83.95, Y:26.62, Z:3.93 [[ 7.95777549e-01 -6.04731637e-01 -3.22139750e-02 8.39500646e+01] [ 6.04279134e-01 7.96428867e-01 -2.34048753e-02 2.66155867e+01] [ 3.98098082e-02 -8.41158655e-04 9.99206921e-01 3.92676719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.568040942 meters 0.021686834027228163 Centerline is valid? [True, True] Translation: X:83.97, Y:26.63, Z:3.93 [[ 7.95810834e-01 -6.04702246e-01 -3.19422980e-02 8.39722749e+01] [ 6.04256863e-01 7.96451201e-01 -2.32191208e-02 2.66320022e+01] [ 3.94811361e-02 -8.23324916e-04 9.99219977e-01 3.92816366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.598040942 meters 0.021550019251896205 Centerline is valid? [True, True] Translation: X:83.99, Y:26.65, Z:3.93 [[ 7.96413318e-01 -6.03940754e-01 -3.13271999e-02 8.39948513e+01] [ 6.03511262e-01 7.97028851e-01 -2.27852571e-02 2.66500176e+01] [ 3.87296275e-02 -7.59835774e-04 9.99249438e-01 3.92967099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.628040942 meters 0.02126765034951066 Centerline is valid? [True, True] Translation: X:84.02, Y:26.67, Z:3.93 [[ 7.96755611e-01 -6.03496394e-01 -3.11865089e-02 8.40170147e+01] [ 6.03069972e-01 7.97365396e-01 -2.26943467e-02 2.66684127e+01] [ 3.85629995e-02 -7.25798983e-04 9.99255907e-01 3.93071349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.658040942 meters 0.021024880420221936 Centerline is valid? [True, True] Translation: X:84.04, Y:26.69, Z:3.93 [[ 7.97373621e-01 -6.02694896e-01 -3.08896411e-02 8.40394771e+01] [ 6.02275517e-01 7.97971435e-01 -2.24897727e-02 2.66866375e+01] [ 3.82035225e-02 -6.71323046e-04 9.99269753e-01 3.93228578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.688040942 meters 0.02064501701966899 Centerline is valid? [True, True] Translation: X:84.06, Y:26.71, Z:3.93 [[ 7.99185972e-01 -6.00328630e-01 -3.01217054e-02 8.40598173e+01] [ 5.99927704e-01 7.99753243e-01 -2.19430908e-02 2.67056391e+01] [ 3.72629973e-02 -5.34235218e-04 9.99305351e-01 3.93361441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.718040942 meters 0.020328758381255634 Centerline is valid? [True, True] Translation: X:84.08, Y:26.72, Z:3.93 [[ 7.99887087e-01 -5.99390518e-01 -3.01936051e-02 8.40820531e+01] [ 5.98986908e-01 8.00456599e-01 -2.19981091e-02 2.67246771e+01] [ 3.73541285e-02 -4.89570758e-04 9.99301971e-01 3.93485303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.748040942 meters 0.020047951807070422 Centerline is valid? [True, True] Translation: X:84.10, Y:26.74, Z:3.94 [[ 8.00531774e-01 -5.98561263e-01 -2.95515419e-02 8.41033191e+01] [ 5.98173699e-01 8.01076917e-01 -2.15406282e-02 2.67434359e+01] [ 3.65664437e-02 -4.32997862e-04 9.99331130e-01 3.93595577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.778040942 meters 0.019727327330769574 Centerline is valid? [True, True] Translation: X:84.12, Y:26.76, Z:3.94 [[ 8.02050352e-01 -5.96546379e-01 -2.91144553e-02 8.41240279e+01] [ 5.96168343e-01 8.02578540e-01 -2.12366279e-02 2.67626930e+01] [ 3.60352705e-02 -3.24271637e-04 9.99350466e-01 3.93774393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.808040942 meters 0.01944999556011915 Centerline is valid? [True, True] Translation: X:84.15, Y:26.78, Z:3.94 [[ 8.02536898e-01 -5.95878931e-01 -2.93739289e-02 8.41463871e+01] [ 5.95493590e-01 8.03074226e-01 -2.14282867e-02 2.67815150e+01] [ 3.63581098e-02 -2.94995625e-04 9.99338782e-01 3.93885211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.838040942 meters 0.019390841089233578 Centerline is valid? [True, True] Translation: X:84.17, Y:26.80, Z:3.94 [[ 8.03209390e-01 -5.94973592e-01 -2.93445065e-02 8.41675966e+01] [ 5.94587950e-01 8.03745212e-01 -2.14197134e-02 2.68004349e+01] [ 3.63296704e-02 -2.43375054e-04 9.99339830e-01 3.94034995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.86804094200001 meters 0.019245584726483116 Centerline is valid? [True, True] Translation: X:84.19, Y:26.82, Z:3.94 [[ 8.03236959e-01 -5.94953009e-01 -2.90052562e-02 8.41896536e+01] [ 5.94576160e-01 8.03760450e-01 -2.11737919e-02 2.68186076e+01] [ 3.59106890e-02 -2.38261643e-04 9.99354975e-01 3.94107316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.898040942 meters 0.019211515889351712 Centerline is valid? [True, True] Translation: X:84.21, Y:26.84, Z:3.94 [[ 8.03265301e-01 -5.94923548e-01 -2.88240802e-02 8.42104607e+01] [ 5.94550851e-01 8.03782260e-01 -2.10561935e-02 2.68353897e+01] [ 3.56951097e-02 -2.23671775e-04 9.99362701e-01 3.94240716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.928040942 meters 0.0192986490046156 Centerline is valid? [True, True] Translation: X:84.23, Y:26.85, Z:3.94 [[ 8.03006609e-01 -5.95285863e-01 -2.85504336e-02 8.42321459e+01] [ 5.94920231e-01 8.03513962e-01 -2.08621966e-02 2.68536775e+01] [ 3.53596427e-02 -2.32748774e-04 9.99374625e-01 3.94391681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.958040942 meters 0.019293945882012675 Centerline is valid? [True, True] Translation: X:84.25, Y:26.87, Z:3.94 [[ 8.02397464e-01 -5.96091674e-01 -2.88621905e-02 8.42545439e+01] [ 5.95718464e-01 8.02916336e-01 -2.10918960e-02 2.68711864e+01] [ 3.57466279e-02 -2.69655938e-04 9.99360849e-01 3.94457481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.988040942 meters 0.019508237614890116 Centerline is valid? [True, True] Translation: X:84.28, Y:26.89, Z:3.95 [[ 8.00953359e-01 -5.98012446e-01 -2.92374984e-02 8.42778069e+01] [ 5.97630254e-01 8.01486739e-01 -2.13795829e-02 2.68888715e+01] [ 3.62187239e-02 -3.49164868e-04 9.99343826e-01 3.94517812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.018040942 meters 0.019761273533211422 Centerline is valid? [True, True] Translation: X:84.30, Y:26.91, Z:3.95 [[ 7.99919211e-01 -5.99376575e-01 -2.96138182e-02 8.43001914e+01] [ 5.98984931e-01 8.00467087e-01 -2.16678393e-02 2.69050840e+01] [ 3.66920820e-02 -4.05709952e-04 9.99326536e-01 3.94595443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.048040942 meters 0.02000464951532119 Centerline is valid? [True, True] Translation: X:84.32, Y:26.92, Z:3.95 [[ 7.98357414e-01 -6.01439265e-01 -2.99374255e-02 8.43238834e+01] [ 6.01040360e-01 7.98918367e-01 -2.19072807e-02 2.69223241e+01] [ 3.70934579e-02 -5.03761010e-04 9.99311674e-01 3.94658002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.078040942 meters 0.02164399093205096 Centerline is valid? [True, True] Translation: X:84.35, Y:26.94, Z:3.95 [[ 7.94925716e-01 -6.05977126e-01 -2.97460818e-02 8.43478287e+01] [ 6.05586018e-01 7.95481761e-01 -2.17794265e-02 2.69364317e+01] [ 3.68602998e-02 -7.00785033e-04 9.99320183e-01 3.94755538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.108040942 meters 0.02170771498702055 Centerline is valid? [True, True] Translation: X:84.37, Y:26.95, Z:3.95 [[ 7.92985326e-01 -6.08522525e-01 -2.95737790e-02 8.43707565e+01] [ 6.08137517e-01 7.93536187e-01 -2.16582693e-02 2.69540034e+01] [ 3.66474086e-02 -8.10234764e-04 9.99327930e-01 3.94834236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.138040942 meters 0.023032653371872127 Centerline is valid? [True, True] Translation: X:84.39, Y:26.97, Z:3.95 [[ 7.89631283e-01 -6.12844579e-01 -3.00659133e-02 8.43946652e+01] [ 6.12449330e-01 7.90202813e-01 -2.20302545e-02 2.69708223e+01] [ 3.72592913e-02 -1.01807033e-03 9.99305113e-01 3.94885071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.168040942 meters 0.023404125329384844 Centerline is valid? [True, True] Translation: X:84.42, Y:26.99, Z:3.95 [[ 7.88239589e-01 -6.14612076e-01 -3.05015692e-02 8.44173872e+01] [ 6.14206212e-01 7.88828730e-01 -2.23598750e-02 2.69881873e+01] [ 3.78031633e-02 -1.10931459e-03 9.99284589e-01 3.94929396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.198040942 meters 0.024279003043408864 Centerline is valid? [True, True] Translation: X:84.44, Y:27.00, Z:3.95 [[ 7.87381691e-01 -6.15705422e-01 -3.06089062e-02 8.44398729e+01] [ 6.15297038e-01 7.87975569e-01 -2.24512463e-02 2.70047481e+01] [ 3.79424244e-02 -1.15586899e-03 9.99279258e-01 3.94973402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.228040942 meters 0.025161260141948832 Centerline is valid? [True, True] Translation: X:84.46, Y:27.02, Z:3.95 [[ 7.86624324e-01 -6.16657056e-01 -3.09232695e-02 8.44623000e+01] [ 6.16240812e-01 7.87230976e-01 -2.26859573e-02 2.70218037e+01] [ 3.83332113e-02 -1.21085493e-03 9.99264279e-01 3.95053445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.258040942 meters 0.023879328891880127 Centerline is valid? [True, True] Translation: X:84.48, Y:27.04, Z:3.95 [[ 7.86716104e-01 -6.16554598e-01 -3.06300394e-02 8.44810739e+01] [ 6.16146047e-01 7.87311250e-01 -2.24731770e-02 2.70439492e+01] [ 3.79713152e-02 -1.19256745e-03 9.99278118e-01 3.94982605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.288040942 meters 0.024126056562797725 Centerline is valid? [True, True] Translation: X:84.50, Y:27.06, Z:3.95 [[ 7.87101526e-01 -6.16064482e-01 -3.05899070e-02 8.45021183e+01] [ 6.15656073e-01 7.87694876e-01 -2.24584316e-02 2.70616865e+01] [ 3.79313550e-02 -1.15579628e-03 9.99279679e-01 3.95076194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.318040942 meters 0.023086584139890374 Centerline is valid? [True, True] Translation: X:84.52, Y:27.08, Z:3.95 [[ 7.87771945e-01 -6.15215748e-01 -3.04129182e-02 8.45209932e+01] [ 6.14811321e-01 7.88358015e-01 -2.23311524e-02 2.70844871e+01] [ 3.77147444e-02 -1.10635106e-03 9.99287934e-01 3.95064100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.348040942 meters 0.023284952867439566 Centerline is valid? [True, True] Translation: X:84.54, Y:27.10, Z:3.95 [[ 7.88052740e-01 -6.14822145e-01 -3.10903247e-02 8.45419941e+01] [ 6.14398673e-01 7.88665022e-01 -2.28419240e-02 2.71022568e+01] [ 3.85635723e-02 -1.10121349e-03 9.99255542e-01 3.95119687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.378040942 meters 0.023397938517123087 Centerline is valid? [True, True] Translation: X:84.56, Y:27.12, Z:3.95 [[ 7.88115556e-01 -6.14741012e-01 -3.11023822e-02 8.45632485e+01] [ 6.14317039e-01 7.88728273e-01 -2.28535986e-02 2.71202200e+01] [ 3.85803725e-02 -1.09544683e-03 9.99254900e-01 3.95195781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.408040942 meters 0.023561512678505057 Centerline is valid? [True, True] Translation: X:84.58, Y:27.14, Z:3.95 [[ 7.88692285e-01 -6.13983392e-01 -3.14463829e-02 8.45840556e+01] [ 6.13548809e-01 7.89318234e-01 -2.31210752e-02 2.71394532e+01] [ 3.90171596e-02 -1.05847722e-03 9.99237980e-01 3.95346668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.438040942 meters 0.023435585987073338 Centerline is valid? [True, True] Translation: X:84.61, Y:27.16, Z:3.95 [[ 7.88755409e-01 -6.13915583e-01 -3.11859177e-02 8.46053248e+01] [ 6.13487925e-01 7.89370997e-01 -2.29346060e-02 2.71575702e+01] [ 3.86971709e-02 -1.04238942e-03 9.99250440e-01 3.95475077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.468040942 meters 0.022692444047208046 Centerline is valid? [True, True] Translation: X:84.63, Y:27.18, Z:3.96 [[ 7.89039407e-01 -6.13551155e-01 -3.11735960e-02 8.46264995e+01] [ 6.13123033e-01 7.89654325e-01 -2.29389273e-02 2.71775744e+01] [ 3.86905703e-02 -1.01353211e-03 9.99250726e-01 3.95589619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.498040942 meters 0.022890524242803998 Centerline is valid? [True, True] Translation: X:84.65, Y:27.20, Z:3.96 [[ 7.89820592e-01 -6.12539542e-01 -3.12848667e-02 8.46472242e+01] [ 6.12107050e-01 7.90439368e-01 -2.30340022e-02 2.71968308e+01] [ 3.88380275e-02 -9.56958221e-04 9.99245061e-01 3.95749003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.528040942 meters 0.0227509589517819 Centerline is valid? [True, True] Translation: X:84.67, Y:27.22, Z:3.96 [[ 7.90035083e-01 -6.12261027e-01 -3.13209723e-02 8.46692023e+01] [ 6.11827194e-01 7.90655138e-01 -2.30637617e-02 2.72163178e+01] [ 3.88851301e-02 -9.41841720e-04 9.99243243e-01 3.95821906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.558040942 meters 0.022857654221025637 Centerline is valid? [True, True] Translation: X:84.69, Y:27.24, Z:3.96 [[ 7.90366446e-01 -6.11808507e-01 -3.17998683e-02 8.46890697e+01] [ 6.11360412e-01 7.91005372e-01 -2.34296292e-02 2.72358549e+01] [ 3.94883131e-02 -9.23187893e-04 9.99219606e-01 3.95833447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.588040942 meters 0.022946796328933965 Centerline is valid? [True, True] Translation: X:84.71, Y:27.25, Z:3.96 [[ 7.90314940e-01 -6.11867365e-01 -3.19471893e-02 8.47109246e+01] [ 6.11415030e-01 7.90959839e-01 -2.35413411e-02 2.72536535e+01] [ 3.96731221e-02 -9.27918118e-04 9.99212281e-01 3.95930442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.61804094200001 meters 0.022990483339385838 Centerline is valid? [True, True] Translation: X:84.73, Y:27.27, Z:3.96 [[ 7.90134011e-01 -6.12104634e-01 -3.18772880e-02 8.47325093e+01] [ 6.11653932e-01 7.90776237e-01 -2.35033980e-02 2.72708008e+01] [ 3.95943407e-02 -9.27034408e-04 9.99215407e-01 3.96026678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.648040942 meters 0.023270967135456747 Centerline is valid? [True, True] Translation: X:84.75, Y:27.29, Z:3.96 [[ 7.90262094e-01 -6.11943119e-01 -3.18031861e-02 8.47532713e+01] [ 6.11493809e-01 7.90901258e-01 -2.34631935e-02 2.72883839e+01] [ 3.95113197e-02 -9.05378969e-04 9.99218713e-01 3.96189449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.678040942 meters 0.023365384902038044 Centerline is valid? [True, True] Translation: X:84.78, Y:27.31, Z:3.96 [[ 7.90175251e-01 -6.12059311e-01 -3.17249507e-02 8.47755083e+01] [ 6.11612121e-01 7.90811343e-01 -2.34101178e-02 2.73060988e+01] [ 3.94168314e-02 -9.05268645e-04 9.99222445e-01 3.96303291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.708040942 meters 0.022185611762189382 Centerline is valid? [True, True] Translation: X:84.80, Y:27.33, Z:3.96 [[ 7.90311902e-01 -6.11848711e-01 -3.23767255e-02 8.47953652e+01] [ 6.11382219e-01 7.90974298e-01 -2.39048476e-02 2.73276350e+01] [ 4.02353079e-02 -9.02268667e-04 9.99189825e-01 3.96312282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.738040942 meters 0.02217914046531116 Centerline is valid? [True, True] Translation: X:84.82, Y:27.35, Z:3.96 [[ 7.90331842e-01 -6.11820948e-01 -3.24146010e-02 8.48174216e+01] [ 6.11352839e-01 7.90995785e-01 -2.39452356e-02 2.73457189e+01] [ 4.02900095e-02 -8.92076152e-04 9.99187630e-01 3.96422115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.768040942 meters 0.022150776356852624 Centerline is valid? [True, True] Translation: X:84.84, Y:27.36, Z:3.97 [[ 7.90546681e-01 -6.11553206e-01 -3.22276454e-02 8.48395922e+01] [ 6.11089685e-01 7.91202839e-01 -2.38214998e-02 2.73635189e+01] [ 4.00667191e-02 -8.61974109e-04 9.99196635e-01 3.96507199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.798040942 meters 0.021928906944790386 Centerline is valid? [True, True] Translation: X:84.86, Y:27.38, Z:3.97 [[ 7.91348369e-01 -6.10511634e-01 -3.23002072e-02 8.48618905e+01] [ 6.10044653e-01 7.92006883e-01 -2.38876013e-02 2.73824567e+01] [ 4.01656450e-02 -8.01154367e-04 9.99192714e-01 3.96659967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.828040942 meters 0.021781375467192023 Centerline is valid? [True, True] Translation: X:84.88, Y:27.40, Z:3.97 [[ 7.91897335e-01 -6.09821336e-01 -3.18833645e-02 8.48842581e+01] [ 6.09365297e-01 7.92538567e-01 -2.35914166e-02 2.74002983e+01] [ 3.96553452e-02 -7.46635931e-04 9.99213138e-01 3.96828443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.858040942 meters 0.02164843319618927 Centerline is valid? [True, True] Translation: X:84.91, Y:27.42, Z:3.97 [[ 7.93350677e-01 -6.07933575e-01 -3.18036317e-02 8.49053523e+01] [ 6.07477769e-01 7.93987631e-01 -2.35457202e-02 2.74178344e+01] [ 3.95659240e-02 -6.39986179e-04 9.99216757e-01 3.96975246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.888040942 meters 0.021572716335205515 Centerline is valid? [True, True] Translation: X:84.93, Y:27.44, Z:3.97 [[ 7.93947181e-01 -6.07142828e-01 -3.20228021e-02 8.49282139e+01] [ 6.06679932e-01 7.94592489e-01 -2.37115082e-02 2.74358499e+01] [ 3.98413502e-02 -6.01906301e-04 9.99205837e-01 3.97101262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.918040942 meters 0.02138995967263879 Centerline is valid? [True, True] Translation: X:84.95, Y:27.45, Z:3.97 [[ 7.95396761e-01 -6.05261553e-01 -3.16614136e-02 8.49500176e+01] [ 6.04807061e-01 7.96026514e-01 -2.34565157e-02 2.74528297e+01] [ 3.94006518e-02 -4.91809866e-04 9.99223372e-01 3.97211025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.948040942 meters 0.021287834795220707 Centerline is valid? [True, True] Translation: X:84.97, Y:27.47, Z:3.97 [[ 7.95616013e-01 -6.04963448e-01 -3.18494506e-02 8.49728806e+01] [ 6.04503082e-01 7.96253101e-01 -2.36013237e-02 2.74691282e+01] [ 3.96381619e-02 -4.75499994e-04 9.99213986e-01 3.97333398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.978040942 meters 0.02120029942606571 Centerline is valid? [True, True] Translation: X:85.00, Y:27.49, Z:3.97 [[ 7.95534072e-01 -6.05050008e-01 -3.22494576e-02 8.49958647e+01] [ 6.04577512e-01 7.96187329e-01 -2.39117011e-02 2.74854513e+01] [ 4.01443845e-02 -4.74723874e-04 9.99193777e-01 3.97438111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.008040942 meters 0.021311284483232336 Centerline is valid? [True, True] Translation: X:85.02, Y:27.50, Z:3.98 [[ 7.95192946e-01 -6.05486123e-01 -3.24766518e-02 8.50194526e+01] [ 6.05006726e-01 7.95855713e-01 -2.40945189e-02 2.75010690e+01] [ 4.04356257e-02 -4.88801285e-04 9.99182026e-01 3.97595007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.038040942 meters 0.02142163914243448 Centerline is valid? [True, True] Translation: X:85.04, Y:27.52, Z:3.98 [[ 7.94615031e-01 -6.06244034e-01 -3.24826773e-02 8.50445224e+01] [ 6.05764509e-01 7.95278508e-01 -2.41133629e-02 2.75160544e+01] [ 4.04513575e-02 -5.16012448e-04 9.99181376e-01 3.97734246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.068040942 meters 0.021672989365468586 Centerline is valid? [True, True] Translation: X:85.07, Y:27.53, Z:3.98 [[ 7.94224959e-01 -6.06747127e-01 -3.26287871e-02 8.50682471e+01] [ 6.06263163e-01 7.94894735e-01 -2.42350455e-02 2.75314777e+01] [ 4.06409953e-02 -5.33553644e-04 9.99173671e-01 3.97908181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.098040942 meters 0.02153848074164763 Centerline is valid? [True, True] Translation: X:85.09, Y:27.55, Z:3.98 [[ 7.93832959e-01 -6.07272437e-01 -3.23947455e-02 8.50918777e+01] [ 6.06795611e-01 7.94493475e-01 -2.40666581e-02 2.75466589e+01] [ 4.03524320e-02 -5.52082982e-04 9.99185356e-01 3.98042809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.128040942 meters 0.02245001532399036 Centerline is valid? [True, True] Translation: X:85.12, Y:27.56, Z:3.98 [[ 7.93533359e-01 -6.07649217e-01 -3.26685943e-02 8.51151059e+01] [ 6.07163974e-01 7.94205333e-01 -2.42857418e-02 2.75605483e+01] [ 4.07027838e-02 -5.63647303e-04 9.99171139e-01 3.98151509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.158040942 meters 0.021715713963753252 Centerline is valid? [True, True] Translation: X:85.14, Y:27.58, Z:3.98 [[ 7.93351063e-01 -6.07925561e-01 -3.19468976e-02 8.51381126e+01] [ 6.07461551e-01 7.93993827e-01 -2.37542799e-02 2.75769680e+01] [ 3.98064734e-02 -5.61028758e-04 9.99207251e-01 3.98378743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.188040942 meters 0.021579339384511866 Centerline is valid? [True, True] Translation: X:85.16, Y:27.59, Z:3.99 [[ 7.93261640e-01 -6.08021156e-01 -3.23456984e-02 8.51617672e+01] [ 6.07544981e-01 7.93920625e-01 -2.40652747e-02 2.75916855e+01] [ 4.03121132e-02 -5.61407434e-04 9.99186979e-01 3.98533378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.218040942 meters 0.0216979427407071 Centerline is valid? [True, True] Translation: X:85.19, Y:27.61, Z:3.99 [[ 7.93036825e-01 -6.08299460e-01 -3.26245572e-02 8.51854245e+01] [ 6.07814678e-01 7.93707404e-01 -2.42873278e-02 2.76075979e+01] [ 4.06683209e-02 -5.68939407e-04 9.99172540e-01 3.98673700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.248040942 meters 0.02241644305935465 Centerline is valid? [True, True] Translation: X:85.21, Y:27.62, Z:3.99 [[ 7.92934231e-01 -6.08335691e-01 -3.43946651e-02 8.52093665e+01] [ 6.07796198e-01 7.93679621e-01 -2.56211019e-02 2.76225279e+01] [ 4.28845754e-02 -5.89097959e-04 9.99079860e-01 3.98640474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.278040942 meters 0.021682948984493966 Centerline is valid? [True, True] Translation: X:85.23, Y:27.64, Z:3.99 [[ 7.92897403e-01 -6.08377184e-01 -3.45095763e-02 8.52326555e+01] [ 6.07833451e-01 7.93647822e-01 -2.57221935e-02 2.76372457e+01] [ 4.30372457e-02 -5.81014375e-04 9.99073300e-01 3.98907607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.308040942 meters 0.021662291214221318 Centerline is valid? [True, True] Translation: X:85.26, Y:27.65, Z:3.99 [[ 7.92709236e-01 -6.08596520e-01 -3.49620314e-02 8.52562878e+01] [ 6.08037957e-01 7.93479634e-01 -2.60751508e-02 2.76530436e+01] [ 4.36109059e-02 -5.88229292e-04 9.99048419e-01 3.99038668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.338040942 meters 0.02144174947969576 Centerline is valid? [True, True] Translation: X:85.28, Y:27.67, Z:3.99 [[ 7.92694945e-01 -6.08573704e-01 -3.56759190e-02 8.52799608e+01] [ 6.07991361e-01 7.93497135e-01 -2.66233369e-02 2.76677267e+01] [ 4.45110023e-02 -5.86465944e-04 9.99008722e-01 3.99120749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.36804094200001 meters 0.02144174947969576 Centerline is valid? [True, True] Translation: X:85.30, Y:27.68, Z:3.99 [[ 7.92520019e-01 -6.08801935e-01 -3.56682529e-02 8.53019783e+01] [ 6.08219361e-01 7.93322041e-01 -2.66336035e-02 2.76842688e+01] [ 4.45110005e-02 -5.86458014e-04 9.99008722e-01 3.99243089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.398040942 meters 0.021476387988207373 Centerline is valid? [True, True] Translation: X:85.33, Y:27.70, Z:3.99 [[ 7.92514836e-01 -6.08782643e-01 -3.61099460e-02 8.53253405e+01] [ 6.08184788e-01 7.93336850e-01 -2.69797359e-02 2.76989279e+01] [ 4.50721457e-02 -5.79678859e-04 9.98983566e-01 3.99336483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.428040942 meters 0.021398638185450035 Centerline is valid? [True, True] Translation: X:85.35, Y:27.71, Z:3.99 [[ 7.92313400e-01 -6.09009409e-01 -3.67017221e-02 8.53504685e+01] [ 6.08391503e-01 7.93162775e-01 -2.74333820e-02 2.77127011e+01] [ 4.58176275e-02 -5.93179744e-04 9.98949645e-01 3.99488425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.458040942 meters 0.02135432286283637 Centerline is valid? [True, True] Translation: X:85.37, Y:27.73, Z:4.00 [[ 7.92232495e-01 -6.09104586e-01 -3.68683659e-02 8.53740398e+01] [ 6.08480411e-01 7.93089690e-01 -2.75741270e-02 2.77279051e+01] [ 4.60354481e-02 -5.88558990e-04 9.98939633e-01 3.99629853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.488040942 meters 0.021387251424629387 Centerline is valid? [True, True] Translation: X:85.40, Y:27.74, Z:4.00 [[ 7.91726936e-01 -6.09761445e-01 -3.68705679e-02 8.53981077e+01] [ 6.09137158e-01 7.92584761e-01 -2.75920026e-02 2.77431573e+01] [ 4.60475897e-02 -6.13901288e-04 9.98939059e-01 3.99779807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.518040942 meters 0.02155675767556862 Centerline is valid? [True, True] Translation: X:85.42, Y:27.76, Z:4.00 [[ 7.90813184e-01 -6.10939791e-01 -3.69740479e-02 8.54244284e+01] [ 6.10312530e-01 7.91676778e-01 -2.76856312e-02 2.77568478e+01] [ 4.61857488e-02 -6.71562512e-04 9.98932643e-01 3.99967974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.548040942 meters 0.021638325274189556 Centerline is valid? [True, True] Translation: X:85.45, Y:27.77, Z:4.00 [[ 7.90325880e-01 -6.11560766e-01 -3.71272512e-02 8.54479748e+01] [ 6.10928312e-01 7.91197156e-01 -2.78147111e-02 2.77714035e+01] [ 4.63853616e-02 -6.99402873e-04 9.98923375e-01 4.00132407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.578040942 meters 0.021647798168765837 Centerline is valid? [True, True] Translation: X:85.47, Y:27.79, Z:4.00 [[ 7.89755234e-01 -6.12268767e-01 -3.75982336e-02 8.54734101e+01] [ 6.11620180e-01 7.90649362e-01 -2.81840784e-02 2.77850191e+01] [ 4.69832503e-02 -7.37314978e-04 9.98895405e-01 4.00269719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.608040942 meters 0.021833132485520813 Centerline is valid? [True, True] Translation: X:85.50, Y:27.80, Z:4.00 [[ 7.89464639e-01 -6.12611904e-01 -3.81082429e-02 8.54969073e+01] [ 6.11945312e-01 7.90383503e-01 -2.85806362e-02 2.77997686e+01] [ 4.76289645e-02 -7.56759007e-04 9.98864810e-01 4.00367764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.638040942 meters 0.02272353343003058 Centerline is valid? [True, True] Translation: X:85.52, Y:27.82, Z:4.00 [[ 7.89057904e-01 -6.13083831e-01 -3.89338066e-02 8.55212830e+01] [ 6.12388298e-01 7.90017456e-01 -2.92060137e-02 2.78156356e+01] [ 4.86641216e-02 -7.97371645e-04 9.98814881e-01 4.00346972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.668040942 meters 0.022050739684541677 Centerline is valid? [True, True] Translation: X:85.55, Y:27.83, Z:4.01 [[ 7.89159691e-01 -6.12987024e-01 -3.83912783e-02 8.55458984e+01] [ 6.12309971e-01 7.90092600e-01 -2.88128916e-02 2.78285006e+01] [ 4.79945936e-02 -7.69389822e-04 9.98847299e-01 4.00540384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.698040942 meters 0.021958944588484703 Centerline is valid? [True, True] Translation: X:85.57, Y:27.84, Z:4.01 [[ 7.89058460e-01 -6.13124034e-01 -3.82840129e-02 8.55691137e+01] [ 6.12450554e-01 7.89986282e-01 -2.87400808e-02 2.78434609e+01] [ 4.78650793e-02 -7.69460981e-04 9.98853514e-01 4.00709068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.728040942 meters 0.02239271146843147 Centerline is valid? [True, True] Translation: X:85.59, Y:27.86, Z:4.01 [[ 7.88751376e-01 -6.13513564e-01 -3.83715244e-02 8.55936795e+01] [ 6.12836675e-01 7.89683795e-01 -2.88221254e-02 2.78563077e+01] [ 4.79841359e-02 -7.81986379e-04 9.98847792e-01 4.00811957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.758040942 meters 0.0225927310849835 Centerline is valid? [True, True] Translation: X:85.62, Y:27.87, Z:4.01 [[ 7.88492494e-01 -6.13798538e-01 -3.91272474e-02 8.56170653e+01] [ 6.13094510e-01 7.89462288e-01 -2.94009653e-02 2.78714144e+01] [ 4.89357557e-02 -8.06260139e-04 9.98801603e-01 4.00903838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.788040942 meters 0.022752311088460212 Centerline is valid? [True, True] Translation: X:85.64, Y:27.89, Z:4.01 [[ 7.88002434e-01 -6.14356661e-01 -4.02250751e-02 8.56398005e+01] [ 6.13612999e-01 7.89027980e-01 -3.02313470e-02 2.78883800e+01] [ 5.03115391e-02 -8.60253946e-04 9.98733202e-01 4.00963475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.818040942 meters 0.02314076727811157 Centerline is valid? [True, True] Translation: X:85.67, Y:27.90, Z:4.01 [[ 7.87571676e-01 -6.14891236e-01 -4.04922647e-02 8.56660797e+01] [ 6.14138076e-01 7.88611416e-01 -3.04377762e-02 2.78993407e+01] [ 5.06485840e-02 -8.95911107e-04 9.98716135e-01 4.01073879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.848040942 meters 0.02231912448365502 Centerline is valid? [True, True] Translation: X:85.69, Y:27.92, Z:4.01 [[ 7.87503732e-01 -6.14978228e-01 -4.04926203e-02 8.56880516e+01] [ 6.14224811e-01 7.88543580e-01 -3.04451163e-02 2.79158848e+01] [ 5.06532794e-02 -8.95929341e-04 9.98715897e-01 4.01318346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.878040942 meters 0.022699914731130613 Centerline is valid? [True, True] Translation: X:85.71, Y:27.93, Z:4.01 [[ 7.87309128e-01 -6.15217183e-01 -4.06466994e-02 8.57122209e+01] [ 6.14457473e-01 7.88357156e-01 -3.05779170e-02 2.79289513e+01] [ 5.08561763e-02 -9.01395054e-04 9.98705581e-01 4.01412932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.908040942 meters 0.022685544559677542 Centerline is valid? [True, True] Translation: X:85.73, Y:27.95, Z:4.01 [[ 7.87369943e-01 -6.15110837e-01 -4.10759177e-02 8.57348294e+01] [ 6.14334365e-01 7.88440140e-01 -3.09100959e-02 2.79451557e+01] [ 5.13990373e-02 -8.96667424e-04 9.98677793e-01 4.01487559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.938040942 meters 0.02343813057666813 Centerline is valid? [True, True] Translation: X:85.76, Y:27.96, Z:4.01 [[ 7.87423652e-01 -6.14992951e-01 -4.18050571e-02 8.57579568e+01] [ 6.14187591e-01 7.88532102e-01 -3.14758222e-02 2.79587723e+01] [ 5.23220384e-02 -8.91340455e-04 9.98629866e-01 4.01381387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.968040942 meters 0.02234058659691738 Centerline is valid? [True, True] Translation: X:85.78, Y:27.98, Z:4.02 [[ 7.87474427e-01 -6.14910023e-01 -4.20676778e-02 8.57788664e+01] [ 6.14093876e-01 7.88596781e-01 -3.16832643e-02 2.79775531e+01] [ 5.26567920e-02 -8.83742918e-04 9.98612278e-01 4.01571639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.998040942 meters 0.022728323396852684 Centerline is valid? [True, True] Translation: X:85.80, Y:27.99, Z:4.02 [[ 7.88071003e-01 -6.14161045e-01 -4.18366476e-02 8.58030085e+01] [ 6.13351913e-01 7.89180299e-01 -3.15259525e-02 2.79919670e+01] [ 5.23786700e-02 -8.15898845e-04 9.98626962e-01 4.01614752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.028040942 meters 0.022266287983843062 Centerline is valid? [True, True] Translation: X:85.83, Y:28.01, Z:4.02 [[ 7.88453850e-01 -6.13723656e-01 -4.10341334e-02 8.58262136e+01] [ 6.12944340e-01 7.89520542e-01 -3.09281365e-02 2.80087177e+01] [ 5.13786202e-02 -7.66231544e-04 9.98678953e-01 4.01927656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.058040942 meters 0.021998041626399234 Centerline is valid? [True, True] Translation: X:85.85, Y:28.03, Z:4.02 [[ 7.88477344e-01 -6.13694490e-01 -4.10189109e-02 8.58486527e+01] [ 6.12914889e-01 7.89543228e-01 -3.09326769e-02 2.80257622e+01] [ 5.13694166e-02 -7.51386306e-04 9.98679437e-01 4.02186403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.088040942 meters 0.02201854700412591 Centerline is valid? [True, True] Translation: X:85.87, Y:28.04, Z:4.02 [[ 7.88675122e-01 -6.13442658e-01 -4.09836262e-02 8.58703382e+01] [ 6.12663190e-01 7.89738935e-01 -3.09229680e-02 2.80416704e+01] [ 5.13358330e-02 -7.20983572e-04 9.98681187e-01 4.02338537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.11804094200001 meters 0.02309808839072885 Centerline is valid? [True, True] Translation: X:85.89, Y:28.06, Z:4.02 [[ 7.88611361e-01 -6.13514761e-01 -4.11310162e-02 8.58938206e+01] [ 6.12729367e-01 7.89682922e-01 -3.10419912e-02 2.80551598e+01] [ 5.15251808e-02 -7.22114609e-04 9.98671435e-01 4.02301103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.148040942 meters 0.021928601695011 Centerline is valid? [True, True] Translation: X:85.91, Y:28.07, Z:4.03 [[ 7.88728442e-01 -6.13321491e-01 -4.17635425e-02 8.59141477e+01] [ 6.12510965e-01 7.89833046e-01 -3.15289936e-02 2.80742754e+01] [ 5.23236353e-02 -7.12813694e-04 9.98629926e-01 4.02568395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.178040942 meters 0.021703983606549848 Centerline is valid? [True, True] Translation: X:85.94, Y:28.09, Z:4.03 [[ 7.88940457e-01 -6.13059282e-01 -4.16085467e-02 8.59363224e+01] [ 6.12253454e-01 7.90036617e-01 -3.14301233e-02 2.80915474e+01] [ 5.21408043e-02 -6.78480569e-04 9.98639513e-01 4.02760254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.208040942 meters 0.021652413592213447 Centerline is valid? [True, True] Translation: X:85.96, Y:28.11, Z:4.03 [[ 7.89157745e-01 -6.12755559e-01 -4.19604365e-02 8.59582859e+01] [ 6.11934618e-01 7.90272233e-01 -3.17146626e-02 2.81086585e+01] [ 5.25935037e-02 -6.49172099e-04 9.98615793e-01 4.02894920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.238040942 meters 0.021452755011942524 Centerline is valid? [True, True] Translation: X:85.98, Y:28.13, Z:4.03 [[ 7.89330134e-01 -6.12522258e-01 -4.21238978e-02 8.59798472e+01] [ 6.11693577e-01 7.90453096e-01 -3.18570287e-02 2.81262501e+01] [ 5.28101046e-02 -6.21204985e-04 9.98604380e-01 4.03005765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.268040942 meters 0.021540225230475652 Centerline is valid? [True, True] Translation: X:86.00, Y:28.14, Z:4.03 [[ 7.89695719e-01 -6.12044117e-01 -4.22216837e-02 8.60015346e+01] [ 6.11209982e-01 7.90823410e-01 -3.19482677e-02 2.81427983e+01] [ 5.29436451e-02 -5.76904343e-04 9.98597335e-01 4.03095012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.298040942 meters 0.021624085030639565 Centerline is valid? [True, True] Translation: X:86.02, Y:28.16, Z:4.03 [[ 7.89764649e-01 -6.11935509e-01 -4.25056782e-02 8.60234002e+01] [ 6.11089477e-01 7.90907461e-01 -3.21720151e-02 2.81594836e+01] [ 5.33052565e-02 -5.66452436e-04 9.98578103e-01 4.03142090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.328040942 meters 0.021457584123723887 Centerline is valid? [True, True] Translation: X:86.05, Y:28.18, Z:4.03 [[ 7.89305247e-01 -6.12512522e-01 -4.27274808e-02 8.60456269e+01] [ 6.11657728e-01 7.90460659e-01 -3.23538319e-02 2.81769510e+01] [ 5.35915198e-02 -5.97544529e-04 9.98562763e-01 4.03348423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.358040942 meters 0.021830331506159838 Centerline is valid? [True, True] Translation: X:86.07, Y:28.19, Z:4.03 [[ 7.87950263e-01 -6.14250526e-01 -4.27863858e-02 8.60689799e+01] [ 6.13395013e-01 7.89110763e-01 -3.24154423e-02 2.81922359e+01] [ 5.36744000e-02 -7.03199395e-04 9.98558243e-01 4.03491594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.388040942 meters 0.023075057279777888 Centerline is valid? [True, True] Translation: X:86.09, Y:28.21, Z:4.04 [[ 7.87013613e-01 -6.15430991e-01 -4.30612297e-02 8.60919035e+01] [ 6.14565882e-01 7.88190384e-01 -3.26296739e-02 2.82083290e+01] [ 5.40217597e-02 -7.83965090e-04 9.98539451e-01 4.03645513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.418040942 meters 0.02217306034971343 Centerline is valid? [True, True] Translation: X:86.12, Y:28.22, Z:4.04 [[ 7.85335491e-01 -6.17662397e-01 -4.17292500e-02 8.61157276e+01] [ 6.16852780e-01 7.86442845e-01 -3.16275081e-02 2.82244926e+01] [ 5.23527926e-02 -9.02599203e-04 9.98628244e-01 4.04051930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.448040942 meters 0.02235082699258661 Centerline is valid? [True, True] Translation: X:86.14, Y:28.24, Z:4.04 [[ 7.84281033e-01 -6.19024127e-01 -4.13810455e-02 8.61386061e+01] [ 6.18229024e-01 7.85371367e-01 -3.13797513e-02 2.82414527e+01] [ 5.19243115e-02 -9.72419573e-04 9.98650550e-01 4.04251180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.478040942 meters 0.022558443583331034 Centerline is valid? [True, True] Translation: X:86.16, Y:28.26, Z:4.04 [[ 7.83558020e-01 -6.19970899e-01 -4.09012783e-02 8.61615547e+01] [ 6.19194601e-01 7.84624154e-01 -3.10319505e-02 2.82592663e+01] [ 5.13310372e-02 -1.01051705e-03 9.98681182e-01 4.04441233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.508040942 meters 0.022925555626077117 Centerline is valid? [True, True] Translation: X:86.18, Y:28.28, Z:4.05 [[ 7.83200288e-01 -6.20477416e-01 -4.00635224e-02 8.61820540e+01] [ 6.19732477e-01 7.84223665e-01 -3.04121746e-02 2.82779267e+01] [ 5.02888299e-02 -1.00984211e-03 9.98734206e-01 4.04518901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.538040942 meters 0.022679486726654024 Centerline is valid? [True, True] Translation: X:86.20, Y:28.30, Z:4.05 [[ 7.83446089e-01 -6.20179768e-01 -3.98657986e-02 8.62043329e+01] [ 6.19440896e-01 7.84459120e-01 -3.02797899e-02 2.82963216e+01] [ 5.00520024e-02 -9.71923031e-04 9.98746140e-01 4.04580470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.568040942 meters 0.022635439215686042 Centerline is valid? [True, True] Translation: X:86.23, Y:28.32, Z:4.05 [[ 7.83766442e-01 -6.19779194e-01 -3.97984306e-02 8.62258485e+01] [ 6.19041518e-01 7.84775689e-01 -3.02442881e-02 2.83158727e+01] [ 4.99776213e-02 -9.32422803e-04 9.98749903e-01 4.04637339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.598040942 meters 0.02266703689928417 Centerline is valid? [True, True] Translation: X:86.25, Y:28.33, Z:4.05 [[ 7.83815946e-01 -6.19739737e-01 -3.94362879e-02 8.62475275e+01] [ 6.19014609e-01 7.84806876e-01 -2.99846960e-02 2.83336657e+01] [ 4.95325775e-02 -9.09155433e-04 9.98772095e-01 4.04712533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.628040942 meters 0.022807248192914294 Centerline is valid? [True, True] Translation: X:86.27, Y:28.35, Z:4.05 [[ 7.83565738e-01 -6.20057851e-01 -3.94080727e-02 8.62692307e+01] [ 6.19333285e-01 7.84555559e-01 -2.99809373e-02 2.83508341e+01] [ 4.95077381e-02 -9.14695855e-04 9.98773321e-01 4.04774026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.658040942 meters 0.02310969142478123 Centerline is valid? [True, True] Translation: X:86.29, Y:28.37, Z:4.05 [[ 7.83003188e-01 -6.20809869e-01 -3.87442087e-02 8.62914424e+01] [ 6.20109622e-01 7.83960609e-01 -2.94927290e-02 2.83687351e+01] [ 4.86833107e-02 -9.32755774e-04 9.98813829e-01 4.04818690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.688040942 meters 0.023398410927275907 Centerline is valid? [True, True] Translation: X:86.31, Y:28.39, Z:4.05 [[ 7.82663739e-01 -6.21278906e-01 -3.80787552e-02 8.63125543e+01] [ 6.20602403e-01 7.83588953e-01 -2.90001696e-02 2.83853137e+01] [ 4.78552856e-02 -9.34385827e-04 9.98853842e-01 4.04902888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.718040942 meters 0.023258794571679925 Centerline is valid? [True, True] Translation: X:86.33, Y:28.40, Z:4.05 [[ 7.82224854e-01 -6.21875166e-01 -3.73571376e-02 8.63334344e+01] [ 6.21224414e-01 7.83115816e-01 -2.84577849e-02 2.84043048e+01] [ 4.69521551e-02 -9.46779303e-04 9.98896691e-01 4.04916042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.748040942 meters 0.023775948081636068 Centerline is valid? [True, True] Translation: X:86.36, Y:28.42, Z:4.05 [[ 7.82046962e-01 -6.22122364e-01 -3.69636727e-02 8.63552203e+01] [ 6.21484778e-01 7.82919461e-01 -2.81742375e-02 2.84198253e+01] [ 4.64674019e-02 -9.38783103e-04 9.98919366e-01 4.04927910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.778040942 meters 0.02382265951170185 Centerline is valid? [True, True] Translation: X:86.38, Y:28.44, Z:4.05 [[ 7.81820643e-01 -6.22420889e-01 -3.67249063e-02 8.63775976e+01] [ 6.21791501e-01 7.82682148e-01 -2.79997329e-02 2.84368374e+01] [ 4.61715472e-02 -9.44465446e-04 9.98933079e-01 4.04981268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.808040942 meters 0.023605296822764042 Centerline is valid? [True, True] Translation: X:86.40, Y:28.45, Z:4.05 [[ 7.81421586e-01 -6.22962060e-01 -3.60357618e-02 8.63998936e+01] [ 6.22355957e-01 7.82251479e-01 -2.74897431e-02 2.84546521e+01] [ 4.53140949e-02 -9.45992331e-04 9.98972341e-01 4.05052527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.838040942 meters 0.023588121750178024 Centerline is valid? [True, True] Translation: X:86.42, Y:28.47, Z:4.05 [[ 7.81280712e-01 -6.23173569e-01 -3.54281127e-02 8.64221865e+01] [ 6.22587265e-01 7.82083012e-01 -2.70417966e-02 2.84718740e+01] [ 4.45594580e-02 -9.29857671e-04 9.99006301e-01 4.05128681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.86804094200001 meters 0.023422628016262232 Centerline is valid? [True, True] Translation: X:86.44, Y:28.49, Z:4.05 [[ 7.81587597e-01 -6.22842629e-01 -3.44657464e-02 8.64444417e+01] [ 6.22286773e-01 7.82346659e-01 -2.63225491e-02 2.84890283e+01] [ 4.33589672e-02 -8.74200191e-04 9.99059175e-01 4.05234085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.898040942 meters 0.023130747678290264 Centerline is valid? [True, True] Translation: X:86.47, Y:28.51, Z:4.05 [[ 7.81827150e-01 -6.22590766e-01 -3.35714973e-02 8.64660583e+01] [ 6.22062992e-01 7.82547150e-01 -2.56435612e-02 2.85074847e+01] [ 4.22367239e-02 -8.34753720e-04 9.99107283e-01 4.05355894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.928040942 meters 0.023154429927741898 Centerline is valid? [True, True] Translation: X:86.49, Y:28.52, Z:4.06 [[ 7.82430444e-01 -6.21844874e-01 -3.33399650e-02 8.64885448e+01] [ 6.21323027e-01 7.83140057e-01 -2.54822838e-02 2.85244972e+01] [ 4.19558897e-02 -7.76773328e-04 9.99119162e-01 4.05518193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.958040942 meters 0.023043330268349805 Centerline is valid? [True, True] Translation: X:86.51, Y:28.54, Z:4.06 [[ 7.82952716e-01 -6.21218414e-01 -3.27525093e-02 8.65107437e+01] [ 6.20713968e-01 7.83637133e-01 -2.50402315e-02 2.85420368e+01] [ 4.12215354e-02 -7.24622750e-04 9.99149769e-01 4.05651315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.988040942 meters 0.022841027234121243 Centerline is valid? [True, True] Translation: X:86.53, Y:28.56, Z:4.06 [[ 7.83872275e-01 -6.20099840e-01 -3.19444214e-02 8.65329731e+01] [ 6.19618886e-01 7.84522639e-01 -2.44267133e-02 2.85585757e+01] [ 4.02081228e-02 -6.45943458e-04 9.99191118e-01 4.05855928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.018040942 meters 0.022828484235671454 Centerline is valid? [True, True] Translation: X:86.55, Y:28.57, Z:4.06 [[ 7.83862165e-01 -6.20120425e-01 -3.17925377e-02 8.65545881e+01] [ 6.19643887e-01 7.84506372e-01 -2.43147017e-02 2.85743681e+01] [ 4.00194915e-02 -6.40676930e-04 9.99198694e-01 4.05923815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.048040942 meters 0.022891331442118055 Centerline is valid? [True, True] Translation: X:86.58, Y:28.59, Z:4.06 [[ 7.83523323e-01 -6.20543213e-01 -3.18955124e-02 8.65773819e+01] [ 6.20063721e-01 7.84171974e-01 -2.43986929e-02 2.85914843e+01] [ 4.01520101e-02 -6.60305192e-04 9.99193365e-01 4.06025523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.078040942 meters 0.02293364354982376 Centerline is valid? [True, True] Translation: X:86.60, Y:28.61, Z:4.06 [[ 7.83076803e-01 -6.21119678e-01 -3.16396275e-02 8.66004524e+01] [ 6.20647779e-01 7.83715441e-01 -2.42165750e-02 2.86089657e+01] [ 3.98378559e-02 -6.73626368e-04 9.99205930e-01 4.06112671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.108040942 meters 0.022782034743807994 Centerline is valid? [True, True] Translation: X:86.62, Y:28.63, Z:4.06 [[ 7.82240678e-01 -6.22169840e-01 -3.16893063e-02 8.66235392e+01] [ 6.21696841e-01 7.82881966e-01 -2.42665232e-02 2.86268352e+01] [ 3.99068853e-02 -7.18880041e-04 9.99203144e-01 4.06171060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.138040942 meters 0.022951208322644908 Centerline is valid? [True, True] Translation: X:86.65, Y:28.64, Z:4.06 [[ 7.80830783e-01 -6.23931741e-01 -3.18193472e-02 8.66457735e+01] [ 6.23455781e-01 7.81478432e-01 -2.43792975e-02 2.86444036e+01] [ 4.00771511e-02 -8.01849966e-04 9.99196267e-01 4.06237682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.168040942 meters 0.023261017129453946 Centerline is valid? [True, True] Translation: X:86.67, Y:28.66, Z:4.06 [[ 7.79307749e-01 -6.25844276e-01 -3.15970674e-02 8.66687672e+01] [ 6.25376374e-01 7.79947529e-01 -2.42124521e-02 2.86619300e+01] [ 3.97972792e-02 -8.91107888e-04 9.99207377e-01 4.06345191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.198040942 meters 0.023465698963958646 Centerline is valid? [True, True] Translation: X:86.69, Y:28.68, Z:4.06 [[ 7.78512335e-01 -6.26830743e-01 -3.16506494e-02 8.66917963e+01] [ 6.26361567e-01 7.79154894e-01 -2.42659955e-02 2.86793010e+01] [ 3.98714304e-02 -9.33373485e-04 9.99204382e-01 4.06494882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.228040942 meters 0.0236659941002969 Centerline is valid? [True, True] Translation: X:86.71, Y:28.70, Z:4.07 [[ 7.77869046e-01 -6.27622433e-01 -3.17777963e-02 8.67149091e+01] [ 6.27149634e-01 7.78517273e-01 -2.43760681e-02 2.86971741e+01] [ 4.00385304e-02 -9.68044470e-04 9.99197668e-01 4.06577215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.258040942 meters 0.0236659941002969 Centerline is valid? [True, True] Translation: X:86.74, Y:28.71, Z:4.07 [[ 7.77692385e-01 -6.27841623e-01 -3.17718531e-02 8.67367170e+01] [ 6.27368690e-01 7.78340515e-01 -2.43838118e-02 2.87140209e+01] [ 4.00384924e-02 -9.69561096e-04 9.99197668e-01 4.06699629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.288040942 meters 0.025037141276903565 Centerline is valid? [True, True] Translation: X:86.76, Y:28.73, Z:4.07 [[ 7.76812379e-01 -6.28915507e-01 -3.20595008e-02 8.67598421e+01] [ 6.28434255e-01 7.77472983e-01 -2.46200717e-02 2.87296141e+01] [ 4.04093406e-02 -1.02211202e-03 9.99182686e-01 4.06841543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.318040942 meters 0.024684950198664634 Centerline is valid? [True, True] Translation: X:86.78, Y:28.75, Z:4.07 [[ 7.76283646e-01 -6.29591234e-01 -3.16003119e-02 8.67813828e+01] [ 6.29124096e-01 7.76925864e-01 -2.42708284e-02 2.87492929e+01] [ 3.98318004e-02 -1.03947051e-03 9.99205858e-01 4.06909066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.348040942 meters 0.02431111326574243 Centerline is valid? [True, True] Translation: X:86.80, Y:28.77, Z:4.07 [[ 7.75771381e-01 -6.30241696e-01 -3.12116892e-02 8.68033650e+01] [ 6.29786038e-01 7.76398288e-01 -2.39842481e-02 2.87677714e+01] [ 3.93485752e-02 -1.05039285e-03 9.99224993e-01 4.07004161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.378040942 meters 0.024244697704991172 Centerline is valid? [True, True] Translation: X:86.83, Y:28.79, Z:4.07 [[ 7.75634975e-01 -6.30400278e-01 -3.13986531e-02 8.68252520e+01] [ 6.29938796e-01 7.76269525e-01 -2.41399647e-02 2.87858159e+01] [ 3.95916579e-02 -1.05542883e-03 9.99215386e-01 4.07043662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.408040942 meters 0.024237900169122535 Centerline is valid? [True, True] Translation: X:86.85, Y:28.80, Z:4.07 [[ 7.75533081e-01 -6.30516323e-01 -3.15848986e-02 8.68468258e+01] [ 6.30048879e-01 7.76175270e-01 -2.42973372e-02 2.88033864e+01] [ 3.98352849e-02 -1.05664119e-03 9.99205701e-01 4.07124580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.438040942 meters 0.023809268721707143 Centerline is valid? [True, True] Translation: X:86.87, Y:28.82, Z:4.07 [[ 7.75779686e-01 -6.30181987e-01 -3.21953816e-02 8.68683967e+01] [ 6.29695403e-01 7.76446756e-01 -2.47817422e-02 2.88220269e+01] [ 4.06150072e-02 -1.04811163e-03 9.99174320e-01 4.07163939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.468040942 meters 0.023743822073035284 Centerline is valid? [True, True] Translation: X:86.89, Y:28.84, Z:4.07 [[ 7.76071723e-01 -6.29827354e-01 -3.20964952e-02 8.68912315e+01] [ 6.29342936e-01 7.76734492e-01 -2.47183595e-02 2.88405621e+01] [ 4.04987539e-02 -1.01648269e-03 9.99179072e-01 4.07264504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.498040942 meters 0.023698515105390085 Centerline is valid? [True, True] Translation: X:86.91, Y:28.86, Z:4.07 [[ 7.76444029e-01 -6.29357916e-01 -3.22998961e-02 8.69132795e+01] [ 6.28866451e-01 7.77114943e-01 -2.48867954e-02 2.88586475e+01] [ 4.07634336e-02 -9.89117372e-04 9.99168336e-01 4.07408154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.528040942 meters 0.023389139767050808 Centerline is valid? [True, True] Translation: X:86.93, Y:28.88, Z:4.08 [[ 7.77938743e-01 -6.27512137e-01 -3.22463931e-02 8.69344307e+01] [ 6.27020169e-01 7.78606282e-01 -2.48588993e-02 2.88768715e+01] [ 4.07065053e-02 -8.80437992e-04 9.99170759e-01 4.07523596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.558040942 meters 0.023245558408829265 Centerline is valid? [True, True] Translation: X:86.96, Y:28.90, Z:4.08 [[ 7.78204024e-01 -6.27186901e-01 -3.21727900e-02 8.69566974e+01] [ 6.26696749e-01 7.78868317e-01 -2.48058383e-02 2.88950075e+01] [ 4.06162636e-02 -8.58579734e-04 9.99174450e-01 4.07627803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.588040942 meters 0.022591773047529237 Centerline is valid? [True, True] Translation: X:86.98, Y:28.91, Z:4.08 [[ 7.79248419e-01 -6.25877128e-01 -3.23994039e-02 8.69785480e+01] [ 6.25378396e-01 7.79921280e-01 -2.49931770e-02 2.89148587e+01] [ 4.09116424e-02 -7.85993599e-04 9.99162459e-01 4.07720097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.618040942 meters 0.022726691077121625 Centerline is valid? [True, True] Translation: X:87.00, Y:28.93, Z:4.08 [[ 7.79605062e-01 -6.25438603e-01 -3.22878029e-02 8.70008095e+01] [ 6.24942418e-01 7.80273023e-01 -2.49195436e-02 2.89315118e+01] [ 4.07789462e-02 -7.50615279e-04 9.99167911e-01 4.07852494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.648040942 meters 0.022707879497809755 Centerline is valid? [True, True] Translation: X:87.02, Y:28.95, Z:4.08 [[ 7.79743753e-01 -6.25267919e-01 -3.22445058e-02 8.70232188e+01] [ 6.24772772e-01 7.80409818e-01 -2.48897301e-02 2.89489844e+01] [ 4.07266787e-02 -7.37877731e-04 9.99170052e-01 4.07986556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.678040942 meters 0.022772572206515896 Centerline is valid? [True, True] Translation: X:87.05, Y:28.97, Z:4.08 [[ 7.79474186e-01 -6.25625715e-01 -3.18191378e-02 8.70456658e+01] [ 6.25143253e-01 7.80123019e-01 -2.45761692e-02 2.89659089e+01] [ 4.01983252e-02 -7.35029801e-04 9.99191450e-01 4.08186527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.708040942 meters 0.02283421162234001 Centerline is valid? [True, True] Translation: X:87.07, Y:28.98, Z:4.08 [[ 7.79064274e-01 -6.26138348e-01 -3.17746245e-02 8.70681472e+01] [ 6.25657530e-01 7.79711610e-01 -2.45450607e-02 2.89828509e+01] [ 4.01436474e-02 -7.57853180e-04 9.99193632e-01 4.08288044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.738040942 meters 0.02235561584797871 Centerline is valid? [True, True] Translation: X:87.09, Y:29.00, Z:4.08 [[ 7.78354587e-01 -6.27007105e-01 -3.20347818e-02 8.70903592e+01] [ 6.26518538e-01 7.79013128e-01 -2.47602135e-02 2.90016957e+01] [ 4.04803453e-02 -7.98158915e-04 9.99180016e-01 4.08369289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.768040942 meters 0.022200127864990413 Centerline is valid? [True, True] Translation: X:87.11, Y:29.02, Z:4.08 [[ 7.78123184e-01 -6.27286521e-01 -3.21858875e-02 8.71118697e+01] [ 6.26793050e-01 7.78788142e-01 -2.48898102e-02 2.90193121e+01] [ 4.06790300e-02 -8.06552267e-04 9.99171940e-01 4.08498159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.798040942 meters 0.02293850798488394 Centerline is valid? [True, True] Translation: X:87.13, Y:29.04, Z:4.09 [[ 7.78152921e-01 -6.27247850e-01 -3.22206080e-02 8.71332237e+01] [ 6.26752634e-01 7.78819303e-01 -2.49324907e-02 2.90351678e+01] [ 4.07328826e-02 -7.93060471e-04 9.99169757e-01 4.08629143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.828040942 meters 0.022034912340198203 Centerline is valid? [True, True] Translation: X:87.15, Y:29.05, Z:4.09 [[ 7.78141205e-01 -6.27213164e-01 -3.31649254e-02 8.71549659e+01] [ 6.26688185e-01 7.78847220e-01 -2.56695741e-02 2.90530610e+01] [ 4.19307047e-02 -8.09513630e-04 9.99120193e-01 4.08707640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.858040942 meters 0.022057852483186043 Centerline is valid? [True, True] Translation: X:87.18, Y:29.07, Z:4.09 [[ 7.78282307e-01 -6.26999803e-01 -3.38806410e-02 8.71764419e+01] [ 6.26451002e-01 7.79019000e-01 -2.62400382e-02 2.90693403e+01] [ 4.28461619e-02 -8.02404067e-04 9.99081359e-01 4.08759119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.888040942 meters 0.021994789708011452 Centerline is valid? [True, True] Translation: X:87.20, Y:29.09, Z:4.09 [[ 7.79113803e-01 -6.25896104e-01 -3.51532274e-02 8.71983106e+01] [ 6.25303849e-01 7.79906073e-01 -2.72325753e-02 2.90867372e+01] [ 4.44609784e-02 -7.64173109e-04 9.99010829e-01 4.08810389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.918040942 meters 0.021733888408652164 Centerline is valid? [True, True] Translation: X:87.22, Y:29.10, Z:4.09 [[ 7.79322767e-01 -6.25622812e-01 -3.53853403e-02 8.72196556e+01] [ 6.25022195e-01 7.80125333e-01 -2.74175017e-02 2.91047588e+01] [ 4.47580149e-02 -7.49539807e-04 9.98997577e-01 4.08912561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.948040942 meters 0.02187423572935914 Centerline is valid? [True, True] Translation: X:87.24, Y:29.12, Z:4.09 [[ 7.79647052e-01 -6.25217490e-01 -3.54057089e-02 8.72416360e+01] [ 6.24615033e-01 7.80450242e-01 -2.74495907e-02 2.91210402e+01] [ 4.47943583e-02 -7.13945582e-04 9.98995974e-01 4.08999108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.978040942 meters 0.02145069659854581 Centerline is valid? [True, True] Translation: X:87.26, Y:29.14, Z:4.09 [[ 7.80431366e-01 -6.24225248e-01 -3.56331544e-02 8.72641928e+01] [ 6.23613744e-01 7.81244141e-01 -2.76313307e-02 2.91389769e+01] [ 4.50863673e-02 -6.56967662e-04 9.98982877e-01 4.09166989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.008040942 meters 0.02143455349851635 Centerline is valid? [True, True] Translation: X:87.29, Y:29.16, Z:4.09 [[ 7.80929920e-01 -6.23603882e-01 -3.55901516e-02 8.72866320e+01] [ 6.22992572e-01 7.81740255e-01 -2.76120955e-02 2.91554383e+01] [ 4.50412641e-02 -6.09288604e-04 9.98984941e-01 4.09336098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.038040942 meters 0.020929833943841795 Centerline is valid? [True, True] Translation: X:87.31, Y:29.17, Z:4.10 [[ 7.82439029e-01 -6.21758785e-01 -3.47156839e-02 8.73083662e+01] [ 6.21175137e-01 7.83208641e-01 -2.69383298e-02 2.91739903e+01] [ 4.39387668e-02 -4.86919081e-04 9.99034107e-01 4.09572343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.068040942 meters 0.021142150155349756 Centerline is valid? [True, True] Translation: X:87.33, Y:29.19, Z:4.10 [[ 7.82871513e-01 -6.21231222e-01 -3.44087675e-02 8.73305770e+01] [ 6.20656745e-01 7.83627190e-01 -2.67138896e-02 2.91902280e+01] [ 4.35591481e-02 -4.42490491e-04 9.99050752e-01 4.09760894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.098040942 meters 0.020771056600438587 Centerline is valid? [True, True] Translation: X:87.35, Y:29.21, Z:4.10 [[ 7.83251759e-01 -6.20762695e-01 -3.42104937e-02 8.73520825e+01] [ 6.20193698e-01 7.83998415e-01 -2.65756048e-02 2.92079265e+01] [ 4.33181169e-02 -4.01743401e-04 9.99061249e-01 4.09949936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.128040942 meters 0.020673912764322108 Centerline is valid? [True, True] Translation: X:87.37, Y:29.22, Z:4.10 [[ 7.83550115e-01 -6.20417515e-01 -3.36351667e-02 8.73739932e+01] [ 6.19866534e-01 7.84271621e-01 -2.61439297e-02 2.92236141e+01] [ 4.25992586e-02 -3.64235060e-04 9.99092173e-01 4.10238772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.158040942 meters 0.020581133587545174 Centerline is valid? [True, True] Translation: X:87.40, Y:29.24, Z:4.10 [[ 7.83448528e-01 -6.20565085e-01 -3.32773041e-02 8.73962005e+01] [ 6.20025654e-01 7.84154859e-01 -2.58717064e-02 2.92408114e+01] [ 4.21496374e-02 -3.63631923e-04 9.99111243e-01 4.10414418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.188040942 meters 0.0205638220084835 Centerline is valid? [True, True] Translation: X:87.42, Y:29.26, Z:4.11 [[ 7.83298964e-01 -6.20792567e-01 -3.25472106e-02 8.74182036e+01] [ 6.20276127e-01 7.83974784e-01 -2.53192438e-02 2.92563605e+01] [ 4.12341908e-02 -3.55720294e-04 9.99149446e-01 4.10669628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.218040942 meters 0.020695062500808888 Centerline is valid? [True, True] Translation: X:87.44, Y:29.27, Z:4.11 [[ 7.82749946e-01 -6.21499935e-01 -3.22544963e-02 8.74405504e+01] [ 6.20993118e-01 7.83414119e-01 -2.50971165e-02 2.92725494e+01] [ 4.08664841e-02 -3.85053622e-04 9.99164542e-01 4.10825322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.248040942 meters 0.020582179360863415 Centerline is valid? [True, True] Translation: X:87.46, Y:29.29, Z:4.11 [[ 7.82327648e-01 -6.22031343e-01 -3.22561369e-02 8.74624470e+01] [ 6.21524335e-01 7.82992239e-01 -2.51128394e-02 2.92896379e+01] [ 4.08772781e-02 -4.01505404e-04 9.99164094e-01 4.10912808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.278040942 meters 0.020635737938901607 Centerline is valid? [True, True] Translation: X:87.48, Y:29.31, Z:4.11 [[ 7.81809662e-01 -6.22676093e-01 -3.23749337e-02 8.74845347e+01] [ 6.22165252e-01 7.82479586e-01 -2.52209560e-02 2.93074190e+01] [ 4.10372111e-02 -4.24571744e-04 9.99157529e-01 4.11009492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.308040942 meters 0.0206502541214873 Centerline is valid? [True, True] Translation: X:87.51, Y:29.32, Z:4.11 [[ 7.81205044e-01 -6.23423813e-01 -3.25795565e-02 8.75065310e+01] [ 6.22906866e-01 7.81883966e-01 -2.53870017e-02 2.93247655e+01] [ 4.13002943e-02 -4.61575654e-04 9.99146672e-01 4.11100134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.338040942 meters 0.02063385939050949 Centerline is valid? [True, True] Translation: X:87.53, Y:29.34, Z:4.11 [[ 7.80967930e-01 -6.23725455e-01 -3.24907638e-02 8.75280102e+01] [ 6.23210935e-01 7.81643360e-01 -2.53335551e-02 2.93408644e+01] [ 4.11973730e-02 -4.63905223e-04 9.99150920e-01 4.11208879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.368040942 meters 0.020516471434275593 Centerline is valid? [True, True] Translation: X:87.55, Y:29.36, Z:4.11 [[ 7.80854166e-01 -6.23823712e-01 -3.33279035e-02 8.75497439e+01] [ 6.23282142e-01 7.81564937e-01 -2.59927189e-02 2.93581240e+01] [ 4.22627952e-02 -4.76164237e-04 9.99106415e-01 4.11349736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.398040942 meters 0.02105183196230196 Centerline is valid? [True, True] Translation: X:87.57, Y:29.38, Z:4.11 [[ 7.81065439e-01 -6.23529692e-01 -3.38748063e-02 8.75713934e+01] [ 6.22969239e-01 7.81799537e-01 -2.64350512e-02 2.93761844e+01] [ 4.29663472e-02 -4.55457389e-04 9.99076416e-01 4.11388618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.428040942 meters 0.020065941677328114 Centerline is valid? [True, True] Translation: X:87.59, Y:29.40, Z:4.11 [[ 7.82317112e-01 -6.21915219e-01 -3.46611813e-02 8.75923937e+01] [ 6.21326125e-01 7.83084497e-01 -2.70650512e-02 2.93954053e+01] [ 4.39748010e-02 -3.62444801e-04 9.99032575e-01 4.11448248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.458040942 meters 0.019872771838307473 Centerline is valid? [True, True] Translation: X:87.61, Y:29.41, Z:4.12 [[ 7.82904413e-01 -6.21157287e-01 -3.49900683e-02 8.76134125e+01] [ 6.20555573e-01 7.83685860e-01 -2.73359401e-02 2.94134723e+01] [ 4.44011401e-02 -3.11853740e-04 9.99013734e-01 4.11510091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.488040942 meters 0.019723491088840892 Centerline is valid? [True, True] Translation: X:87.63, Y:29.43, Z:4.12 [[ 7.83680148e-01 -6.20163558e-01 -3.52503471e-02 8.76342304e+01] [ 6.19551131e-01 7.84472499e-01 -2.75552966e-02 2.94320288e+01] [ 4.47417186e-02 -2.44853509e-04 9.98998558e-01 4.11622386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.518040942 meters 0.01945180234820946 Centerline is valid? [True, True] Translation: X:87.66, Y:29.45, Z:4.12 [[ 7.85127887e-01 -6.18336144e-01 -3.51370912e-02 8.76552537e+01] [ 6.17725106e-01 7.85913734e-01 -2.74826603e-02 2.94507558e+01] [ 4.46082447e-02 -1.27660332e-04 9.99004549e-01 4.11724011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.548040942 meters 0.019276039371598944 Centerline is valid? [True, True] Translation: X:87.68, Y:29.47, Z:4.12 [[ 7.86021108e-01 -6.17204641e-01 -3.50606588e-02 8.76766021e+01] [ 6.16594410e-01 7.86802662e-01 -2.74391092e-02 2.94674219e+01] [ 4.45213652e-02 -5.04871658e-05 9.99008431e-01 4.11966925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.578040942 meters 0.019296725210703282 Centerline is valid? [True, True] Translation: X:87.70, Y:29.48, Z:4.12 [[ 7.86152263e-01 -6.17044578e-01 -3.49372020e-02 8.76981225e+01] [ 6.16438172e-01 7.86928197e-01 -2.73494626e-02 2.94846987e+01] [ 4.43689070e-02 -3.57830060e-05 9.99015215e-01 4.12100728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.608040942 meters 0.019227077057046137 Centerline is valid? [True, True] Translation: X:87.72, Y:29.50, Z:4.12 [[ 7.86015784e-01 -6.17237470e-01 -3.45990373e-02 8.77201249e+01] [ 6.16642269e-01 7.86776909e-01 -2.70999715e-02 2.95026125e+01] [ 4.39488415e-02 -3.42235275e-05 9.99033782e-01 4.12209750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.638040942 meters 0.019155462017846073 Centerline is valid? [True, True] Translation: X:87.74, Y:29.52, Z:4.12 [[ 7.85124892e-01 -6.18362057e-01 -3.47457991e-02 8.77420270e+01] [ 6.17762163e-01 7.85893351e-01 -2.72314121e-02 2.95192526e+01] [ 4.41453645e-02 -8.45804773e-05 9.99025115e-01 4.12289540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.668040942 meters 0.01924721118267355 Centerline is valid? [True, True] Translation: X:87.76, Y:29.54, Z:4.12 [[ 7.84399952e-01 -6.19286621e-01 -3.46525051e-02 8.77640418e+01] [ 6.18690538e-01 7.85164992e-01 -2.71652950e-02 2.95355314e+01] [ 4.40310377e-02 -1.30720914e-04 9.99030155e-01 4.12437845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.698040942 meters 0.019294833217359728 Centerline is valid? [True, True] Translation: X:87.79, Y:29.55, Z:4.13 [[ 7.82647635e-01 -6.21531683e-01 -3.40741280e-02 8.77872481e+01] [ 6.20957023e-01 7.83388988e-01 -2.67220664e-02 2.95531898e+01] [ 4.33019076e-02 -2.44607005e-04 9.99062003e-01 4.12657524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.728040942 meters 0.0194657231999649 Centerline is valid? [True, True] Translation: X:87.81, Y:29.57, Z:4.13 [[ 7.81804934e-01 -6.22618767e-01 -3.35695675e-02 8.78093872e+01] [ 6.22061412e-01 7.82525263e-01 -2.63403232e-02 2.95694853e+01] [ 4.26690142e-02 -2.89337907e-04 9.99089221e-01 4.12818244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.758040942 meters 0.019454729531593697 Centerline is valid? [True, True] Translation: X:87.83, Y:29.59, Z:4.13 [[ 7.80816321e-01 -6.23867419e-01 -3.33963497e-02 8.78320008e+01] [ 6.23316757e-01 7.81530114e-01 -2.62088075e-02 2.95868501e+01] [ 4.24510741e-02 -3.52239756e-04 9.99098485e-01 4.12964041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.788040942 meters 0.019771321057348176 Centerline is valid? [True, True] Translation: X:87.85, Y:29.60, Z:4.13 [[ 7.79275213e-01 -6.25785577e-01 -3.35045411e-02 8.78540367e+01] [ 6.25232509e-01 7.79995007e-01 -2.63077438e-02 2.96037008e+01] [ 4.25963814e-02 -4.47155620e-04 9.99092262e-01 4.13095746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.818040942 meters 0.0198888203415856 Centerline is valid? [True, True] Translation: X:87.88, Y:29.62, Z:4.13 [[ 7.78426127e-01 -6.26848421e-01 -3.33739626e-02 8.78762525e+01] [ 6.26300448e-01 7.79141070e-01 -2.62095698e-02 2.96219476e+01] [ 4.24324524e-02 -4.99913853e-04 9.99099213e-01 4.13160970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.848040942 meters 0.020103457598685658 Centerline is valid? [True, True] Translation: X:87.90, Y:29.64, Z:4.13 [[ 7.77148968e-01 -6.28371434e-01 -3.44792959e-02 8.78969244e+01] [ 6.27787413e-01 7.77913229e-01 -2.70919290e-02 2.96401330e+01] [ 4.38456946e-02 -5.91203297e-04 9.99038140e-01 4.13132026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.878040942 meters 0.0208505444054079 Centerline is valid? [True, True] Translation: X:87.92, Y:29.66, Z:4.13 [[ 7.76382160e-01 -6.29277920e-01 -3.52142264e-02 8.79199248e+01] [ 6.28669316e-01 7.77180080e-01 -2.76769631e-02 2.96566305e+01] [ 4.47842971e-02 -6.50203271e-04 9.98996468e-01 4.13169128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.908040942 meters 0.02056128525631302 Centerline is valid? [True, True] Translation: X:87.94, Y:29.68, Z:4.13 [[ 7.75606509e-01 -6.30213064e-01 -3.55814069e-02 8.79418204e+01] [ 6.29592444e-01 7.76421917e-01 -2.79707278e-02 2.96758323e+01] [ 4.52537022e-02 -7.07506370e-04 9.98975276e-01 4.13214813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.938040942 meters 0.02096808183284423 Centerline is valid? [True, True] Translation: X:87.96, Y:29.69, Z:4.13 [[ 7.74336096e-01 -6.31736833e-01 -3.62240918e-02 8.79639281e+01] [ 6.31094587e-01 7.75182517e-01 -2.84901311e-02 2.96919568e+01] [ 4.60785478e-02 -7.99891361e-04 9.98937499e-01 4.13285250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.968040942 meters 0.02132820924810827 Centerline is valid? [True, True] Translation: X:87.99, Y:29.71, Z:4.13 [[ 7.73378486e-01 -6.32925590e-01 -3.59293077e-02 8.79871102e+01] [ 6.32294639e-01 7.74212157e-01 -2.82670446e-02 2.97096760e+01] [ 4.57078427e-02 -8.56784521e-04 9.98954483e-01 4.13430046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.998040942 meters 0.02132360142406392 Centerline is valid? [True, True] Translation: X:88.01, Y:29.73, Z:4.14 [[ 7.72656001e-01 -6.33823463e-01 -3.56443790e-02 8.80083549e+01] [ 6.33202820e-01 7.73477228e-01 -2.80564942e-02 2.97290090e+01] [ 4.53529798e-02 -8.92102708e-04 9.98970626e-01 4.13562676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.028040942 meters 0.020839016392532713 Centerline is valid? [True, True] Translation: X:88.03, Y:29.75, Z:4.14 [[ 7.72557194e-01 -6.33927384e-01 -3.59368067e-02 8.80282784e+01] [ 6.33295975e-01 7.73392055e-01 -2.83008356e-02 2.97484368e+01] [ 4.57339155e-02 -8.94620918e-04 9.98953256e-01 4.13646208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.058040942 meters 0.02096551864322542 Centerline is valid? [True, True] Translation: X:88.05, Y:29.77, Z:4.14 [[ 7.72613569e-01 -6.33841418e-01 -3.62398752e-02 8.80485731e+01] [ 6.33198453e-01 7.73462523e-01 -2.85560002e-02 2.97659055e+01] [ 4.61301609e-02 -8.84279649e-04 9.98935046e-01 4.13707887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.088040942 meters 0.021432693857898442 Centerline is valid? [True, True] Translation: X:88.07, Y:29.78, Z:4.14 [[ 7.73134365e-01 -6.33182476e-01 -3.66497552e-02 8.80706762e+01] [ 6.32523796e-01 7.74002087e-01 -2.88862695e-02 2.97832623e+01] [ 4.66572667e-02 -8.48874614e-04 9.98910596e-01 4.13801912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.118040942 meters 0.021008071334271787 Centerline is valid? [True, True] Translation: X:88.09, Y:29.80, Z:4.14 [[ 7.74020928e-01 -6.32102645e-01 -3.65766162e-02 8.80913176e+01] [ 6.31445149e-01 7.74884275e-01 -2.88337150e-02 2.98025128e+01] [ 4.65685122e-02 -7.78228029e-04 9.98914795e-01 4.13981795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.148040942 meters 0.021008071334271787 Centerline is valid? [True, True] Translation: X:88.11, Y:29.82, Z:4.14 [[ 7.73855042e-01 -6.32305871e-01 -3.65740182e-02 8.81128775e+01] [ 6.31648446e-01 7.74718444e-01 -2.88370100e-02 2.98196496e+01] [ 4.65683772e-02 -7.86256139e-04 9.98914795e-01 4.14104387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.178040942 meters 0.020882246358255575 Centerline is valid? [True, True] Translation: X:88.13, Y:29.84, Z:4.14 [[ 7.74051372e-01 -6.32065036e-01 -3.65822789e-02 8.81339014e+01] [ 6.31406318e-01 7.74914971e-01 -2.88591099e-02 2.98380692e+01] [ 4.65889899e-02 -7.59848400e-04 9.98913854e-01 4.14225530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.208040942 meters 0.02012946528143967 Centerline is valid? [True, True] Translation: X:88.15, Y:29.86, Z:4.14 [[ 7.74457490e-01 -6.31596666e-01 -3.60728130e-02 8.81532521e+01] [ 6.30954979e-01 7.75296813e-01 -2.84722240e-02 2.98594081e+01] [ 4.59500987e-02 -7.09793833e-04 9.98943484e-01 4.14396403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.238040942 meters 0.020176918484185402 Centerline is valid? [True, True] Translation: X:88.17, Y:29.88, Z:4.15 [[ 7.74280680e-01 -6.31827111e-01 -3.58319769e-02 8.81741844e+01] [ 6.31193581e-01 7.75109025e-01 -2.82959687e-02 2.98776310e+01] [ 4.56518488e-02 -7.07891955e-04 9.98957160e-01 4.14518604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.268040942 meters 0.02020380212978123 Centerline is valid? [True, True] Translation: X:88.20, Y:29.90, Z:4.15 [[ 7.73794505e-01 -6.32439928e-01 -3.55218472e-02 8.81962372e+01] [ 6.31817267e-01 7.74609070e-01 -2.80665388e-02 2.98963042e+01] [ 4.52659447e-02 -7.25582906e-04 9.98974708e-01 4.14666368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.298040942 meters 0.019907684546614984 Centerline is valid? [True, True] Translation: X:88.22, Y:29.92, Z:4.15 [[ 7.73080186e-01 -6.33274343e-01 -3.62026640e-02 8.82174428e+01] [ 6.32627828e-01 7.73927000e-01 -2.86186884e-02 2.99163235e+01] [ 4.61417002e-02 -7.78271754e-04 9.98934601e-01 4.14794069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.328040942 meters 0.020620307968225594 Centerline is valid? [True, True] Translation: X:88.24, Y:29.93, Z:4.15 [[ 7.72768394e-01 -6.33634914e-01 -3.65486679e-02 8.82404537e+01] [ 6.32975707e-01 7.73631800e-01 -2.89066089e-02 2.99327766e+01] [ 4.65914484e-02 -7.96305223e-04 9.98913711e-01 4.14849855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.358040942 meters 0.02110060079555818 Centerline is valid? [True, True] Translation: X:88.26, Y:29.95, Z:4.15 [[ 7.72020058e-01 -6.34535042e-01 -3.67465782e-02 8.82611899e+01] [ 6.33869435e-01 7.72893626e-01 -2.90686008e-02 2.99513134e+01] [ 4.68462418e-02 -8.50989863e-04 9.98901750e-01 4.14949796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.388040942 meters 0.021220163735622292 Centerline is valid? [True, True] Translation: X:88.28, Y:29.97, Z:4.15 [[ 7.71455847e-01 -6.35227151e-01 -3.66379917e-02 8.82830510e+01] [ 6.34565896e-01 7.72324857e-01 -2.89903379e-02 2.99704049e+01] [ 4.67118814e-02 -8.84454359e-04 9.98908013e-01 4.15045105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.418040942 meters 0.020710130120891096 Centerline is valid? [True, True] Translation: X:88.30, Y:29.99, Z:4.15 [[ 7.70209165e-01 -6.36732189e-01 -3.67418174e-02 8.83026571e+01] [ 6.36068237e-01 7.71084420e-01 -2.90863333e-02 2.99927550e+01] [ 4.68512476e-02 -9.67742554e-04 9.98901409e-01 4.15118137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.448040942 meters 0.022558318859616046 Centerline is valid? [True, True] Translation: X:88.33, Y:30.01, Z:4.15 [[ 7.69489316e-01 -6.37592685e-01 -3.69020405e-02 8.83259125e+01] [ 6.36923240e-01 7.70372988e-01 -2.92274814e-02 3.00076896e+01] [ 4.70635635e-02 -1.01353254e-03 9.98891382e-01 4.15162021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.478040942 meters 0.0213219672030285 Centerline is valid? [True, True] Translation: X:88.35, Y:30.03, Z:4.15 [[ 7.68574689e-01 -6.38687748e-01 -3.70257853e-02 8.83461454e+01] [ 6.38014796e-01 7.69465266e-01 -2.93312950e-02 3.00285804e+01] [ 4.72235945e-02 -1.07970788e-03 9.98883760e-01 4.15307218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.508040942 meters 0.022479604701399647 Centerline is valid? [True, True] Translation: X:88.37, Y:30.04, Z:4.15 [[ 7.66658077e-01 -6.41011685e-01 -3.65979817e-02 8.83682353e+01] [ 6.40356181e-01 7.67530185e-01 -2.90064990e-02 3.00448294e+01] [ 4.66835605e-02 -1.19767707e-03 9.98909010e-01 4.15438290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.538040942 meters 0.02285846482705505 Centerline is valid? [True, True] Translation: X:88.39, Y:30.06, Z:4.16 [[ 7.65778639e-01 -6.42077720e-01 -3.63218555e-02 8.83911230e+01] [ 6.41432848e-01 7.66638538e-01 -2.87967574e-02 3.00629684e+01] [ 4.63354905e-02 -1.24608953e-03 9.98925157e-01 4.15605320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.568040942 meters 0.02382375113084792 Centerline is valid? [True, True] Translation: X:88.41, Y:30.08, Z:4.16 [[ 7.64700537e-01 -6.43392085e-01 -3.57730902e-02 8.84124918e+01] [ 6.42767373e-01 7.65535726e-01 -2.83752689e-02 3.00809850e+01] [ 4.56420020e-02 -1.29519189e-03 9.98957021e-01 4.15723564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.598040942 meters 0.024010885174376568 Centerline is valid? [True, True] Translation: X:88.43, Y:30.10, Z:4.16 [[ 7.64759450e-01 -6.43288450e-01 -3.63724313e-02 8.84327303e+01] [ 6.42642149e-01 7.65622798e-01 -2.88582830e-02 3.00988899e+01] [ 4.64117628e-02 -1.30481276e-03 9.98921541e-01 4.15765118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.628040942 meters 0.022965338500629366 Centerline is valid? [True, True] Translation: X:88.45, Y:30.12, Z:4.16 [[ 7.65101021e-01 -6.42861108e-01 -3.67426609e-02 8.84527958e+01] [ 6.42200741e-01 7.65981684e-01 -2.91593532e-02 3.01199999e+01] [ 4.68896194e-02 -1.28631317e-03 9.98899249e-01 4.15814356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.658040942 meters 0.023456126945673842 Centerline is valid? [True, True] Translation: X:88.47, Y:30.14, Z:4.16 [[ 7.65973392e-01 -6.41804430e-01 -3.70383118e-02 8.84747864e+01] [ 6.41131484e-01 7.66867383e-01 -2.94081057e-02 3.01375396e+01] [ 4.72777258e-02 -1.22060137e-03 9.98881037e-01 4.15932466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.688040942 meters 0.022806927205504025 Centerline is valid? [True, True] Translation: X:88.49, Y:30.16, Z:4.16 [[ 7.68082945e-01 -6.39263889e-01 -3.72863343e-02 8.84938849e+01] [ 6.38578649e-01 7.68986698e-01 -2.96102434e-02 3.01580492e+01] [ 4.76014545e-02 -1.06713407e-03 9.98865838e-01 4.16014388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.718040942 meters 0.021324263561110408 Centerline is valid? [True, True] Translation: X:88.51, Y:30.18, Z:4.16 [[ 7.69017426e-01 -6.38124010e-01 -3.75492565e-02 8.85132983e+01] [ 6.37427432e-01 7.69932952e-01 -2.98248079e-02 3.01796016e+01] [ 4.79423359e-02 -9.99129162e-04 9.98849605e-01 4.16167164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.748040942 meters 0.020996516495693143 Centerline is valid? [True, True] Translation: X:88.53, Y:30.20, Z:4.16 [[ 7.70859765e-01 -6.35861657e-01 -3.81467756e-02 8.85333264e+01] [ 6.35139228e-01 7.71802574e-01 -3.03141590e-02 3.01989720e+01] [ 4.87173910e-02 -8.60548109e-04 9.98812232e-01 4.16181205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.778040942 meters 0.020711137303904698 Centerline is valid? [True, True] Translation: X:88.56, Y:30.22, Z:4.16 [[ 7.71509345e-01 -6.35038840e-01 -3.87169616e-02 8.85557126e+01] [ 6.34293201e-01 7.72479779e-01 -3.07754095e-02 3.02179159e+01] [ 4.94516503e-02 -8.14389512e-04 9.98776187e-01 4.16293061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.808040942 meters 0.02037725061585648 Centerline is valid? [True, True] Translation: X:88.58, Y:30.24, Z:4.16 [[ 7.71865859e-01 -6.34609234e-01 -3.86550938e-02 8.85769882e+01] [ 6.33864996e-01 7.72832785e-01 -3.07352039e-02 3.02368014e+01] [ 4.93787680e-02 -7.78656293e-04 9.98779821e-01 4.16465600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.838040942 meters 0.02049821704225447 Centerline is valid? [True, True] Translation: X:88.60, Y:30.26, Z:4.17 [[ 7.72682139e-01 -6.33657426e-01 -3.79549516e-02 8.85982886e+01] [ 6.32938045e-01 7.73613460e-01 -3.01934589e-02 3.02554660e+01] [ 4.84947709e-02 -6.93186438e-04 9.98823196e-01 4.16662737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.868040942 meters 0.020527830315078856 Centerline is valid? [True, True] Translation: X:88.62, Y:30.27, Z:4.17 [[ 7.72697606e-01 -6.33659117e-01 -3.76102912e-02 8.86194301e+01] [ 6.32952064e-01 7.73612091e-01 -2.99335447e-02 3.02727211e+01] [ 4.80634396e-02 -6.75933125e-04 9.98844056e-01 4.16781259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.898040942 meters 0.020144177635484255 Centerline is valid? [True, True] Translation: X:88.64, Y:30.29, Z:4.17 [[ 7.71912349e-01 -6.34660276e-01 -3.68464408e-02 8.86409260e+01] [ 6.33982457e-01 7.72790929e-01 -2.93329914e-02 3.02915228e+01] [ 4.70910796e-02 -7.17498761e-04 9.98890342e-01 4.17003533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.928040942 meters 0.020409588399093768 Centerline is valid? [True, True] Translation: X:88.66, Y:30.31, Z:4.17 [[ 7.71017320e-01 -6.35782163e-01 -3.62399487e-02 8.86636670e+01] [ 6.35127047e-01 7.71868163e-01 -2.88647393e-02 3.03088639e+01] [ 4.63241490e-02 -7.61757711e-04 9.98926170e-01 4.17203699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.958040942 meters 0.020487413305747982 Centerline is valid? [True, True] Translation: X:88.69, Y:30.33, Z:4.17 [[ 7.70469630e-01 -6.36469704e-01 -3.58170927e-02 8.86861477e+01] [ 6.35829875e-01 7.71301305e-01 -2.85423699e-02 3.03262829e+01] [ 4.57921240e-02 -7.82548403e-04 9.98950684e-01 4.17381633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.988040942 meters 0.02066006365067556 Centerline is valid? [True, True] Translation: X:88.71, Y:30.34, Z:4.18 [[ 7.70376004e-01 -6.36629042e-01 -3.49896421e-02 8.87075072e+01] [ 6.36017991e-01 7.71169813e-01 -2.78968457e-02 3.03420558e+01] [ 4.47428979e-02 -7.62981301e-04 9.98998244e-01 4.17611414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.018040942 meters 0.020507912010086615 Centerline is valid? [True, True] Translation: X:88.73, Y:30.36, Z:4.18 [[ 7.70659084e-01 -6.36299367e-01 -3.47518490e-02 8.87299117e+01] [ 6.35695954e-01 7.71441882e-01 -2.77142066e-02 3.03610256e+01] [ 4.44435640e-02 -7.33404720e-04 9.99011627e-01 4.17728850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.048040942 meters 0.02037724652266103 Centerline is valid? [True, True] Translation: X:88.75, Y:30.38, Z:4.18 [[ 7.71109176e-01 -6.35719851e-01 -3.53681998e-02 8.87518586e+01] [ 6.35093852e-01 7.71919538e-01 -2.82139490e-02 3.03799013e+01] [ 4.52375719e-02 -7.06091275e-04 9.98976007e-01 4.17743259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.078040942 meters 0.020455119536477145 Centerline is valid? [True, True] Translation: X:88.77, Y:30.40, Z:4.18 [[ 7.71280524e-01 -6.35483354e-01 -3.58784148e-02 8.87735870e+01] [ 6.34838206e-01 7.72114260e-01 -2.86360236e-02 3.03968623e+01] [ 4.58999520e-02 -6.90581237e-04 9.98945803e-01 4.17803504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.108040942 meters 0.020377912935987987 Centerline is valid? [True, True] Translation: X:88.80, Y:30.41, Z:4.18 [[ 7.71546219e-01 -6.35123286e-01 -3.65355214e-02 8.87955642e+01] [ 6.34453060e-01 7.72410490e-01 -2.91778903e-02 3.04146327e+01] [ 4.67519776e-02 -6.67982352e-04 9.98906305e-01 4.17861953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.138040942 meters 0.020358971047871287 Centerline is valid? [True, True] Translation: X:88.82, Y:30.43, Z:4.18 [[ 7.72512659e-01 -6.33858504e-01 -3.80471814e-02 8.88179530e+01] [ 6.33129253e-01 7.73448792e-01 -3.04025492e-02 3.04313151e+01] [ 4.86984609e-02 -6.02429450e-04 9.98813344e-01 4.17807183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.168040942 meters 0.020313191496904043 Centerline is valid? [True, True] Translation: X:88.84, Y:30.45, Z:4.18 [[ 7.73000410e-01 -6.33217216e-01 -3.88113762e-02 8.88405885e+01] [ 6.32457203e-01 7.73973924e-01 -3.10201832e-02 3.04483531e+01] [ 4.96815072e-02 -5.67920047e-04 9.98764950e-01 4.17876735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.198040942 meters 0.020067484949977323 Centerline is valid? [True, True] Translation: X:88.86, Y:30.47, Z:4.18 [[ 7.74057131e-01 -6.31882908e-01 -3.94911217e-02 8.88638720e+01] [ 6.31093372e-01 7.75063716e-01 -3.15815239e-02 3.04650977e+01] [ 5.05639607e-02 -4.76681378e-04 9.98720711e-01 4.17983036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.228040942 meters 0.020062469478889077 Centerline is valid? [True, True] Translation: X:88.89, Y:30.48, Z:4.18 [[ 7.74343364e-01 -6.31533741e-01 -3.94650250e-02 8.88863655e+01] [ 6.30743976e-01 7.75348270e-01 -3.15768360e-02 3.04825868e+01] [ 5.05409762e-02 -4.41013361e-04 9.98721891e-01 4.18112217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.258040942 meters 0.020216003210393955 Centerline is valid? [True, True] Translation: X:88.91, Y:30.50, Z:4.18 [[ 7.74537631e-01 -6.31272957e-01 -3.98235035e-02 8.89082440e+01] [ 6.30467543e-01 7.75560624e-01 -3.18809570e-02 3.04981070e+01] [ 5.10111273e-02 -4.14425517e-04 9.98697999e-01 4.18153368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.288040942 meters 0.020190236903170032 Centerline is valid? [True, True] Translation: X:88.93, Y:30.51, Z:4.18 [[ 7.74667698e-01 -6.31090956e-01 -4.01766549e-02 8.89315409e+01] [ 6.30270451e-01 7.75708738e-01 -3.21731530e-02 3.05134478e+01] [ 5.14695682e-02 -3.98656043e-04 9.98674484e-01 4.18300788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.318040942 meters 0.02010487927330848 Centerline is valid? [True, True] Translation: X:88.95, Y:30.53, Z:4.18 [[ 7.74333921e-01 -6.31503017e-01 -4.01362463e-02 8.89546063e+01] [ 6.30683790e-01 7.75373311e-01 -3.21587592e-02 3.05302346e+01] [ 5.14289276e-02 -4.11661876e-04 9.98676572e-01 4.18474531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.348040942 meters 0.02019680205892736 Centerline is valid? [True, True] Translation: X:88.98, Y:30.54, Z:4.19 [[ 7.73876755e-01 -6.32082869e-01 -3.98247940e-02 8.89778616e+01] [ 6.31276232e-01 7.74900676e-01 -3.19258662e-02 3.05436327e+01] [ 5.10400529e-02 -4.33760169e-04 9.98696513e-01 4.18555542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.378040942 meters 0.02014338862187478 Centerline is valid? [True, True] Translation: X:89.00, Y:30.56, Z:4.19 [[ 7.73225910e-01 -6.32878328e-01 -3.98335728e-02 8.90010149e+01] [ 6.32071919e-01 7.74251117e-01 -3.19421034e-02 3.05599595e+01] [ 5.10566532e-02 -4.79220857e-04 9.98695644e-01 4.18765796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.408040942 meters 0.02069136234444768 Centerline is valid? [True, True] Translation: X:89.03, Y:30.57, Z:4.19 [[ 7.71583362e-01 -6.34888657e-01 -3.96926870e-02 8.90267098e+01] [ 6.34089747e-01 7.72603415e-01 -3.18458150e-02 3.05723214e+01] [ 5.08852522e-02 -5.97024840e-04 9.98704328e-01 4.18946934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.438040942 meters 0.020896195195173883 Centerline is valid? [True, True] Translation: X:89.05, Y:30.59, Z:4.19 [[ 7.70726855e-01 -6.35935846e-01 -3.95691182e-02 8.90506576e+01] [ 6.35142937e-01 7.71741645e-01 -3.17534777e-02 3.05880658e+01] [ 5.07303110e-02 -6.58787933e-04 9.98712172e-01 4.19086425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.468040942 meters 0.020532294457041772 Centerline is valid? [True, True] Translation: X:89.07, Y:30.61, Z:4.19 [[ 7.69781210e-01 -6.37082183e-01 -3.95370862e-02 8.90739169e+01] [ 6.36291292e-01 7.70795544e-01 -3.17430567e-02 3.06055891e+01] [ 5.06979458e-02 -7.21895055e-04 9.98713771e-01 4.19290638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.498040942 meters 0.021013336239477456 Centerline is valid? [True, True] Translation: X:89.10, Y:30.62, Z:4.19 [[ 7.69078671e-01 -6.37894178e-01 -4.01125252e-02 8.91000906e+01] [ 6.37080396e-01 7.70123637e-01 -3.22203753e-02 3.06171122e+01] [ 5.14447937e-02 -7.74900027e-04 9.98675539e-01 4.19372449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.528040942 meters 0.02088285366199325 Centerline is valid? [True, True] Translation: X:89.12, Y:30.63, Z:4.20 [[ 7.68917041e-01 -6.38078282e-01 -4.02826264e-02 8.91227146e+01] [ 6.37257434e-01 7.69971097e-01 -3.23646738e-02 3.06331093e+01] [ 5.16676534e-02 -7.84653950e-04 9.98664027e-01 4.19522189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.558040942 meters 0.02060558720158853 Centerline is valid? [True, True] Translation: X:89.15, Y:30.65, Z:4.20 [[ 7.70253047e-01 -6.36433808e-01 -4.07707170e-02 8.91462107e+01] [ 6.35589736e-01 7.71331032e-01 -3.27738756e-02 3.06479285e+01] [ 5.23061217e-02 -6.69271681e-04 9.98630874e-01 4.19602866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.588040942 meters 0.020376449254901154 Centerline is valid? [True, True] Translation: X:89.17, Y:30.67, Z:4.20 [[ 7.71335885e-01 -6.35086785e-01 -4.13004642e-02 8.91693981e+01] [ 6.34218283e-01 7.72440574e-01 -3.32073790e-02 3.06655422e+01] [ 5.29917218e-02 -5.79466406e-04 9.98594784e-01 4.19703785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.618040942 meters 0.01999291989997752 Centerline is valid? [True, True] Translation: X:89.19, Y:30.68, Z:4.20 [[ 7.72349954e-01 -6.33829085e-01 -4.16682069e-02 8.91927889e+01] [ 6.32942307e-01 7.73472984e-01 -3.35198459e-02 3.06831723e+01] [ 5.34750855e-02 -4.84519535e-04 9.98569066e-01 4.19736260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.648040942 meters 0.019672969218076847 Centerline is valid? [True, True] Translation: X:89.22, Y:30.70, Z:4.20 [[ 7.74405721e-01 -6.31258992e-01 -4.25189849e-02 8.92178698e+01] [ 6.30330790e-01 7.75572044e-01 -3.42213370e-02 3.06988922e+01] [ 5.45790627e-02 -2.99826149e-04 9.98509407e-01 4.19752850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.678040942 meters 0.019615589587933753 Centerline is valid? [True, True] Translation: X:89.24, Y:30.72, Z:4.20 [[ 7.75285530e-01 -6.30126377e-01 -4.32792791e-02 8.92408240e+01] [ 6.29161948e-01 7.76492566e-01 -3.48502197e-02 3.07152282e+01] [ 5.55660811e-02 -2.10804483e-04 9.98454990e-01 4.19806164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.708040942 meters 0.019535233195497687 Centerline is valid? [True, True] Translation: X:89.27, Y:30.73, Z:4.20 [[ 7.76428803e-01 -6.28608683e-01 -4.48267359e-02 8.92667360e+01] [ 6.27570292e-01 7.77721747e-01 -3.61166576e-02 3.07292809e+01] [ 5.75659719e-02 -8.99145347e-05 9.98341700e-01 4.19805771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.738040942 meters 0.01967188103412007 Centerline is valid? [True, True] Translation: X:89.29, Y:30.74, Z:4.20 [[ 7.76594806e-01 -6.28349553e-01 -4.55779200e-02 8.92905675e+01] [ 6.27274677e-01 7.77931125e-01 -3.67374933e-02 3.07444751e+01] [ 5.85404701e-02 -5.97286471e-05 9.98285034e-01 4.19780005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.768040942 meters 0.019663765150147203 Centerline is valid? [True, True] Translation: X:89.31, Y:30.76, Z:4.20 [[ 7.76914858e-01 -6.27975225e-01 -4.52815648e-02 8.93130810e+01] [ 6.26913090e-01 7.78233330e-01 -3.65083752e-02 3.07610925e+01] [ 5.81659781e-02 -2.37065888e-05 9.98306926e-01 4.20123456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.798040942 meters 0.019519720864940564 Centerline is valid? [True, True] Translation: X:89.33, Y:30.78, Z:4.20 [[ 7.78565498e-01 -6.26003576e-01 -4.42186529e-02 8.93346862e+01] [ 6.24986469e-01 7.79820175e-01 -3.56708341e-02 3.07797205e+01] [ 5.68126673e-02 1.36020920e-04 9.98384847e-01 4.20398009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.828040942 meters 0.01956214505575808 Centerline is valid? [True, True] Translation: X:89.36, Y:30.80, Z:4.21 [[ 7.78854839e-01 -6.25680178e-01 -4.36973087e-02 8.93556388e+01] [ 6.24685547e-01 7.80079666e-01 -3.52658653e-02 3.07968051e+01] [ 5.61525348e-02 1.69912620e-04 9.98422187e-01 4.20554166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.858040942 meters 0.019433494059029888 Centerline is valid? [True, True] Translation: X:89.38, Y:30.82, Z:4.21 [[ 7.78379625e-01 -6.26341947e-01 -4.26722868e-02 8.93774022e+01] [ 6.25393920e-01 7.79548426e-01 -3.44484502e-02 3.08155809e+01] [ 5.48416234e-02 1.26983045e-04 9.98495058e-01 4.20845129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.888040942 meters 0.019425631237349274 Centerline is valid? [True, True] Translation: X:89.40, Y:30.83, Z:4.21 [[ 7.77793605e-01 -6.27115886e-01 -4.19853957e-02 8.93985240e+01] [ 6.26198363e-01 7.78925965e-01 -3.39109441e-02 3.08334312e+01] [ 5.39696066e-02 8.45293922e-05 9.98542575e-01 4.21058994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.918040942 meters 0.019272139518856698 Centerline is valid? [True, True] Translation: X:89.42, Y:30.85, Z:4.21 [[ 7.77017560e-01 -6.28143459e-01 -4.09817793e-02 8.94211137e+01] [ 6.27269783e-01 7.78097548e-01 -3.31183653e-02 3.08516229e+01] [ 5.26909065e-02 2.69195590e-05 9.98610869e-01 4.21299162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.948040942 meters 0.019442801032413474 Centerline is valid? [True, True] Translation: X:89.44, Y:30.87, Z:4.22 [[ 7.74862918e-01 -6.30869980e-01 -3.98814145e-02 8.94437602e+01] [ 6.30045464e-01 7.75888554e-01 -3.22438452e-02 3.08665662e+01] [ 5.12852070e-02 -1.42544395e-04 9.98684038e-01 4.21526979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.978040942 meters 0.019576484028627165 Centerline is valid? [True, True] Translation: X:89.47, Y:30.88, Z:4.22 [[ 7.73549037e-01 -6.32463721e-01 -4.01438485e-02 8.94671286e+01] [ 6.31629987e-01 7.74589945e-01 -3.24650122e-02 3.08841445e+01] [ 5.16279638e-02 -2.42779618e-04 9.98666358e-01 4.21702510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.008040942 meters 0.019863123657664215 Centerline is valid? [True, True] Translation: X:89.49, Y:30.90, Z:4.22 [[ 7.71146888e-01 -6.35325428e-01 -4.11591757e-02 8.94907146e+01] [ 6.34452119e-01 7.72244400e-01 -3.33030746e-02 3.09007339e+01] [ 5.29432331e-02 -4.31963942e-04 9.98597430e-01 4.21637998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.038040942 meters 0.019863123657664215 Centerline is valid? [True, True] Translation: X:89.51, Y:30.92, Z:4.22 [[ 7.70968548e-01 -6.35542374e-01 -4.11507924e-02 8.95120711e+01] [ 6.34668821e-01 7.72065867e-01 -3.33134307e-02 3.09181384e+01] [ 5.29432190e-02 -4.33517599e-04 9.98597430e-01 4.21760386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.068040942 meters 0.020290276367763396 Centerline is valid? [True, True] Translation: X:89.54, Y:30.93, Z:4.22 [[ 7.69951541e-01 -6.36786834e-01 -4.09530498e-02 8.95352515e+01] [ 6.35922525e-01 7.71039736e-01 -3.31702852e-02 3.09335125e+01] [ 5.26988296e-02 -5.03454656e-04 9.98610324e-01 4.21739800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.098040942 meters 0.0202886550403298 Centerline is valid? [True, True] Translation: X:89.56, Y:30.95, Z:4.22 [[ 7.68756040e-01 -6.38237772e-01 -4.08252096e-02 8.95575943e+01] [ 6.37380501e-01 7.69839069e-01 -3.30742303e-02 3.09513855e+01] [ 5.25380644e-02 -5.95178198e-04 9.98618745e-01 4.21958006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.128040942 meters 0.02061101780199769 Centerline is valid? [True, True] Translation: X:89.58, Y:30.97, Z:4.22 [[ 7.67485607e-01 -6.39727656e-01 -4.14049379e-02 8.95793459e+01] [ 6.38847201e-01 7.68601355e-01 -3.35590714e-02 3.09696272e+01] [ 5.32925575e-02 -6.95324392e-04 9.98578700e-01 4.22048488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.158040942 meters 0.020570639629847582 Centerline is valid? [True, True] Translation: X:89.60, Y:30.99, Z:4.22 [[ 7.67019090e-01 -6.40239283e-01 -4.21352143e-02 8.96008854e+01] [ 6.39327795e-01 7.68175186e-01 -3.41592465e-02 3.09883669e+01] [ 5.42373176e-02 -7.37419468e-04 9.98527801e-01 4.22158579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.188040942 meters 0.02064663167256864 Centerline is valid? [True, True] Translation: X:89.62, Y:31.01, Z:4.22 [[ 7.66871091e-01 -6.40394511e-01 -4.24688125e-02 8.96219232e+01] [ 6.39467762e-01 7.68045781e-01 -3.44479345e-02 3.10074232e+01] [ 5.46782605e-02 -7.40311374e-04 9.98503751e-01 4.22235893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.218040942 meters 0.020943890246992183 Centerline is valid? [True, True] Translation: X:89.64, Y:31.02, Z:4.22 [[ 7.67021532e-01 -6.40194633e-01 -4.27644838e-02 8.96428468e+01] [ 6.39253608e-01 7.68212417e-01 -3.47060137e-02 3.10245417e+01] [ 5.50708112e-02 -7.17090839e-04 9.98482194e-01 4.22309366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.248040942 meters 0.021022490267824143 Centerline is valid? [True, True] Translation: X:89.66, Y:31.04, Z:4.22 [[ 7.67151490e-01 -6.40038431e-01 -4.27714550e-02 8.96633130e+01] [ 6.39096373e-01 7.68342578e-01 -3.47204357e-02 3.10418404e+01] [ 5.50855432e-02 -6.99247741e-04 9.98481394e-01 4.22445544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.278040942 meters 0.020749411043558603 Centerline is valid? [True, True] Translation: X:89.68, Y:31.06, Z:4.23 [[ 7.67101116e-01 -6.40144365e-01 -4.20840867e-02 8.96841379e+01] [ 6.39231963e-01 7.68254333e-01 -3.41727721e-02 3.10608206e+01] [ 5.42067894e-02 -6.87521754e-04 9.98529494e-01 4.22750782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.308040942 meters 0.020719416121582193 Centerline is valid? [True, True] Translation: X:89.71, Y:31.08, Z:4.23 [[ 7.66907723e-01 -6.40395101e-01 -4.17930485e-02 8.97053294e+01] [ 6.39494599e-01 7.68045340e-01 -3.39560461e-02 3.10785192e+01] [ 5.38442417e-02 -6.85274829e-04 9.98549111e-01 4.22895371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.338040942 meters 0.020908024347426675 Centerline is valid? [True, True] Translation: X:89.73, Y:31.10, Z:4.23 [[ 7.66358196e-01 -6.41088463e-01 -4.12395153e-02 8.97265744e+01] [ 6.40211646e-01 7.67466663e-01 -3.35256505e-02 3.10968370e+01] [ 5.31428610e-02 -7.09360932e-04 9.98586668e-01 4.23137558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.368040942 meters 0.020952285689713215 Centerline is valid? [True, True] Translation: X:89.75, Y:31.12, Z:4.23 [[ 7.66015199e-01 -6.41508822e-01 -4.10748812e-02 8.97483547e+01] [ 6.40638571e-01 7.67115318e-01 -3.34112168e-02 3.11152706e+01] [ 5.29427609e-02 -7.20653373e-04 9.98597289e-01 4.23295246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.398040942 meters 0.021185212481121315 Centerline is valid? [True, True] Translation: X:89.77, Y:31.13, Z:4.23 [[ 7.65537434e-01 -6.42104364e-01 -4.06745829e-02 8.97701365e+01] [ 6.41250841e-01 7.66616878e-01 -3.31046960e-02 3.11333762e+01] [ 5.24384915e-02 -7.39726481e-04 9.98623882e-01 4.23430987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.428040942 meters 0.021438532701581903 Centerline is valid? [True, True] Translation: X:89.79, Y:31.15, Z:4.24 [[ 7.64676503e-01 -6.43137995e-01 -4.05384310e-02 8.97918172e+01] [ 6.42290730e-01 7.65749886e-01 -3.30110721e-02 3.11507801e+01] [ 5.22729737e-02 -7.94667248e-04 9.98632517e-01 4.23594649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.458040942 meters 0.021709506631017058 Centerline is valid? [True, True] Translation: X:89.81, Y:31.17, Z:4.24 [[ 7.64247802e-01 -6.43670061e-01 -4.01764830e-02 8.98141349e+01] [ 6.42838204e-01 7.65302675e-01 -3.27239873e-02 3.11685065e+01] [ 5.18106208e-02 -8.17742817e-04 9.98656593e-01 4.23728795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.488040942 meters 0.021861332401370143 Centerline is valid? [True, True] Translation: X:89.84, Y:31.19, Z:4.24 [[ 7.63943913e-01 -6.44036255e-01 -4.00874114e-02 8.98363754e+01] [ 6.43207625e-01 7.64994523e-01 -3.26700458e-02 3.11853451e+01] [ 5.17073441e-02 -8.26446059e-04 9.98661939e-01 4.23998775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.518040942 meters 0.02205691144218451 Centerline is valid? [True, True] Translation: X:89.86, Y:31.20, Z:4.24 [[ 7.64134227e-01 -6.43832483e-01 -3.97318129e-02 8.98576299e+01] [ 6.43017364e-01 7.65166064e-01 -3.23969888e-02 3.12020847e+01] [ 5.12596686e-02 -7.92597610e-04 9.98685045e-01 4.24119892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.548040942 meters 0.022108041784670827 Centerline is valid? [True, True] Translation: X:89.88, Y:31.22, Z:4.24 [[ 7.64217905e-01 -6.43720306e-01 -3.99394573e-02 8.98788305e+01] [ 6.42896035e-01 7.65260449e-01 -3.25750326e-02 3.12196945e+01] [ 5.15332970e-02 -7.82495512e-04 9.98670970e-01 4.24250554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.578040942 meters 0.022029739652630168 Centerline is valid? [True, True] Translation: X:89.90, Y:31.24, Z:4.24 [[ 7.65106389e-01 -6.42618345e-01 -4.06678714e-02 8.98996473e+01] [ 6.41761269e-01 7.66186114e-01 -3.31860207e-02 3.12375627e+01] [ 5.24851041e-02 -7.08228325e-04 9.98621456e-01 4.24320816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.608040942 meters 0.021998552711897754 Centerline is valid? [True, True] Translation: X:89.92, Y:31.26, Z:4.24 [[ 7.65615344e-01 -6.42014596e-01 -4.06251565e-02 8.99206715e+01] [ 6.41158171e-01 7.66692129e-01 -3.31568855e-02 3.12551352e+01] [ 5.24341921e-02 -6.61730722e-04 9.98624162e-01 4.24419833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.638040942 meters 0.022051629395768102 Centerline is valid? [True, True] Translation: X:89.94, Y:31.27, Z:4.25 [[ 7.65902036e-01 -6.41678275e-01 -4.05346953e-02 8.99411843e+01] [ 6.40824869e-01 7.66973657e-01 -3.30892242e-02 3.12726402e+01] [ 5.23216798e-02 -6.32536655e-04 9.98630083e-01 4.24514356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.668040942 meters 0.022191194184242702 Centerline is valid? [True, True] Translation: X:89.96, Y:31.29, Z:4.25 [[ 7.65531492e-01 -6.42135274e-01 -4.02967183e-02 8.99629117e+01] [ 6.41291963e-01 7.66591068e-01 -3.29052006e-02 3.12898509e+01] [ 5.20206943e-02 -6.51994270e-04 9.98645794e-01 4.24629910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.698040942 meters 0.022526576457855076 Centerline is valid? [True, True] Translation: X:89.98, Y:31.31, Z:4.25 [[ 7.64790263e-01 -6.43007131e-01 -4.04683034e-02 8.99847103e+01] [ 6.42156974e-01 7.65859868e-01 -3.30618267e-02 3.13067189e+01] [ 5.22520398e-02 -7.01640066e-04 9.98633683e-01 4.24814571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.728040942 meters 0.02254859900405839 Centerline is valid? [True, True] Translation: X:90.01, Y:31.32, Z:4.25 [[ 7.64356899e-01 -6.43555272e-01 -3.99392484e-02 9.00062350e+01] [ 6.42727493e-01 7.65399301e-01 -3.26386306e-02 3.13244454e+01] [ 5.15742356e-02 -7.22490499e-04 9.98668902e-01 4.24962087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.758040942 meters 0.022812691971938078 Centerline is valid? [True, True] Translation: X:90.03, Y:31.34, Z:4.25 [[ 7.63733894e-01 -6.44295626e-01 -3.99210001e-02 9.00278637e+01] [ 6.43468778e-01 7.64776156e-01 -3.26398910e-02 3.13418630e+01] [ 5.15603680e-02 -7.59726122e-04 9.98669591e-01 4.25124912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.788040942 meters 0.023005219000332196 Centerline is valid? [True, True] Translation: X:90.05, Y:31.36, Z:4.25 [[ 7.62892932e-01 -6.45330087e-01 -3.92868164e-02 9.00494938e+01] [ 6.44530306e-01 7.63903411e-01 -3.21288362e-02 3.13597163e+01] [ 5.07450377e-02 -8.10681737e-04 9.98711312e-01 4.25364323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.818040942 meters 0.02308278288678864 Centerline is valid? [True, True] Translation: X:90.07, Y:31.38, Z:4.26 [[ 7.62481158e-01 -6.45859007e-01 -3.85827197e-02 9.00714351e+01] [ 6.45087920e-01 7.63456261e-01 -3.15612517e-02 3.13774619e+01] [ 4.98403377e-02 -8.24386605e-04 9.98756858e-01 4.25592876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.848040942 meters 0.02203822869521154 Centerline is valid? [True, True] Translation: X:90.09, Y:31.40, Z:4.26 [[ 7.62153736e-01 -6.46276148e-01 -3.80634056e-02 9.00912504e+01] [ 6.45525408e-01 7.63103175e-01 -3.11527256e-02 3.13979125e+01] [ 4.91795692e-02 -8.27729218e-04 9.98789610e-01 4.25913851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.878040942 meters 0.023149437338798543 Centerline is valid? [True, True] Translation: X:90.11, Y:31.41, Z:4.26 [[ 7.61984121e-01 -6.46506653e-01 -3.75412708e-02 9.01136930e+01] [ 6.45775853e-01 7.62907909e-01 -3.07419748e-02 3.14132009e+01] [ 4.85154237e-02 -8.18349530e-04 9.98822098e-01 4.26067400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.908040942 meters 0.023227734419792985 Centerline is valid? [True, True] Translation: X:90.13, Y:31.43, Z:4.26 [[ 7.61966245e-01 -6.46522264e-01 -3.76351419e-02 9.01348143e+01] [ 6.45787444e-01 7.62894683e-01 -3.08266088e-02 3.14307301e+01] [ 4.86417386e-02 -8.15466711e-04 9.98815957e-01 4.26261579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.938040942 meters 0.022995362272515387 Centerline is valid? [True, True] Translation: X:90.15, Y:31.45, Z:4.26 [[ 7.62604399e-01 -6.45802375e-01 -3.70651157e-02 9.01549602e+01] [ 6.45088416e-01 7.63504242e-01 -3.03678835e-02 3.14498272e+01] [ 4.79110243e-02 -7.51595264e-04 9.98851325e-01 4.26498510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.968040942 meters 0.02282506788113313 Centerline is valid? [True, True] Translation: X:90.18, Y:31.47, Z:4.27 [[ 7.62845987e-01 -6.45525918e-01 -3.69091986e-02 9.01759103e+01] [ 6.44817373e-01 7.63738018e-01 -3.02455758e-02 3.14689683e+01] [ 4.77132613e-02 -7.26976353e-04 9.98860809e-01 4.26655062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.998040942 meters 0.021396470776880817 Centerline is valid? [True, True] Translation: X:90.19, Y:31.49, Z:4.27 [[ 7.63482485e-01 -6.44770051e-01 -3.69604787e-02 9.01947264e+01] [ 6.44057945e-01 7.64376304e-01 -3.03023179e-02 3.14912194e+01] [ 4.77897411e-02 -6.69400985e-04 9.98857193e-01 4.26886312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.028040942 meters 0.021027612910458043 Centerline is valid? [True, True] Translation: X:90.21, Y:31.51, Z:4.27 [[ 7.65186363e-01 -6.42743627e-01 -3.70197319e-02 9.02140084e+01] [ 6.42026162e-01 7.66081162e-01 -3.03654599e-02 3.15111231e+01] [ 4.78773250e-02 -5.32400566e-04 9.98853081e-01 4.27109693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.058040942 meters 0.021474175296669538 Centerline is valid? [True, True] Translation: X:90.24, Y:31.53, Z:4.27 [[ 7.66061590e-01 -6.41698872e-01 -3.70431960e-02 9.02358771e+01] [ 6.40979015e-01 7.66956546e-01 -3.03901053e-02 3.15279384e+01] [ 4.79118179e-02 -4.63218860e-04 9.98851462e-01 4.27157361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.088040942 meters 0.020533598819740463 Centerline is valid? [True, True] Translation: X:90.25, Y:31.55, Z:4.27 [[ 7.67472351e-01 -6.40042394e-01 -3.64955322e-02 9.02543105e+01] [ 6.39341531e-01 7.68339516e-01 -2.99465454e-02 3.15509817e+01] [ 4.72080181e-02 -3.49963840e-04 9.98885019e-01 4.27448774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.118040942 meters 0.020292618264989834 Centerline is valid? [True, True] Translation: X:90.27, Y:31.57, Z:4.28 [[ 7.67981847e-01 -6.39472687e-01 -3.57570266e-02 9.02746825e+01] [ 6.38798640e-01 7.68813758e-01 -2.93547794e-02 3.15703178e+01] [ 4.62620737e-02 -2.97602316e-04 9.98929293e-01 4.27669998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.148040942 meters 0.020314631148783794 Centerline is valid? [True, True] Translation: X:90.30, Y:31.59, Z:4.28 [[ 7.68402704e-01 -6.38995266e-01 -3.52467686e-02 9.02951632e+01] [ 6.38339067e-01 7.69210625e-01 -2.89525357e-02 3.15883247e+01] [ 4.56127222e-02 -2.52182637e-04 9.98959166e-01 4.27836120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.178040942 meters 0.020247708028275416 Centerline is valid? [True, True] Translation: X:90.32, Y:31.61, Z:4.28 [[ 7.68968559e-01 -6.38329062e-01 -3.49766186e-02 9.03164831e+01] [ 6.37681679e-01 7.69763580e-01 -2.87421025e-02 3.16071895e+01] [ 4.52706465e-02 -2.02175714e-04 9.98974738e-01 4.28046451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.208040942 meters 0.020281420185000152 Centerline is valid? [True, True] Translation: X:90.34, Y:31.63, Z:4.28 [[ 7.69554586e-01 -6.37650392e-01 -3.44632644e-02 9.03370428e+01] [ 6.37020496e-01 7.70325876e-01 -2.83360618e-02 3.16266391e+01] [ 4.46164453e-02 -1.47659479e-04 9.99004180e-01 4.28285705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.238040942 meters 0.020251378958281954 Centerline is valid? [True, True] Translation: X:90.36, Y:31.65, Z:4.28 [[ 7.69649428e-01 -6.37531954e-01 -3.45364355e-02 9.03578726e+01] [ 6.36898522e-01 7.70423904e-01 -2.84127016e-02 3.16451538e+01] [ 4.47217006e-02 -1.28385144e-04 9.98999476e-01 4.28476843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.268040942 meters 0.02023124448907739 Centerline is valid? [True, True] Translation: X:90.38, Y:31.66, Z:4.29 [[ 7.69673601e-01 -6.37490137e-01 -3.47688513e-02 9.03773284e+01] [ 6.36847358e-01 7.70458508e-01 -2.86204514e-02 3.16641550e+01] [ 4.50332128e-02 -1.14045140e-04 9.98985484e-01 4.28620333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.298040942 meters 0.020230546546212643 Centerline is valid? [True, True] Translation: X:90.40, Y:31.68, Z:4.29 [[ 7.69420989e-01 -6.37792379e-01 -3.48169855e-02 9.03975727e+01] [ 6.37147803e-01 7.70208326e-01 -2.86672583e-02 3.16822094e+01] [ 4.51000910e-02 -1.26375642e-04 9.98982465e-01 4.28693119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.328040942 meters 0.020295978031332283 Centerline is valid? [True, True] Translation: X:90.42, Y:31.70, Z:4.29 [[ 7.68815488e-01 -6.38496183e-01 -3.52897789e-02 9.04177155e+01] [ 6.37834382e-01 7.69624971e-01 -2.90638094e-02 3.16996930e+01] [ 4.57170265e-02 -1.64327468e-04 9.98954417e-01 4.28794081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.358040942 meters 0.02057864170176752 Centerline is valid? [True, True] Translation: X:90.44, Y:31.72, Z:4.29 [[ 7.66926550e-01 -6.40737532e-01 -3.57642537e-02 9.04400284e+01] [ 6.40059885e-01 7.67759941e-01 -2.94621196e-02 3.17175182e+01] [ 4.63358471e-02 -2.95982367e-04 9.98925874e-01 4.28936921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.388040942 meters 0.02107662358714076 Centerline is valid? [True, True] Translation: X:90.46, Y:31.73, Z:4.29 [[ 7.65645650e-01 -6.42260526e-01 -3.58908786e-02 9.04621426e+01] [ 6.41579089e-01 7.66486317e-01 -2.95803896e-02 3.17339115e+01] [ 4.65081839e-02 -3.78740541e-04 9.98917837e-01 4.29053383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.418040942 meters 0.02124075158540855 Centerline is valid? [True, True] Translation: X:90.49, Y:31.75, Z:4.29 [[ 7.63183065e-01 -6.45188343e-01 -3.58275303e-02 9.04851496e+01] [ 6.44512272e-01 7.64023362e-01 -2.95335996e-02 3.17513190e+01] [ 4.64278043e-02 -5.51739868e-04 9.98921496e-01 4.29228629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.448040942 meters 0.021131198233737873 Centerline is valid? [True, True] Translation: X:90.51, Y:31.77, Z:4.29 [[ 7.61834705e-01 -6.46770880e-01 -3.59904230e-02 9.05059295e+01] [ 6.46089738e-01 7.62684089e-01 -2.96821796e-02 3.17708803e+01] [ 4.66468924e-02 -6.40128383e-04 9.98911236e-01 4.29344288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.478040942 meters 0.021270513614728582 Centerline is valid? [True, True] Translation: X:90.53, Y:31.79, Z:4.29 [[ 7.60454740e-01 -6.48364565e-01 -3.64962939e-02 9.05282772e+01] [ 6.47665219e-01 7.61329659e-01 -3.01150182e-02 3.17894707e+01] [ 4.73112216e-02 -7.36271859e-04 9.98879926e-01 4.29451210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.508040942 meters 0.022330393738998887 Centerline is valid? [True, True] Translation: X:90.55, Y:31.81, Z:4.29 [[ 7.57914878e-01 -6.51304221e-01 -3.69844496e-02 9.05511807e+01] [ 6.50588777e-01 7.58816160e-01 -3.05332355e-02 3.18058646e+01] [ 4.79508232e-02 -9.20074388e-04 9.98849274e-01 4.29469793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.538040942 meters 0.022547905163666775 Centerline is valid? [True, True] Translation: X:90.57, Y:31.82, Z:4.30 [[ 7.56681104e-01 -6.52724145e-01 -3.72142135e-02 9.05732499e+01] [ 6.52001055e-01 7.57594992e-01 -3.07319502e-02 3.18240392e+01] [ 4.82527876e-02 -1.00942046e-03 9.98834646e-01 4.29574235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.568040942 meters 0.023300348096544393 Centerline is valid? [True, True] Translation: X:90.60, Y:31.84, Z:4.30 [[ 7.54201645e-01 -6.55582862e-01 -3.72959763e-02 9.05956578e+01] [ 6.54859348e-01 7.55122315e-01 -3.08143449e-02 3.18413395e+01] [ 4.83643804e-02 -1.18338910e-03 9.98829058e-01 4.29679744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.598040942 meters 0.02345176212601335 Centerline is valid? [True, True] Translation: X:90.62, Y:31.86, Z:4.30 [[ 7.52827479e-01 -6.57167418e-01 -3.71721899e-02 9.06176836e+01] [ 6.56450201e-01 7.53743564e-01 -3.07208790e-02 3.18603898e+01] [ 4.82070596e-02 -1.27416966e-03 9.98836551e-01 4.29784305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.628040942 meters 0.02422020482167315 Centerline is valid? [True, True] Translation: X:90.64, Y:31.88, Z:4.30 [[ 7.51823576e-01 -6.58289260e-01 -3.76372375e-02 9.06393789e+01] [ 6.57554639e-01 7.52763857e-01 -3.11203053e-02 3.18779693e+01] [ 4.88181147e-02 -1.35156090e-03 9.98806771e-01 4.29858477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.658040942 meters 0.025621305002346904 Centerline is valid? [True, True] Translation: X:90.66, Y:31.89, Z:4.30 [[ 7.50856437e-01 -6.59398331e-01 -3.75293468e-02 9.06613342e+01] [ 6.58669016e-01 7.51792417e-01 -3.10368886e-02 3.18946223e+01] [ 4.86799509e-02 -1.41517037e-03 9.98813426e-01 4.29920098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.688040942 meters 0.025207042331128717 Centerline is valid? [True, True] Translation: X:90.68, Y:31.92, Z:4.30 [[ 7.49318658e-01 -6.61157499e-01 -3.73136750e-02 9.06807737e+01] [ 6.60438298e-01 7.50245606e-01 -3.08672136e-02 3.19164350e+01] [ 4.84025105e-02 -1.51400095e-03 9.98826764e-01 4.30003725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.718040942 meters 0.024853747739910306 Centerline is valid? [True, True] Translation: X:90.70, Y:31.94, Z:4.30 [[ 7.48677579e-01 -6.61903110e-01 -3.69615337e-02 9.07015310e+01] [ 6.61197612e-01 7.49587829e-01 -3.05909193e-02 3.19359227e+01] [ 4.79541404e-02 -1.53614238e-03 9.98848357e-01 4.30176704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.748040942 meters 0.025312133757533162 Centerline is valid? [True, True] Translation: X:90.72, Y:31.95, Z:4.30 [[ 7.47668725e-01 -6.63052796e-01 -3.67759203e-02 9.07239085e+01] [ 6.62355025e-01 7.48570946e-01 -3.04525752e-02 3.19546366e+01] [ 4.77210506e-02 -1.59027754e-03 9.98859436e-01 4.30378051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.778040942 meters 0.025063612732243036 Centerline is valid? [True, True] Translation: X:90.75, Y:31.97, Z:4.31 [[ 7.47318393e-01 -6.63450581e-01 -3.67225549e-02 9.07451167e+01] [ 6.62754586e-01 7.48218391e-01 -3.04236268e-02 3.19738413e+01] [ 4.76610638e-02 -1.60190572e-03 9.98862281e-01 4.30535631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.808040942 meters 0.0253692772570378 Centerline is valid? [True, True] Translation: X:90.77, Y:31.99, Z:4.31 [[ 7.47051793e-01 -6.63778689e-01 -3.62142249e-02 9.07662659e+01] [ 6.63101514e-01 7.47927354e-01 -3.00175789e-02 3.19924884e+01] [ 4.70106386e-02 -1.58902119e-03 9.98893125e-01 4.30651579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.838040942 meters 0.025717924560248764 Centerline is valid? [True, True] Translation: X:90.79, Y:32.01, Z:4.31 [[ 7.47320022e-01 -6.63479077e-01 -3.61704156e-02 9.07857187e+01] [ 6.62802411e-01 7.48193220e-01 -2.99978481e-02 3.20129222e+01] [ 4.69654043e-02 -1.55584614e-03 9.98895305e-01 4.30699505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.868040942 meters 0.025227918536856155 Centerline is valid? [True, True] Translation: X:90.81, Y:32.03, Z:4.31 [[ 7.47580729e-01 -6.63200201e-01 -3.58963444e-02 9.08059208e+01] [ 6.62533168e-01 7.48440496e-01 -2.97762452e-02 3.20331710e+01] [ 4.66138896e-02 -1.52237167e-03 9.98911822e-01 4.30788867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.898040942 meters 0.025068829412257895 Centerline is valid? [True, True] Translation: X:90.83, Y:32.05, Z:4.31 [[ 7.48824164e-01 -6.61767404e-01 -3.64180389e-02 9.08255991e+01] [ 6.61078439e-01 7.49707823e-01 -3.02237906e-02 3.20534093e+01] [ 4.73040081e-02 -1.44287555e-03 9.98879497e-01 4.30785330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.928040942 meters 0.02698079741433865 Centerline is valid? [True, True] Translation: X:90.85, Y:32.07, Z:4.31 [[ 7.49420581e-01 -6.61074123e-01 -3.67395756e-02 9.08485420e+01] [ 6.60371830e-01 7.50319281e-01 -3.04962782e-02 3.20688392e+01] [ 4.77267123e-02 -1.40724223e-03 9.98859440e-01 4.30806931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.958040942 meters 0.02698079741433865 Centerline is valid? [True, True] Translation: X:90.87, Y:32.09, Z:4.31 [[ 7.49249801e-01 -6.61267908e-01 -3.67353998e-02 9.08696617e+01] [ 6.60565601e-01 7.50148490e-01 -3.05013074e-02 3.20865196e+01] [ 4.77265404e-02 -1.41304294e-03 9.98859440e-01 4.30929481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.988040942 meters 0.024917006266708976 Centerline is valid? [True, True] Translation: X:90.89, Y:32.11, Z:4.31 [[ 7.49664550e-01 -6.60780024e-01 -3.70516240e-02 9.08890790e+01] [ 6.60064189e-01 7.50578345e-01 -3.07801049e-02 3.21089143e+01] [ 4.81490251e-02 -1.38169668e-03 9.98839207e-01 4.31044346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.018040942 meters 0.025656898738367483 Centerline is valid? [True, True] Translation: X:90.91, Y:32.13, Z:4.31 [[ 7.50206997e-01 -6.60101750e-01 -3.81463163e-02 9.09092989e+01] [ 6.59341299e-01 7.51174956e-01 -3.17054638e-02 3.21301812e+01] [ 4.95833896e-02 -1.36578098e-03 9.98769053e-01 4.31026704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.048040942 meters 0.024562095884219932 Centerline is valid? [True, True] Translation: X:90.93, Y:32.15, Z:4.31 [[ 7.50802552e-01 -6.59458252e-01 -3.75545315e-02 9.09303969e+01] [ 6.58719686e-01 7.51740079e-01 -3.12286389e-02 3.21495155e+01] [ 4.88252301e-02 -1.29136749e-03 9.98806502e-01 4.31105185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.078040942 meters 0.024686035643878303 Centerline is valid? [True, True] Translation: X:90.95, Y:32.17, Z:4.31 [[ 7.51090951e-01 -6.59128676e-01 -3.75735496e-02 9.09510707e+01] [ 6.58388250e-01 7.52029123e-01 -3.12587688e-02 3.21686205e+01] [ 4.88599544e-02 -1.25980514e-03 9.98804845e-01 4.31182052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.108040942 meters 0.024591686498964125 Centerline is valid? [True, True] Translation: X:90.97, Y:32.19, Z:4.31 [[ 7.51021154e-01 -6.59213649e-01 -3.74778909e-02 9.09722748e+01] [ 6.58476785e-01 7.51954643e-01 -3.11855623e-02 3.21868224e+01] [ 4.87396223e-02 -1.25730409e-03 9.98810727e-01 4.31329023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.138040942 meters 0.0247828715819075 Centerline is valid? [True, True] Translation: X:90.99, Y:32.20, Z:4.31 [[ 7.50888027e-01 -6.59361875e-01 -3.75378273e-02 9.09933320e+01] [ 6.58622023e-01 7.51824673e-01 -3.12520832e-02 3.22039704e+01] [ 4.88282969e-02 -1.25642465e-03 9.98806397e-01 4.31487967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.168040942 meters 0.024793976722206762 Centerline is valid? [True, True] Translation: X:91.01, Y:32.22, Z:4.32 [[ 7.51215224e-01 -6.59033313e-01 -3.67529627e-02 9.10144661e+01] [ 6.58323185e-01 7.52112791e-01 -3.06093825e-02 3.22218186e+01] [ 4.78149761e-02 -1.20109330e-03 9.98855488e-01 4.31645921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.198040942 meters 0.02484099026943182 Centerline is valid? [True, True] Translation: X:91.04, Y:32.24, Z:4.32 [[ 7.51258262e-01 -6.59003927e-01 -3.63984647e-02 9.10352531e+01] [ 6.58307133e-01 7.52138567e-01 -3.03198655e-02 3.22400168e+01] [ 4.73575995e-02 -1.18331950e-03 9.98877299e-01 4.31771121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.228040942 meters 0.024688882776464027 Centerline is valid? [True, True] Translation: X:91.06, Y:32.26, Z:4.32 [[ 7.51816717e-01 -6.58394363e-01 -3.58955001e-02 9.10563300e+01] [ 6.57715276e-01 7.52672316e-01 -2.99165648e-02 3.22591667e+01] [ 4.67144468e-02 -1.11724517e-03 9.98907660e-01 4.31891717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.258040942 meters 0.023948077193161214 Centerline is valid? [True, True] Translation: X:91.08, Y:32.28, Z:4.32 [[ 7.53596017e-01 -6.56374400e-01 -3.55765323e-02 9.10765343e+01] [ 6.55704448e-01 7.54434689e-01 -2.96643869e-02 3.22795345e+01] [ 4.63111143e-02 -9.72726648e-04 9.98926591e-01 4.32016156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.288040942 meters 0.02348576732339871 Centerline is valid? [True, True] Translation: X:91.10, Y:32.30, Z:4.32 [[ 7.54737875e-01 -6.55061865e-01 -3.55625179e-02 9.10975932e+01] [ 6.54390349e-01 7.55574732e-01 -2.96663951e-02 3.22984357e+01] [ 4.63034640e-02 -8.81416493e-04 9.98927031e-01 4.32157426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.318040942 meters 0.022458576266636568 Centerline is valid? [True, True] Translation: X:91.12, Y:32.32, Z:4.32 [[ 7.57390336e-01 -6.52011573e-01 -3.52248111e-02 9.11174158e+01] [ 6.51348847e-01 7.58208711e-01 -2.93977923e-02 3.23180177e+01] [ 4.58754594e-02 -6.78036335e-04 9.98946937e-01 4.32285609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.348040942 meters 0.021960161027883018 Centerline is valid? [True, True] Translation: X:91.14, Y:32.34, Z:4.32 [[ 7.58871519e-01 -6.50280667e-01 -3.53422134e-02 9.11384338e+01] [ 6.49611401e-01 7.59693838e-01 -2.95008518e-02 3.23376813e+01] [ 4.60330954e-02 -5.71348538e-04 9.98939752e-01 4.32390178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.378040942 meters 0.0213953026105956 Centerline is valid? [True, True] Translation: X:91.16, Y:32.36, Z:4.33 [[ 7.60419214e-01 -6.48454169e-01 -3.56343791e-02 9.11597627e+01] [ 6.47771151e-01 7.61253561e-01 -2.97582311e-02 3.23577828e+01] [ 4.64236471e-02 -4.54192022e-04 9.98921738e-01 4.32502961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.408040942 meters 0.020454754659469457 Centerline is valid? [True, True] Translation: X:91.18, Y:32.38, Z:4.33 [[ 7.64140759e-01 -6.44046921e-01 -3.59508397e-02 9.11791659e+01] [ 6.43346196e-01 7.64985968e-01 -3.00356555e-02 3.23785528e+01] [ 4.68462594e-02 -1.77367402e-04 9.98902096e-01 4.32557163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.438040942 meters 0.020277034502557884 Centerline is valid? [True, True] Translation: X:91.20, Y:32.40, Z:4.33 [[ 7.65745628e-01 -6.42110380e-01 -3.64402626e-02 9.11996707e+01] [ 6.41387974e-01 7.66612195e-01 -3.04501155e-02 3.23980791e+01] [ 4.74878849e-02 -5.53033994e-05 9.98871812e-01 4.32643828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.468040942 meters 0.020452611498187376 Centerline is valid? [True, True] Translation: X:91.22, Y:32.42, Z:4.33 [[ 7.69124109e-01 -6.37995865e-01 -3.75417290e-02 9.12189868e+01] [ 6.37223421e-01 7.70039758e-01 -3.13860104e-02 3.24181318e+01] [ 4.89327688e-02 2.17268247e-04 9.98802051e-01 4.32609510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.498040942 meters 0.020746897610795956 Centerline is valid? [True, True] Translation: X:91.24, Y:32.44, Z:4.33 [[ 7.70543392e-01 -6.36254941e-01 -3.79806819e-02 9.12404846e+01] [ 6.35461813e-01 7.71478799e-01 -3.17607960e-02 3.24371085e+01] [ 4.95092542e-02 3.37798503e-04 9.98773608e-01 4.32682903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.528040942 meters 0.02044190986895653 Centerline is valid? [True, True] Translation: X:91.26, Y:32.45, Z:4.33 [[ 7.71530342e-01 -6.35042331e-01 -3.82383233e-02 9.12646174e+01] [ 6.34236196e-01 7.72477218e-01 -3.19905377e-02 3.24532770e+01] [ 4.98535792e-02 4.29541783e-04 9.98756445e-01 4.32969278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.558040942 meters 0.020666176505422237 Centerline is valid? [True, True] Translation: X:91.29, Y:32.47, Z:4.33 [[ 7.72921285e-01 -6.33310026e-01 -3.88728479e-02 9.12884919e+01] [ 6.32473840e-01 7.73897986e-01 -3.25384096e-02 3.24695857e+01] [ 5.06905197e-02 5.63569925e-04 9.98714250e-01 4.33097334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.588040942 meters 0.02064823867718025 Centerline is valid? [True, True] Translation: X:91.31, Y:32.49, Z:4.33 [[ 7.72719912e-01 -6.33548672e-01 -3.89874086e-02 9.13112522e+01] [ 6.32706975e-01 7.73702632e-01 -3.26515010e-02 3.24856768e+01] [ 5.08509758e-02 5.62859578e-04 9.98706094e-01 4.33298260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.618040942 meters 0.02061545100690279 Centerline is valid? [True, True] Translation: X:91.33, Y:32.50, Z:4.33 [[ 7.72332017e-01 -6.34046626e-01 -3.85763114e-02 9.13340705e+01] [ 6.33222335e-01 7.73294631e-01 -3.23247278e-02 3.25021129e+01] [ 5.03262390e-02 5.38040233e-04 9.98732687e-01 4.33466547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.648040942 meters 0.020200614219139712 Centerline is valid? [True, True] Translation: X:91.36, Y:32.52, Z:4.34 [[ 7.70235769e-01 -6.36636530e-01 -3.78257705e-02 9.13602655e+01] [ 6.35846801e-01 7.71163921e-01 -3.17025620e-02 3.25155211e+01] [ 4.93528786e-02 3.67052086e-04 9.98781337e-01 4.33698282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.678040942 meters 0.02015590485479928 Centerline is valid? [True, True] Translation: X:91.38, Y:32.53, Z:4.34 [[ 7.68731996e-01 -6.38469601e-01 -3.75191598e-02 9.13844567e+01] [ 6.37694029e-01 7.69646998e-01 -3.14614761e-02 3.25308106e+01] [ 4.89637048e-02 2.59699140e-04 9.98800525e-01 4.33879268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.708040942 meters 0.019933711938092808 Centerline is valid? [True, True] Translation: X:91.41, Y:32.54, Z:4.34 [[ 7.65454600e-01 -6.42415247e-01 -3.71739907e-02 9.14119747e+01] [ 6.41657759e-01 7.66356738e-01 -3.11876734e-02 3.25423045e+01] [ 4.85239751e-02 1.97685107e-05 9.98822018e-01 4.34118019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.738040942 meters 0.01994480659425422 Centerline is valid? [True, True] Translation: X:91.44, Y:32.56, Z:4.34 [[ 7.63902659e-01 -6.44279226e-01 -3.68375677e-02 9.14352550e+01] [ 6.43536837e-01 7.64790345e-01 -3.09203377e-02 3.25562259e+01] [ 4.80943473e-02 -8.62036685e-05 9.98842794e-01 4.34289752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.768040942 meters 0.020014295844783404 Centerline is valid? [True, True] Translation: X:91.46, Y:32.57, Z:4.34 [[ 7.62163525e-01 -6.46339540e-01 -3.67690214e-02 9.14588956e+01] [ 6.45601898e-01 7.63049904e-01 -3.08712506e-02 3.25713128e+01] [ 4.80099081e-02 -2.09208860e-04 9.98846838e-01 4.34470166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.798040942 meters 0.020144875716064298 Centerline is valid? [True, True] Translation: X:91.49, Y:32.59, Z:4.35 [[ 7.59520637e-01 -6.49449122e-01 -3.66638811e-02 9.14850986e+01] [ 6.48718461e-01 7.60404948e-01 -3.08005406e-02 3.25850973e+01] [ 4.78827807e-02 -3.90890268e-04 9.98852885e-01 4.34597792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.828040942 meters 0.020290308377077015 Centerline is valid? [True, True] Translation: X:91.51, Y:32.60, Z:4.35 [[ 7.58696381e-01 -6.50401982e-01 -3.68383388e-02 9.15088246e+01] [ 6.49664744e-01 7.59590065e-01 -3.09621447e-02 3.26005520e+01] [ 4.81198765e-02 -4.41702798e-04 9.98841470e-01 4.34648841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.858040942 meters 0.020595650456909417 Centerline is valid? [True, True] Translation: X:91.53, Y:32.61, Z:4.35 [[ 7.57038642e-01 -6.52284658e-01 -3.76459658e-02 9.15349299e+01] [ 6.51516710e-01 7.57973879e-01 -3.16476828e-02 3.26139501e+01] [ 4.91779567e-02 -5.68456950e-04 9.98789871e-01 4.34765307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.888040942 meters 0.020582360285611046 Centerline is valid? [True, True] Translation: X:91.56, Y:32.63, Z:4.35 [[ 7.56177173e-01 -6.53287901e-01 -3.75632949e-02 9.15588086e+01] [ 6.52523796e-01 7.57109327e-01 -3.15937055e-02 3.26305909e+01] [ 4.90793064e-02 -6.20504895e-04 9.98794692e-01 4.34862729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.918040942 meters 0.020688752185027363 Centerline is valid? [True, True] Translation: X:91.58, Y:32.65, Z:4.35 [[ 7.55516663e-01 -6.54039970e-01 -3.77662533e-02 9.15826956e+01] [ 6.53267733e-01 7.56459702e-01 -3.17803093e-02 3.26469637e+01] [ 4.93542412e-02 -6.60921412e-04 9.98781118e-01 4.34954826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.948040942 meters 0.020816334515368237 Centerline is valid? [True, True] Translation: X:91.61, Y:32.66, Z:4.35 [[ 7.54317554e-01 -6.55389522e-01 -3.83353905e-02 9.16080051e+01] [ 6.54594746e-01 7.55290682e-01 -3.22754389e-02 3.26612810e+01] [ 5.01073477e-02 -7.48215085e-04 9.98743558e-01 4.34973898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.978040942 meters 0.022984856517468538 Centerline is valid? [True, True] Translation: X:91.63, Y:32.68, Z:4.35 [[ 7.53839633e-01 -6.55916592e-01 -3.87199243e-02 9.16315826e+01] [ 6.55105692e-01 7.54832973e-01 -3.26146355e-02 3.26769309e+01] [ 5.06195562e-02 -7.79437956e-04 9.98717704e-01 4.34866717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.008040942 meters 0.02144601383570926 Centerline is valid? [True, True] Translation: X:91.66, Y:32.69, Z:4.35 [[ 7.52881425e-01 -6.56975089e-01 -3.94118301e-02 9.16575369e+01] [ 6.56135940e-01 7.53911794e-01 -3.32059453e-02 3.26898122e+01] [ 5.15285224e-02 -8.59378787e-04 9.98671154e-01 4.35021810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.038040942 meters 0.02349672486608755 Centerline is valid? [True, True] Translation: X:91.68, Y:32.71, Z:4.35 [[ 7.52357418e-01 -6.57578710e-01 -3.93516839e-02 9.16807734e+01] [ 6.56742635e-01 7.53385319e-01 -3.31613077e-02 3.27053283e+01] [ 5.14531509e-02 -8.94772729e-04 9.98675009e-01 4.34968787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.068040942 meters 0.021848207143829942 Centerline is valid? [True, True] Translation: X:91.71, Y:32.72, Z:4.35 [[ 7.52039939e-01 -6.57914825e-01 -3.97996605e-02 9.17050468e+01] [ 6.57059573e-01 7.53091783e-01 -3.35482210e-02 3.27208457e+01] [ 5.20446692e-02 -9.21145894e-04 9.98644333e-01 4.35230319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.098040942 meters 0.020791919865658325 Centerline is valid? [True, True] Translation: X:91.73, Y:32.74, Z:4.36 [[ 7.53483139e-01 -6.56297371e-01 -3.92035850e-02 9.17269467e+01] [ 6.55464564e-01 7.54501918e-01 -3.30614785e-02 3.27394059e+01] [ 5.12773415e-02 -7.85294107e-04 9.98684143e-01 4.35506067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.128040942 meters 0.02058598274821784 Centerline is valid? [True, True] Translation: X:91.75, Y:32.76, Z:4.36 [[ 7.54740160e-01 -6.54866860e-01 -3.89446554e-02 9.17487885e+01] [ 6.54042279e-01 7.55743968e-01 -3.28595781e-02 3.27582643e+01] [ 5.09508372e-02 -6.71007998e-04 9.98700937e-01 4.35661042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.158040942 meters 0.020202588875431554 Centerline is valid? [True, True] Translation: X:91.77, Y:32.78, Z:4.36 [[ 7.57892371e-01 -6.51232619e-01 -3.86682078e-02 9.17700026e+01] [ 6.50414202e-01 7.58878058e-01 -3.26413625e-02 3.27763818e+01] [ 5.06015744e-02 -4.11711971e-04 9.98718835e-01 4.35783723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.188040942 meters 0.021111709542686447 Centerline is valid? [True, True] Translation: X:91.79, Y:32.80, Z:4.36 [[ 7.59328585e-01 -6.49560317e-01 -3.86198679e-02 9.17914090e+01] [ 6.48741427e-01 7.60310007e-01 -3.26075745e-02 3.27961875e+01] [ 5.05436585e-02 -2.94444831e-04 9.98721809e-01 4.35825025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.218040942 meters 0.019836712780757316 Centerline is valid? [True, True] Translation: X:91.81, Y:32.81, Z:4.36 [[ 7.60480516e-01 -6.48221264e-01 -3.84522723e-02 9.18126320e+01] [ 6.47407015e-01 7.61452004e-01 -3.24807926e-02 3.28146426e+01] [ 5.03343003e-02 -1.93260904e-04 9.98732407e-01 4.35989801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.248040942 meters 0.01970874022422039 Centerline is valid? [True, True] Translation: X:91.83, Y:32.83, Z:4.36 [[ 7.62304786e-01 -6.46108662e-01 -3.78815254e-02 9.18328729e+01] [ 6.45315469e-01 7.63245436e-01 -3.20054752e-02 3.28345066e+01] [ 4.95919161e-02 -4.76074140e-05 9.98769563e-01 4.36250155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.278040942 meters 0.021168913301021636 Centerline is valid? [True, True] Translation: X:91.85, Y:32.85, Z:4.36 [[ 7.62946176e-01 -6.45358253e-01 -3.77605305e-02 9.18533138e+01] [ 6.44568358e-01 7.63880046e-01 -3.19203302e-02 3.28526404e+01] [ 4.94445643e-02 1.42507790e-05 9.98776869e-01 4.36233846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.308040942 meters 0.019533067261693318 Centerline is valid? [True, True] Translation: X:91.88, Y:32.87, Z:4.36 [[ 7.62701714e-01 -6.45605483e-01 -3.84662810e-02 9.18750671e+01] [ 6.44785606e-01 7.63671107e-01 -3.25263248e-02 3.28709467e+01] [ 5.03747611e-02 5.37941636e-06 9.98730386e-01 4.36341787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.338040942 meters 0.019575942064205227 Centerline is valid? [True, True] Translation: X:91.90, Y:32.89, Z:4.36 [[ 7.62244788e-01 -6.46101465e-01 -3.91890342e-02 9.18971025e+01] [ 6.45250131e-01 7.63251529e-01 -3.31567801e-02 3.28889473e+01] [ 5.13337345e-02 -1.31466257e-05 9.98681555e-01 4.36382667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.368040942 meters 0.020293841584988787 Centerline is valid? [True, True] Translation: X:91.92, Y:32.91, Z:4.36 [[ 7.61796257e-01 -6.46619349e-01 -3.93685198e-02 9.19185593e+01] [ 6.45759968e-01 7.62812832e-01 -3.33263634e-02 3.29057591e+01] [ 5.15802834e-02 -3.47151983e-05 9.98668851e-01 4.36325408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.398040942 meters 0.02109814057373976 Centerline is valid? [True, True] Translation: X:91.94, Y:32.92, Z:4.36 [[ 7.60546961e-01 -6.48055537e-01 -3.99041467e-02 9.19409109e+01] [ 6.47174042e-01 7.61593070e-01 -3.37898670e-02 3.29230859e+01] [ 5.22884320e-02 -1.26147186e-04 9.98632016e-01 4.36426825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.428040942 meters 0.020766307311237638 Centerline is valid? [True, True] Translation: X:91.96, Y:32.94, Z:4.37 [[ 7.59693455e-01 -6.49055321e-01 -3.99129684e-02 9.19624346e+01] [ 6.48173815e-01 7.60741190e-01 -3.38163868e-02 3.29408925e+01] [ 5.23121449e-02 -1.80453321e-04 9.98630766e-01 4.36549323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.458040942 meters 0.0195617186804149 Centerline is valid? [True, True] Translation: X:91.98, Y:32.96, Z:4.37 [[ 7.58713352e-01 -6.50211561e-01 -3.97363264e-02 9.19841772e+01] [ 6.49338435e-01 7.59753161e-01 -3.36857579e-02 3.29589485e+01] [ 5.20926688e-02 -2.44489722e-04 9.98642225e-01 4.36729307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.488040942 meters 0.019649766640331866 Centerline is valid? [True, True] Translation: X:92.01, Y:32.98, Z:4.37 [[ 7.57727303e-01 -6.51305048e-01 -4.06333428e-02 9.20053365e+01] [ 6.50392651e-01 7.58815944e-01 -3.44639305e-02 3.29772247e+01] [ 5.32797603e-02 -3.13366392e-04 9.98579576e-01 4.36745307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.518040942 meters 0.01962929719330576 Centerline is valid? [True, True] Translation: X:92.03, Y:33.00, Z:4.37 [[ 7.57146713e-01 -6.51974155e-01 -4.07253747e-02 9.20263712e+01] [ 6.51058136e-01 7.58241106e-01 -3.45503685e-02 3.29959068e+01] [ 5.34056005e-02 -3.54888636e-04 9.98572840e-01 4.36895002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.548040942 meters 0.021537705974709827 Centerline is valid? [True, True] Translation: X:92.05, Y:33.01, Z:4.37 [[ 7.56451711e-01 -6.52709200e-01 -4.18510387e-02 9.20480447e+01] [ 6.51741929e-01 7.57608433e-01 -3.55235296e-02 3.30133423e+01] [ 5.48932344e-02 -4.04241964e-04 9.98492148e-01 4.36808958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.578040942 meters 0.019605412706702907 Centerline is valid? [True, True] Translation: X:92.07, Y:33.03, Z:4.37 [[ 7.55547777e-01 -6.53747879e-01 -4.19674612e-02 9.20702953e+01] [ 6.52776343e-01 7.56712287e-01 -3.56308927e-02 3.30321821e+01] [ 5.50509141e-02 -4.74524024e-04 9.98483436e-01 4.37124193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.608040942 meters 0.01953273883843449 Centerline is valid? [True, True] Translation: X:92.09, Y:33.05, Z:4.37 [[ 7.55058865e-01 -6.54313302e-01 -4.19549009e-02 9.20917090e+01] [ 6.53342207e-01 7.56223414e-01 -3.56385861e-02 3.30498465e+01] [ 5.50460793e-02 -5.01677164e-04 9.98483689e-01 4.37275649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.638040942 meters 0.019600887259807628 Centerline is valid? [True, True] Translation: X:92.11, Y:33.07, Z:4.37 [[ 7.54016946e-01 -6.55505185e-01 -4.20879908e-02 9.21138800e+01] [ 6.54528652e-01 7.55190454e-01 -3.57717960e-02 3.30687656e+01] [ 5.52330466e-02 -5.75255472e-04 9.98473324e-01 4.37439995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.668040942 meters 0.019452671089723695 Centerline is valid? [True, True] Translation: X:92.14, Y:33.09, Z:4.38 [[ 7.53446347e-01 -6.56180472e-01 -4.17826536e-02 9.21352577e+01] [ 6.55218104e-01 7.54603751e-01 -3.55304930e-02 3.30873573e+01] [ 5.48437628e-02 -6.06430894e-04 9.98494764e-01 4.37588978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.698040942 meters 0.019428360850155563 Centerline is valid? [True, True] Translation: X:92.16, Y:33.11, Z:4.38 [[ 7.53062444e-01 -6.56662188e-01 -4.11306067e-02 9.21567338e+01] [ 6.55729296e-01 7.54184586e-01 -3.49957104e-02 3.31058496e+01] [ 5.40004294e-02 -6.16588550e-04 9.98540722e-01 4.37765890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.728040942 meters 0.019713378518444832 Centerline is valid? [True, True] Translation: X:92.18, Y:33.12, Z:4.38 [[ 7.53222649e-01 -6.56460791e-01 -4.14109932e-02 9.21773317e+01] [ 6.55513841e-01 7.54359913e-01 -3.52523195e-02 3.31239960e+01] [ 5.43805588e-02 -5.92633759e-04 9.98520107e-01 4.37839210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.758040942 meters 0.01921890882239925 Centerline is valid? [True, True] Translation: X:92.20, Y:33.14, Z:4.38 [[ 7.53490451e-01 -6.56139410e-01 -4.16318946e-02 9.21984539e+01] [ 6.55181240e-01 7.54639487e-01 -3.54511998e-02 3.31432032e+01] [ 5.46780009e-02 -5.64295775e-04 9.98503880e-01 4.37971938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.788040942 meters 0.019019712104588686 Centerline is valid? [True, True] Translation: X:92.22, Y:33.16, Z:4.38 [[ 7.54831264e-01 -6.54542461e-01 -4.24726959e-02 9.22187042e+01] [ 6.53541617e-01 7.56025112e-01 -3.61854313e-02 3.31615233e+01] [ 5.57953259e-02 -4.43779521e-04 9.98442129e-01 4.38003864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.818040942 meters 0.018959036246977767 Centerline is valid? [True, True] Translation: X:92.24, Y:33.18, Z:4.38 [[ 7.55412334e-01 -6.53869736e-01 -4.25038189e-02 9.22398924e+01] [ 6.52865756e-01 7.56607044e-01 -3.62227171e-02 3.31793583e+01] [ 5.58436273e-02 -3.86200593e-04 9.98439452e-01 4.38139976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.848040942 meters 0.018959036246977767 Centerline is valid? [True, True] Translation: X:92.26, Y:33.20, Z:4.38 [[ 7.55234318e-01 -6.54075982e-01 -4.24939409e-02 9.22607918e+01] [ 6.53071676e-01 7.56428755e-01 -3.62343023e-02 3.31973112e+01] [ 5.58436256e-02 -3.86200581e-04 9.98439453e-01 4.38262315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.878040942 meters 0.018812756536058788 Centerline is valid? [True, True] Translation: X:92.28, Y:33.21, Z:4.38 [[ 7.56019433e-01 -6.53138186e-01 -4.29549432e-02 9.22813672e+01] [ 6.52109395e-01 7.57238679e-01 -3.66458733e-02 3.32145236e+01] [ 5.64619637e-02 -3.06329652e-04 9.98404704e-01 4.38315270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.908040942 meters 0.018696080378934218 Centerline is valid? [True, True] Translation: X:92.30, Y:33.23, Z:4.39 [[ 7.56238706e-01 -6.52860782e-01 -4.33107132e-02 9.23024223e+01] [ 6.51813643e-01 7.57477869e-01 -3.69628687e-02 3.32331085e+01] [ 5.69385141e-02 -2.77761703e-04 9.98377648e-01 4.38503410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.938040942 meters 0.019835908791810603 Centerline is valid? [True, True] Translation: X:92.32, Y:33.25, Z:4.38 [[ 7.56323814e-01 -6.52709979e-01 -4.40905080e-02 9.23238227e+01] [ 6.51623433e-01 7.57607826e-01 -3.76468355e-02 3.32510167e+01] [ 5.79757791e-02 -2.57209952e-04 9.98317957e-01 4.38360134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.968040942 meters 0.018893563327515902 Centerline is valid? [True, True] Translation: X:92.34, Y:33.27, Z:4.39 [[ 7.56785250e-01 -6.52212623e-01 -4.35290763e-02 9.23446461e+01] [ 6.51152401e-01 7.58036048e-01 -3.71739230e-02 3.32700530e+01] [ 5.72419108e-02 -2.11385906e-04 9.98360315e-01 4.38525027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.998040942 meters 0.018765086374848465 Centerline is valid? [True, True] Translation: X:92.37, Y:33.29, Z:4.39 [[ 7.56499979e-01 -6.52534527e-01 -4.36631818e-02 9.23657104e+01] [ 6.51467741e-01 7.57758958e-01 -3.72980428e-02 3.32877765e+01] [ 5.74244278e-02 -2.29185817e-04 9.98349830e-01 4.38810820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.028040942 meters 0.01919853131937107 Centerline is valid? [True, True] Translation: X:92.39, Y:33.30, Z:4.39 [[ 7.55747563e-01 -6.53401101e-01 -4.37335256e-02 9.23873005e+01] [ 6.52331267e-01 7.57011837e-01 -3.73764182e-02 3.33048568e+01] [ 5.75285894e-02 -2.81609228e-04 9.98343820e-01 4.38907383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.058040942 meters 0.019270065961228083 Centerline is valid? [True, True] Translation: X:92.41, Y:33.32, Z:4.39 [[ 7.55159158e-01 -6.54103207e-01 -4.34009269e-02 9.24079089e+01] [ 6.53050112e-01 7.56405242e-01 -3.71033834e-02 3.33232314e+01] [ 5.70981307e-02 -3.24020396e-04 9.98368518e-01 4.39050569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.088040942 meters 0.019388555229801964 Centerline is valid? [True, True] Translation: X:92.43, Y:33.34, Z:4.39 [[ 7.54329939e-01 -6.55072458e-01 -4.32020618e-02 9.24291880e+01] [ 6.54029418e-01 7.55565967e-01 -3.69538849e-02 3.33420271e+01] [ 5.68494798e-02 -3.79997626e-04 9.98382688e-01 4.39161906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.118040942 meters 0.01969517808831878 Centerline is valid? [True, True] Translation: X:92.45, Y:33.36, Z:4.39 [[ 7.52306715e-01 -6.57437089e-01 -4.25567924e-02 9.24512886e+01] [ 6.56427663e-01 7.53509249e-01 -3.64216356e-02 3.33610888e+01] [ 5.60118708e-02 -5.35214758e-04 9.98429959e-01 4.39437548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.148040942 meters 0.020250620426893743 Centerline is valid? [True, True] Translation: X:92.47, Y:33.38, Z:4.39 [[ 7.51183335e-01 -6.58760528e-01 -4.19304677e-02 9.24732962e+01] [ 6.57781809e-01 7.52352438e-01 -3.59012679e-02 3.33776697e+01] [ 5.51968278e-02 -6.12664726e-04 9.98475305e-01 4.39497633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.178040942 meters 0.020353039882858463 Centerline is valid? [True, True] Translation: X:92.50, Y:33.40, Z:4.40 [[ 7.48308811e-01 -6.62095487e-01 -4.07859028e-02 9.24951883e+01] [ 6.61174106e-01 7.49419027e-01 -3.49274116e-02 3.33955942e+01] [ 5.36910131e-02 -8.30092991e-04 9.98557252e-01 4.39921591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.208040942 meters 0.020882547886363317 Centerline is valid? [True, True] Translation: X:92.52, Y:33.41, Z:4.40 [[ 7.47220219e-01 -6.63357325e-01 -4.02368455e-02 9.25176449e+01] [ 6.62462096e-01 7.48302240e-01 -3.44634406e-02 3.34115381e+01] [ 5.29708974e-02 -9.03605428e-04 9.98595648e-01 4.40085249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.238040942 meters 0.021050711707504458 Centerline is valid? [True, True] Translation: X:92.54, Y:33.43, Z:4.40 [[ 7.46150324e-01 -6.64600676e-01 -3.95681117e-02 9.25406913e+01] [ 6.63736323e-01 7.47198100e-01 -3.38982649e-02 3.34294457e+01] [ 5.20940277e-02 -9.69591637e-04 9.98641714e-01 4.40311116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.268040942 meters 0.02089738716292735 Centerline is valid? [True, True] Translation: X:92.56, Y:33.45, Z:4.41 [[ 7.45136082e-01 -6.65794709e-01 -3.85956615e-02 9.25618023e+01] [ 6.64973124e-01 7.46134288e-01 -3.30812433e-02 3.34490429e+01] [ 5.08228631e-02 -1.01504960e-03 9.98707167e-01 4.40551552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.298040942 meters 0.020809354109735494 Centerline is valid? [True, True] Translation: X:92.58, Y:33.47, Z:4.41 [[ 7.44912338e-01 -6.66038922e-01 -3.87009538e-02 9.25823791e+01] [ 6.65212290e-01 7.45916289e-01 -3.31888257e-02 3.34678829e+01] [ 5.09727216e-02 -1.02158441e-03 9.98699523e-01 4.40649689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.328040942 meters 0.02090837900185936 Centerline is valid? [True, True] Translation: X:92.60, Y:33.49, Z:4.41 [[ 7.46083142e-01 -6.64778983e-01 -3.78001229e-02 9.26029815e+01] [ 6.63987932e-01 7.47039553e-01 -3.24335159e-02 3.34870930e+01] [ 4.97993067e-02 -9.00725974e-04 9.98758839e-01 4.40719916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.358040942 meters 0.020641416901782488 Centerline is valid? [True, True] Translation: X:92.62, Y:33.51, Z:4.41 [[ 7.46575048e-01 -6.64236657e-01 -3.76212828e-02 9.26243104e+01] [ 6.63452051e-01 7.47521860e-01 -3.22869042e-02 3.35069160e+01] [ 4.95688766e-02 -8.55320202e-04 9.98770341e-01 4.40878228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.388040942 meters 0.02050207198600024 Centerline is valid? [True, True] Translation: X:92.65, Y:33.52, Z:4.41 [[ 7.47373852e-01 -6.63351935e-01 -3.73702353e-02 9.26450751e+01] [ 6.62575948e-01 7.48307157e-01 -3.20860064e-02 3.35248842e+01] [ 4.92487290e-02 -7.80376913e-04 9.98786240e-01 4.41035298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.418040942 meters 0.01982009100002097 Centerline is valid? [True, True] Translation: X:92.67, Y:33.54, Z:4.41 [[ 7.47749032e-01 -6.62998769e-01 -3.61111744e-02 9.26658463e+01] [ 6.62273527e-01 7.48620133e-01 -3.10108340e-02 3.35446098e+01] [ 4.75936970e-02 -7.27153780e-04 9.98866513e-01 4.41359673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.448040942 meters 0.019697067266003024 Centerline is valid? [True, True] Translation: X:92.69, Y:33.56, Z:4.42 [[ 7.47814543e-01 -6.62932673e-01 -3.59677713e-02 9.26872926e+01] [ 6.62212356e-01 7.48678682e-01 -3.09035028e-02 3.35627781e+01] [ 4.74152454e-02 -7.08213746e-04 9.98875014e-01 4.41578340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.478040942 meters 0.019630622430983055 Centerline is valid? [True, True] Translation: X:92.71, Y:33.58, Z:4.42 [[ 7.48050579e-01 -6.62670810e-01 -3.58849209e-02 9.27082268e+01] [ 6.61952659e-01 7.48910501e-01 -3.08502432e-02 3.35817556e+01] [ 4.73181498e-02 -6.76576505e-04 9.98879640e-01 4.41678112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.508040942 meters 0.01958868601032486 Centerline is valid? [True, True] Translation: X:92.73, Y:33.60, Z:4.42 [[ 7.48292518e-01 -6.62384179e-01 -3.61317986e-02 9.27293373e+01] [ 6.61654910e-01 7.49164053e-01 -3.10805734e-02 3.36009826e+01] [ 4.76559247e-02 -6.49421428e-04 9.98863600e-01 4.41739742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.538040942 meters 0.019683781993010113 Centerline is valid? [True, True] Translation: X:92.75, Y:33.62, Z:4.42 [[ 7.48375962e-01 -6.62295723e-01 -3.60249213e-02 9.27498433e+01] [ 6.61569847e-01 7.49242270e-01 -3.10057802e-02 3.36189829e+01] [ 4.75263894e-02 -6.29021072e-04 9.98869785e-01 4.41773624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.568040942 meters 0.0196921683897373 Centerline is valid? [True, True] Translation: X:92.77, Y:33.64, Z:4.42 [[ 7.47775279e-01 -6.62969839e-01 -3.60988154e-02 9.27716879e+01] [ 6.62241371e-01 7.48645809e-01 -3.10776337e-02 3.36372746e+01] [ 4.76287607e-02 -6.67042771e-04 9.98864884e-01 4.41897324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.598040942 meters 0.019544818373332964 Centerline is valid? [True, True] Translation: X:92.79, Y:33.66, Z:4.42 [[ 7.47198122e-01 -6.63635805e-01 -3.58117845e-02 9.27933930e+01] [ 6.62918927e-01 7.48055505e-01 -3.08457018e-02 3.36551285e+01] [ 4.72595147e-02 -6.92459267e-04 9.98882405e-01 4.42066426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.628040942 meters 0.019745591174543182 Centerline is valid? [True, True] Translation: X:92.82, Y:33.67, Z:4.42 [[ 7.45891800e-01 -6.65084127e-01 -3.61735566e-02 9.28162494e+01] [ 6.64353559e-01 7.46768034e-01 -3.11745400e-02 3.36720671e+01] [ 4.77469474e-02 -7.79197308e-04 9.98859160e-01 4.42219283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.658040942 meters 0.0199456872724232 Centerline is valid? [True, True] Translation: X:92.84, Y:33.69, Z:4.42 [[ 7.45114261e-01 -6.65970529e-01 -3.58886261e-02 9.28373591e+01] [ 6.65252186e-01 7.45977596e-01 -3.09346842e-02 3.36896866e+01] [ 4.73736990e-02 -8.25112610e-04 9.98876895e-01 4.42287413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.688040942 meters 0.02033346594605361 Centerline is valid? [True, True] Translation: X:92.86, Y:33.71, Z:4.42 [[ 7.44140253e-01 -6.67047416e-01 -3.60974979e-02 9.28582936e+01] [ 6.66321556e-01 7.45014730e-01 -3.11229239e-02 3.37083708e+01] [ 4.76536336e-02 -8.92720541e-04 9.98863521e-01 4.42280278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.718040942 meters 0.020054246233859995 Centerline is valid? [True, True] Translation: X:92.88, Y:33.73, Z:4.42 [[ 7.43535944e-01 -6.67694890e-01 -3.65764168e-02 9.28793747e+01] [ 6.66950100e-01 7.44434448e-01 -3.15422951e-02 3.37288309e+01] [ 4.82893739e-02 -9.41814666e-04 9.98832944e-01 4.42373921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.748040942 meters 0.02042978471362367 Centerline is valid? [True, True] Translation: X:92.90, Y:33.75, Z:4.42 [[ 7.43231246e-01 -6.68022407e-01 -3.67883007e-02 9.29008565e+01] [ 6.67268623e-01 7.44140543e-01 -3.17401541e-02 3.37470807e+01] [ 4.85788002e-02 -9.57404485e-04 9.98818894e-01 4.42420636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.778040942 meters 0.019983201952509723 Centerline is valid? [True, True] Translation: X:92.92, Y:33.77, Z:4.43 [[ 7.42811167e-01 -6.68496428e-01 -3.66618973e-02 9.29211749e+01] [ 6.67748075e-01 7.43714707e-01 -3.16377012e-02 3.37662106e+01] [ 4.84156824e-02 -9.80073588e-04 9.98826792e-01 4.42593559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.808040942 meters 0.01988802402233381 Centerline is valid? [True, True] Translation: X:92.94, Y:33.78, Z:4.43 [[ 7.42885882e-01 -6.68423941e-01 -3.64691759e-02 9.29419487e+01] [ 6.67682484e-01 7.43779886e-01 -3.14893877e-02 3.37844328e+01] [ 4.81733002e-02 -9.56808403e-04 9.98838534e-01 4.42765828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.838040942 meters 0.0199065112128803 Centerline is valid? [True, True] Translation: X:92.96, Y:33.80, Z:4.43 [[ 7.43507749e-01 -6.67703677e-01 -3.69868436e-02 9.29627203e+01] [ 6.66939266e-01 7.44426606e-01 -3.19537865e-02 3.38034879e+01] [ 4.88696512e-02 -9.10090471e-04 9.98804750e-01 4.42785162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.868040942 meters 0.020985115512409138 Centerline is valid? [True, True] Translation: X:92.98, Y:33.82, Z:4.43 [[ 7.43694234e-01 -6.67434930e-01 -3.80723112e-02 9.29835324e+01] [ 6.66624238e-01 7.44667564e-01 -3.28989987e-02 3.38223532e+01] [ 5.03091562e-02 -9.13129840e-04 9.98733275e-01 4.42758442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.898040942 meters 0.019682646427954944 Centerline is valid? [True, True] Translation: X:93.00, Y:33.84, Z:4.43 [[ 7.43496118e-01 -6.67617081e-01 -3.87421746e-02 9.30032640e+01] [ 6.66776912e-01 7.44504246e-01 -3.34959288e-02 3.38415398e+01] [ 5.12061676e-02 -9.28294528e-04 9.98687672e-01 4.42872536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.928040942 meters 0.019325587370693155 Centerline is valid? [True, True] Translation: X:93.02, Y:33.86, Z:4.43 [[ 7.43381590e-01 -6.67755761e-01 -3.85493942e-02 9.30233037e+01] [ 6.66923523e-01 7.44379869e-01 -3.33410484e-02 3.38608167e+01] [ 5.09590701e-02 -9.24376215e-04 9.98700315e-01 4.43026390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.958040942 meters 0.019388881388962675 Centerline is valid? [True, True] Translation: X:93.04, Y:33.88, Z:4.43 [[ 7.43088508e-01 -6.68063657e-01 -3.88641116e-02 9.30442666e+01] [ 6.67217189e-01 7.44103533e-01 -3.36326443e-02 3.38790294e+01] [ 5.13876701e-02 -9.38771832e-04 9.98678340e-01 4.43178985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.988040942 meters 0.019373926071819324 Centerline is valid? [True, True] Translation: X:93.07, Y:33.90, Z:4.43 [[ 7.42475769e-01 -6.68739725e-01 -3.89475649e-02 9.30661324e+01] [ 6.67889564e-01 7.43495953e-01 -3.37238440e-02 3.38984646e+01] [ 5.15098310e-02 -9.73535090e-04 9.98672013e-01 4.43340651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.018040942 meters 0.01967437416788919 Centerline is valid? [True, True] Translation: X:93.09, Y:33.92, Z:4.43 [[ 7.42093804e-01 -6.69150396e-01 -3.91731250e-02 9.30878341e+01] [ 6.68290114e-01 7.43126339e-01 -3.39347586e-02 3.39160861e+01] [ 5.18180381e-02 -9.96238028e-04 9.98656046e-01 4.43415736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.048040942 meters 0.019463985459910002 Centerline is valid? [True, True] Translation: X:93.11, Y:33.94, Z:4.44 [[ 7.41846011e-01 -6.69405110e-01 -3.95132213e-02 9.31090272e+01] [ 6.68529750e-01 7.42896874e-01 -3.42375140e-02 3.39351437e+01] [ 5.22730154e-02 -1.01680080e-03 9.98632314e-01 4.43635097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.078040942 meters 0.019427590367453285 Centerline is valid? [True, True] Translation: X:93.13, Y:33.95, Z:4.44 [[ 7.41559484e-01 -6.69727771e-01 -3.94239007e-02 9.31302755e+01] [ 6.68855808e-01 7.42605997e-01 -3.41795604e-02 3.39538063e+01] [ 5.21674259e-02 -1.02272772e-03 9.98637829e-01 4.43847053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.108040942 meters 0.01950669919202567 Centerline is valid? [True, True] Translation: X:93.15, Y:33.97, Z:4.44 [[ 7.41561283e-01 -6.69742644e-01 -3.91363521e-02 9.31511270e+01] [ 6.68882464e-01 7.42592610e-01 -3.39479856e-02 3.39715098e+01] [ 5.17987795e-02 -1.00310784e-03 9.98657038e-01 4.44012438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.138040942 meters 0.0193783392807499 Centerline is valid? [True, True] Translation: X:93.17, Y:33.99, Z:4.44 [[ 7.41827091e-01 -6.69481111e-01 -3.85695272e-02 9.31727321e+01] [ 6.68644856e-01 7.42828455e-01 -3.34655469e-02 3.39906672e+01] [ 5.10550938e-02 -9.63666591e-04 9.98695373e-01 4.44160997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.168040942 meters 0.01929608222127577 Centerline is valid? [True, True] Translation: X:93.19, Y:34.01, Z:4.44 [[ 7.41792550e-01 -6.69538734e-01 -3.82321423e-02 9.31938743e+01] [ 6.68716288e-01 7.42776540e-01 -3.31894349e-02 3.40092946e+01] [ 5.06195506e-02 -9.46780674e-04 9.98717560e-01 4.44279198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.198040942 meters 0.019093425336198767 Centerline is valid? [True, True] Translation: X:93.21, Y:34.03, Z:4.44 [[ 7.42989965e-01 -6.68213088e-01 -3.81730393e-02 9.32147834e+01] [ 6.67390568e-01 7.43969462e-01 -3.31552474e-02 3.40281443e+01] [ 5.05543457e-02 -8.42310189e-04 9.98720956e-01 4.44427576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.228040942 meters 0.018871628505633453 Centerline is valid? [True, True] Translation: X:93.24, Y:34.05, Z:4.45 [[ 7.43360197e-01 -6.67793551e-01 -3.83065464e-02 9.32360132e+01] [ 6.66964346e-01 7.44346099e-01 -3.32783059e-02 3.40472832e+01] [ 5.07363664e-02 -8.11332677e-04 9.98711752e-01 4.44557357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.258040942 meters 0.018605531133777185 Centerline is valid? [True, True] Translation: X:93.26, Y:34.07, Z:4.45 [[ 7.43750259e-01 -6.67335493e-01 -3.87155341e-02 9.32568658e+01] [ 6.66486990e-01 7.44756831e-01 -3.36504677e-02 3.40664911e+01] [ 5.12898100e-02 -7.75855732e-04 9.98683510e-01 4.44678509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.288040942 meters 0.01821185687658338 Centerline is valid? [True, True] Translation: X:93.28, Y:34.09, Z:4.45 [[ 7.45356751e-01 -6.65496920e-01 -3.94609016e-02 9.32764992e+01] [ 6.64611915e-01 7.46400314e-01 -3.43157952e-02 3.40858923e+01] [ 5.22906854e-02 -6.48675741e-04 9.98631696e-01 4.44716415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.318040942 meters 0.018043840207483133 Centerline is valid? [True, True] Translation: X:93.30, Y:34.10, Z:4.45 [[ 7.46039252e-01 -6.64747349e-01 -3.91968915e-02 9.32968622e+01] [ 6.63872787e-01 7.47068014e-01 -3.40926053e-02 3.41048648e+01] [ 5.19457129e-02 -5.87327878e-04 9.98649737e-01 4.44827639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.348040942 meters 0.017756123179580464 Centerline is valid? [True, True] Translation: X:93.32, Y:34.12, Z:4.45 [[ 7.47325888e-01 -6.63303074e-01 -3.91541643e-02 9.33164402e+01] [ 6.62427959e-01 7.48350721e-01 -3.40645981e-02 3.41246869e+01] [ 5.18961997e-02 -4.79457087e-04 9.98652369e-01 4.44935169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.378040942 meters 0.017317224026255223 Centerline is valid? [True, True] Translation: X:93.34, Y:34.14, Z:4.45 [[ 7.47724880e-01 -6.62865416e-01 -3.89479714e-02 9.33356747e+01] [ 6.61998512e-01 7.48738437e-01 -3.38928297e-02 3.41445235e+01] [ 5.16282279e-02 -4.40987104e-04 9.98666276e-01 4.45134955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.408040942 meters 0.01731178462134089 Centerline is valid? [True, True] Translation: X:93.36, Y:34.16, Z:4.45 [[ 7.47737202e-01 -6.62842903e-01 -3.90942739e-02 9.33556965e+01] [ 6.61968492e-01 7.48758374e-01 -3.40384094e-02 3.41630413e+01] [ 5.18342831e-02 -4.27392509e-04 9.98655609e-01 4.45214279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.438040942 meters 0.01710768543573931 Centerline is valid? [True, True] Translation: X:93.38, Y:34.18, Z:4.45 [[ 7.47820737e-01 -6.62766308e-01 -3.87938872e-02 9.33755255e+01] [ 6.61904679e-01 7.48826182e-01 -3.37867553e-02 3.41827067e+01] [ 5.14426015e-02 -4.11419170e-04 9.98675868e-01 4.45235699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.468040942 meters 0.01716852086547343 Centerline is valid? [True, True] Translation: X:93.40, Y:34.20, Z:4.45 [[ 7.47590939e-01 -6.63029935e-01 -3.87181361e-02 9.33955884e+01] [ 6.62171115e-01 7.48592769e-01 -3.37384176e-02 3.42009260e+01] [ 5.13536975e-02 -4.15496102e-04 9.98680442e-01 4.45301400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.498040942 meters 0.016982038021020582 Centerline is valid? [True, True] Translation: X:93.42, Y:34.22, Z:4.45 [[ 7.47950436e-01 -6.62630158e-01 -3.86188965e-02 9.34165329e+01] [ 6.61774716e-01 7.48946680e-01 -3.36615007e-02 3.42203062e+01] [ 5.12286198e-02 -3.79875133e-04 9.98686880e-01 4.45497285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.528040942 meters 0.01695693572774688 Centerline is valid? [True, True] Translation: X:93.44, Y:34.24, Z:4.46 [[ 7.47935641e-01 -6.62648206e-01 -3.85957572e-02 9.34368422e+01] [ 6.61792942e-01 7.48930718e-01 -3.36583185e-02 3.42380405e+01] [ 5.12091725e-02 -3.68143725e-04 9.98687882e-01 4.45602257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.558040942 meters 0.016812065676919015 Centerline is valid? [True, True] Translation: X:93.46, Y:34.26, Z:4.46 [[ 7.47808468e-01 -6.62813426e-01 -3.82211716e-02 9.34574137e+01] [ 6.61974420e-01 7.48784499e-01 -3.33412794e-02 3.42576643e+01] [ 5.07184685e-02 -3.68546877e-04 9.98712922e-01 4.45754611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.588040942 meters 0.016747221117884903 Centerline is valid? [True, True] Translation: X:93.48, Y:34.28, Z:4.46 [[ 7.47710987e-01 -6.62965207e-01 -3.74888524e-02 9.34780271e+01] [ 6.62157328e-01 7.48650122e-01 -3.27210473e-02 3.42772745e+01] [ 4.97589498e-02 -3.57631789e-04 9.98761192e-01 4.45896063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.618040942 meters 0.016788972825260175 Centerline is valid? [True, True] Translation: X:93.50, Y:34.30, Z:4.46 [[ 7.47331620e-01 -6.63406110e-01 -3.72529589e-02 9.34984418e+01] [ 6.62607990e-01 7.48259444e-01 -3.25339220e-02 3.42968957e+01] [ 4.94580810e-02 -3.70479572e-04 9.98776132e-01 4.46009202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.648040942 meters 0.016853183030399985 Centerline is valid? [True, True] Translation: X:93.52, Y:34.32, Z:4.46 [[ 7.47142511e-01 -6.63710466e-01 -3.55877079e-02 9.35173535e+01] [ 6.62981705e-01 7.47989496e-01 -3.10961792e-02 3.43161202e+01] [ 4.72580914e-02 -3.60721857e-04 9.98882647e-01 4.46233988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.678040942 meters 0.016892552097223467 Centerline is valid? [True, True] Translation: X:93.54, Y:34.34, Z:4.46 [[ 7.46917614e-01 -6.64002601e-01 -3.48514438e-02 9.35381209e+01] [ 6.63303660e-01 7.47730173e-01 -3.04605087e-02 3.43356516e+01] [ 4.62853331e-02 -3.65599693e-04 9.98928193e-01 4.46415873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.708040942 meters 0.01703426303711767 Centerline is valid? [True, True] Translation: X:93.56, Y:34.36, Z:4.47 [[ 7.47091785e-01 -6.63849454e-01 -3.40259827e-02 9.35566529e+01] [ 6.63182349e-01 7.47866158e-01 -2.97553646e-02 3.43561119e+01] [ 4.51999635e-02 -3.35442674e-04 9.98977903e-01 4.46565874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.738040942 meters 0.017092380669888205 Centerline is valid? [True, True] Translation: X:93.58, Y:34.38, Z:4.47 [[ 7.46983582e-01 -6.63993114e-01 -3.35957174e-02 9.35762414e+01] [ 6.63342609e-01 7.47738612e-01 -2.93862408e-02 3.43758980e+01] [ 4.46330766e-02 -3.34431371e-04 9.99003392e-01 4.46682893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.768040942 meters 0.017092380669888205 Centerline is valid? [True, True] Translation: X:93.60, Y:34.39, Z:4.47 [[ 7.46799733e-01 -6.64200296e-01 -3.35875744e-02 9.35969045e+01] [ 6.63549582e-01 7.47554583e-01 -2.93955451e-02 3.43941102e+01] [ 4.46330749e-02 -3.34435702e-04 9.99003392e-01 4.46805224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.798040942 meters 0.017098912825530863 Centerline is valid? [True, True] Translation: X:93.62, Y:34.41, Z:4.47 [[ 7.46881160e-01 -6.64150128e-01 -3.27588231e-02 9.36168555e+01] [ 6.63530414e-01 7.47599164e-01 -2.86858662e-02 3.44138165e+01] [ 4.35421905e-02 -3.11542436e-04 9.99051541e-01 4.46955862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.828040942 meters 0.017297444527850973 Centerline is valid? [True, True] Translation: X:93.63, Y:34.43, Z:4.47 [[ 7.46905651e-01 -6.64161833e-01 -3.19532205e-02 9.36346019e+01] [ 6.63571587e-01 7.47588773e-01 -2.79959850e-02 3.44338195e+01] [ 4.24817336e-02 -2.92889876e-04 9.99097201e-01 4.47102229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.858040942 meters 0.01725440640741107 Centerline is valid? [True, True] Translation: X:93.65, Y:34.45, Z:4.47 [[ 7.46758637e-01 -6.64322419e-01 -3.20509357e-02 9.36544169e+01] [ 6.63728431e-01 7.47446075e-01 -2.80879937e-02 3.44541821e+01] [ 4.26158300e-02 -2.98165344e-04 9.99091488e-01 4.47189491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.888040942 meters 0.017423704449556186 Centerline is valid? [True, True] Translation: X:93.67, Y:34.47, Z:4.47 [[ 7.46517239e-01 -6.64625924e-01 -3.13750388e-02 9.36730586e+01] [ 6.64056359e-01 7.47176213e-01 -2.75110746e-02 3.44742472e+01] [ 4.17272560e-02 -2.97302510e-04 9.99128995e-01 4.47315830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.918040942 meters 0.01752751955287666 Centerline is valid? [True, True] Translation: X:93.69, Y:34.49, Z:4.47 [[ 7.46272538e-01 -6.64916005e-01 -3.10484356e-02 9.36930699e+01] [ 6.64358254e-01 7.46918076e-01 -2.72304644e-02 3.44938823e+01] [ 4.12966094e-02 -3.05936732e-04 9.99146884e-01 4.47496716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.948040942 meters 0.017580827288543367 Centerline is valid? [True, True] Translation: X:93.71, Y:34.51, Z:4.48 [[ 7.46096094e-01 -6.65142107e-01 -3.04400410e-02 9.37122314e+01] [ 6.64605603e-01 7.46716738e-01 -2.67115308e-02 3.45129905e+01] [ 4.04970520e-02 -3.01253015e-04 9.99179612e-01 4.47645723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.978040942 meters 0.017731008903748274 Centerline is valid? [True, True] Translation: X:93.73, Y:34.53, Z:4.48 [[ 7.45820957e-01 -6.65495859e-01 -2.94340126e-02 9.37315041e+01] [ 6.64994143e-01 7.46401480e-01 -2.58383565e-02 3.45333539e+01] [ 3.91649098e-02 -3.02658220e-04 9.99232715e-01 4.47835464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.008040942 meters 0.017790553042220696 Centerline is valid? [True, True] Translation: X:93.75, Y:34.55, Z:4.48 [[ 7.45569586e-01 -6.65773041e-01 -2.95338894e-02 9.37512768e+01] [ 6.65267898e-01 7.46154246e-01 -2.59319256e-02 3.45521870e+01] [ 3.93016140e-02 -3.13893477e-04 9.99227344e-01 4.47933690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.038040942 meters 0.017926589869236984 Centerline is valid? [True, True] Translation: X:93.77, Y:34.57, Z:4.48 [[ 7.44844265e-01 -6.66522401e-01 -3.09015979e-02 9.37704455e+01] [ 6.65969604e-01 7.45484914e-01 -2.71427627e-02 3.45724740e+01] [ 4.11279345e-02 -3.62393783e-04 9.99153823e-01 4.47778554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.068040942 meters 0.018085546770718563 Centerline is valid? [True, True] Translation: X:93.79, Y:34.59, Z:4.48 [[ 7.43980790e-01 -6.67451350e-01 -3.16429977e-02 9.37907835e+01] [ 6.66871907e-01 7.44653292e-01 -2.78088984e-02 3.45919825e+01] [ 4.21241492e-02 -4.12540017e-04 9.99112299e-01 4.47762128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.098040942 meters 0.018321279124595625 Centerline is valid? [True, True] Translation: X:93.81, Y:34.61, Z:4.48 [[ 7.43062939e-01 -6.68456162e-01 -3.19973187e-02 9.38117389e+01] [ 6.67863944e-01 7.43751400e-01 -2.81355117e-02 3.46106639e+01] [ 4.26054068e-02 -4.63399475e-04 9.99091870e-01 4.47773360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.128040942 meters 0.018413754056810144 Centerline is valid? [True, True] Translation: X:93.83, Y:34.63, Z:4.48 [[ 7.40253381e-01 -6.71570964e-01 -3.18962731e-02 9.38323519e+01] [ 6.70985104e-01 7.40939968e-01 -2.80527057e-02 3.46315422e+01] [ 4.24726062e-02 -6.35813875e-04 9.99097429e-01 4.47873597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.158040942 meters 0.020067142444639974 Centerline is valid? [True, True] Translation: X:93.86, Y:34.65, Z:4.48 [[ 7.38619154e-01 -6.73363583e-01 -3.19879669e-02 9.38553048e+01] [ 6.72775406e-01 7.39311133e-01 -2.81478496e-02 3.46471731e+01] [ 4.26027969e-02 -7.30176548e-04 9.99091822e-01 4.48066384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.188040942 meters 0.019907900553190295 Centerline is valid? [True, True] Translation: X:93.87, Y:34.67, Z:4.48 [[ 7.34813982e-01 -6.77515647e-01 -3.19524717e-02 9.38743080e+01] [ 6.76932466e-01 7.35507727e-01 -2.81215160e-02 3.46693017e+01] [ 4.25540569e-02 -9.65582387e-04 9.99093699e-01 4.48167893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.218040942 meters 0.02044217989595022 Centerline is valid? [True, True] Translation: X:93.90, Y:34.69, Z:4.48 [[ 7.32943321e-01 -6.79533079e-01 -3.20761949e-02 9.38956997e+01] [ 6.78947039e-01 7.33644071e-01 -2.82364101e-02 3.46882668e+01] [ 4.27200849e-02 -1.08234938e-03 9.99086494e-01 4.48271196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.248040942 meters 0.02078310793633261 Centerline is valid? [True, True] Translation: X:93.92, Y:34.71, Z:4.48 [[ 7.31319400e-01 -6.81275184e-01 -3.21878597e-02 9.39174312e+01] [ 6.80686126e-01 7.32026459e-01 -2.83489114e-02 3.47078089e+01] [ 4.28757748e-02 -1.17772065e-03 9.99079717e-01 4.48396281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.278040942 meters 0.022284204182630694 Centerline is valid? [True, True] Translation: X:93.94, Y:34.73, Z:4.49 [[ 7.28992531e-01 -6.83745648e-01 -3.25849354e-02 9.39385347e+01] [ 6.83143773e-01 7.29719209e-01 -2.87134317e-02 3.47260560e+01] [ 4.34105372e-02 -1.32831846e-03 9.99056435e-01 4.48510069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.308040942 meters 0.022142344150305925 Centerline is valid? [True, True] Translation: X:93.96, Y:34.75, Z:4.49 [[ 7.28056944e-01 -6.84741248e-01 -3.25961471e-02 9.39582949e+01] [ 6.84139765e-01 7.28784951e-01 -2.87276439e-02 3.47470741e+01] [ 4.34265842e-02 -1.38495978e-03 9.99055661e-01 4.48625916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.338040942 meters 0.0230910461961629 Centerline is valid? [True, True] Translation: X:93.98, Y:34.77, Z:4.49 [[ 7.27629047e-01 -6.85191042e-01 -3.26987206e-02 9.39774944e+01] [ 6.84585582e-01 7.28362039e-01 -2.88326394e-02 3.47672620e+01] [ 4.35723731e-02 -1.40560674e-03 9.99049284e-01 4.48688566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.368040942 meters 0.022442816258877542 Centerline is valid? [True, True] Translation: X:94.00, Y:34.79, Z:4.49 [[ 7.27395920e-01 -6.85432081e-01 -3.28334929e-02 9.39965954e+01] [ 6.84821646e-01 7.28135179e-01 -2.89564090e-02 3.47886738e+01] [ 4.37548729e-02 -1.42231286e-03 9.99041284e-01 4.48792160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.398040942 meters 0.022123908762682214 Centerline is valid? [True, True] Translation: X:94.02, Y:34.81, Z:4.49 [[ 7.27193005e-01 -6.85632916e-01 -3.31336336e-02 9.40163605e+01] [ 6.85010731e-01 7.27946045e-01 -2.92378931e-02 3.48091304e+01] [ 4.41659594e-02 -1.43530325e-03 9.99023177e-01 4.48859453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.428040942 meters 0.02243297910838757 Centerline is valid? [True, True] Translation: X:94.04, Y:34.83, Z:4.49 [[ 7.27321180e-01 -6.85452829e-01 -3.40341144e-02 9.40360898e+01] [ 6.84795356e-01 7.28115593e-01 -3.00500389e-02 3.48292104e+01] [ 4.53786536e-02 -1.45037373e-03 9.98968805e-01 4.48953487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.458040942 meters 0.022824953492394773 Centerline is valid? [True, True] Translation: X:94.06, Y:34.85, Z:4.49 [[ 7.27668524e-01 -6.85068442e-01 -3.43474652e-02 9.40566016e+01] [ 6.84398123e-01 7.28477295e-01 -3.03321591e-02 3.48481087e+01] [ 4.58009535e-02 -1.43558323e-03 9.98949554e-01 4.49047129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.488040942 meters 0.02180698640108786 Centerline is valid? [True, True] Translation: X:94.08, Y:34.87, Z:4.49 [[ 7.28270493e-01 -6.84367700e-01 -3.55378646e-02 9.40750475e+01] [ 6.83648955e-01 7.29135646e-01 -3.13897326e-02 3.48714599e+01] [ 4.73940430e-02 -1.43520791e-03 9.98875240e-01 4.49072023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.518040942 meters 0.022435437560960923 Centerline is valid? [True, True] Translation: X:94.10, Y:34.89, Z:4.49 [[ 7.28689293e-01 -6.83915261e-01 -3.56627283e-02 9.40955785e+01] [ 6.83190180e-01 7.29560112e-01 -3.15154073e-02 3.48902741e+01] [ 4.75719720e-02 -1.39948589e-03 9.98866832e-01 4.49137098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.548040942 meters 0.021761550106288212 Centerline is valid? [True, True] Translation: X:94.11, Y:34.91, Z:4.49 [[ 7.30005372e-01 -6.82542205e-01 -3.50470459e-02 9.41147382e+01] [ 6.81839980e-01 7.30845057e-01 -3.09797399e-02 3.49117184e+01] [ 4.67589402e-02 -1.28110055e-03 9.98905381e-01 4.49372606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.578040942 meters 0.02215147712477855 Centerline is valid? [True, True] Translation: X:94.14, Y:34.93, Z:4.50 [[ 7.30496239e-01 -6.82066139e-01 -3.40738590e-02 9.41355515e+01] [ 6.81401223e-01 7.31289498e-01 -3.01337741e-02 3.49298591e+01] [ 4.54710822e-02 -1.20536052e-03 9.98964928e-01 4.49633893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.608040942 meters 0.021126799192879818 Centerline is valid? [True, True] Translation: X:94.15, Y:34.95, Z:4.50 [[ 7.32098499e-01 -6.80423297e-01 -3.24950075e-02 9.41549742e+01] [ 6.79816677e-01 7.32818560e-01 -2.87444539e-02 3.49519171e+01] [ 4.33713407e-02 -1.04687647e-03 9.99058472e-01 4.49978066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.638040942 meters 0.021102108795978188 Centerline is valid? [True, True] Translation: X:94.17, Y:34.97, Z:4.50 [[ 7.32984000e-01 -6.79474971e-01 -3.23762217e-02 9.41749573e+01] [ 6.78871284e-01 7.33698036e-01 -2.86525898e-02 3.49709968e+01] [ 4.32230879e-02 -9.77397323e-04 9.99064968e-01 4.50156173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.668040942 meters 0.02079252507326345 Centerline is valid? [True, True] Translation: X:94.20, Y:34.99, Z:4.50 [[ 7.33787993e-01 -6.78619040e-01 -3.21151188e-02 9.41959767e+01] [ 6.78024040e-01 7.34489864e-01 -2.84260653e-02 3.49911400e+01] [ 4.28786984e-02 -9.16117213e-04 9.99079866e-01 4.50277047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.698040942 meters 0.019945527181614593 Centerline is valid? [True, True] Translation: X:94.22, Y:35.01, Z:4.50 [[ 7.36112027e-01 -6.76061414e-01 -3.28641063e-02 9.42162840e+01] [ 6.75435137e-01 7.36844872e-01 -2.91034350e-02 3.50114545e+01] [ 4.38914576e-02 -7.74183667e-04 9.99036006e-01 4.50320263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.728040942 meters 0.019690445635042388 Centerline is valid? [True, True] Translation: X:94.24, Y:35.03, Z:4.50 [[ 7.37381953e-01 -6.74655542e-01 -3.32829444e-02 9.42370066e+01] [ 6.74011121e-01 7.38132390e-01 -2.94886991e-02 3.50295419e+01] [ 4.44619336e-02 -6.88640128e-04 9.99010842e-01 4.50404681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.758040942 meters 0.019017291038211957 Centerline is valid? [True, True] Translation: X:94.26, Y:35.05, Z:4.51 [[ 7.40230751e-01 -6.71531477e-01 -3.32251452e-02 9.42590965e+01] [ 6.70885912e-01 7.40975862e-01 -2.94425514e-02 3.50488243e+01] [ 4.43906306e-02 -4.95999957e-04 9.99014127e-01 4.50592453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.788040942 meters 0.01873048701953347 Centerline is valid? [True, True] Translation: X:94.28, Y:35.07, Z:4.51 [[ 7.41590074e-01 -6.70031053e-01 -3.32046612e-02 9.42804581e+01] [ 6.69384196e-01 7.42332965e-01 -2.94375212e-02 3.50681685e+01] [ 4.43729679e-02 -3.96101931e-04 9.99014956e-01 4.50790835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.818040942 meters 0.018579410560441375 Centerline is valid? [True, True] Translation: X:94.30, Y:35.09, Z:4.51 [[ 7.43032670e-01 -6.68429634e-01 -3.32306350e-02 9.43013528e+01] [ 6.67779526e-01 7.43775329e-01 -2.94748046e-02 3.50867405e+01] [ 4.44179594e-02 -2.89994981e-04 9.99012993e-01 4.50958809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.848040942 meters 0.01833005230171827 Centerline is valid? [True, True] Translation: X:94.32, Y:35.10, Z:4.51 [[ 7.45874541e-01 -6.65251866e-01 -3.33335301e-02 9.43225931e+01] [ 6.64594314e-01 7.46619010e-01 -2.95711472e-02 3.51047524e+01] [ 4.45597081e-02 -9.69086877e-05 9.99006718e-01 4.51128051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.878040942 meters 0.01833308132182497 Centerline is valid? [True, True] Translation: X:94.34, Y:35.12, Z:4.51 [[ 7.47138972e-01 -6.63827442e-01 -3.34138328e-02 9.43437560e+01] [ 6.63164952e-01 7.47885772e-01 -2.96499430e-02 3.51229443e+01] [ 4.46721759e-02 -6.25494389e-06 9.99001700e-01 4.51272614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.908040942 meters 0.018421773523776143 Centerline is valid? [True, True] Translation: X:94.37, Y:35.14, Z:4.51 [[ 7.49862734e-01 -6.60705825e-01 -3.42591947e-02 9.43662248e+01] [ 6.60005311e-01 7.50644905e-01 -3.04173731e-02 3.51397677e+01] [ 4.58134255e-02 1.97604089e-04 9.98949994e-01 4.51451501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.938040942 meters 0.018581724400108073 Centerline is valid? [True, True] Translation: X:94.39, Y:35.16, Z:4.52 [[ 7.50838224e-01 -6.59571823e-01 -3.47414886e-02 9.43876182e+01] [ 6.58849967e-01 7.51641493e-01 -3.08510455e-02 3.51569556e+01] [ 4.64616247e-02 2.74715649e-04 9.98920038e-01 4.51576519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.968040942 meters 0.018776493159774563 Centerline is valid? [True, True] Translation: X:94.41, Y:35.17, Z:4.52 [[ 7.52269327e-01 -6.57938243e-01 -3.47581385e-02 9.44115881e+01] [ 6.57213690e-01 7.53071792e-01 -3.08713905e-02 3.51738615e+01] [ 4.64868421e-02 3.80075745e-04 9.98918830e-01 4.51744299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.998040942 meters 0.019000931460863225 Centerline is valid? [True, True] Translation: X:94.43, Y:35.19, Z:4.52 [[ 7.52493945e-01 -6.57696514e-01 -3.44696682e-02 9.44327102e+01] [ 6.56983030e-01 7.53282904e-01 -3.06294719e-02 3.51910949e+01] [ 4.61103087e-02 4.02505120e-04 9.98936273e-01 4.51880384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.028040942 meters 0.01883207068984505 Centerline is valid? [True, True] Translation: X:94.46, Y:35.21, Z:4.52 [[ 7.52283044e-01 -6.57948544e-01 -3.42627311e-02 9.44555006e+01] [ 6.57243525e-01 7.53062787e-01 -3.04530464e-02 3.52069371e+01] [ 4.58385253e-02 3.90352314e-04 9.98948786e-01 4.52051556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.058040942 meters 0.018595973964581698 Centerline is valid? [True, True] Translation: X:94.48, Y:35.22, Z:4.52 [[ 7.51026779e-01 -6.59349921e-01 -3.48777765e-02 9.44821625e+01] [ 6.58620062e-01 7.51836137e-01 -3.10167050e-02 3.52196996e+01] [ 4.66732347e-02 3.23172731e-04 9.98910158e-01 4.52260297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.088040942 meters 0.018527114948965893 Centerline is valid? [True, True] Translation: X:94.51, Y:35.23, Z:4.52 [[ 7.49660006e-01 -6.60886576e-01 -3.51967151e-02 9.45058047e+01] [ 6.60144308e-01 7.50485760e-01 -3.13147915e-02 3.52343808e+01] [ 4.71101588e-02 2.40535642e-04 9.98889671e-01 4.52356098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.118040942 meters 0.018358885103868426 Centerline is valid? [True, True] Translation: X:94.53, Y:35.24, Z:4.53 [[ 7.45994858e-01 -6.64959151e-01 -3.63455559e-02 9.45342892e+01] [ 6.64172093e-01 7.46879728e-01 -3.23435286e-02 3.52438480e+01] [ 4.86528842e-02 -1.15978778e-05 9.98815747e-01 4.52537905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.148040942 meters 0.01868883684808422 Centerline is valid? [True, True] Translation: X:94.56, Y:35.26, Z:4.53 [[ 7.44053912e-01 -6.67121341e-01 -3.65087943e-02 9.45587433e+01] [ 6.66328936e-01 7.44949056e-01 -3.25061986e-02 3.52586060e+01] [ 4.88827706e-02 -1.40501775e-04 9.98804513e-01 4.52636453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.178040942 meters 0.01859529874350693 Centerline is valid? [True, True] Translation: X:94.58, Y:35.27, Z:4.53 [[ 7.42328122e-01 -6.69025097e-01 -3.68018923e-02 9.45837203e+01] [ 6.68221389e-01 7.43239769e-01 -3.27844476e-02 3.52746102e+01] [ 4.92862482e-02 -2.54994233e-04 9.98784662e-01 4.52816696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.208040942 meters 0.019265859982490918 Centerline is valid? [True, True] Translation: X:94.61, Y:35.29, Z:4.53 [[ 7.39683880e-01 -6.71916479e-01 -3.73631092e-02 9.46110196e+01] [ 6.71090997e-01 7.40626794e-01 -3.32990311e-02 3.52862576e+01] [ 5.00462875e-02 -4.43289614e-04 9.98746801e-01 4.52959541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.238040942 meters 0.019562047845447093 Centerline is valid? [True, True] Translation: X:94.64, Y:35.30, Z:4.53 [[ 7.38494179e-01 -6.73229732e-01 -3.72568909e-02 9.46353671e+01] [ 6.72410281e-01 7.39433196e-01 -3.32108719e-02 3.53018877e+01] [ 4.99075284e-02 -5.25880930e-04 9.98753704e-01 4.53166041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.268040942 meters 0.019600067904246878 Centerline is valid? [True, True] Translation: X:94.66, Y:35.32, Z:4.53 [[ 7.37090919e-01 -6.74756801e-01 -3.74197219e-02 9.46612060e+01] [ 6.73931359e-01 7.38039886e-01 -3.33713880e-02 3.53157678e+01] [ 5.01348183e-02 -6.20576978e-04 9.98742266e-01 4.53456054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.298040942 meters 0.019717302277578015 Centerline is valid? [True, True] Translation: X:94.68, Y:35.33, Z:4.54 [[ 7.36569967e-01 -6.75314695e-01 -3.76131234e-02 9.46847508e+01] [ 6.74480639e-01 7.37529416e-01 -3.35593126e-02 3.53319267e+01] [ 5.04038819e-02 -6.50541705e-04 9.98728705e-01 4.53613935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.328040942 meters 0.020606281437579275 Centerline is valid? [True, True] Translation: X:94.71, Y:35.35, Z:4.54 [[ 7.36081824e-01 -6.75828737e-01 -3.79350254e-02 9.47091868e+01] [ 6.74980581e-01 7.37058375e-01 -3.38550893e-02 3.53462882e+01] [ 5.08405704e-02 -6.85289560e-04 9.98706547e-01 4.53641292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.358040942 meters 0.02094507527195659 Centerline is valid? [True, True] Translation: X:94.74, Y:35.36, Z:4.54 [[ 7.35333385e-01 -6.76594235e-01 -3.87950176e-02 9.47355798e+01] [ 6.75707720e-01 7.36355676e-01 -3.46322866e-02 3.53605702e+01] [ 5.19989369e-02 -7.47816384e-04 9.98646860e-01 4.53738361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.388040942 meters 0.021124187615591896 Centerline is valid? [True, True] Translation: X:94.76, Y:35.38, Z:4.54 [[ 7.34988691e-01 -6.76961023e-01 -3.89281020e-02 9.47589347e+01] [ 6.76068095e-01 7.36018470e-01 -3.47669748e-02 3.53769668e+01] [ 5.21876889e-02 -7.64714451e-04 9.98637001e-01 4.53843239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.418040942 meters 0.020034903722455227 Centerline is valid? [True, True] Translation: X:94.78, Y:35.39, Z:4.54 [[ 7.35231802e-01 -6.76706422e-01 -3.87635977e-02 9.47817654e+01] [ 6.75819750e-01 7.36252596e-01 -3.46378367e-02 3.53929349e+01] [ 5.19794460e-02 -7.30365833e-04 9.98647888e-01 4.54206409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.448040942 meters 0.02022871560262867 Centerline is valid? [True, True] Translation: X:94.80, Y:35.41, Z:4.54 [[ 7.35611159e-01 -6.76286991e-01 -3.88860963e-02 9.48040093e+01] [ 6.75393171e-01 7.36637923e-01 -3.47654273e-02 3.54081684e+01] [ 5.21563794e-02 -6.89567624e-04 9.98638692e-01 4.54333323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.478040942 meters 0.019847630495999958 Centerline is valid? [True, True] Translation: X:94.83, Y:35.43, Z:4.55 [[ 7.36158021e-01 -6.75708784e-01 -3.85876548e-02 9.48267020e+01] [ 6.74827292e-01 7.37168390e-01 -3.45092798e-02 3.54259940e+01] [ 5.17638228e-02 -6.35719444e-04 9.98659152e-01 4.54538815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.508040942 meters 0.019621016128658287 Centerline is valid? [True, True] Translation: X:94.85, Y:35.44, Z:4.55 [[ 7.37630224e-01 -6.74106522e-01 -3.84973972e-02 9.48507931e+01] [ 6.73226097e-01 7.38633967e-01 -3.44453974e-02 3.54419910e+01] [ 5.16553522e-02 -5.09486268e-04 9.98664841e-01 4.54817647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.538040942 meters 0.019468350785998515 Centerline is valid? [True, True] Translation: X:94.87, Y:35.46, Z:4.55 [[ 7.38835284e-01 -6.72801859e-01 -3.82110178e-02 9.48726971e+01] [ 6.71931884e-01 7.39822611e-01 -3.42059454e-02 3.54608056e+01] [ 5.12831987e-02 -4.02641851e-04 9.98684070e-01 4.55014455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.568040942 meters 0.019120619353183453 Centerline is valid? [True, True] Translation: X:94.89, Y:35.48, Z:4.55 [[ 7.41677554e-01 -6.69707438e-01 -3.75013787e-02 9.48931986e+01] [ 6.68864704e-01 7.42625018e-01 -3.35870431e-02 3.54809268e+01] [ 5.03429546e-02 -1.72592584e-04 9.98731975e-01 4.55199693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.598040942 meters 0.018999525547657495 Centerline is valid? [True, True] Translation: X:94.91, Y:35.50, Z:4.55 [[ 7.43278073e-01 -6.67953783e-01 -3.70870635e-02 9.49130407e+01] [ 6.67126555e-01 7.44202757e-01 -3.32327772e-02 3.55003309e+01] [ 4.97982541e-02 -4.05703168e-05 9.98759296e-01 4.55383780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.628040942 meters 0.018937364245408445 Centerline is valid? [True, True] Translation: X:94.93, Y:35.52, Z:4.56 [[ 7.44580623e-01 -6.66501731e-01 -3.70828509e-02 9.49337687e+01] [ 6.65671935e-01 7.45503479e-01 -3.32481149e-02 3.55198289e+01] [ 4.98053205e-02 7.08889709e-05 9.98758942e-01 4.55564711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.658040942 meters 0.018937364245408445 Centerline is valid? [True, True] Translation: X:94.95, Y:35.54, Z:4.56 [[ 7.44389107e-01 -6.66716153e-01 -3.70732904e-02 9.49542272e+01] [ 6.65886092e-01 7.45311724e-01 -3.32587723e-02 3.55382967e+01] [ 4.98053187e-02 7.08793251e-05 9.98758942e-01 4.55687042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.688040942 meters 0.01897389960066158 Centerline is valid? [True, True] Translation: X:94.97, Y:35.56, Z:4.56 [[ 7.45678860e-01 -6.65265899e-01 -3.72064657e-02 9.49746236e+01] [ 6.64427139e-01 7.46606489e-01 -3.33965046e-02 3.55573302e+01] [ 4.99961444e-02 1.82081892e-04 9.98749394e-01 4.55857479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.718040942 meters 0.018946530281392274 Centerline is valid? [True, True] Translation: X:95.00, Y:35.58, Z:4.56 [[ 7.45798459e-01 -6.65133981e-01 -3.71677904e-02 9.49956367e+01] [ 6.64296296e-01 7.46724010e-01 -3.33719060e-02 3.55761224e+01] [ 4.99508702e-02 1.98290613e-04 9.98751656e-01 4.56028740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.748040942 meters 0.0189613279704373 Centerline is valid? [True, True] Translation: X:95.02, Y:35.59, Z:4.56 [[ 7.45094941e-01 -6.65940901e-01 -3.68272242e-02 9.50165424e+01] [ 6.65118565e-01 7.46004485e-01 -3.30847775e-02 3.55940303e+01] [ 4.95057809e-02 1.56829858e-04 9.98773825e-01 4.56315443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.778040942 meters 0.018966677289733554 Centerline is valid? [True, True] Translation: X:95.04, Y:35.61, Z:4.56 [[ 7.44320177e-01 -6.66800467e-01 -3.69406559e-02 9.50365246e+01] [ 6.65973219e-01 7.45236288e-01 -3.32046095e-02 3.56116824e+01] [ 4.96703664e-02 1.13373263e-04 9.98765659e-01 4.56354346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.808040942 meters 0.018939677729549218 Centerline is valid? [True, True] Translation: X:95.06, Y:35.63, Z:4.57 [[ 7.43283670e-01 -6.67957619e-01 -3.69053551e-02 9.50582897e+01] [ 6.67132915e-01 7.44199313e-01 -3.31821640e-02 3.56299019e+01] [ 4.96292192e-02 4.29834831e-05 9.98767710e-01 4.56580086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.838040942 meters 0.018924429685357232 Centerline is valid? [True, True] Translation: X:95.08, Y:35.65, Z:4.57 [[ 7.40579028e-01 -6.70940656e-01 -3.71663792e-02 9.50806215e+01] [ 6.70107033e-01 7.41511035e-01 -3.34357366e-02 3.56476258e+01] [ 4.99926754e-02 -1.43646794e-04 9.98749574e-01 4.56743873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.868040942 meters 0.019036229874066574 Centerline is valid? [True, True] Translation: X:95.10, Y:35.67, Z:4.57 [[ 7.39268025e-01 -6.72374288e-01 -3.73577783e-02 9.51017390e+01] [ 6.71532956e-01 7.40211297e-01 -3.36262506e-02 3.56653837e+01] [ 5.02620758e-02 -2.28167432e-04 9.98736037e-01 4.56808663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.898040942 meters 0.019256381950719048 Centerline is valid? [True, True] Translation: X:95.12, Y:35.68, Z:4.57 [[ 7.36214929e-01 -6.75640818e-01 -3.86919058e-02 9.51245059e+01] [ 6.74742109e-01 7.37230816e-01 -3.48397718e-02 3.56831337e+01] [ 5.20640372e-02 -4.57498021e-04 9.98643644e-01 4.56845042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.928040942 meters 0.019482433857116538 Centerline is valid? [True, True] Translation: X:95.15, Y:35.70, Z:4.57 [[ 7.34916370e-01 -6.77047625e-01 -3.87871376e-02 9.51460946e+01] [ 6.76145599e-01 7.35939002e-01 -3.49415756e-02 3.57014672e+01] [ 5.22020781e-02 -5.46616431e-04 9.98636392e-01 4.56904063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.958040942 meters 0.019800162454418582 Centerline is valid? [True, True] Translation: X:95.17, Y:35.72, Z:4.57 [[ 7.33622036e-01 -6.78428491e-01 -3.91598208e-02 9.51676144e+01] [ 6.77510662e-01 7.34666159e-01 -3.52836717e-02 3.57194527e+01] [ 5.27068433e-02 -6.46317125e-04 9.98609819e-01 4.57021943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.988040942 meters 0.020321284939312744 Centerline is valid? [True, True] Translation: X:95.19, Y:35.74, Z:4.57 [[ 7.31199222e-01 -6.81006466e-01 -3.97226808e-02 9.51898602e+01] [ 6.80065386e-01 7.32276923e-01 -3.57991486e-02 3.57376756e+01] [ 5.34674541e-02 -8.37710718e-04 9.98569241e-01 4.57083533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.018040942 meters 0.02101923938362924 Centerline is valid? [True, True] Translation: X:95.21, Y:35.76, Z:4.57 [[ 7.29301370e-01 -6.83077977e-01 -3.90383015e-02 9.52108652e+01] [ 6.82171209e-01 7.30344818e-01 -3.51978537e-02 3.57555552e+01] [ 5.25542999e-02 -9.60962444e-04 9.98617606e-01 4.57138505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.048040942 meters 0.021200810735127765 Centerline is valid? [True, True] Translation: X:95.23, Y:35.78, Z:4.57 [[ 7.28299008e-01 -6.84158458e-01 -3.88298836e-02 9.52323978e+01] [ 6.83262477e-01 7.29332673e-01 -3.50176882e-02 3.57750656e+01] [ 5.22775504e-02 -1.02765493e-03 9.98632065e-01 4.57285655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.078040942 meters 0.021377120415055854 Centerline is valid? [True, True] Translation: X:95.25, Y:35.79, Z:4.57 [[ 7.27660922e-01 -6.84860793e-01 -3.84093319e-02 9.52539714e+01] [ 6.83984237e-01 7.28673166e-01 -3.46551778e-02 3.57939161e+01] [ 5.17218221e-02 -1.05415896e-03 9.98660974e-01 4.57455771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.108040942 meters 0.021256790649086966 Centerline is valid? [True, True] Translation: X:95.27, Y:35.81, Z:4.58 [[ 7.27165077e-01 -6.85419203e-01 -3.78347291e-02 9.52745012e+01] [ 6.84568590e-01 7.28147912e-01 -3.41535463e-02 3.58129638e+01] [ 5.09587754e-02 -1.06520102e-03 9.98700190e-01 4.57651058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.138040942 meters 0.02131957312414331 Centerline is valid? [True, True] Translation: X:95.29, Y:35.83, Z:4.58 [[ 7.26878576e-01 -6.85748067e-01 -3.73781251e-02 9.52948472e+01] [ 6.84917350e-01 7.27838212e-01 -3.37603517e-02 3.58317544e+01] [ 5.03563236e-02 -1.06125002e-03 9.98730752e-01 4.57792394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.168040942 meters 0.021260430984959347 Centerline is valid? [True, True] Translation: X:95.31, Y:35.85, Z:4.58 [[ 7.27760724e-01 -6.84812775e-01 -3.73603045e-02 9.53142118e+01] [ 6.83980711e-01 7.28718393e-01 -3.37622550e-02 3.58513787e+01] [ 5.03459646e-02 -9.82884528e-04 9.98731354e-01 4.57923561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.198040942 meters 0.021130306670648323 Centerline is valid? [True, True] Translation: X:95.34, Y:35.87, Z:4.58 [[ 7.28559151e-01 -6.83989346e-01 -3.68800373e-02 9.53351342e+01] [ 6.83176991e-01 7.29491434e-01 -3.33383619e-02 3.58720270e+01] [ 4.97067557e-02 -9.06624269e-04 9.98763444e-01 4.58038980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.228040942 meters 0.020832480373481017 Centerline is valid? [True, True] Translation: X:95.36, Y:35.89, Z:4.58 [[ 7.29288681e-01 -6.83202400e-01 -3.70472680e-02 9.53553729e+01] [ 6.82380880e-01 7.30228571e-01 -3.35047714e-02 3.58927130e+01] [ 4.99435138e-02 -8.45696738e-04 9.98751686e-01 4.58161833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.258040942 meters 0.0204281417232823 Centerline is valid? [True, True] Translation: X:95.37, Y:35.91, Z:4.58 [[ 7.31367441e-01 -6.80964798e-01 -3.72640602e-02 9.53742922e+01] [ 6.80129956e-01 7.32315830e-01 -3.37159995e-02 3.59137119e+01] [ 5.02484699e-02 -6.85619302e-04 9.98736512e-01 4.58234153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.288040942 meters 0.019839652848646343 Centerline is valid? [True, True] Translation: X:95.39, Y:35.93, Z:4.58 [[ 7.32398756e-01 -6.79857779e-01 -3.72217930e-02 9.53943008e+01] [ 6.79023049e-01 7.33343736e-01 -3.36847539e-02 3.59346377e+01] [ 5.01972107e-02 -6.03783486e-04 9.98739143e-01 4.58415235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.318040942 meters 0.019753221087988236 Centerline is valid? [True, True] Translation: X:95.41, Y:35.95, Z:4.59 [[ 7.33424480e-01 -6.78744319e-01 -3.73454465e-02 9.54149251e+01] [ 6.77901776e-01 7.34374483e-01 -3.38127149e-02 3.59539325e+01] [ 5.03757311e-02 -5.17471715e-04 9.98730203e-01 4.58540537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.348040942 meters 0.019544425364590477 Centerline is valid? [True, True] Translation: X:95.43, Y:35.97, Z:4.59 [[ 7.35166315e-01 -6.76847379e-01 -3.75248515e-02 9.54345998e+01] [ 6.75993758e-01 7.36123277e-01 -3.39847010e-02 3.59730916e+01] [ 5.06253725e-02 -3.82158018e-04 9.98717641e-01 4.58626554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.378040942 meters 0.01933758949931484 Centerline is valid? [True, True] Translation: X:95.46, Y:35.99, Z:4.59 [[ 7.35597034e-01 -6.76418558e-01 -3.68094831e-02 9.54551701e+01] [ 6.75596315e-01 7.36517358e-01 -3.33436843e-02 3.59935782e+01] [ 4.96651101e-02 -3.40835894e-04 9.98765869e-01 4.58812555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.408040942 meters 0.01923644330014789 Centerline is valid? [True, True] Translation: X:95.48, Y:36.01, Z:4.59 [[ 7.36123714e-01 -6.75892810e-01 -3.59275304e-02 9.54750187e+01] [ 6.75108134e-01 7.36999883e-01 -3.25604056e-02 3.60124233e+01] [ 4.84859297e-02 -2.86481249e-04 9.98823825e-01 4.58981813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.438040942 meters 0.01921884832818995 Centerline is valid? [True, True] Translation: X:95.50, Y:36.03, Z:4.59 [[ 7.35992750e-01 -6.76029898e-01 -3.60312205e-02 9.54960111e+01] [ 6.75240398e-01 7.36874137e-01 -3.26636001e-02 3.60312380e+01] [ 4.86320447e-02 -2.89562831e-04 9.98816720e-01 4.59108787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.468040942 meters 0.019241722548123192 Centerline is valid? [True, True] Translation: X:95.52, Y:36.05, Z:4.59 [[ 7.35479609e-01 -6.76583326e-01 -3.61213021e-02 9.55175406e+01] [ 6.75789655e-01 7.36366013e-01 -3.27633517e-02 3.60499447e+01] [ 4.87656367e-02 -3.13625144e-04 9.98810199e-01 4.59202032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.498040942 meters 0.019594889991490116 Centerline is valid? [True, True] Translation: X:95.54, Y:36.07, Z:4.59 [[ 7.33730881e-01 -6.78466233e-01 -3.63670849e-02 9.55403273e+01] [ 6.77663187e-01 7.34631463e-01 -3.30033071e-02 3.60666878e+01] [ 4.91080342e-02 -4.29089015e-04 9.98793380e-01 4.59306622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.528040942 meters 0.019849597855092355 Centerline is valid? [True, True] Translation: X:95.56, Y:36.08, Z:4.59 [[ 7.32255944e-01 -6.80065687e-01 -3.62200786e-02 9.55625313e+01] [ 6.79270792e-01 7.33150994e-01 -3.28756914e-02 3.60844157e+01] [ 4.89124163e-02 -5.29821000e-04 9.98802931e-01 4.59446841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.558040942 meters 0.020725152527479935 Centerline is valid? [True, True] Translation: X:95.59, Y:36.10, Z:4.60 [[ 7.29244522e-01 -6.83330735e-01 -3.55180719e-02 9.55862652e+01] [ 6.82569817e-01 7.30108607e-01 -3.22469840e-02 3.61017076e+01] [ 4.79674053e-02 -7.27627351e-04 9.98848636e-01 4.59588296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.588040942 meters 0.0212666453761598 Centerline is valid? [True, True] Translation: X:95.61, Y:36.12, Z:4.60 [[ 7.27491985e-01 -6.85221079e-01 -3.50354779e-02 9.56087529e+01] [ 6.84482197e-01 7.28334665e-01 -3.18235460e-02 3.61200791e+01] [ 4.73237176e-02 -8.29786214e-04 9.98879261e-01 4.59716706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.618040942 meters 0.021850749747581576 Centerline is valid? [True, True] Translation: X:95.63, Y:36.14, Z:4.60 [[ 7.26105260e-01 -6.86697624e-01 -3.48930308e-02 9.56312383e+01] [ 6.85965744e-01 7.26942599e-01 -3.17089279e-02 3.61381561e+01] [ 4.71396759e-02 -9.11404441e-04 9.98887892e-01 4.59893823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.648040942 meters 0.022955212630042323 Centerline is valid? [True, True] Translation: X:95.65, Y:36.15, Z:4.60 [[ 7.23848219e-01 -6.89091331e-01 -3.45961361e-02 9.56544184e+01] [ 6.88373907e-01 7.24673747e-01 -3.14535166e-02 3.61546335e+01] [ 4.67452573e-02 -1.04750541e-03 9.98906294e-01 4.60054966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.678040942 meters 0.021706133841701235 Centerline is valid? [True, True] Translation: X:95.67, Y:36.18, Z:4.60 [[ 7.22881683e-01 -6.90112218e-01 -3.44557364e-02 9.56744592e+01] [ 6.89401188e-01 7.23701538e-01 -3.13382540e-02 3.61761000e+01] [ 4.65625814e-02 -1.09997574e-03 9.98914769e-01 4.60239584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.708040942 meters 0.024108549426365335 Centerline is valid? [True, True] Translation: X:95.70, Y:36.19, Z:4.60 [[ 7.22301648e-01 -6.90751640e-01 -3.38009186e-02 9.56991723e+01] [ 6.90067413e-01 7.23091241e-01 -3.07574800e-02 3.61898802e+01] [ 4.56869279e-02 -1.10873401e-03 9.98955192e-01 4.60391764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.738040942 meters 0.02336185751582037 Centerline is valid? [True, True] Translation: X:95.72, Y:36.21, Z:4.61 [[ 7.22498600e-01 -6.90552330e-01 -3.36638213e-02 9.57189208e+01] [ 6.89873175e-01 7.23281617e-01 -3.06383065e-02 3.62105379e+01] [ 4.55057770e-02 -1.08763375e-03 9.98963483e-01 4.60560889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.768040942 meters 0.02198135652011451 Centerline is valid? [True, True] Translation: X:95.74, Y:36.23, Z:4.61 [[ 7.23196777e-01 -6.89817880e-01 -3.37300370e-02 9.57379156e+01] [ 6.89134596e-01 7.23982200e-01 -3.07129022e-02 3.62330489e+01] [ 4.56062555e-02 -1.03306361e-03 9.98958959e-01 4.60659466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.798040942 meters 0.023762640505936728 Centerline is valid? [True, True] Translation: X:95.76, Y:36.25, Z:4.61 [[ 7.23762602e-01 -6.89189838e-01 -3.44247570e-02 9.57605257e+01] [ 6.88476681e-01 7.24580128e-01 -3.13607795e-02 3.62495615e+01] [ 4.65570254e-02 -1.00288304e-03 9.98915130e-01 4.60680045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.828040942 meters 0.024809909959135214 Centerline is valid? [True, True] Translation: X:95.78, Y:36.27, Z:4.60 [[ 7.25103477e-01 -6.87740712e-01 -3.51803945e-02 9.57790512e+01] [ 6.86993910e-01 7.25955822e-01 -3.20548267e-02 3.62701509e+01] [ 4.75848216e-02 -9.25650482e-04 9.98866772e-01 4.60474730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.858040942 meters 0.02119840267416476 Centerline is valid? [True, True] Translation: X:95.80, Y:36.29, Z:4.61 [[ 7.26181918e-01 -6.86627442e-01 -3.46782167e-02 9.57962555e+01] [ 6.85900293e-01 7.27008980e-01 -3.16027114e-02 3.62945649e+01] [ 4.69106638e-02 -8.36481388e-04 9.98898739e-01 4.60735592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.888040942 meters 0.021141473668289678 Centerline is valid? [True, True] Translation: X:95.82, Y:36.31, Z:4.61 [[ 7.26290493e-01 -6.86528427e-01 -3.43633306e-02 9.58159410e+01] [ 6.85813615e-01 7.27102510e-01 -3.13309018e-02 3.63124852e+01] [ 4.64952187e-02 -8.11503809e-04 9.98918183e-01 4.60876426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.918040942 meters 0.022037482529124755 Centerline is valid? [True, True] Translation: X:95.84, Y:36.33, Z:4.61 [[ 7.26458160e-01 -6.86346186e-01 -3.44594592e-02 9.58365582e+01] [ 6.85626700e-01 7.27274557e-01 -3.14284545e-02 3.63316879e+01] [ 4.66322877e-02 -7.94868036e-04 9.98911807e-01 4.60976112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.948040942 meters 0.021014251391320085 Centerline is valid? [True, True] Translation: X:95.86, Y:36.35, Z:4.61 [[ 7.26481379e-01 -6.86350638e-01 -3.38763639e-02 9.58568487e+01] [ 6.85654527e-01 7.27270383e-01 -3.09137470e-02 3.63503407e+01] [ 4.58549461e-02 -7.69220731e-04 9.98947813e-01 4.61214909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.978040942 meters 0.021199835833022162 Centerline is valid? [True, True] Translation: X:95.88, Y:36.37, Z:4.61 [[ 7.25936093e-01 -6.86879462e-01 -3.48338070e-02 9.58784204e+01] [ 6.86143178e-01 7.26770903e-01 -3.18055686e-02 3.63699685e+01] [ 4.71627892e-02 -8.12168778e-04 9.98886886e-01 4.61223471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.008040942 meters 0.020984442675324313 Centerline is valid? [True, True] Translation: X:95.90, Y:36.39, Z:4.61 [[ 7.25312873e-01 -6.87522986e-01 -3.51194962e-02 9.58991654e+01] [ 6.86774570e-01 7.26162118e-01 -3.20822209e-02 3.63907946e+01] [ 4.75597121e-02 -8.49529015e-04 9.98868035e-01 4.61308096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.038040942 meters 0.02181637489181996 Centerline is valid? [True, True] Translation: X:95.92, Y:36.41, Z:4.61 [[ 7.24273236e-01 -6.88627907e-01 -3.49268710e-02 9.59204705e+01] [ 6.87888226e-01 7.25114326e-01 -3.19218162e-02 3.64080833e+01] [ 4.73082280e-02 -9.05666229e-04 9.98879928e-01 4.61352815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.068040942 meters 0.021506328652221206 Centerline is valid? [True, True] Translation: X:95.94, Y:36.43, Z:4.62 [[ 7.23473204e-01 -6.89477658e-01 -3.47431017e-02 9.59407369e+01] [ 6.88746379e-01 7.24306327e-01 -3.17611469e-02 3.64284443e+01] [ 4.70632496e-02 -9.50846775e-04 9.98891459e-01 4.61560245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.098040942 meters 0.021991722852051827 Centerline is valid? [True, True] Translation: X:95.96, Y:36.45, Z:4.62 [[ 7.22933900e-01 -6.90095791e-01 -3.36804951e-02 9.59616007e+01] [ 6.89408580e-01 7.23717415e-01 -3.08044317e-02 3.64463040e+01] [ 4.56331695e-02 -9.50054363e-04 9.98957813e-01 4.61820581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.128040942 meters 0.021998655899139907 Centerline is valid? [True, True] Translation: X:95.98, Y:36.47, Z:4.62 [[ 7.22327593e-01 -6.90741575e-01 -3.34503267e-02 9.59828262e+01] [ 6.90064067e-01 7.23101043e-01 -3.06017046e-02 3.64665382e+01] [ 4.53258358e-02 -9.78412815e-04 9.98971777e-01 4.62016270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.158040942 meters 0.022082830720279768 Centerline is valid? [True, True] Translation: X:96.00, Y:36.49, Z:4.62 [[ 7.21590296e-01 -6.91531119e-01 -3.30477849e-02 9.60036323e+01] [ 6.90869995e-01 7.22345971e-01 -3.02481000e-02 3.64870598e+01] [ 4.47894367e-02 -1.00498758e-03 9.98995944e-01 4.62147242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.188040942 meters 0.022850321561956842 Centerline is valid? [True, True] Translation: X:96.02, Y:36.51, Z:4.62 [[ 7.20371433e-01 -6.92809968e-01 -3.28534227e-02 9.60241988e+01] [ 6.92157268e-01 7.21119414e-01 -3.00850057e-02 3.65059105e+01] [ 4.45344327e-02 -1.06735666e-03 9.99007280e-01 4.62179261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.218040942 meters 0.022816598089682616 Centerline is valid? [True, True] Translation: X:96.04, Y:36.53, Z:4.62 [[ 7.19681165e-01 -6.93537488e-01 -3.26308642e-02 9.60448792e+01] [ 6.92894121e-01 7.20419697e-01 -2.98864068e-02 3.65253404e+01] [ 4.42352608e-02 -1.10104994e-03 9.99020535e-01 4.62311166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.248040942 meters 0.02330186204438258 Centerline is valid? [True, True] Translation: X:96.07, Y:36.54, Z:4.62 [[ 7.19007189e-01 -6.94229040e-01 -3.27826639e-02 9.60659825e+01] [ 6.93580152e-01 7.19753242e-01 -3.00307133e-02 3.65428170e+01] [ 4.44436219e-02 -1.14510623e-03 9.99011238e-01 4.62485585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.278040942 meters 0.023064323002659017 Centerline is valid? [True, True] Translation: X:96.09, Y:36.56, Z:4.63 [[ 7.18787789e-01 -6.94460440e-01 -3.26926867e-02 9.60860621e+01] [ 6.93815122e-01 7.19529964e-01 -2.99534206e-02 3.65624213e+01] [ 4.43248333e-02 -1.15252745e-03 9.99016507e-01 4.62663627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.308040942 meters 0.02291542487605283 Centerline is valid? [True, True] Translation: X:96.11, Y:36.58, Z:4.63 [[ 7.18925736e-01 -6.94301343e-01 -3.30368024e-02 9.61065084e+01] [ 6.93641426e-01 7.19683500e-01 -3.02858364e-02 3.65822417e+01] [ 4.48035384e-02 -1.14242753e-03 9.98995164e-01 4.62783429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.338040942 meters 0.02269647863802893 Centerline is valid? [True, True] Translation: X:96.13, Y:36.60, Z:4.63 [[ 7.19076726e-01 -6.94107270e-01 -3.38195113e-02 9.61262295e+01] [ 6.93414762e-01 7.19870672e-01 -3.10190779e-02 3.66042656e+01] [ 4.58762418e-02 -1.14585140e-03 9.98946474e-01 4.62786694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.368040942 meters 0.022967588110718 Centerline is valid? [True, True] Translation: X:96.15, Y:36.62, Z:4.63 [[ 7.18869614e-01 -6.94298363e-01 -3.42966534e-02 9.61454004e+01] [ 6.93585703e-01 7.19686340e-01 -3.14713165e-02 3.66231559e+01] [ 4.65333165e-02 -1.16389530e-03 9.98916060e-01 4.62789118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.398040942 meters 0.022918330653981196 Centerline is valid? [True, True] Translation: X:96.17, Y:36.64, Z:4.63 [[ 7.18241561e-01 -6.94929735e-01 -3.46658836e-02 9.61657682e+01] [ 6.94201782e-01 7.19076631e-01 -3.18227053e-02 3.66443284e+01] [ 4.70419710e-02 -1.20872864e-03 9.98892182e-01 4.62815781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.428040942 meters 0.02319039921831555 Centerline is valid? [True, True] Translation: X:96.19, Y:36.66, Z:4.63 [[ 7.17734989e-01 -6.95470019e-01 -3.43211219e-02 9.61872744e+01] [ 6.94756388e-01 7.18554078e-01 -3.15213927e-02 3.66623361e+01] [ 4.65837657e-02 -1.22081225e-03 9.98913641e-01 4.63005988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.458040942 meters 0.02415538075998886 Centerline is valid? [True, True] Translation: X:96.21, Y:36.68, Z:4.63 [[ 7.16516853e-01 -6.96730618e-01 -3.42059232e-02 9.62100910e+01] [ 6.96022845e-01 7.17331705e-01 -3.14233098e-02 3.66785663e+01] [ 4.64305752e-02 -1.29277292e-03 9.98920683e-01 4.63215786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.488040942 meters 0.02351159994868192 Centerline is valid? [True, True] Translation: X:96.23, Y:36.70, Z:4.63 [[ 7.15816285e-01 -6.97440776e-01 -3.44007373e-02 9.62302370e+01] [ 6.96725450e-01 7.16641167e-01 -3.16083032e-02 3.66998831e+01] [ 4.66979041e-02 -1.34213100e-03 9.98908156e-01 4.63355055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.518040942 meters 0.024193801113646357 Centerline is valid? [True, True] Translation: X:96.25, Y:36.72, Z:4.63 [[ 7.15437495e-01 -6.97786911e-01 -3.52507763e-02 9.62507164e+01] [ 6.97035429e-01 7.16304057e-01 -3.24053727e-02 3.67192341e+01] [ 4.78623190e-02 -1.38702130e-03 9.98852979e-01 4.63347130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.548040942 meters 0.024405661920988135 Centerline is valid? [True, True] Translation: X:96.27, Y:36.74, Z:4.63 [[ 7.15467689e-01 -6.97740790e-01 -3.55496229e-02 9.62705256e+01] [ 6.96975981e-01 7.16348980e-01 -3.26897599e-02 3.67370920e+01] [ 4.82749150e-02 -1.38876628e-03 9.98833121e-01 4.63413286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.578040942 meters 0.024405661920988135 Centerline is valid? [True, True] Translation: X:96.29, Y:36.76, Z:4.64 [[ 7.15277438e-01 -6.97936085e-01 -3.55444498e-02 9.62907509e+01] [ 6.97171238e-01 7.16158696e-01 -3.26953838e-02 3.67558238e+01] [ 4.82747550e-02 -1.39429769e-03 9.98833121e-01 4.63535866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.608040942 meters 0.02405166187905225 Centerline is valid? [True, True] Translation: X:96.31, Y:36.78, Z:4.64 [[ 7.15079915e-01 -6.98097390e-01 -3.63421065e-02 9.63104913e+01] [ 6.97297093e-01 7.16001402e-01 -3.34478205e-02 3.67756618e+01] [ 4.93708354e-02 -1.42338058e-03 9.98779502e-01 4.63603472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.638040942 meters 0.02384765479231965 Centerline is valid? [True, True] Translation: X:96.33, Y:36.80, Z:4.64 [[ 7.15015887e-01 -6.98134983e-01 -3.68758306e-02 9.63309645e+01] [ 6.97310083e-01 7.15964728e-01 -3.39581636e-02 3.67951815e+01] [ 5.01091760e-02 -1.43326199e-03 9.98742718e-01 4.63658086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.668040942 meters 0.02414626753179178 Centerline is valid? [True, True] Translation: X:96.35, Y:36.81, Z:4.64 [[ 7.14877464e-01 -6.98223912e-01 -3.78626394e-02 9.63509480e+01] [ 6.97353400e-01 7.15877939e-01 -3.48856987e-02 3.68132489e+01] [ 5.14630573e-02 -1.46464048e-03 9.98673825e-01 4.63687307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.698040942 meters 0.02319116273119594 Centerline is valid? [True, True] Translation: X:96.37, Y:36.83, Z:4.64 [[ 7.14870476e-01 -6.98219622e-01 -3.80731074e-02 9.63699716e+01] [ 6.97338745e-01 7.15882125e-01 -3.50921303e-02 3.68337046e+01] [ 5.17578710e-02 -1.46352502e-03 9.98658591e-01 4.63842176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.728040942 meters 0.023764357059849337 Centerline is valid? [True, True] Translation: X:96.39, Y:36.85, Z:4.64 [[ 7.15134645e-01 -6.97877928e-01 -3.93552649e-02 9.63904488e+01] [ 6.96935110e-01 7.16215210e-01 -3.62935929e-02 3.68513184e+01] [ 5.35153367e-02 -1.47326012e-03 9.98565941e-01 4.63924209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.758040942 meters 0.023844491275519495 Centerline is valid? [True, True] Translation: X:96.41, Y:36.87, Z:4.64 [[ 7.15135469e-01 -6.97839000e-01 -4.00248788e-02 9.64112355e+01] [ 6.96863022e-01 7.16253113e-01 -3.69243404e-02 3.68705368e+01] [ 5.44351888e-02 -1.48595251e-03 9.98516200e-01 4.63997616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.788040942 meters 0.023107063258582163 Centerline is valid? [True, True] Translation: X:96.43, Y:36.89, Z:4.64 [[ 7.15076319e-01 -6.97855877e-01 -4.07802984e-02 9.64304910e+01] [ 6.96841539e-01 7.16236640e-01 -3.76423254e-02 3.68911245e+01] [ 5.54772619e-02 -1.50027043e-03 9.98458824e-01 4.64178816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.818040942 meters 0.02260239652374944 Centerline is valid? [True, True] Translation: X:96.45, Y:36.91, Z:4.64 [[ 7.15497897e-01 -6.97404833e-01 -4.11005802e-02 9.64513595e+01] [ 6.96372566e-01 7.16675912e-01 -3.79590097e-02 3.69117137e+01] [ 5.59285926e-02 -1.46172492e-03 9.98433701e-01 4.64354599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.848040942 meters 0.022777170395429425 Centerline is valid? [True, True] Translation: X:96.47, Y:36.93, Z:4.64 [[ 7.15920857e-01 -6.96959079e-01 -4.12961042e-02 9.64721443e+01] [ 6.95915289e-01 7.17109490e-01 -3.81561385e-02 3.69306698e+01] [ 5.62070954e-02 -1.42181485e-03 9.98418119e-01 4.64463108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.878040942 meters 0.022547409735645497 Centerline is valid? [True, True] Translation: X:96.49, Y:36.95, Z:4.65 [[ 7.16521981e-01 -6.96259569e-01 -4.26481280e-02 9.64910675e+01] [ 6.95144536e-01 7.17788713e-01 -3.94136692e-02 3.69494808e+01] [ 5.80544892e-02 -1.40585275e-03 9.98312426e-01 4.64556161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.908040942 meters 0.022381392403826063 Centerline is valid? [True, True] Translation: X:96.51, Y:36.97, Z:4.65 [[ 7.16861499e-01 -6.95902027e-01 -4.27780296e-02 9.65116134e+01] [ 6.94778747e-01 7.18135425e-01 -3.95474972e-02 3.69694073e+01] [ 5.82416020e-02 -1.37118764e-03 9.98301576e-01 4.64684717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.938040942 meters 0.022193845971793757 Centerline is valid? [True, True] Translation: X:96.53, Y:36.99, Z:4.65 [[ 7.17467079e-01 -6.95284884e-01 -4.26605305e-02 9.65321857e+01] [ 6.94165561e-01 7.18733073e-01 -3.94581109e-02 3.69893336e+01] [ 5.80961622e-02 -1.30357552e-03 9.98310141e-01 4.64797572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.968040942 meters 0.021690030803479282 Centerline is valid? [True, True] Translation: X:96.55, Y:37.01, Z:4.65 [[ 7.18464917e-01 -6.94227062e-01 -4.30923291e-02 9.65523623e+01] [ 6.93081896e-01 7.19755032e-01 -3.98770458e-02 3.70098010e+01] [ 5.86996451e-02 -1.21625471e-03 9.98274948e-01 4.64984316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.998040942 meters 0.021546592616478028 Centerline is valid? [True, True] Translation: X:96.57, Y:37.03, Z:4.65 [[ 7.18411330e-01 -6.94277719e-01 -4.31695449e-02 9.65730372e+01] [ 6.93127346e-01 7.19706183e-01 -3.99686481e-02 3.70290323e+01] [ 5.88187302e-02 -1.20806241e-03 9.98267949e-01 4.65114099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.028040942 meters 0.021062520399057573 Centerline is valid? [True, True] Translation: X:96.59, Y:37.05, Z:4.65 [[ 7.18631479e-01 -6.94017442e-01 -4.36873945e-02 9.65935975e+01] [ 6.92837442e-01 7.19957212e-01 -4.04708805e-02 3.70475301e+01] [ 5.95405518e-02 -1.18461394e-03 9.98225185e-01 4.65307155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.058040942 meters 0.021194595621950196 Centerline is valid? [True, True] Translation: X:96.61, Y:37.06, Z:4.65 [[ 7.18491871e-01 -6.94163001e-01 -4.36710416e-02 9.66145077e+01] [ 6.92982942e-01 7.19816874e-01 -4.04760470e-02 3.70648343e+01] [ 5.95321269e-02 -1.18157612e-03 9.98225691e-01 4.65416577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.088040942 meters 0.020870785671782188 Centerline is valid? [True, True] Translation: X:96.64, Y:37.08, Z:4.66 [[ 7.18486730e-01 -6.94169270e-01 -4.36559741e-02 9.66351416e+01] [ 6.92989127e-01 7.19810847e-01 -4.04773464e-02 3.70831006e+01] [ 5.95221737e-02 -1.17067912e-03 9.98226297e-01 4.65639712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.118040942 meters 0.021673590368449517 Centerline is valid? [True, True] Translation: X:96.66, Y:37.10, Z:4.66 [[ 7.18448204e-01 -6.94219121e-01 -4.34970245e-02 9.66570973e+01] [ 6.93046458e-01 7.19762792e-01 -4.03501006e-02 3.70986816e+01] [ 5.93193511e-02 -1.15600148e-03 9.98238387e-01 4.65700731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.148040942 meters 0.020556372993297427 Centerline is valid? [True, True] Translation: X:96.68, Y:37.12, Z:4.66 [[ 7.18512666e-01 -6.94142229e-01 -4.36590797e-02 9.66759325e+01] [ 6.92959761e-01 7.19836967e-01 -4.05155467e-02 3.71197590e+01] [ 5.95509714e-02 -1.14305204e-03 9.98224612e-01 4.65967475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.178040942 meters 0.02025126067481459 Centerline is valid? [True, True] Translation: X:96.70, Y:37.14, Z:4.66 [[ 7.19574121e-01 -6.93018138e-01 -4.40334619e-02 9.66958259e+01] [ 6.91811806e-01 7.20919395e-01 -4.08858305e-02 3.71403320e+01] [ 6.00791988e-02 -1.04248329e-03 9.98193069e-01 4.65960065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.208040942 meters 0.020189864004986364 Centerline is valid? [True, True] Translation: X:96.72, Y:37.16, Z:4.66 [[ 7.20247235e-01 -6.92322041e-01 -4.39785279e-02 9.67158517e+01] [ 6.91116321e-01 7.21588006e-01 -4.08531492e-02 3.71594129e+01] [ 6.00179139e-02 -9.69910594e-04 9.98196829e-01 4.65986331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.238040942 meters 0.019982477166247733 Centerline is valid? [True, True] Translation: X:96.74, Y:37.18, Z:4.66 [[ 7.20763558e-01 -6.91788086e-01 -4.39219479e-02 9.67364867e+01] [ 6.90583626e-01 7.22099999e-01 -4.08147927e-02 3.71797004e+01] [ 5.99512259e-02 -9.13962842e-04 9.98200889e-01 4.66135760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.268040942 meters 0.019764680237396835 Centerline is valid? [True, True] Translation: X:96.76, Y:37.20, Z:4.66 [[ 7.21912716e-01 -6.90605975e-01 -4.36510879e-02 9.67568776e+01] [ 6.89413176e-01 7.23230772e-01 -4.05798519e-02 3.71987456e+01] [ 5.95944981e-02 -7.98524041e-04 9.98222349e-01 4.66305956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.298040942 meters 0.019704728295680957 Centerline is valid? [True, True] Translation: X:96.78, Y:37.22, Z:4.66 [[ 7.22085597e-01 -6.90436412e-01 -4.34735805e-02 9.67762034e+01] [ 6.89252508e-01 7.23392674e-01 -4.04230071e-02 3.72174140e+01] [ 5.93579856e-02 -7.75403185e-04 9.98236459e-01 4.66428999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.328040942 meters 0.01956672571153946 Centerline is valid? [True, True] Translation: X:96.80, Y:37.24, Z:4.67 [[ 7.22342422e-01 -6.90199341e-01 -4.29685269e-02 9.67964061e+01] [ 6.89041614e-01 7.23618909e-01 -3.99665872e-02 3.72377350e+01] [ 5.86777507e-02 -7.37541732e-04 9.98276704e-01 4.66559574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.358040942 meters 0.019383505198758817 Centerline is valid? [True, True] Translation: X:96.82, Y:37.26, Z:4.67 [[ 7.22710513e-01 -6.89884899e-01 -4.18131526e-02 9.68155349e+01] [ 6.88787059e-01 7.23918755e-01 -3.89104564e-02 3.72595382e+01] [ 5.71130617e-02 -6.79362496e-04 9.98367486e-01 4.66614915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.388040942 meters 0.01915512315999063 Centerline is valid? [True, True] Translation: X:96.84, Y:37.28, Z:4.67 [[ 7.22378745e-01 -6.90274277e-01 -4.11141235e-02 9.68352647e+01] [ 6.89212433e-01 7.23547479e-01 -3.82788209e-02 3.72800808e+01] [ 5.61709058e-02 -6.84558528e-04 9.98420934e-01 4.66681249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.418040942 meters 0.01920582807247651 Centerline is valid? [True, True] Translation: X:96.86, Y:37.30, Z:4.67 [[ 7.22252992e-01 -6.90397172e-01 -4.12596660e-02 9.68557007e+01] [ 6.89326784e-01 7.23430219e-01 -3.84357073e-02 3.72989950e+01] [ 5.63843928e-02 -6.81088222e-04 9.98408902e-01 4.66761523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.448040942 meters 0.019012213256677887 Centerline is valid? [True, True] Translation: X:96.88, Y:37.32, Z:4.67 [[ 7.22397843e-01 -6.90264386e-01 -4.09442724e-02 9.68756363e+01] [ 6.89208924e-01 7.23556946e-01 -3.81628703e-02 3.73182324e+01] [ 5.59679830e-02 -6.50382760e-04 9.98432352e-01 4.66900408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.478040942 meters 0.018714568067206453 Centerline is valid? [True, True] Translation: X:96.90, Y:37.34, Z:4.67 [[ 7.23418735e-01 -6.89221773e-01 -4.04806472e-02 9.68955995e+01] [ 6.88187330e-01 7.24550238e-01 -3.77511721e-02 3.73391277e+01] [ 5.53491923e-02 -5.48363375e-04 9.98466908e-01 4.67024933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.508040942 meters 0.018604577289870073 Centerline is valid? [True, True] Translation: X:96.92, Y:37.36, Z:4.67 [[ 7.24260820e-01 -6.88347636e-01 -4.02963632e-02 9.69155329e+01] [ 6.87320216e-01 7.25380807e-01 -3.75979583e-02 3.73601148e+01] [ 5.51106742e-02 -4.65776923e-04 9.98480143e-01 4.67106242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.538040942 meters 0.01831108655366804 Centerline is valid? [True, True] Translation: X:96.93, Y:37.38, Z:4.67 [[ 7.26313423e-01 -6.86263784e-01 -3.88694008e-02 9.69333618e+01] [ 6.85303968e-01 7.27352691e-01 -3.62840715e-02 3.73827706e+01] [ 5.31722075e-02 -2.83746421e-04 9.98585317e-01 4.67225057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.568040942 meters 0.018242589354127026 Centerline is valid? [True, True] Translation: X:96.95, Y:37.40, Z:4.67 [[ 7.27341687e-01 -6.85223149e-01 -3.79908689e-02 9.69524195e+01] [ 6.84304025e-01 7.28333165e-01 -3.54796066e-02 3.74026637e+01] [ 5.19814576e-02 -1.91507584e-04 9.98648032e-01 4.67335756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.598040942 meters 0.0180402456609946 Centerline is valid? [True, True] Translation: X:96.97, Y:37.42, Z:4.68 [[ 7.28191826e-01 -6.84359983e-01 -3.72569201e-02 9.69718359e+01] [ 6.83474536e-01 7.29144292e-01 -3.48017363e-02 3.74234335e+01] [ 5.09825863e-02 -1.21816319e-04 9.98699535e-01 4.67525131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.628040942 meters 0.01793557865003713 Centerline is valid? [True, True] Translation: X:96.99, Y:37.44, Z:4.68 [[ 7.29830626e-01 -6.82672275e-01 -3.61361529e-02 9.69896002e+01] [ 6.81836447e-01 7.30724685e-01 -3.37712202e-02 3.74441394e+01] [ 4.94602547e-02 8.32470538e-06 9.98776093e-01 4.67678864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.658040942 meters 0.01796179819256286 Centerline is valid? [True, True] Translation: X:97.01, Y:37.46, Z:4.68 [[ 7.30198931e-01 -6.82317057e-01 -3.53970988e-02 9.70093510e+01] [ 6.81514227e-01 7.31056381e-01 -3.30896743e-02 3.74638419e+01] [ 4.84549242e-02 3.84183604e-05 9.98825370e-01 4.67900708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.688040942 meters 0.017916229724525022 Centerline is valid? [True, True] Translation: X:97.03, Y:37.48, Z:4.68 [[ 7.29871687e-01 -6.82738409e-01 -3.39938944e-02 9.70289890e+01] [ 6.81997684e-01 7.30662893e-01 -3.17945716e-02 3.74826900e+01] [ 4.65454525e-02 2.22003516e-05 9.98916173e-01 4.68075284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.718040942 meters 0.017966923795211625 Centerline is valid? [True, True] Translation: X:97.05, Y:37.50, Z:4.68 [[ 7.29343450e-01 -6.83322592e-01 -3.35911651e-02 9.70489497e+01] [ 6.82599508e-01 7.30116590e-01 -3.14273139e-02 3.75021027e+01] [ 4.60004605e-02 -8.00722053e-06 9.98941418e-01 4.68207844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.748040942 meters 0.017889187278558195 Centerline is valid? [True, True] Translation: X:97.07, Y:37.52, Z:4.68 [[ 7.28435370e-01 -6.84308040e-01 -3.32327917e-02 9.70692710e+01] [ 6.83600531e-01 7.29193049e-01 -3.11096709e-02 3.75218178e+01] [ 4.55217187e-02 -5.65694402e-05 9.98963348e-01 4.68290998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.778040942 meters 0.01798729321442706 Centerline is valid? [True, True] Translation: X:97.09, Y:37.54, Z:4.68 [[ 7.26432898e-01 -6.86410211e-01 -3.37085563e-02 9.70895991e+01] [ 6.85683714e-01 7.27214543e-01 -3.15729756e-02 3.75406639e+01] [ 4.61853652e-02 -1.77759877e-04 9.98932871e-01 4.68374080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.808040942 meters 0.018152481325616386 Centerline is valid? [True, True] Translation: X:97.11, Y:37.56, Z:4.68 [[ 7.25168410e-01 -6.87736037e-01 -3.39104793e-02 9.71101573e+01] [ 6.87001965e-01 7.25960795e-01 -3.17682842e-02 3.75598989e+01] [ 4.64658724e-02 -2.59209805e-04 9.98919844e-01 4.68478406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.838040942 meters 0.018621041798353315 Centerline is valid? [True, True] Translation: X:97.13, Y:37.58, Z:4.69 [[ 7.22733087e-01 -6.90328188e-01 -3.32246605e-02 9.71309218e+01] [ 6.89625484e-01 7.23496254e-01 -3.11426114e-02 3.75786557e+01] [ 4.55365399e-02 -4.04776928e-04 9.98962592e-01 4.68613516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.868040942 meters 0.018714781086094062 Centerline is valid? [True, True] Translation: X:97.15, Y:37.60, Z:4.69 [[ 7.21535092e-01 -6.91606790e-01 -3.26674034e-02 9.71516140e+01] [ 6.90928429e-01 7.22274065e-01 -3.06281077e-02 3.75990816e+01] [ 4.47774256e-02 -4.71583210e-04 9.98996877e-01 4.68797725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.898040942 meters 0.01876609147271707 Centerline is valid? [True, True] Translation: X:97.17, Y:37.62, Z:4.69 [[ 7.20641519e-01 -6.92564324e-01 -3.21007691e-02 9.71717947e+01] [ 6.91909621e-01 7.21355943e-01 -3.01111440e-02 3.76196228e+01] [ 4.40099846e-02 -5.11490475e-04 9.99030960e-01 4.69023485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.928040942 meters 0.019042825247052968 Centerline is valid? [True, True] Translation: X:97.19, Y:37.64, Z:4.69 [[ 7.19805932e-01 -6.93485395e-01 -3.09423047e-02 9.71901466e+01] [ 6.92877360e-01 7.20470484e-01 -2.90386941e-02 3.76405107e+01] [ 4.24309275e-02 -5.36998152e-04 9.99099258e-01 4.69273417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.958040942 meters 0.01924099428860757 Centerline is valid? [True, True] Translation: X:97.21, Y:37.66, Z:4.69 [[ 7.19874968e-01 -6.93435466e-01 -3.04513535e-02 9.72073487e+01] [ 6.92846247e-01 7.20518552e-01 -2.85848694e-02 3.76621936e+01] [ 4.17625274e-02 -5.20574002e-04 9.99127429e-01 4.69443445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.988040942 meters 0.01920413547830484 Centerline is valid? [True, True] Translation: X:97.23, Y:37.68, Z:4.70 [[ 7.19928868e-01 -6.93397602e-01 -3.00365013e-02 9.72263292e+01] [ 6.92823973e-01 7.20555002e-01 -2.82034040e-02 3.76833865e+01] [ 4.11991240e-02 -5.05563440e-04 9.99150828e-01 4.69594760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.018040942 meters 0.019064169753035022 Centerline is valid? [True, True] Translation: X:97.24, Y:37.70, Z:4.70 [[ 7.19702345e-01 -6.93665625e-01 -2.92666376e-02 9.72449323e+01] [ 6.93120666e-01 7.20296990e-01 -2.74952567e-02 3.77047590e+01] [ 4.01531854e-02 -4.96910596e-04 9.99193412e-01 4.69731110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.048040942 meters 0.01919099409452513 Centerline is valid? [True, True] Translation: X:97.26, Y:37.72, Z:4.70 [[ 7.19732055e-01 -6.93656023e-01 -2.87591695e-02 9.72636070e+01] [ 6.93129157e-01 7.20306251e-01 -2.70347429e-02 3.77242328e+01] [ 3.94682218e-02 -4.76047793e-04 9.99220713e-01 4.69895780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.078040942 meters 0.019166721091311182 Centerline is valid? [True, True] Translation: X:97.28, Y:37.75, Z:4.70 [[ 7.19422772e-01 -6.93994313e-01 -2.83331936e-02 9.72816285e+01] [ 6.93483004e-01 7.19980319e-01 -2.66395027e-02 3.77464411e+01] [ 3.88870051e-02 -4.83523342e-04 9.99243497e-01 4.70096283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.108040942 meters 0.019331399137526413 Centerline is valid? [True, True] Translation: X:97.30, Y:37.77, Z:4.70 [[ 7.19305843e-01 -6.94108858e-01 -2.84955717e-02 9.73002320e+01] [ 6.93591104e-01 7.19869893e-01 -2.68089168e-02 3.77660103e+01] [ 3.91214108e-02 -4.80464531e-04 9.99234349e-01 4.70231014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.138040942 meters 0.019204990818167334 Centerline is valid? [True, True] Translation: X:97.32, Y:37.79, Z:4.70 [[ 7.18909827e-01 -6.94476733e-01 -2.95080948e-02 9.73168771e+01] [ 6.93921571e-01 7.19514978e-01 -2.77677954e-02 3.77888405e+01] [ 4.05156040e-02 -5.13762522e-04 9.99178774e-01 4.70186552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.168040942 meters 0.019788067655014653 Centerline is valid? [True, True] Translation: X:97.34, Y:37.81, Z:4.70 [[ 7.18738343e-01 -6.94632657e-01 -3.00111002e-02 9.73365693e+01] [ 6.94057815e-01 7.19364444e-01 -2.82585600e-02 3.78077558e+01] [ 4.12182370e-02 -5.18928048e-04 9.99150033e-01 4.70311257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.198040942 meters 0.019359897752081988 Centerline is valid? [True, True] Translation: X:97.35, Y:37.83, Z:4.70 [[ 7.18460565e-01 -6.94902202e-01 -3.04194944e-02 9.73538707e+01] [ 6.94311564e-01 7.19104054e-01 -2.86498060e-02 3.78302723e+01] [ 4.17835950e-02 -5.36850906e-04 9.99126540e-01 4.70335715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22804094199999 meters 0.019648205382004125 Centerline is valid? [True, True] Translation: X:97.37, Y:37.85, Z:4.70 [[ 7.18157580e-01 -6.95225267e-01 -3.01913814e-02 9.73712700e+01] [ 6.94643038e-01 7.18791721e-01 -2.84519113e-02 3.78516945e+01] [ 4.14818026e-02 -5.39277155e-04 9.99139114e-01 4.70432440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.258040942 meters 0.019498531232658888 Centerline is valid? [True, True] Translation: X:97.39, Y:37.87, Z:4.71 [[ 7.17947753e-01 -6.95443298e-01 -3.01602931e-02 9.73896078e+01] [ 6.94862241e-01 7.18580767e-01 -2.84279193e-02 3.78726534e+01] [ 4.14426125e-02 -5.47488084e-04 9.99140736e-01 4.70541700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.288040942 meters 0.019959429371363163 Centerline is valid? [True, True] Translation: X:97.41, Y:37.89, Z:4.71 [[ 7.17460238e-01 -6.95927441e-01 -3.05908911e-02 9.74064195e+01] [ 6.95329382e-01 7.18111878e-01 -2.88509968e-02 3.78938316e+01] [ 4.20458827e-02 -5.71302389e-04 9.99115518e-01 4.70698929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.318040942 meters 0.019825272293759282 Centerline is valid? [True, True] Translation: X:97.42, Y:37.92, Z:4.71 [[ 7.16747954e-01 -6.96671936e-01 -3.03411164e-02 9.74247900e+01] [ 6.96084017e-01 7.17389606e-01 -2.86215906e-02 3.79161103e+01] [ 4.17062605e-02 -6.05499662e-04 9.99129732e-01 4.70782789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.348040942 meters 0.020228282696636672 Centerline is valid? [True, True] Translation: X:97.44, Y:37.94, Z:4.71 [[ 7.15866424e-01 -6.97591781e-01 -3.00161614e-02 9.74437719e+01] [ 6.97016601e-01 7.16495147e-01 -2.83295174e-02 3.79368271e+01] [ 4.12688725e-02 -6.41612436e-04 9.99147871e-01 4.70887768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.378040942 meters 0.020783763717641422 Centerline is valid? [True, True] Translation: X:97.46, Y:37.96, Z:4.71 [[ 7.13396356e-01 -7.00144075e-01 -2.93924115e-02 9.74614975e+01] [ 6.99594454e-01 7.14001180e-01 -2.77473325e-02 3.79598442e+01] [ 4.04133470e-02 -7.67922187e-04 9.99182752e-01 4.71025786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.408040942 meters 0.021163393209621954 Centerline is valid? [True, True] Translation: X:97.48, Y:37.98, Z:4.71 [[ 7.12034595e-01 -7.01553542e-01 -2.87986739e-02 9.74813298e+01] [ 7.01026542e-01 7.12616273e-01 -2.71998896e-02 3.79802608e+01] [ 3.96045826e-02 -8.21372479e-04 9.99215093e-01 4.71187172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.438040942 meters 0.02220186803284628 Centerline is valid? [True, True] Translation: X:97.50, Y:38.00, Z:4.71 [[ 7.08833794e-01 -7.04798002e-01 -2.85381986e-02 9.75004041e+01] [ 7.04282565e-01 7.09407365e-01 -2.69677436e-02 3.80002321e+01] [ 3.92520201e-02 -9.83307673e-04 9.99228859e-01 4.71344641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.468040942 meters 0.02220186803284628 Centerline is valid? [True, True] Translation: X:97.52, Y:38.02, Z:4.71 [[ 7.08637398e-01 -7.04995613e-01 -2.85346056e-02 9.75203609e+01] [ 7.04480183e-01 7.09210975e-01 -2.69715449e-02 3.80192170e+01] [ 3.92518763e-02 -9.89018845e-04 9.99228859e-01 4.71467172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.498040942 meters 0.022764751068869157 Centerline is valid? [True, True] Translation: X:97.54, Y:38.04, Z:4.72 [[ 7.07287609e-01 -7.06356519e-01 -2.83673438e-02 9.75404817e+01] [ 7.05847615e-01 7.07855473e-01 -2.68285989e-02 3.80398713e+01] [ 3.90305353e-02 -1.04748640e-03 9.99237469e-01 4.71583933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.528040942 meters 0.023425339958264544 Centerline is valid? [True, True] Translation: X:97.56, Y:38.06, Z:4.72 [[ 7.05913681e-01 -7.07738494e-01 -2.81442523e-02 9.75595155e+01] [ 7.07238133e-01 7.06473639e-01 -2.66312039e-02 3.80596233e+01] [ 3.87311005e-02 -1.10535727e-03 9.99249058e-01 4.71695150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.558040942 meters 0.02448072531181899 Centerline is valid? [True, True] Translation: X:97.58, Y:38.08, Z:4.72 [[ 7.03491821e-01 -7.10140331e-01 -2.82837173e-02 9.75772215e+01] [ 7.09636636e-01 7.04059072e-01 -2.67706478e-02 3.80828009e+01] [ 3.89243245e-02 -1.23823028e-03 9.99241394e-01 4.71702501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.588040942 meters 0.025497761807918875 Centerline is valid? [True, True] Translation: X:97.60, Y:38.10, Z:4.72 [[ 7.02397194e-01 -7.11207161e-01 -2.86802307e-02 9.75962969e+01] [ 7.10689566e-01 7.02981272e-01 -2.71601215e-02 3.81033104e+01] [ 3.94781380e-02 -1.30554754e-03 9.99219582e-01 4.71767857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.618040942 meters 0.02605643561280242 Centerline is valid? [True, True] Translation: X:97.62, Y:38.13, Z:4.72 [[ 7.01075337e-01 -7.12519763e-01 -2.84422148e-02 9.76157434e+01] [ 7.12011666e-01 7.01650713e-01 -2.69381575e-02 3.81250815e+01] [ 3.91504699e-02 -1.36551096e-03 9.99232393e-01 4.71833843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.648040942 meters 0.027251981387358872 Centerline is valid? [True, True] Translation: X:97.63, Y:38.15, Z:4.72 [[ 6.99528906e-01 -7.14044919e-01 -2.82694935e-02 9.76341206e+01] [ 7.13543693e-01 7.00098423e-01 -2.67880012e-02 3.81463040e+01] [ 3.89192640e-02 -1.43253760e-03 9.99241332e-01 4.71963568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.678040942 meters 0.027701801993415834 Centerline is valid? [True, True] Translation: X:97.65, Y:38.17, Z:4.72 [[ 6.98965043e-01 -7.14606616e-01 -2.80223653e-02 9.76542266e+01] [ 7.14114344e-01 6.99525047e-01 -2.65596084e-02 3.81675140e+01] [ 3.85820182e-02 -1.44693520e-03 9.99254389e-01 4.72148219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.708040942 meters 0.02857791909526403 Centerline is valid? [True, True] Translation: X:97.67, Y:38.19, Z:4.72 [[ 6.98132543e-01 -7.15425255e-01 -2.78864962e-02 9.76714687e+01] [ 7.14937877e-01 6.98687718e-01 -2.64443617e-02 3.81903005e+01] [ 3.84029167e-02 -1.47544293e-03 9.99261247e-01 4.72284351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.738040942 meters 0.028907704256898696 Centerline is valid? [True, True] Translation: X:97.69, Y:38.21, Z:4.72 [[ 6.97903533e-01 -7.15666382e-01 -2.74278708e-02 9.76895862e+01] [ 7.15194998e-01 6.98440757e-01 -2.60120034e-02 3.82126640e+01] [ 3.77726592e-02 -1.46240690e-03 9.99285288e-01 4.72361906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.768040942 meters 0.02646383615273325 Centerline is valid? [True, True] Translation: X:97.70, Y:38.24, Z:4.72 [[ 6.97774821e-01 -7.15780054e-01 -2.77347076e-02 9.77037313e+01] [ 7.15297619e-01 6.98324236e-01 -2.63168665e-02 3.82379031e+01] [ 3.82049066e-02 -1.47532354e-03 9.99268837e-01 4.72352429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.798040942 meters 0.029236718881827398 Centerline is valid? [True, True] Translation: X:97.72, Y:38.26, Z:4.72 [[ 6.98496620e-01 -7.15069750e-01 -2.78877074e-02 9.77228674e+01] [ 7.14580779e-01 6.99051643e-01 -2.64784783e-02 3.82575504e+01] [ 3.84289065e-02 -1.43289207e-03 9.99260309e-01 4.72487636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.828040942 meters 0.028120372709984156 Centerline is valid? [True, True] Translation: X:97.74, Y:38.28, Z:4.73 [[ 6.99108313e-01 -7.14465225e-01 -2.80536784e-02 9.77409039e+01] [ 7.13969796e-01 6.99669541e-01 -2.66395208e-02 3.82807503e+01] [ 3.86613155e-02 -1.40556860e-03 9.99251383e-01 4.72618394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.858040942 meters 0.024956236587100777 Centerline is valid? [True, True] Translation: X:97.75, Y:38.31, Z:4.73 [[ 7.01389539e-01 -7.12252284e-01 -2.73751363e-02 9.77534320e+01] [ 7.11778399e-01 7.01922457e-01 -2.60072058e-02 3.83097213e+01] [ 3.77389147e-02 -1.24384855e-03 9.99286859e-01 4.72747423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.888040942 meters 0.024830006035471513 Centerline is valid? [True, True] Translation: X:97.77, Y:38.33, Z:4.73 [[ 7.02531601e-01 -7.11115253e-01 -2.76486200e-02 9.77711359e+01] [ 7.10630545e-01 7.03074454e-01 -2.62781326e-02 3.83315436e+01] [ 3.81258194e-02 -1.18673534e-03 9.99272242e-01 4.72885148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.918040942 meters 0.02430651240731574 Centerline is valid? [True, True] Translation: X:97.79, Y:38.36, Z:4.73 [[ 7.03458884e-01 -7.10172512e-01 -2.82948966e-02 9.77876471e+01] [ 7.09663971e-01 7.04026745e-01 -2.68959263e-02 3.83561753e+01] [ 3.90211116e-02 -1.15969037e-03 9.99237713e-01 4.72810509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.948040942 meters 0.02302772355244018 Centerline is valid? [True, True] Translation: X:97.80, Y:38.38, Z:4.73 [[ 7.05862671e-01 -7.07750105e-01 -2.91149102e-02 9.78033187e+01] [ 7.07208989e-01 7.06462099e-01 -2.76902310e-02 3.83805972e+01] [ 4.01663445e-02 -1.04482578e-03 9.99192460e-01 4.72899361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.97804094199999 meters 0.023588935144412213 Centerline is valid? [True, True] Translation: X:97.82, Y:38.40, Z:4.73 [[ 7.06884437e-01 -7.06675174e-01 -3.04070978e-02 9.78205896e+01] [ 7.06083439e-01 7.07537392e-01 -2.89312445e-02 3.84046062e+01] [ 4.19591509e-02 -1.01890175e-03 9.99118808e-01 4.72879596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.008040942 meters 0.022810387164545046 Centerline is valid? [True, True] Translation: X:97.84, Y:38.42, Z:4.73 [[ 7.07390765e-01 -7.06165845e-01 -3.04648211e-02 9.78394484e+01] [ 7.05570756e-01 7.08045789e-01 -2.90011918e-02 3.84246435e+01] [ 4.20501394e-02 -9.79911630e-04 9.99115021e-01 4.73114088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.038040942 meters 0.02240588509954416 Centerline is valid? [True, True] Translation: X:97.86, Y:38.45, Z:4.73 [[ 7.06916632e-01 -7.06635224e-01 -3.05865342e-02 9.78580227e+01] [ 7.06035611e-01 7.07577305e-01 -2.91216893e-02 3.84463849e+01] [ 4.22207489e-02 -1.00857583e-03 9.99107798e-01 4.73213692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.068040942 meters 0.025364739606868754 Centerline is valid? [True, True] Translation: X:97.88, Y:38.47, Z:4.73 [[ 7.05923855e-01 -7.07581595e-01 -3.16195723e-02 9.78774916e+01] [ 7.06941027e-01 7.06630808e-01 -3.01211975e-02 3.84665806e+01] [ 4.36565689e-02 -1.08990107e-03 9.99046003e-01 4.73175283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.098040942 meters 0.02314796999476358 Centerline is valid? [True, True] Translation: X:97.90, Y:38.49, Z:4.74 [[ 7.04969047e-01 -7.08579162e-01 -3.05649040e-02 9.78955913e+01] [ 7.07981353e-01 7.05630455e-01 -2.91215382e-02 3.84873463e+01] [ 4.22024423e-02 -1.10959905e-03 9.99108464e-01 4.73548155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.128040942 meters 0.023511250764795637 Centerline is valid? [True, True] Translation: X:97.92, Y:38.51, Z:4.74 [[ 7.04032472e-01 -7.09513053e-01 -3.04878002e-02 9.79164801e+01] [ 7.08918936e-01 7.04691339e-01 -2.90526884e-02 3.85075986e+01] [ 4.20977504e-02 -1.15934290e-03 9.99112824e-01 4.73690779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.158040942 meters 0.024591758162670674 Centerline is valid? [True, True] Translation: X:97.94, Y:38.53, Z:4.74 [[ 7.02302401e-01 -7.11209689e-01 -3.08563622e-02 9.79352894e+01] [ 7.10602118e-01 7.02978787e-01 -2.94185982e-02 3.85291972e+01] [ 4.26141602e-02 -1.26584419e-03 9.99090802e-01 4.73843337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.188040942 meters 0.0235668034662458 Centerline is valid? [True, True] Translation: X:97.96, Y:38.55, Z:4.74 [[ 7.02091690e-01 -7.11451606e-01 -3.00644502e-02 9.79551689e+01] [ 7.10874472e-01 7.02734004e-01 -2.86776157e-02 3.85494130e+01] [ 4.15300472e-02 -1.23773445e-03 9.99136489e-01 4.74140783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.218040942 meters 0.024169232757695988 Centerline is valid? [True, True] Translation: X:97.97, Y:38.57, Z:4.74 [[ 7.01832657e-01 -7.11705946e-01 -3.00926603e-02 9.79747284e+01] [ 7.11127255e-01 7.02476408e-01 -2.87214687e-02 3.85681932e+01] [ 4.15806239e-02 -1.24204624e-03 9.99134380e-01 4.74279620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.248040942 meters 0.02439360508415115 Centerline is valid? [True, True] Translation: X:97.99, Y:38.59, Z:4.74 [[ 7.02409847e-01 -7.11083986e-01 -3.13044908e-02 9.79929913e+01] [ 7.10456588e-01 7.03105976e-01 -2.98901860e-02 3.85914174e+01] [ 4.32648071e-02 -1.24532072e-03 9.99062864e-01 4.74271809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.278040942 meters 0.022958343651184005 Centerline is valid? [True, True] Translation: X:98.01, Y:38.61, Z:4.74 [[ 7.03300305e-01 -7.10200584e-01 -3.13657503e-02 9.80117930e+01] [ 7.09569199e-01 7.03998389e-01 -2.99636534e-02 3.86131711e+01] [ 4.33616418e-02 -1.18272377e-03 9.99058742e-01 4.74419880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.308040942 meters 0.022726693200196994 Centerline is valid? [True, True] Translation: X:98.03, Y:38.64, Z:4.75 [[ 7.04728803e-01 -7.08755245e-01 -3.19893233e-02 9.80300871e+01] [ 7.08096307e-01 7.05453600e-01 -3.05751051e-02 3.86351383e+01] [ 4.42372495e-02 -1.10436452e-03 9.99020443e-01 4.74510452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.338040942 meters 0.022572986321109018 Centerline is valid? [True, True] Translation: X:98.05, Y:38.66, Z:4.75 [[ 7.05514152e-01 -7.07988607e-01 -3.16530204e-02 9.80503397e+01] [ 7.07342030e-01 7.06223096e-01 -3.02686589e-02 3.86559378e+01] [ 4.37839598e-02 -1.03454447e-03 9.99040487e-01 4.74668564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.368040942 meters 0.022038078671523936 Centerline is valid? [True, True] Translation: X:98.07, Y:38.68, Z:4.75 [[ 7.08046588e-01 -7.05451315e-01 -3.17564344e-02 9.80684894e+01] [ 7.04797273e-01 7.08757847e-01 -3.03828519e-02 3.86768422e+01] [ 4.39412449e-02 -8.69373702e-04 9.99033739e-01 4.74868572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.398040942 meters 0.021726088839971455 Centerline is valid? [True, True] Translation: X:98.09, Y:38.70, Z:4.75 [[ 7.09499202e-01 -7.03974986e-01 -3.20951893e-02 9.80884368e+01] [ 7.03305155e-01 7.10224336e-01 -3.07124046e-02 3.86982646e+01] [ 4.44155491e-02 -7.82285571e-04 9.99012836e-01 4.74991971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.428040942 meters 0.021438071699864093 Centerline is valid? [True, True] Translation: X:98.11, Y:38.72, Z:4.75 [[ 7.10810315e-01 -7.02642772e-01 -3.22774042e-02 9.81085260e+01] [ 7.01963256e-01 7.11542448e-01 -3.09019696e-02 3.87194742e+01] [ 4.46797888e-02 -6.92112951e-04 9.99001120e-01 4.75110603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.458040942 meters 0.020874599955443912 Centerline is valid? [True, True] Translation: X:98.13, Y:38.74, Z:4.75 [[ 7.13508907e-01 -6.99883926e-01 -3.26730824e-02 9.81272445e+01] [ 6.99184040e-01 7.14256415e-01 -3.12962026e-02 3.87413131e+01] [ 4.52406679e-02 -5.14378432e-04 9.98975984e-01 4.75259884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.488040942 meters 0.020729357717592684 Centerline is valid? [True, True] Translation: X:98.15, Y:38.76, Z:4.75 [[ 7.15037306e-01 -6.98318029e-01 -3.27655408e-02 9.81462650e+01] [ 6.97611836e-01 7.15787514e-01 -3.14000091e-02 3.87610069e+01] [ 4.53803575e-02 -4.05451200e-04 9.98969699e-01 4.75374367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.518040942 meters 0.02028779396511248 Centerline is valid? [True, True] Translation: X:98.17, Y:38.78, Z:4.75 [[ 7.18056122e-01 -6.95157082e-01 -3.39416621e-02 9.81656221e+01] [ 6.94395409e-01 7.18857835e-01 -3.25334882e-02 3.87830236e+01] [ 4.70151145e-02 -2.08063938e-04 9.98894156e-01 4.75439223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.548040942 meters 0.02021430265299147 Centerline is valid? [True, True] Translation: X:98.19, Y:38.80, Z:4.76 [[ 7.19370852e-01 -6.93782706e-01 -3.42218347e-02 9.81853525e+01] [ 6.93006082e-01 7.20184383e-01 -3.28180596e-02 3.88032697e+01] [ 4.74146331e-02 -1.07584107e-04 9.98875288e-01 4.75563186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.578040942 meters 0.020144382757201394 Centerline is valid? [True, True] Translation: X:98.21, Y:38.82, Z:4.76 [[ 7.20511097e-01 -6.92595334e-01 -3.42850222e-02 9.82051833e+01] [ 6.91813628e-01 7.21326350e-01 -3.28968176e-02 3.88235203e+01] [ 4.75148722e-02 -1.63234551e-05 9.98870530e-01 4.75689777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.608040942 meters 0.02016724947735718 Centerline is valid? [True, True] Translation: X:98.22, Y:38.84, Z:4.76 [[ 7.21275907e-01 -6.91799537e-01 -3.42704946e-02 9.82249946e+01] [ 6.91016732e-01 7.22089605e-01 -3.29010400e-02 3.88428886e+01] [ 4.75072922e-02 4.92422929e-05 9.98870890e-01 4.75857835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.638040942 meters 0.020090232284532317 Centerline is valid? [True, True] Translation: X:98.25, Y:38.86, Z:4.76 [[ 7.21626267e-01 -6.91404417e-01 -3.48634888e-02 9.82456007e+01] [ 6.90592887e-01 7.22467940e-01 -3.34894068e-02 3.88608585e+01] [ 4.83424767e-02 9.03582914e-05 9.98830815e-01 4.75957783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.668040942 meters 0.02004260275312682 Centerline is valid? [True, True] Translation: X:98.27, Y:38.88, Z:4.76 [[ 7.21320973e-01 -6.91716250e-01 -3.49954855e-02 9.82660109e+01] [ 6.90898306e-01 7.22169387e-01 -3.36289681e-02 3.88788269e+01] [ 4.85343720e-02 7.89583590e-05 9.98821510e-01 4.76021515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.698040942 meters 0.02005844743513892 Centerline is valid? [True, True] Translation: X:98.29, Y:38.90, Z:4.76 [[ 7.19982540e-01 -6.93103643e-01 -3.51067320e-02 9.82885125e+01] [ 6.92281690e-01 7.20837943e-01 -3.37449457e-02 3.88964638e+01] [ 4.86950093e-02 -7.97601779e-06 9.98813694e-01 4.76121329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72804094199999 meters 0.020069273717923955 Centerline is valid? [True, True] Translation: X:98.31, Y:38.91, Z:4.76 [[ 7.18843267e-01 -6.94278906e-01 -3.52300729e-02 9.83103558e+01] [ 6.93451643e-01 7.19706048e-01 -3.38824900e-02 3.89147085e+01] [ 4.88791946e-02 -7.41521381e-05 9.98804695e-01 4.76283589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.758040942 meters 0.020087160524380185 Centerline is valid? [True, True] Translation: X:98.33, Y:38.93, Z:4.76 [[ 7.17767504e-01 -6.95386043e-01 -3.53279087e-02 9.83316645e+01] [ 6.94554631e-01 7.18636370e-01 -3.39945889e-02 3.89316482e+01] [ 4.90272827e-02 -1.36951368e-04 9.98797430e-01 4.76340029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.788040942 meters 0.020132778334433526 Centerline is valid? [True, True] Translation: X:98.36, Y:38.95, Z:4.77 [[ 7.15400147e-01 -6.97797082e-01 -3.58030986e-02 9.83552290e+01] [ 6.96945683e-01 7.16295430e-01 -3.44611552e-02 3.89493120e+01] [ 4.96924894e-02 -2.99299478e-04 9.98764520e-01 4.76547930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.818040942 meters 0.02027513980839134 Centerline is valid? [True, True] Translation: X:98.38, Y:38.97, Z:4.77 [[ 7.14092384e-01 -6.99145456e-01 -3.56047640e-02 9.83767015e+01] [ 6.98304368e-01 7.14979362e-01 -3.42858923e-02 3.89671882e+01] [ 4.94274972e-02 -3.79667609e-04 9.98777642e-01 4.76692901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.848040942 meters 0.02050817033845499 Centerline is valid? [True, True] Translation: X:98.40, Y:38.98, Z:4.77 [[ 7.11749648e-01 -7.01535187e-01 -3.55080371e-02 9.83999592e+01] [ 7.00701284e-01 7.12634613e-01 -3.41997102e-02 3.89841792e+01] [ 4.92965563e-02 -5.38895470e-04 9.98784040e-01 4.76868452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.878040942 meters 0.020618904955069087 Centerline is valid? [True, True] Translation: X:98.42, Y:39.00, Z:4.77 [[ 7.10923215e-01 -7.02371599e-01 -3.55291487e-02 9.84219332e+01] [ 7.01536965e-01 7.11810223e-01 -3.42358466e-02 3.90022306e+01] [ 4.93362976e-02 -5.85953051e-04 9.98782052e-01 4.76979257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.908040942 meters 0.02068529728102074 Centerline is valid? [True, True] Translation: X:98.44, Y:39.02, Z:4.77 [[ 7.10026491e-01 -7.03276361e-01 -3.55632000e-02 9.84444006e+01] [ 7.02440905e-01 7.10916271e-01 -3.42758022e-02 3.90206683e+01] [ 4.93878190e-02 -6.44318847e-04 9.98779469e-01 4.77114402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.938040942 meters 0.021436594339025006 Centerline is valid? [True, True] Translation: X:98.47, Y:39.04, Z:4.77 [[ 7.08816989e-01 -7.04462507e-01 -3.62084517e-02 9.84674006e+01] [ 7.03597100e-01 7.09740830e-01 -3.49152547e-02 3.90383729e+01] [ 5.02951045e-02 -7.27635904e-04 9.98734135e-01 4.77243481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.968040942 meters 0.02096675110383052 Centerline is valid? [True, True] Translation: X:98.49, Y:39.06, Z:4.77 [[ 7.08497984e-01 -7.04796762e-01 -3.59462284e-02 9.84878233e+01] [ 7.03943463e-01 7.09408899e-01 -3.46787412e-02 3.90554096e+01] [ 4.99420388e-02 -7.34294317e-04 9.98751848e-01 4.77338197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.998040942 meters 0.02071835485994495 Centerline is valid? [True, True] Translation: X:98.51, Y:39.07, Z:4.77 [[ 7.08690201e-01 -7.04578941e-01 -3.64240895e-02 9.85094329e+01] [ 7.03701988e-01 7.09625250e-01 -3.51499125e-02 3.90736506e+01] [ 5.06133417e-02 -7.21305632e-04 9.98718063e-01 4.77446269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.028040942 meters 0.020597125799545164 Centerline is valid? [True, True] Translation: X:98.53, Y:39.09, Z:4.78 [[ 7.09349157e-01 -7.03906567e-01 -3.65967007e-02 9.85303420e+01] [ 7.03019460e-01 7.10292267e-01 -3.53346138e-02 3.90923549e+01] [ 5.08666202e-02 -6.63614252e-04 9.98705235e-01 4.77577539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.058040942 meters 0.020311909847022434 Centerline is valid? [True, True] Translation: X:98.55, Y:39.11, Z:4.78 [[ 7.09831860e-01 -7.03423866e-01 -3.65184397e-02 9.85507949e+01] [ 7.02539532e-01 7.10770341e-01 -3.52665299e-02 3.91123271e+01] [ 5.07635426e-02 -6.22341067e-04 9.98710506e-01 4.77727864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.088040942 meters 0.02016408956952001 Centerline is valid? [True, True] Translation: X:98.57, Y:39.13, Z:4.78 [[ 7.10845728e-01 -7.02395077e-01 -3.65992708e-02 9.85729040e+01] [ 7.01504642e-01 7.11787093e-01 -3.53606019e-02 3.91299839e+01] [ 5.08880012e-02 -5.38625604e-04 9.98704221e-01 4.77826998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.118040942 meters 0.019799181990456546 Centerline is valid? [True, True] Translation: X:98.59, Y:39.15, Z:4.78 [[ 7.11327370e-01 -7.01909895e-01 -3.65495862e-02 9.85934214e+01] [ 7.01020837e-01 7.12265577e-01 -3.53204527e-02 3.91489679e+01] [ 5.08247873e-02 -4.97616767e-04 9.98707461e-01 4.78061281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.148040942 meters 0.019536821273796537 Centerline is valid? [True, True] Translation: X:98.61, Y:39.17, Z:4.78 [[ 7.12381242e-01 -7.00841892e-01 -3.65185999e-02 9.86148687e+01] [ 6.99952012e-01 7.13316533e-01 -3.53087063e-02 3.91664127e+01] [ 5.07951416e-02 -4.08007384e-04 9.98709010e-01 4.78299677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.178040942 meters 0.019429001528914552 Centerline is valid? [True, True] Translation: X:98.64, Y:39.19, Z:4.78 [[ 7.12628555e-01 -7.00588394e-01 -3.65574162e-02 9.86356850e+01] [ 6.99695887e-01 7.13565522e-01 -3.53540817e-02 3.91852521e+01] [ 5.08547711e-02 -3.84745548e-04 9.98705985e-01 4.78416182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.208040942 meters 0.01938136100032297 Centerline is valid? [True, True] Translation: X:98.66, Y:39.20, Z:4.79 [[ 7.12988666e-01 -7.00198776e-01 -3.69977850e-02 9.86565880e+01] [ 6.99283070e-01 7.13947864e-01 -3.57999290e-02 3.92040910e+01] [ 5.14815561e-02 -3.46981068e-04 9.98673885e-01 4.78513163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.238040942 meters 0.019250382654064636 Centerline is valid? [True, True] Translation: X:98.68, Y:39.22, Z:4.79 [[ 7.13382764e-01 -6.99788090e-01 -3.71706997e-02 9.86774631e+01] [ 6.98862213e-01 7.14350430e-01 -3.59870905e-02 3.92230294e+01] [ 5.17362427e-02 -3.04627371e-04 9.98660737e-01 4.78640914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.268040942 meters 0.018954744198411706 Centerline is valid? [True, True] Translation: X:98.70, Y:39.24, Z:4.79 [[ 7.14976648e-01 -6.98150331e-01 -3.73431180e-02 9.86980876e+01] [ 6.97212655e-01 7.15951175e-01 -3.61722096e-02 3.92408181e+01] [ 5.19894893e-02 -1.73809301e-04 9.98647617e-01 4.78743267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.298040942 meters 0.018769796662145278 Centerline is valid? [True, True] Translation: X:98.72, Y:39.26, Z:4.79 [[ 7.16732606e-01 -6.96337721e-01 -3.75253081e-02 9.87191473e+01] [ 6.95387852e-01 7.17714272e-01 -3.63587527e-02 3.92595947e+01] [ 5.22504202e-02 -3.51397473e-05 9.98634013e-01 4.79030282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.328040942 meters 0.018711557138416445 Centerline is valid? [True, True] Translation: X:98.74, Y:39.28, Z:4.79 [[ 7.17760898e-01 -6.95277225e-01 -3.75349597e-02 9.87390507e+01] [ 6.94324404e-01 7.18741662e-01 -3.63874212e-02 3.92776905e+01] [ 5.22772846e-02 5.60295294e-05 9.98632606e-01 4.79080752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.358040942 meters 0.01868902267653696 Centerline is valid? [True, True] Translation: X:98.76, Y:39.30, Z:4.79 [[ 7.18436317e-01 -6.94567824e-01 -3.77464686e-02 9.87598418e+01] [ 6.93602669e-01 7.19427219e-01 -3.66034678e-02 3.92965015e+01] [ 5.25794280e-02 1.16209236e-04 9.98616738e-01 4.79208680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.388040942 meters 0.01865829699089282 Centerline is valid? [True, True] Translation: X:98.78, Y:39.31, Z:4.79 [[ 7.18993501e-01 -6.93969846e-01 -3.81339491e-02 9.87805514e+01] [ 6.92982919e-01 7.20004043e-01 -3.69979968e-02 3.93148070e+01] [ 5.31320917e-02 1.75143900e-04 9.98587477e-01 4.79272070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.418040942 meters 0.01865829699089282 Centerline is valid? [True, True] Translation: X:98.80, Y:39.33, Z:4.79 [[ 7.18802008e-01 -6.94168430e-01 -3.81295756e-02 9.88002354e+01] [ 6.93181543e-01 7.19812589e-01 -3.70025035e-02 3.93340389e+01] [ 5.31321183e-02 1.66755771e-04 9.98587477e-01 4.79394591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.448040942 meters 0.01854021035434038 Centerline is valid? [True, True] Translation: X:98.82, Y:39.35, Z:4.80 [[ 7.19079301e-01 -6.93860671e-01 -3.85009997e-02 9.88228703e+01] [ 6.92852884e-01 7.20109246e-01 -3.73838891e-02 3.93503068e+01] [ 5.36641362e-02 2.06452181e-04 9.98559021e-01 4.79613460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.47804094199999 meters 0.01832008322698817 Centerline is valid? [True, True] Translation: X:98.85, Y:39.37, Z:4.80 [[ 7.18669436e-01 -6.94281391e-01 -3.85693175e-02 9.88463759e+01] [ 6.93269474e-01 7.19703629e-01 -3.74716218e-02 3.93664713e+01] [ 5.37743275e-02 1.90778827e-04 9.98553096e-01 4.79746105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.508040942 meters 0.018261406116966597 Centerline is valid? [True, True] Translation: X:98.87, Y:39.38, Z:4.80 [[ 7.18405062e-01 -6.94549145e-01 -3.86736708e-02 9.88672850e+01] [ 6.93531085e-01 7.19445239e-01 -3.75923293e-02 3.93841502e+01] [ 5.39333085e-02 1.85126808e-04 9.98544523e-01 4.79775310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.538040942 meters 0.018298554683564484 Centerline is valid? [True, True] Translation: X:98.89, Y:39.40, Z:4.80 [[ 7.18161493e-01 -6.94787087e-01 -3.89226592e-02 9.88881439e+01] [ 6.93755684e-01 7.19215456e-01 -3.78441269e-02 3.94010135e+01] [ 5.42873888e-02 1.75378583e-04 9.98525337e-01 4.79835880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.568040942 meters 0.018114167090150336 Centerline is valid? [True, True] Translation: X:98.91, Y:39.42, Z:4.80 [[ 7.17798947e-01 -6.95150799e-01 -3.91157080e-02 9.89103741e+01] [ 6.94108940e-01 7.18863924e-01 -3.80452141e-02 3.94184042e+01] [ 5.45660324e-02 1.58252031e-04 9.98510152e-01 4.79997901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.598040942 meters 0.017871284597323806 Centerline is valid? [True, True] Translation: X:98.93, Y:39.43, Z:4.80 [[ 7.17035676e-01 -6.95942196e-01 -3.90422654e-02 9.89339844e+01] [ 6.94904383e-01 7.18097798e-01 -3.79927786e-02 3.94331305e+01] [ 5.44769426e-02 1.11536387e-04 9.98515023e-01 4.80075008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.628040942 meters 0.017754532620665082 Centerline is valid? [True, True] Translation: X:98.96, Y:39.45, Z:4.80 [[ 7.16637793e-01 -6.96359112e-01 -3.89135195e-02 9.89557196e+01] [ 6.95328254e-01 7.17693514e-01 -3.78766251e-02 3.94502085e+01] [ 5.43037136e-02 8.61513659e-05 9.98524461e-01 4.80190380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.658040942 meters 0.017551889132597018 Centerline is valid? [True, True] Translation: X:98.98, Y:39.46, Z:4.80 [[ 7.15435749e-01 -6.97612696e-01 -3.85773938e-02 9.89791267e+01] [ 6.96600902e-01 7.16475070e-01 -3.75587145e-02 3.94648769e+01] [ 5.38411770e-02 -2.20026968e-06 9.98549512e-01 4.80381850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.688040942 meters 0.01756524135264175 Centerline is valid? [True, True] Translation: X:99.00, Y:39.48, Z:4.81 [[ 7.14545239e-01 -6.98534667e-01 -3.83981861e-02 9.90010938e+01] [ 6.97532928e-01 7.15576212e-01 -3.73965082e-02 3.94821761e+01] [ 5.35995859e-02 -6.25022914e-05 9.98562507e-01 4.80512658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.718040942 meters 0.01741484236572395 Centerline is valid? [True, True] Translation: X:99.02, Y:39.50, Z:4.81 [[ 7.13711300e-01 -6.99402841e-01 -3.81030953e-02 9.90230801e+01] [ 6.98416621e-01 7.14727678e-01 -3.71291050e-02 3.94996559e+01] [ 5.32015383e-02 -1.12373264e-04 9.98583789e-01 4.80716889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.748040942 meters 0.01842571457927298 Centerline is valid? [True, True] Translation: X:99.05, Y:39.51, Z:4.81 [[ 7.12363232e-01 -7.00770304e-01 -3.82048042e-02 9.90472579e+01] [ 6.99779643e-01 7.13386951e-01 -3.72493024e-02 3.95145854e+01] [ 5.33580137e-02 -1.99910790e-04 9.98575427e-01 4.80822859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.778040942 meters 0.017316166861828023 Centerline is valid? [True, True] Translation: X:99.07, Y:39.53, Z:4.81 [[ 7.11690576e-01 -7.01474029e-01 -3.78247257e-02 9.90691067e+01] [ 7.00502879e-01 7.12694977e-01 -3.68996623e-02 3.95328961e+01] [ 5.28416468e-02 -2.35187330e-04 9.98602877e-01 4.81081257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.808040942 meters 0.017304470724132825 Centerline is valid? [True, True] Translation: X:99.09, Y:39.55, Z:4.81 [[ 7.10801311e-01 -7.02411752e-01 -3.71379472e-02 9.90927596e+01] [ 7.01475783e-01 7.11770784e-01 -3.62501979e-02 3.95492308e+01] [ 5.18962708e-02 -2.84682419e-04 9.98652440e-01 4.81219555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.838040942 meters 0.017638057186162074 Centerline is valid? [True, True] Translation: X:99.11, Y:39.57, Z:4.81 [[ 7.10507730e-01 -7.02709776e-01 -3.71178673e-02 9.91146529e+01] [ 7.01774152e-01 7.11476553e-01 -3.62512641e-02 3.95669885e+01] [ 5.18826099e-02 -2.91556536e-04 9.98653148e-01 4.81346405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.868040942 meters 0.01726615957051414 Centerline is valid? [True, True] Translation: X:99.14, Y:39.58, Z:4.82 [[ 7.10283225e-01 -7.02931707e-01 -3.72123137e-02 9.91368656e+01] [ 7.01990588e-01 7.11257288e-01 -3.63632426e-02 3.95831692e+01] [ 5.20284055e-02 -2.94492789e-04 9.98645562e-01 4.81530112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.898040942 meters 0.01790712455957042 Centerline is valid? [True, True] Translation: X:99.16, Y:39.60, Z:4.82 [[ 7.10391167e-01 -7.02809864e-01 -3.74524213e-02 9.91576641e+01] [ 7.01855584e-01 7.11377690e-01 -3.66131190e-02 3.96015203e+01] [ 5.23748782e-02 -2.76554684e-04 9.98627456e-01 4.81561234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.928040942 meters 0.017146467432122028 Centerline is valid? [True, True] Translation: X:99.18, Y:39.62, Z:4.82 [[ 7.10765775e-01 -7.02409188e-01 -3.78595694e-02 9.91786805e+01] [ 7.01432324e-01 7.11773334e-01 -3.70326492e-02 3.96205501e+01] [ 5.29595050e-02 -2.34386141e-04 9.98596633e-01 4.81724477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.958040942 meters 0.01714058857040302 Centerline is valid? [True, True] Translation: X:99.20, Y:39.64, Z:4.82 [[ 7.11126516e-01 -7.02042252e-01 -3.78913598e-02 9.91990824e+01] [ 7.01062156e-01 7.12135267e-01 -3.70838893e-02 3.96376995e+01] [ 5.30182308e-02 -1.92861428e-04 9.98593526e-01 4.81759067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.988040942 meters 0.02048077850122086 Centerline is valid? [True, True] Translation: X:99.22, Y:39.65, Z:4.81 [[ 7.13154582e-01 -6.99891295e-01 -3.95312098e-02 9.92221355e+01] [ 6.98820335e-01 7.14249378e-01 -3.87035611e-02 3.96539990e+01] [ 5.53234275e-02 -2.35912836e-05 9.98468486e-01 4.81375069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.018040942 meters 0.01709834324582179 Centerline is valid? [True, True] Translation: X:99.24, Y:39.67, Z:4.82 [[ 7.15253340e-01 -6.97760894e-01 -3.92733312e-02 9.92428920e+01] [ 6.96699940e-01 7.16330729e-01 -3.84640231e-02 3.96732065e+01] [ 5.49713851e-02 1.49793560e-04 9.98487919e-01 4.82074224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.048040942 meters 0.0171955635962677 Centerline is valid? [True, True] Translation: X:99.26, Y:39.69, Z:4.82 [[ 7.16325965e-01 -6.96637398e-01 -3.96667011e-02 9.92633380e+01] [ 6.95552272e-01 7.17423356e-01 -3.88685735e-02 3.96918309e+01] [ 5.55351198e-02 2.52304312e-04 9.98456703e-01 4.82134225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.078040942 meters 0.01716467273402036 Centerline is valid? [True, True] Translation: X:99.28, Y:39.71, Z:4.82 [[ 7.17012558e-01 -6.95937402e-01 -3.95490144e-02 9.92842871e+01] [ 6.94857101e-01 7.18102384e-01 -3.87630515e-02 3.97103789e+01] [ 5.53768989e-02 3.12681229e-04 9.98465473e-01 4.82316701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.108040942 meters 0.017378450553084707 Centerline is valid? [True, True] Translation: X:99.31, Y:39.73, Z:4.82 [[ 7.17583430e-01 -6.95341389e-01 -3.96783742e-02 9.93064260e+01] [ 6.94252028e-01 7.18679492e-01 -3.89089796e-02 3.97281499e+01] [ 5.55710578e-02 3.73647257e-04 9.98454665e-01 4.82352812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.138040942 meters 0.017154729109396208 Centerline is valid? [True, True] Translation: X:99.33, Y:39.75, Z:4.83 [[ 7.17068107e-01 -6.95873730e-01 -3.96620830e-02 9.93287969e+01] [ 6.94785524e-01 7.18164073e-01 -3.89029503e-02 3.97454614e+01] [ 5.55554242e-02 3.39423825e-04 9.98455547e-01 4.82591059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.168040942 meters 0.017810291921470166 Centerline is valid? [True, True] Translation: X:99.35, Y:39.76, Z:4.83 [[ 7.16192297e-01 -6.96771439e-01 -3.97260011e-02 9.93505477e+01] [ 6.95679922e-01 7.17293162e-01 -3.89867338e-02 3.97615110e+01] [ 5.56600315e-02 2.85417042e-04 9.98449738e-01 4.82664438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.198040942 meters 0.016688565458945048 Centerline is valid? [True, True] Translation: X:99.38, Y:39.78, Z:4.83 [[ 7.13507260e-01 -6.99568027e-01 -3.88840019e-02 9.93763459e+01] [ 6.98525614e-01 7.14566001e-01 -3.81758724e-02 3.97758913e+01] [ 5.44918055e-02 7.72907957e-05 9.98514215e-01 4.83028229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22804094199999 meters 0.01661107739009573 Centerline is valid? [True, True] Translation: X:99.40, Y:39.79, Z:4.83 [[ 7.12075756e-01 -7.01031739e-01 -3.87636226e-02 9.93978539e+01] [ 6.99996944e-01 7.13130073e-01 -3.80759587e-02 3.97919340e+01] [ 5.43359606e-02 -2.14502311e-05 9.98522710e-01 4.83139141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.258040942 meters 0.016555236176661797 Centerline is valid? [True, True] Translation: X:99.42, Y:39.81, Z:4.83 [[ 7.09300103e-01 -7.03863972e-01 -3.83258804e-02 9.94219518e+01] [ 7.02855792e-01 7.10334751e-01 -3.76600329e-02 3.98055603e+01] [ 5.37317451e-02 -2.25301781e-04 9.98555381e-01 4.83252132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.288040942 meters 0.016599711047444288 Centerline is valid? [True, True] Translation: X:99.44, Y:39.82, Z:4.83 [[ 7.07913792e-01 -7.05260882e-01 -3.82773040e-02 9.94444515e+01] [ 7.04256569e-01 7.08947802e-01 -3.76257767e-02 3.98226335e+01] [ 5.36725990e-02 -3.21236515e-04 9.98558536e-01 4.83384440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.318040942 meters 0.017530370317126405 Centerline is valid? [True, True] Translation: X:99.47, Y:39.84, Z:4.83 [[ 7.06602366e-01 -7.06587170e-01 -3.80482230e-02 9.94673546e+01] [ 7.05595660e-01 7.07625895e-01 -3.74213514e-02 3.98396431e+01] [ 5.33653546e-02 -4.04645560e-04 9.98574972e-01 4.83468421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.348040942 meters 0.016991692389035203 Centerline is valid? [True, True] Translation: X:99.49, Y:39.86, Z:4.84 [[ 7.05424886e-01 -7.07744089e-01 -3.83931460e-02 9.94926440e+01] [ 7.06735099e-01 7.06468734e-01 -3.77813173e-02 3.98553073e+01] [ 5.38630612e-02 -4.81902349e-04 9.98548215e-01 4.83703602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.378040942 meters 0.017004154222399818 Centerline is valid? [True, True] Translation: X:99.52, Y:39.87, Z:4.84 [[ 7.04767273e-01 -7.08384080e-01 -3.86663574e-02 9.95153756e+01] [ 7.07360619e-01 7.05826979e-01 -3.80687700e-02 3.98737225e+01] [ 5.42590688e-02 -5.21435314e-04 9.98526756e-01 4.83827816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.408040942 meters 0.017860045992597103 Centerline is valid? [True, True] Translation: X:99.54, Y:39.89, Z:4.84 [[ 7.04237008e-01 -7.08851140e-01 -3.97529568e-02 9.95393097e+01] [ 7.07769093e-01 7.05357885e-01 -3.91556525e-02 3.98893829e+01] [ 5.57955904e-02 -5.61054574e-04 9.98442055e-01 4.83714003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.438040942 meters 0.01700611367081301 Centerline is valid? [True, True] Translation: X:99.56, Y:39.91, Z:4.84 [[ 7.04218364e-01 -7.08840306e-01 -4.02730316e-02 9.95603633e+01] [ 7.07729140e-01 7.05368774e-01 -3.96781716e-02 3.99082767e+01] [ 5.65328262e-02 -5.60300927e-04 9.98400584e-01 4.83876478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.468040942 meters 0.01718759849819627 Centerline is valid? [True, True] Translation: X:99.58, Y:39.93, Z:4.84 [[ 7.04085984e-01 -7.08936760e-01 -4.08851731e-02 9.95819611e+01] [ 7.07790526e-01 7.05271830e-01 -4.03015669e-02 3.99264252e+01] [ 5.74064231e-02 -5.62369795e-04 9.98350733e-01 4.83902784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.498040942 meters 0.01857700385262991 Centerline is valid? [True, True] Translation: X:99.60, Y:39.95, Z:4.84 [[ 7.05139871e-01 -7.07880987e-01 -4.10154933e-02 9.96026454e+01] [ 7.06724948e-01 7.06331571e-01 -4.04420593e-02 3.99473445e+01] [ 5.75987027e-02 -4.69363883e-04 9.98339706e-01 4.83943638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.528040942 meters 0.01720207542399778 Centerline is valid? [True, True] Translation: X:99.62, Y:39.97, Z:4.84 [[ 7.06078350e-01 -7.06965773e-01 -4.06541350e-02 9.96219935e+01] [ 7.05827466e-01 7.07247660e-01 -4.01040694e-02 3.99685715e+01] [ 5.71047463e-02 -3.78189936e-04 9.98368121e-01 4.84187745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.558040942 meters 0.016831991691105965 Centerline is valid? [True, True] Translation: X:99.64, Y:39.99, Z:4.84 [[ 7.06321589e-01 -7.06724558e-01 -4.06228041e-02 9.96412892e+01] [ 7.05586450e-01 7.07488714e-01 -4.00933947e-02 3.99889145e+01] [ 5.70751621e-02 -3.44069896e-04 9.98369825e-01 4.84324365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.588040942 meters 0.016872174411667863 Centerline is valid? [True, True] Translation: X:99.66, Y:40.01, Z:4.84 [[ 7.05900814e-01 -7.07138198e-01 -4.07383145e-02 9.96614887e+01] [ 7.05992998e-01 7.07075270e-01 -4.02299602e-02 4.00085728e+01] [ 5.72531963e-02 -3.62603173e-04 9.98359625e-01 4.84450897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.618040942 meters 0.016878780945366004 Centerline is valid? [True, True] Translation: X:99.68, Y:40.03, Z:4.85 [[ 7.05512517e-01 -7.07528217e-01 -4.06928967e-02 9.96815682e+01] [ 7.06384930e-01 7.06684994e-01 -4.02076007e-02 4.00279599e+01] [ 5.72050714e-02 -3.77883405e-04 9.98362378e-01 4.84638200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.648040942 meters 0.017076987847876396 Centerline is valid? [True, True] Translation: X:99.70, Y:40.05, Z:4.85 [[ 7.04766439e-01 -7.08300418e-01 -4.01843847e-02 9.97017295e+01] [ 7.07185671e-01 7.05911001e-01 -3.97251178e-02 4.00463153e+01] [ 5.65039167e-02 -4.20891290e-04 9.98402289e-01 4.84845289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.678040942 meters 0.01710093871018259 Centerline is valid? [True, True] Translation: X:99.72, Y:40.07, Z:4.85 [[ 7.04293481e-01 -7.08789794e-01 -3.98462043e-02 9.97210817e+01] [ 7.07693746e-01 7.05419612e-01 -3.94047329e-02 4.00659202e+01] [ 5.60379665e-02 -4.46413043e-04 9.98428539e-01 4.85008898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.708040942 meters 0.016964217542825347 Centerline is valid? [True, True] Translation: X:99.74, Y:40.09, Z:4.85 [[ 7.03268256e-01 -7.09798857e-01 -3.99917731e-02 9.97397873e+01] [ 7.08695208e-01 7.04404229e-01 -3.95699902e-02 4.00881295e+01] [ 5.62571079e-02 -5.13659924e-04 9.98416183e-01 4.85105699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.738040942 meters 0.016993957026965236 Centerline is valid? [True, True] Translation: X:99.76, Y:40.11, Z:4.85 [[ 7.02849027e-01 -7.10234137e-01 -3.96322597e-02 9.97586538e+01] [ 7.09149842e-01 7.03965333e-01 -3.92340667e-02 4.01083671e+01] [ 5.57651104e-02 -5.29585140e-04 9.98443775e-01 4.85197103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.768040942 meters 0.016961375830605835 Centerline is valid? [True, True] Translation: X:99.78, Y:40.13, Z:4.85 [[ 7.02428378e-01 -7.10661850e-01 -3.94221760e-02 9.97786651e+01] [ 7.09588474e-01 7.03533537e-01 -3.90481725e-02 4.01284537e+01] [ 5.54848695e-02 -5.44977239e-04 9.98459379e-01 4.85366529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.798040942 meters 0.017193558194040823 Centerline is valid? [True, True] Translation: X:99.80, Y:40.15, Z:4.86 [[ 7.01956451e-01 -7.11110183e-01 -3.97422807e-02 9.97994444e+01] [ 7.10018867e-01 7.03080353e-01 -3.93856081e-02 4.01464712e+01] [ 5.59495238e-02 -5.70787441e-04 9.98433435e-01 4.85572581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.828040942 meters 0.01724619097314524 Centerline is valid? [True, True] Translation: X:99.82, Y:40.17, Z:4.86 [[ 7.01765579e-01 -7.11281382e-01 -4.00483277e-02 9.98199816e+01] [ 7.10172670e-01 7.02907150e-01 -3.97028621e-02 4.01661897e+01] [ 5.63901625e-02 -5.79125829e-04 9.98408641e-01 4.85718801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.858040942 meters 0.017509228785224124 Centerline is valid? [True, True] Translation: X:99.84, Y:40.18, Z:4.86 [[ 7.02355428e-01 -7.10671130e-01 -4.05388375e-02 9.98401820e+01] [ 7.09532856e-01 7.03524181e-01 -4.02101067e-02 4.01842738e+01] [ 5.70962145e-02 -5.21850439e-04 9.98368544e-01 4.85708789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.888040942 meters 0.016916801314814704 Centerline is valid? [True, True] Translation: X:99.86, Y:40.21, Z:4.86 [[ 7.03080134e-01 -7.09935527e-01 -4.08640735e-02 9.98589752e+01] [ 7.08776670e-01 7.04266528e-01 -4.05498569e-02 4.02056292e+01] [ 5.75669832e-02 -4.53703067e-04 9.98341543e-01 4.85970933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.918040942 meters 0.016834717197958652 Centerline is valid? [True, True] Translation: X:99.88, Y:40.23, Z:4.86 [[ 7.03873108e-01 -7.09128244e-01 -4.12283999e-02 9.98782399e+01] [ 7.07945866e-01 7.05079423e-01 -4.09347988e-02 4.02260174e+01] [ 5.80973184e-02 -3.74571208e-04 9.98310854e-01 4.86052874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.948040942 meters 0.01664963572025177 Centerline is valid? [True, True] Translation: X:99.90, Y:40.25, Z:4.86 [[ 7.05913817e-01 -7.07100844e-01 -4.11591946e-02 9.98972500e+01] [ 7.05917850e-01 7.07112692e-01 -4.08855720e-02 4.02468576e+01] [ 5.80144113e-02 -1.93319905e-04 9.98315727e-01 4.86092782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.97804094199999 meters 0.016645863579994515 Centerline is valid? [True, True] Translation: X:99.92, Y:40.27, Z:4.86 [[ 7.06481290e-01 -7.06558602e-01 -4.07324020e-02 9.99170549e+01] [ 7.05398531e-01 7.07654522e-01 -4.04720923e-02 4.02673406e+01] [ 5.74203734e-02 -1.39800595e-04 9.98350079e-01 4.86279931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.008040942 meters 0.016518544533305167 Centerline is valid? [True, True] Translation: X:99.94, Y:40.29, Z:4.87 [[ 7.07843696e-01 -7.05199717e-01 -4.06283333e-02 9.99367202e+01] [ 7.04042043e-01 7.09008716e-01 -4.03911164e-02 4.02870556e+01] [ 5.72896462e-02 -1.34577289e-05 9.98357599e-01 4.86573975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.038040942 meters 0.01647379554594082 Centerline is valid? [True, True] Translation: X:99.96, Y:40.31, Z:4.87 [[ 7.08261990e-01 -7.04775770e-01 -4.06948084e-02 9.99555403e+01] [ 7.03612391e-01 7.09430132e-01 -4.04782726e-02 4.03057901e+01] [ 5.73982291e-02 3.58504390e-05 9.98351362e-01 4.86633953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.068040942 meters 0.0164986906172638 Centerline is valid? [True, True] Translation: X:99.98, Y:40.33, Z:4.87 [[ 7.08941531e-01 -7.04105623e-01 -4.04620550e-02 9.99752416e+01] [ 7.02953564e-01 7.10095249e-01 -4.02619438e-02 4.03254498e+01] [ 5.70805740e-02 1.00418268e-04 9.98369570e-01 4.86797959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.098040942 meters 0.016568394336060083 Centerline is valid? [True, True] Translation: X:99.99, Y:40.35, Z:4.87 [[ 7.10859961e-01 -7.02183829e-01 -4.01993381e-02 9.99935442e+01] [ 7.01042320e-01 7.11995644e-01 -4.00233428e-02 4.03467223e+01] [ 5.67254978e-02 2.69554615e-04 9.98389776e-01 4.86947751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.128040942 meters 0.016767870285176997 Centerline is valid? [True, True] Translation: X:100.01, Y:40.37, Z:4.87 [[ 7.11795244e-01 -7.01249726e-01 -3.99543689e-02 1.00011613e+02] [ 7.00119433e-01 7.12915629e-01 -3.98005789e-02 4.03675856e+01] [ 5.63942391e-02 3.57032759e-04 9.98408515e-01 4.87031016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.158040942 meters 0.01673286900112911 Centerline is valid? [True, True] Translation: X:100.03, Y:40.39, Z:4.87 [[ 7.13417456e-01 -6.99640693e-01 -3.92228761e-02 1.00028528e+02] [ 6.98548086e-01 7.14494691e-01 -3.90884588e-02 4.03900266e+01] [ 5.53724131e-02 4.87323754e-04 9.98465652e-01 4.87384066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.188040942 meters 0.016781424471959388 Centerline is valid? [True, True] Translation: X:100.05, Y:40.41, Z:4.88 [[ 7.13717427e-01 -6.99353905e-01 -3.88786558e-02 1.00046955e+02] [ 6.98278736e-01 7.14775380e-01 -3.87680564e-02 4.04118699e+01] [ 5.49020976e-02 5.21298872e-04 9.98491606e-01 4.87518745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.218040942 meters 0.01680949350144385 Centerline is valid? [True, True] Translation: X:100.06, Y:40.43, Z:4.88 [[ 7.13651374e-01 -6.99446633e-01 -3.84203614e-02 1.00064891e+02] [ 6.98395735e-01 7.14684640e-01 -3.83309620e-02 4.04319341e+01] [ 5.42689045e-02 5.22327194e-04 9.98526221e-01 4.87638762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.248040942 meters 0.016639826380156608 Centerline is valid? [True, True] Translation: X:100.09, Y:40.45, Z:4.88 [[ 7.12292247e-01 -7.00832335e-01 -3.83900148e-02 1.00085184e+02] [ 6.99784494e-01 7.13325913e-01 -3.83119403e-02 4.04517358e+01] [ 5.42348389e-02 4.24560989e-04 9.98528118e-01 4.87799199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.278040942 meters 0.016570830071578536 Centerline is valid? [True, True] Translation: X:100.11, Y:40.47, Z:4.88 [[ 7.10884068e-01 -7.02261371e-01 -3.83771874e-02 1.00105608e+02] [ 7.01215386e-01 7.11919138e-01 -3.83161027e-02 4.04707499e+01] [ 5.42293730e-02 3.27632664e-04 9.98528451e-01 4.87862879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.308040942 meters 0.016570830071578536 Centerline is valid? [True, True] Translation: X:100.13, Y:40.49, Z:4.88 [[ 7.10693759e-01 -7.02454217e-01 -3.83725620e-02 1.00125030e+02] [ 7.01408262e-01 7.11728860e-01 -3.83207343e-02 4.04902881e+01] [ 5.42294212e-02 3.19474688e-04 9.98528451e-01 4.87985488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.338040942 meters 0.016307875775064505 Centerline is valid? [True, True] Translation: X:100.15, Y:40.51, Z:4.88 [[ 7.06290014e-01 -7.06858833e-01 -3.87944099e-02 1.00148746e+02] [ 7.05795187e-01 7.07354642e-01 -3.87629149e-02 4.05076314e+01] [ 5.48413147e-02 -3.04810033e-06 9.98495083e-01 4.88177393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.368040942 meters 0.01636902038610363 Centerline is valid? [True, True] Translation: X:100.17, Y:40.52, Z:4.88 [[ 7.03585802e-01 -7.09555350e-01 -3.87069047e-02 1.00169024e+02] [ 7.08499550e-01 7.04649675e-01 -3.86939555e-02 4.05249903e+01] [ 5.47303110e-02 -1.99306862e-04 9.98501153e-01 4.88285106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.398040942 meters 0.016576794506860677 Centerline is valid? [True, True] Translation: X:100.19, Y:40.54, Z:4.88 [[ 7.00932617e-01 -7.12196978e-01 -3.83266308e-02 1.00190722e+02] [ 7.11164929e-01 7.01979567e-01 -3.83292558e-02 4.05445317e+01] [ 5.42024918e-02 -3.90330145e-04 9.98529888e-01 4.88376024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.428040942 meters 0.01832721886860205 Centerline is valid? [True, True] Translation: X:100.21, Y:40.56, Z:4.88 [[ 6.95770520e-01 -7.17202590e-01 -3.90362397e-02 1.00212680e+02] [ 7.16138793e-01 6.96864287e-01 -3.90563080e-02 4.05615675e+01] [ 5.52142465e-02 -7.81137860e-04 9.98474224e-01 4.88338348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.458040942 meters 0.018153910546244517 Centerline is valid? [True, True] Translation: X:100.23, Y:40.58, Z:4.89 [[ 6.93595050e-01 -7.19317956e-01 -3.88276306e-02 1.00234179e+02] [ 7.18268380e-01 6.94680356e-01 -3.88553358e-02 4.05800398e+01] [ 5.49221329e-02 -9.38790713e-04 9.98490199e-01 4.88526552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.488040942 meters 0.019501341291613416 Centerline is valid? [True, True] Translation: X:100.26, Y:40.60, Z:4.89 [[ 6.90119039e-01 -7.22635385e-01 -3.91639165e-02 1.00256935e+02] [ 7.21572416e-01 6.91228358e-01 -3.91995551e-02 4.05968607e+01] [ 5.53981953e-02 -1.20724259e-03 9.98463611e-01 4.88641946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.518040942 meters 0.019921525156967254 Centerline is valid? [True, True] Translation: X:100.28, Y:40.62, Z:4.89 [[ 6.89193859e-01 -7.23525032e-01 -3.90301442e-02 1.00277591e+02] [ 7.22470175e-01 6.90296981e-01 -3.90758807e-02 4.06151331e+01] [ 5.52147686e-02 -1.26725814e-03 9.98473697e-01 4.88788142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.548040942 meters 0.019899982052897537 Centerline is valid? [True, True] Translation: X:100.30, Y:40.63, Z:4.89 [[ 6.87927910e-01 -7.24758738e-01 -3.84702840e-02 1.00297796e+02] [ 7.23735517e-01 6.89001430e-01 -3.85218216e-02 4.06349889e+01] [ 5.44251075e-02 -1.34207461e-03 9.98516954e-01 4.89043366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.578040942 meters 0.020684654897989794 Centerline is valid? [True, True] Translation: X:100.32, Y:40.65, Z:4.89 [[ 6.87556753e-01 -7.25135473e-01 -3.80033940e-02 1.00317896e+02] [ 7.24137107e-01 6.88604912e-01 -3.80621232e-02 4.06534564e+01] [ 5.37695195e-02 -1.34979796e-03 9.98552461e-01 4.89165268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.608040942 meters 0.019236246076616084 Centerline is valid? [True, True] Translation: X:100.34, Y:40.67, Z:4.89 [[ 6.87141644e-01 -7.25557323e-01 -3.74557252e-02 1.00335389e+02] [ 7.24587370e-01 6.88160404e-01 -3.75286851e-02 4.06749093e+01] [ 5.30047593e-02 -1.35242308e-03 9.98593344e-01 4.89401730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.638040942 meters 0.020456764659773426 Centerline is valid? [True, True] Translation: X:100.36, Y:40.69, Z:4.90 [[ 6.87462603e-01 -7.25303606e-01 -3.64670969e-02 1.00357478e+02] [ 7.24382820e-01 6.88427942e-01 -3.65581622e-02 4.06929521e+01] [ 5.16207353e-02 -1.28376915e-03 9.98665936e-01 4.89562613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.668040942 meters 0.019467590095546154 Centerline is valid? [True, True] Translation: X:100.38, Y:40.71, Z:4.90 [[ 6.88150238e-01 -7.24684531e-01 -3.57991839e-02 1.00376956e+02] [ 7.23795471e-01 6.89079738e-01 -3.59058752e-02 4.07148531e+01] [ 5.06889246e-02 -1.20265059e-03 9.98713766e-01 4.89798296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.698040942 meters 0.01871026448484211 Centerline is valid? [True, True] Translation: X:100.40, Y:40.74, Z:4.90 [[ 6.90430933e-01 -7.22561221e-01 -3.47909280e-02 1.00396544e+02] [ 7.21718150e-01 6.91306205e-01 -3.49090837e-02 4.07366785e+01] [ 4.92751345e-02 -1.00693293e-03 9.98784735e-01 4.90007508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72804094199999 meters 0.017569265399336547 Centerline is valid? [True, True] Translation: X:100.41, Y:40.76, Z:4.90 [[ 6.91348323e-01 -7.21682550e-01 -3.48108286e-02 1.00414720e+02] [ 7.20836942e-01 6.92223531e-01 -3.49383136e-02 4.07587733e+01] [ 4.93112459e-02 -9.38386741e-04 9.98783020e-01 4.90230222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.758040942 meters 0.017919545042923538 Centerline is valid? [True, True] Translation: X:100.43, Y:40.78, Z:4.90 [[ 6.92483056e-01 -7.20590494e-01 -3.48791739e-02 1.00434667e+02] [ 7.19739363e-01 6.93360380e-01 -3.50233261e-02 4.07776387e+01] [ 4.94213131e-02 -8.50854459e-04 9.98777658e-01 4.90296821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.788040942 meters 0.01682963556822831 Centerline is valid? [True, True] Translation: X:100.45, Y:40.80, Z:4.90 [[ 6.94627271e-01 -7.18537784e-01 -3.45891222e-02 1.00452848e+02] [ 7.17697864e-01 6.95487579e-01 -3.47390813e-02 4.08010617e+01] [ 4.90176474e-02 -6.93825900e-04 9.98797672e-01 4.90427175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.818040942 meters 0.016578813002408974 Centerline is valid? [True, True] Translation: X:100.47, Y:40.82, Z:4.91 [[ 6.95538033e-01 -7.17671443e-01 -3.42716299e-02 1.00472056e+02] [ 7.16845090e-01 6.96381591e-01 -3.44354048e-02 4.08215834e+01] [ 4.85794388e-02 -6.16315899e-04 9.98819132e-01 4.90508746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.848040942 meters 0.016300601298459057 Centerline is valid? [True, True] Translation: X:100.49, Y:40.84, Z:4.91 [[ 6.96805912e-01 -7.16438596e-01 -3.43111959e-02 1.00491464e+02] [ 7.15608318e-01 6.97649958e-01 -3.44858169e-02 4.08424469e+01] [ 4.86441746e-02 -5.23456103e-04 9.98816034e-01 4.90586171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.878040942 meters 0.016327233587987426 Centerline is valid? [True, True] Translation: X:100.51, Y:40.86, Z:4.91 [[ 6.96897124e-01 -7.16343784e-01 -3.44380953e-02 1.00511387e+02] [ 7.15506397e-01 6.97747323e-01 -3.46304695e-02 4.08624373e+01] [ 4.88364104e-02 -5.06802868e-04 9.98806662e-01 4.90698976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.908040942 meters 0.016401293118482662 Centerline is valid? [True, True] Translation: X:100.53, Y:40.88, Z:4.91 [[ 6.96010617e-01 -7.17227495e-01 -3.39697226e-02 1.00531599e+02] [ 7.16412899e-01 6.96838877e-01 -3.41780324e-02 4.08831649e+01] [ 4.81848479e-02 -5.48074044e-04 9.98838285e-01 4.90883190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.938040942 meters 0.01661418549875554 Centerline is valid? [True, True] Translation: X:100.55, Y:40.90, Z:4.91 [[ 6.94997211e-01 -7.18227436e-01 -3.35890779e-02 1.00552169e+02] [ 7.17431385e-01 6.95808157e-01 -3.38114801e-02 4.09029066e+01] [ 4.76558870e-02 -5.98974315e-04 9.98863633e-01 4.91016476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.968040942 meters 0.01700839504621374 Centerline is valid? [True, True] Translation: X:100.57, Y:40.92, Z:4.91 [[ 6.93782223e-01 -7.19405649e-01 -3.34923921e-02 1.00573250e+02] [ 7.18614761e-01 6.94589856e-01 -3.37306388e-02 4.09221415e+01] [ 4.75294879e-02 -6.66409795e-04 9.98869613e-01 4.91172731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.998040942 meters 0.017933615138835724 Centerline is valid? [True, True] Translation: X:100.60, Y:40.94, Z:4.91 [[ 6.91569281e-01 -7.21536065e-01 -3.34310676e-02 1.00595304e+02] [ 7.20749804e-01 6.92376391e-01 -3.36846121e-02 4.09400261e+01] [ 4.74515443e-02 -8.00192481e-04 9.98873221e-01 4.91291732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.028040942 meters 0.018401048098245158 Centerline is valid? [True, True] Translation: X:100.62, Y:40.96, Z:4.91 [[ 6.90268587e-01 -7.22769606e-01 -3.36656334e-02 1.00616077e+02] [ 7.21973447e-01 6.91088497e-01 -3.39268481e-02 4.09593944e+01] [ 4.77872266e-02 -8.87055903e-04 9.98857144e-01 4.91409849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.058040942 meters 0.019305326148232382 Centerline is valid? [True, True] Translation: X:100.64, Y:40.98, Z:4.91 [[ 6.88496948e-01 -7.24456707e-01 -3.36813267e-02 1.00636908e+02] [ 7.23661529e-01 6.89319577e-01 -3.39486766e-02 4.09779372e+01] [ 4.78115444e-02 -1.00032012e-03 9.98855873e-01 4.91465101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.088040942 meters 0.019791921615929225 Centerline is valid? [True, True] Translation: X:100.66, Y:41.00, Z:4.92 [[ 6.88163409e-01 -7.24751025e-01 -3.41624713e-02 1.00656977e+02] [ 7.23932884e-01 6.89010082e-01 -3.44425042e-02 4.09975862e+01] [ 4.85005274e-02 -1.02926525e-03 9.98822627e-01 4.91526440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.118040942 meters 0.019874968595356236 Centerline is valid? [True, True] Translation: X:100.68, Y:41.02, Z:4.92 [[ 6.87803789e-01 -7.25081066e-01 -3.44005081e-02 1.00676290e+02] [ 7.24251428e-01 6.88662717e-01 -3.46919488e-02 4.10182166e+01] [ 4.88448226e-02 -1.05336325e-03 9.98805824e-01 4.91585562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.148040942 meters 0.01917153789760518 Centerline is valid? [True, True] Translation: X:100.69, Y:41.04, Z:4.92 [[ 6.87984023e-01 -7.24905438e-01 -3.44976734e-02 1.00694368e+02] [ 7.24069963e-01 6.88847620e-01 -3.48087087e-02 4.10404285e+01] [ 4.89966625e-02 -1.03089367e-03 9.98798410e-01 4.91693459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.178040942 meters 0.019756656909839864 Centerline is valid? [True, True] Translation: X:100.72, Y:41.06, Z:4.92 [[ 6.88300435e-01 -7.24625814e-01 -3.40579140e-02 1.00715190e+02] [ 7.23810311e-01 6.89141827e-01 -3.43827857e-02 4.10594077e+01] [ 4.83853871e-02 -9.85782948e-04 9.98828255e-01 4.91876445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.208040942 meters 0.019944087356823115 Centerline is valid? [True, True] Translation: X:100.74, Y:41.08, Z:4.92 [[ 6.88282942e-01 -7.24653891e-01 -3.38131516e-02 1.00735062e+02] [ 7.23849779e-01 6.89112317e-01 -3.41425279e-02 4.10797396e+01] [ 4.80425750e-02 -9.75922737e-04 9.98844812e-01 4.92030008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.238040942 meters 0.01911288257527386 Centerline is valid? [True, True] Translation: X:100.75, Y:41.10, Z:4.92 [[ 6.88383510e-01 -7.24559434e-01 -3.37900709e-02 1.00752527e+02] [ 7.23755429e-01 6.89211660e-01 -3.41374769e-02 4.11013866e+01] [ 4.80231418e-02 -9.56071103e-04 9.98845766e-01 4.92165332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.268040942 meters 0.018967507243659875 Centerline is valid? [True, True] Translation: X:100.77, Y:41.12, Z:4.92 [[ 6.88262650e-01 -7.24685489e-01 -3.35479706e-02 1.00771418e+02] [ 7.23892219e-01 6.89079131e-01 -3.39117474e-02 4.11219146e+01] [ 4.76925577e-02 -9.44925704e-04 9.98861616e-01 4.92274079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.298040942 meters 0.01875285069601807 Centerline is valid? [True, True] Translation: X:100.79, Y:41.14, Z:4.92 [[ 6.89410597e-01 -7.23604652e-01 -3.33067157e-02 1.00789193e+02] [ 7.22820645e-01 6.90214158e-01 -3.36857882e-02 4.11430509e+01] [ 4.73639597e-02 -8.51442359e-04 9.98877335e-01 4.92407438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.328040942 meters 0.018548641399398585 Centerline is valid? [True, True] Translation: X:100.81, Y:41.16, Z:4.93 [[ 6.90018379e-01 -7.23031188e-01 -3.31743599e-02 1.00807812e+02] [ 7.22252440e-01 6.90814921e-01 -3.35582955e-02 4.11646349e+01] [ 4.71810370e-02 -8.04421744e-04 9.98886031e-01 4.92525470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.358040942 meters 0.018211674776071746 Centerline is valid? [True, True] Translation: X:100.83, Y:41.19, Z:4.93 [[ 6.91241458e-01 -7.21882961e-01 -3.27144965e-02 1.00825550e+02] [ 7.21123666e-01 6.92014807e-01 -3.31083913e-02 4.11867258e+01] [ 4.65392995e-02 -7.05304992e-04 9.98916211e-01 4.92648485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.388040942 meters 0.018098740909992764 Centerline is valid? [True, True] Translation: X:100.85, Y:41.21, Z:4.93 [[ 6.91587087e-01 -7.21564861e-01 -3.24260946e-02 1.00845188e+02] [ 7.20818279e-01 6.92346515e-01 -3.28224255e-02 4.12079553e+01] [ 4.61336025e-02 -6.73756044e-04 9.98935051e-01 4.92803464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.418040942 meters 0.017940472395703396 Centerline is valid? [True, True] Translation: X:100.86, Y:41.23, Z:4.93 [[ 6.92144440e-01 -7.21034632e-01 -3.23285304e-02 1.00864829e+02] [ 7.20291227e-01 6.92898743e-01 -3.27395861e-02 4.12291838e+01] [ 4.60067735e-02 -6.25434367e-04 9.98940932e-01 4.92978209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.448040942 meters 0.017469844154720398 Centerline is valid? [True, True] Translation: X:100.88, Y:41.25, Z:4.93 [[ 6.94091600e-01 -7.19144256e-01 -3.26862514e-02 1.00882049e+02] [ 7.18381487e-01 6.94860630e-01 -3.31171238e-02 4.12517233e+01] [ 4.65283786e-02 -4.94880503e-04 9.98916846e-01 4.93096229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.47804094199999 meters 0.017189008896108013 Centerline is valid? [True, True] Translation: X:100.90, Y:41.27, Z:4.93 [[ 6.95321502e-01 -7.17940703e-01 -3.30023773e-02 1.00900788e+02] [ 7.17161455e-01 6.96104142e-01 -3.34435469e-02 4.12741654e+01] [ 4.69835751e-02 -4.14015693e-04 9.98895576e-01 4.93187046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.508040942 meters 0.016788668229077753 Centerline is valid? [True, True] Translation: X:100.92, Y:41.30, Z:4.93 [[ 6.97597327e-01 -7.15729406e-01 -3.30058592e-02 1.00917322e+02] [ 7.14946809e-01 6.98377658e-01 -3.34620340e-02 4.12975118e+01] [ 4.70003163e-02 -2.54408195e-04 9.98894842e-01 4.93341428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.538040942 meters 0.016653003633066148 Centerline is valid? [True, True] Translation: X:100.94, Y:41.32, Z:4.94 [[ 6.98472464e-01 -7.14882901e-01 -3.28428716e-02 1.00935461e+02] [ 7.14106800e-01 6.99244164e-01 -3.33028067e-02 4.13191677e+01] [ 4.67727933e-02 -1.92224518e-04 9.98905536e-01 4.93521645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.568040942 meters 0.016632284361840523 Centerline is valid? [True, True] Translation: X:100.95, Y:41.34, Z:4.94 [[ 6.99063307e-01 -7.14320904e-01 -3.24982894e-02 1.00953538e+02] [ 7.13559615e-01 6.99818281e-01 -3.29704315e-02 4.13406001e+01] [ 4.62943654e-02 -1.41047983e-04 9.98927831e-01 4.93697740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.598040942 meters 0.01660417593976034 Centerline is valid? [True, True] Translation: X:100.97, Y:41.36, Z:4.94 [[ 6.99553211e-01 -7.13868560e-01 -3.18901781e-02 1.00970593e+02] [ 7.13134291e-01 7.00279708e-01 -3.23699491e-02 4.13619555e+01] [ 4.54399335e-02 -9.74777566e-05 9.98967068e-01 4.93905657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.628040942 meters 0.016611154293482946 Centerline is valid? [True, True] Translation: X:100.99, Y:41.38, Z:4.94 [[ 6.99191198e-01 -7.14236928e-01 -3.15797372e-02 1.00989382e+02] [ 7.13516604e-01 6.99903992e-01 -3.20695660e-02 4.13825422e+01] [ 4.50080524e-02 -1.09908596e-04 9.98986618e-01 4.94069459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.658040942 meters 0.016560788899569516 Centerline is valid? [True, True] Translation: X:101.01, Y:41.40, Z:4.94 [[ 6.98449686e-01 -7.14989939e-01 -3.09422706e-02 1.01006873e+02] [ 7.14298455e-01 6.99134727e-01 -3.14380426e-02 4.14027304e+01] [ 4.41107000e-02 -1.44125073e-04 9.99026639e-01 4.94271170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.688040942 meters 0.016547499906714783 Centerline is valid? [True, True] Translation: X:101.03, Y:41.42, Z:4.94 [[ 6.97962280e-01 -7.15478796e-01 -3.06390012e-02 1.01025471e+02] [ 7.14800655e-01 6.98634429e-01 -3.11441458e-02 4.14240256e+01] [ 4.36884370e-02 -1.63339148e-04 9.99045191e-01 4.94464049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.718040942 meters 0.01663563016006135 Centerline is valid? [True, True] Translation: X:101.04, Y:41.44, Z:4.95 [[ 6.97361977e-01 -7.16087559e-01 -3.00812475e-02 1.01044274e+02] [ 7.15433756e-01 6.98010440e-01 -3.05935891e-02 4.14438663e+01] [ 4.29047133e-02 -1.86334093e-04 9.99079151e-01 4.94655082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.748040942 meters 0.01679222857017396 Centerline is valid? [True, True] Translation: X:101.06, Y:41.46, Z:4.95 [[ 6.95937006e-01 -7.17471080e-01 -3.01153319e-02 1.01061575e+02] [ 7.16816691e-01 6.96588242e-01 -3.06374276e-02 4.14644019e+01] [ 4.29594543e-02 -2.65452895e-04 9.99076781e-01 4.94768335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.778040942 meters 0.016602028056266236 Centerline is valid? [True, True] Translation: X:101.08, Y:41.49, Z:4.95 [[ 6.95006591e-01 -7.18365097e-01 -3.02890202e-02 1.01079218e+02] [ 7.17703381e-01 6.95666220e-01 -3.08280440e-02 4.14860304e+01] [ 4.32168390e-02 -3.12838371e-04 9.99065667e-01 4.94830413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.808040942 meters 0.01660909829299239 Centerline is valid? [True, True] Translation: X:101.10, Y:41.51, Z:4.95 [[ 6.92802554e-01 -7.20494583e-01 -3.02022539e-02 1.01098018e+02] [ 7.19837917e-01 6.93460431e-01 -3.07571732e-02 4.15081662e+01] [ 4.31044447e-02 -4.32079395e-04 9.99070478e-01 4.94954273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.838040942 meters 0.016651326086081476 Centerline is valid? [True, True] Translation: X:101.12, Y:41.53, Z:4.95 [[ 6.91489368e-01 -7.21750948e-01 -3.02988876e-02 1.01116584e+02] [ 7.21090602e-01 6.92152669e-01 -3.08711196e-02 4.15298589e+01] [ 4.32527158e-02 -5.01192138e-04 9.99064038e-01 4.95026534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.868040942 meters 0.01708418370538735 Centerline is valid? [True, True] Translation: X:101.13, Y:41.55, Z:4.95 [[ 6.88617023e-01 -7.24481191e-01 -3.05548678e-02 1.01134963e+02] [ 7.23811607e-01 6.89294247e-01 -3.11480134e-02 4.15519920e+01] [ 4.36274444e-02 -6.66915753e-04 9.99047647e-01 4.95047643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.898040942 meters 0.017324346241717425 Centerline is valid? [True, True] Translation: X:101.16, Y:41.57, Z:4.95 [[ 6.87140930e-01 -7.25858557e-01 -3.10917597e-02 1.01155124e+02] [ 7.25165901e-01 6.87843575e-01 -3.17117156e-02 4.15729794e+01] [ 4.44044873e-02 -7.56266143e-04 9.99013348e-01 4.95151059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.928040942 meters 0.017964439455165505 Centerline is valid? [True, True] Translation: X:101.17, Y:41.59, Z:4.95 [[ 6.85433489e-01 -7.27449951e-01 -3.15832433e-02 1.01174487e+02] [ 7.26736155e-01 6.86160205e-01 -3.22294024e-02 4.15922135e+01] [ 4.51164419e-02 -8.61573132e-04 9.98981363e-01 4.95281317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.958040942 meters 0.01871029663413254 Centerline is valid? [True, True] Translation: X:101.19, Y:41.61, Z:4.95 [[ 6.82020871e-01 -7.30635707e-01 -3.19216971e-02 1.01193209e+02] [ 7.29909658e-01 6.82766652e-01 -3.25820560e-02 4.16139758e+01] [ 4.56006838e-02 -1.07831278e-03 9.98959166e-01 4.95350907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.988040942 meters 0.019378019857753514 Centerline is valid? [True, True] Translation: X:101.21, Y:41.63, Z:4.95 [[ 6.80565519e-01 -7.31991035e-01 -3.19327447e-02 1.01211484e+02] [ 7.31265240e-01 6.81313278e-01 -3.26092843e-02 4.16344243e+01] [ 4.56259068e-02 -1.15855175e-03 9.98957924e-01 4.95416336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.018040942 meters 0.02055130532527781 Centerline is valid? [True, True] Translation: X:101.23, Y:41.66, Z:4.96 [[ 6.77909105e-01 -7.34442293e-01 -3.21522042e-02 1.01228766e+02] [ 7.33708898e-01 6.78669844e-01 -3.28404682e-02 4.16565155e+01] [ 4.59401602e-02 -1.32750597e-03 9.98943311e-01 4.95505007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.048040942 meters 0.019972040706769223 Centerline is valid? [True, True] Translation: X:101.25, Y:41.68, Z:4.96 [[ 6.76725450e-01 -7.35534798e-01 -3.21127160e-02 1.01246489e+02] [ 7.34804018e-01 6.77485512e-01 -3.28090899e-02 4.16799448e+01] [ 4.58881272e-02 -1.39380664e-03 9.98945613e-01 4.95652696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.078040942 meters 0.020332098875179543 Centerline is valid? [True, True] Translation: X:101.26, Y:41.70, Z:4.96 [[ 6.75662826e-01 -7.36519351e-01 -3.19216485e-02 1.01264843e+02] [ 7.35797601e-01 6.76414939e-01 -3.26300621e-02 4.17015641e+01] [ 4.56249520e-02 -1.44095239e-03 9.98957600e-01 4.95791198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.108040942 meters 0.020915969176452744 Centerline is valid? [True, True] Translation: X:101.28, Y:41.73, Z:4.96 [[ 6.74301705e-01 -7.37794813e-01 -3.12413878e-02 1.01282144e+02] [ 7.37104619e-01 6.75023401e-01 -3.19403943e-02 4.17252869e+01] [ 4.46541251e-02 -1.49070884e-03 9.99001395e-01 4.95977478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.138040942 meters 0.02119729626616475 Centerline is valid? [True, True] Translation: X:101.30, Y:41.75, Z:4.96 [[ 6.73910112e-01 -7.38171718e-01 -3.07843490e-02 1.01300901e+02] [ 7.37501285e-01 6.74611233e-01 -3.14887137e-02 4.17475933e+01] [ 4.40115455e-02 -1.48293432e-03 9.99029922e-01 4.96152939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.168040942 meters 0.021350474223610694 Centerline is valid? [True, True] Translation: X:101.32, Y:41.77, Z:4.96 [[ 6.73861872e-01 -7.38229737e-01 -3.04472032e-02 1.01315714e+02] [ 7.37573306e-01 6.74547792e-01 -3.11591784e-02 4.17721155e+01] [ 4.35407258e-02 -1.46006208e-03 9.99050586e-01 4.96262808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.198040942 meters 0.021403849337807392 Centerline is valid? [True, True] Translation: X:101.33, Y:41.79, Z:4.96 [[ 6.74382196e-01 -7.37740311e-01 -3.07877856e-02 1.01332447e+02] [ 7.37067793e-01 6.75083093e-01 -3.15259640e-02 4.17946787e+01] [ 4.40422880e-02 -1.43213633e-03 9.99028641e-01 4.96311126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22804094199999 meters 0.021403849337807392 Centerline is valid? [True, True] Translation: X:101.35, Y:41.81, Z:4.96 [[ 6.74174712e-01 -7.37930035e-01 -3.07850760e-02 1.01351637e+02] [ 7.37257594e-01 6.74875683e-01 -3.15286097e-02 4.18144464e+01] [ 4.40420072e-02 -1.44073973e-03 9.99028641e-01 4.96433760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.258040942 meters 0.02062706845718597 Centerline is valid? [True, True] Translation: X:101.37, Y:41.84, Z:4.96 [[ 6.75064387e-01 -7.37120364e-01 -3.06862028e-02 1.01365376e+02] [ 7.36450624e-01 6.75760082e-01 -3.14450238e-02 4.18415578e+01] [ 4.39152783e-02 -1.37145753e-03 9.99034317e-01 4.96493667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.288040942 meters 0.020583259441619605 Centerline is valid? [True, True] Translation: X:101.38, Y:41.86, Z:4.97 [[ 6.75552585e-01 -7.36664735e-01 -3.08832140e-02 1.01383277e+02] [ 7.35985183e-01 6.76256810e-01 -3.16628715e-02 4.18648322e+01] [ 4.42099046e-02 -1.33965318e-03 9.99021366e-01 4.96631776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.318040942 meters 0.020412905008358632 Centerline is valid? [True, True] Translation: X:101.40, Y:41.89, Z:4.97 [[ 6.76186506e-01 -7.36103178e-01 -3.03960479e-02 1.01400731e+02] [ 7.35443673e-01 6.76868151e-01 -3.11786919e-02 4.18879439e+01] [ 4.35248509e-02 -1.27197039e-03 9.99051535e-01 4.96758740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.348040942 meters 0.020325940382542526 Centerline is valid? [True, True] Translation: X:101.42, Y:41.91, Z:4.97 [[ 6.77465508e-01 -7.34933208e-01 -3.02269031e-02 1.01415387e+02] [ 7.34279188e-01 6.78138473e-01 -3.10207220e-02 4.19124646e+01] [ 4.32961847e-02 -1.17951665e-03 9.99061584e-01 4.96849379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.378040942 meters 0.02071975823500718 Centerline is valid? [True, True] Translation: X:101.43, Y:41.93, Z:4.97 [[ 6.77491303e-01 -7.34908364e-01 -3.02527838e-02 1.01432485e+02] [ 7.34252851e-01 6.78165408e-01 -3.10552934e-02 4.19332992e+01] [ 4.33391863e-02 -1.17350153e-03 9.99059727e-01 4.96964313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.408040942 meters 0.019885580670298452 Centerline is valid? [True, True] Translation: X:101.45, Y:41.96, Z:4.97 [[ 6.77774653e-01 -7.34649705e-01 -3.01882539e-02 1.01446813e+02] [ 7.33996336e-01 6.78445644e-01 -3.09981673e-02 4.19591822e+01] [ 4.32538838e-02 -1.14829568e-03 9.99063453e-01 4.96968460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.438040942 meters 0.02035840463761661 Centerline is valid? [True, True] Translation: X:101.46, Y:41.98, Z:4.97 [[ 6.77809099e-01 -7.34617588e-01 -3.01964359e-02 1.01464976e+02] [ 7.33963172e-01 6.78480440e-01 -3.10218302e-02 4.19799246e+01] [ 4.32768732e-02 -1.13619309e-03 9.99062471e-01 4.97080519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.468040942 meters 0.021847545019430512 Centerline is valid? [True, True] Translation: X:101.48, Y:42.00, Z:4.97 [[ 6.78081284e-01 -7.34345487e-01 -3.06997975e-02 1.01482557e+02] [ 7.33667985e-01 6.78774955e-01 -3.15570561e-02 4.20021159e+01] [ 4.40120354e-02 -1.12520946e-03 9.99030367e-01 4.97021473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.498040942 meters 0.02077046966360888 Centerline is valid? [True, True] Translation: X:101.50, Y:42.02, Z:4.97 [[ 6.77764233e-01 -7.34650244e-01 -3.04082805e-02 1.01500120e+02] [ 7.33985634e-01 6.78445090e-01 -3.12625895e-02 4.20223630e+01] [ 4.35974176e-02 -1.13057607e-03 9.99048541e-01 4.97268010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.528040942 meters 0.02028592125048012 Centerline is valid? [True, True] Translation: X:101.52, Y:42.04, Z:4.97 [[ 6.77369214e-01 -7.35003384e-01 -3.06752909e-02 1.01517803e+02] [ 7.34326974e-01 6.78062451e-01 -3.15469198e-02 4.20444062e+01] [ 4.39868557e-02 -1.15678130e-03 9.99031440e-01 4.97346960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.558040942 meters 0.0205127469475452 Centerline is valid? [True, True] Translation: X:101.54, Y:42.07, Z:4.97 [[ 6.76582956e-01 -7.35709075e-01 -3.11072421e-02 1.01535903e+02] [ 7.35013415e-01 6.77296611e-01 -3.20090683e-02 4.20673713e+01] [ 4.46181916e-02 -1.20745021e-03 9.99003383e-01 4.97402700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.588040942 meters 0.02104850325668061 Centerline is valid? [True, True] Translation: X:101.55, Y:42.09, Z:4.97 [[ 6.76026477e-01 -7.36211632e-01 -3.13150957e-02 1.01554801e+02] [ 7.35506478e-01 6.76750249e-01 -3.22385074e-02 4.20878048e+01] [ 4.49268629e-02 -1.23837122e-03 9.98989511e-01 4.97498387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.618040942 meters 0.02207274042380205 Centerline is valid? [True, True] Translation: X:101.57, Y:42.11, Z:4.98 [[ 6.74901589e-01 -7.37238463e-01 -3.14212264e-02 1.01573386e+02] [ 7.36529378e-01 6.75631364e-01 -3.23533065e-02 4.21081935e+01] [ 4.50812680e-02 -1.30735835e-03 9.98982467e-01 4.97619258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.648040942 meters 0.022493798056936395 Centerline is valid? [True, True] Translation: X:101.59, Y:42.13, Z:4.98 [[ 6.73975308e-01 -7.38087390e-01 -3.13733607e-02 1.01592898e+02] [ 7.37381131e-01 6.74703757e-01 -3.23095746e-02 4.21298210e+01] [ 4.50150139e-02 -1.35826865e-03 9.98985387e-01 4.97686473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.678040942 meters 0.022567321755054694 Centerline is valid? [True, True] Translation: X:101.61, Y:42.15, Z:4.98 [[ 6.73465128e-01 -7.38563420e-01 -3.11254675e-02 1.01612247e+02] [ 7.37868128e-01 6.74182616e-01 -3.20690870e-02 4.21512277e+01] [ 4.46693037e-02 -1.36907867e-03 9.99000890e-01 4.97764459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.708040942 meters 0.023724823706921725 Centerline is valid? [True, True] Translation: X:101.63, Y:42.17, Z:4.98 [[ 6.72694210e-01 -7.39244445e-01 -3.16251541e-02 1.01631676e+02] [ 7.38526694e-01 6.73435680e-01 -3.25991930e-02 4.21709670e+01] [ 4.53962795e-02 -1.42673210e-03 9.98968039e-01 4.97854414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.738040942 meters 0.0237174130230872 Centerline is valid? [True, True] Translation: X:101.65, Y:42.19, Z:4.98 [[ 6.72475304e-01 -7.39416813e-01 -3.22450378e-02 1.01650114e+02] [ 7.38670551e-01 6.73246343e-01 -3.32442385e-02 4.21915061e+01] [ 4.62902026e-02 -1.46253041e-03 9.98926963e-01 4.97910149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.768040942 meters 0.024258834901616278 Centerline is valid? [True, True] Translation: X:101.67, Y:42.21, Z:4.98 [[ 6.72150695e-01 -7.39683344e-01 -3.28936790e-02 1.01667832e+02] [ 7.38906230e-01 6.72953419e-01 -3.39305222e-02 4.22127716e+01] [ 4.72337559e-02 -1.49892023e-03 9.98882739e-01 4.97894889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.798040942 meters 0.021292460957158036 Centerline is valid? [True, True] Translation: X:101.68, Y:42.24, Z:4.98 [[ 6.71890431e-01 -7.39913010e-01 -3.30452083e-02 1.01682524e+02] [ 7.39128583e-01 6.72700854e-01 -3.40954498e-02 4.22376740e+01] [ 4.74572067e-02 -1.51625143e-03 9.98872121e-01 4.98061537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.828040942 meters 0.02484792955699894 Centerline is valid? [True, True] Translation: X:101.70, Y:42.25, Z:4.98 [[ 6.71663162e-01 -7.40111791e-01 -3.32134491e-02 1.01704641e+02] [ 7.39318704e-01 6.72482125e-01 -3.42876821e-02 4.22546712e+01] [ 4.77121687e-02 -1.52555120e-03 9.98859961e-01 4.98095761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.858040942 meters 0.02098978037706605 Centerline is valid? [True, True] Translation: X:101.72, Y:42.28, Z:4.98 [[ 6.71629147e-01 -7.40169940e-01 -3.25998165e-02 1.01717972e+02] [ 7.39405588e-01 6.72418190e-01 -3.36623525e-02 4.22810717e+01] [ 4.68365711e-02 -1.49586940e-03 9.98901446e-01 4.98288053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.888040942 meters 0.021800892432839586 Centerline is valid? [True, True] Translation: X:101.74, Y:42.30, Z:4.98 [[ 6.71416305e-01 -7.40371844e-01 -3.23987275e-02 1.01737469e+02] [ 7.39616271e-01 6.72195892e-01 -3.34731815e-02 4.22996061e+01] [ 4.65608926e-02 -1.48818622e-03 9.98914345e-01 4.98417591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.918040942 meters 0.022534133909566975 Centerline is valid? [True, True] Translation: X:101.76, Y:42.32, Z:4.99 [[ 6.70933730e-01 -7.40812304e-01 -3.23273764e-02 1.01756638e+02] [ 7.40060202e-01 6.71710391e-01 -3.34073053e-02 4.23196964e+01] [ 4.64631775e-02 -1.51011674e-03 9.98918862e-01 4.98564527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.948040942 meters 0.02096551257064717 Centerline is valid? [True, True] Translation: X:101.77, Y:42.34, Z:4.99 [[ 6.70573033e-01 -7.41136297e-01 -3.23851292e-02 1.01774079e+02] [ 7.40381583e-01 6.71352847e-01 -3.34733657e-02 4.23424718e+01] [ 4.65501750e-02 -1.53101687e-03 9.98914780e-01 4.98648926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.97804094199999 meters 0.020792881581326784 Centerline is valid? [True, True] Translation: X:101.79, Y:42.36, Z:4.99 [[ 6.70128759e-01 -7.41532559e-01 -3.25101704e-02 1.01794100e+02] [ 7.40771560e-01 6.70915089e-01 -3.36220065e-02 4.23638251e+01] [ 4.67433764e-02 -1.55153611e-03 9.98905726e-01 4.98739597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.008040942 meters 0.021494208246805833 Centerline is valid? [True, True] Translation: X:101.81, Y:42.38, Z:4.99 [[ 6.70758591e-01 -7.40958988e-01 -3.25989542e-02 1.01813981e+02] [ 7.40192369e-01 6.71548595e-01 -3.37304289e-02 4.23831680e+01] [ 4.68846464e-02 -1.50452214e-03 9.98899177e-01 4.98832321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.038040942 meters 0.021217602775496912 Centerline is valid? [True, True] Translation: X:101.83, Y:42.40, Z:4.99 [[ 6.70885276e-01 -7.40862912e-01 -3.21728431e-02 1.01832379e+02] [ 7.40115812e-01 6.71654653e-01 -3.32958392e-02 4.24049870e+01] [ 4.62766921e-02 -1.47394166e-03 9.98927573e-01 4.98970466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.068040942 meters 0.020690565147712444 Centerline is valid? [True, True] Translation: X:101.85, Y:42.43, Z:4.99 [[ 6.72061524e-01 -7.39835114e-01 -3.12620061e-02 1.01850699e+02] [ 7.39127919e-01 6.72786872e-01 -3.23688722e-02 4.24275798e+01] [ 4.49802955e-02 -1.35274801e-03 9.98986958e-01 4.99164536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.098040942 meters 0.02043710139448529 Centerline is valid? [True, True] Translation: X:101.87, Y:42.45, Z:4.99 [[ 6.72690926e-01 -7.39287480e-01 -3.06747586e-02 1.01870247e+02] [ 7.38605362e-01 6.73388730e-01 -3.17763734e-02 4.24488422e+01] [ 4.41479117e-02 -1.28086317e-03 9.99024185e-01 4.99367957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.128040942 meters 0.020166487400205407 Centerline is valid? [True, True] Translation: X:101.89, Y:42.47, Z:5.00 [[ 6.73456489e-01 -7.38583459e-01 -3.08355600e-02 1.01890279e+02] [ 7.37892719e-01 6.74160931e-01 -3.19589546e-02 4.24699354e+01] [ 4.43924851e-02 -1.23036985e-03 9.99013410e-01 4.99561054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.158040942 meters 0.019912657733680946 Centerline is valid? [True, True] Translation: X:101.91, Y:42.49, Z:5.00 [[ 6.75342140e-01 -7.36879001e-01 -3.03699182e-02 1.01909403e+02] [ 7.36206576e-01 6.76023777e-01 -3.14917359e-02 4.24908677e+01] [ 4.37363857e-02 -1.09083717e-03 9.99042511e-01 4.99737591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.188040942 meters 0.019233369482170852 Centerline is valid? [True, True] Translation: X:101.93, Y:42.51, Z:5.00 [[ 6.76422580e-01 -7.35881869e-01 -3.05019484e-02 1.01927929e+02] [ 7.35201880e-01 6.77109175e-01 -3.16442851e-02 4.25128416e+01] [ 4.39396047e-02 -1.02018084e-03 9.99033668e-01 4.99855416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.218040942 meters 0.018429067066056518 Centerline is valid? [True, True] Translation: X:101.95, Y:42.53, Z:5.00 [[ 6.79524365e-01 -7.33015477e-01 -3.05769162e-02 1.01946434e+02] [ 7.32328532e-01 6.80211459e-01 -3.17378561e-02 4.25341712e+01] [ 4.40631085e-02 -8.25701676e-04 9.99028408e-01 4.99940884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.248040942 meters 0.017979255517984412 Centerline is valid? [True, True] Translation: X:101.97, Y:42.56, Z:5.00 [[ 6.81096469e-01 -7.31539766e-01 -3.09381747e-02 1.01965546e+02] [ 7.30834347e-01 6.81798386e-01 -3.21265994e-02 4.25553700e+01] [ 4.45954826e-02 -7.29367232e-04 9.99004860e-01 5.00046052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.278040942 meters 0.01765377016150675 Centerline is valid? [True, True] Translation: X:101.98, Y:42.58, Z:5.00 [[ 6.82688397e-01 -7.30049816e-01 -3.10454270e-02 1.01984045e+02] [ 7.29337249e-01 6.83393648e-01 -3.22536778e-02 4.25755619e+01] [ 4.47630392e-02 -6.23374735e-04 9.98997438e-01 5.00161882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.308040942 meters 0.016934245379199 Centerline is valid? [True, True] Translation: X:102.00, Y:42.60, Z:5.00 [[ 6.85537632e-01 -7.27390607e-01 -3.06767042e-02 1.02002285e+02] [ 7.26691964e-01 6.86223514e-01 -3.18759772e-02 4.25974926e+01] [ 4.42373622e-02 -4.40332526e-04 9.99020952e-01 5.00347870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.338040942 meters 0.016505698787879827 Centerline is valid? [True, True] Translation: X:102.02, Y:42.62, Z:5.00 [[ 6.88577493e-01 -7.24517427e-01 -3.05865131e-02 1.02019900e+02] [ 7.23819360e-01 6.89256439e-01 -3.17977126e-02 4.26185500e+01] [ 4.41199480e-02 -2.43921173e-04 9.99026211e-01 5.00453540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.368040942 meters 0.01634410301427495 Centerline is valid? [True, True] Translation: X:102.04, Y:42.64, Z:5.01 [[ 6.89761122e-01 -7.23369810e-01 -3.10759164e-02 1.02038674e+02] [ 7.22647792e-01 6.90460780e-01 -3.23122187e-02 4.26390661e+01] [ 4.48303849e-02 -1.69230158e-04 9.98994599e-01 5.00530463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.398040942 meters 0.016215067321384904 Centerline is valid? [True, True] Translation: X:102.06, Y:42.66, Z:5.01 [[ 6.90955480e-01 -7.22225427e-01 -3.11601850e-02 1.02057830e+02] [ 7.21497521e-01 6.91657737e-01 -3.24176265e-02 4.26594470e+01] [ 4.49650172e-02 -8.28595574e-05 9.98988559e-01 5.00615735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.428040942 meters 0.016230766629136334 Centerline is valid? [True, True] Translation: X:102.08, Y:42.68, Z:5.01 [[ 6.91892531e-01 -7.21312256e-01 -3.15175378e-02 1.02077137e+02] [ 7.20565777e-01 6.92610013e-01 -3.28074918e-02 4.26793583e+01] [ 4.54938082e-02 -1.12005658e-05 9.98964621e-01 5.00716273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.458040942 meters 0.016248145664138444 Centerline is valid? [True, True] Translation: X:102.10, Y:42.70, Z:5.01 [[ 6.93570883e-01 -7.19676409e-01 -3.20202515e-02 1.02096028e+02] [ 7.18903288e-01 6.94309624e-01 -3.33497784e-02 4.26984131e+01] [ 4.62330176e-02 1.10971190e-04 9.98930676e-01 5.00799368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.488040942 meters 0.016320656570675426 Centerline is valid? [True, True] Translation: X:102.12, Y:42.72, Z:5.01 [[ 6.94720054e-01 -7.18568574e-01 -3.19882754e-02 1.02116041e+02] [ 7.17795237e-01 6.95456085e-01 -3.33291382e-02 4.27161848e+01] [ 4.61957121e-02 1.93388974e-04 9.98932390e-01 5.00892254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.518040942 meters 0.016330954754849077 Centerline is valid? [True, True] Translation: X:102.14, Y:42.74, Z:5.01 [[ 6.94642466e-01 -7.18652657e-01 -3.17837012e-02 1.02136696e+02] [ 7.17888908e-01 6.95369198e-01 -3.31239220e-02 4.27352827e+01] [ 4.59060014e-02 1.92116287e-04 9.98945745e-01 5.01048447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.548040942 meters 0.016346271359746953 Centerline is valid? [True, True] Translation: X:102.16, Y:42.75, Z:5.01 [[ 6.94342170e-01 -7.18955535e-01 -3.14942845e-02 1.02157798e+02] [ 7.18205134e-01 6.95056045e-01 -3.28402218e-02 4.27539967e+01] [ 4.55009521e-02 1.82994069e-04 9.98964279e-01 5.01199088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.578040942 meters 0.016263578328789798 Centerline is valid? [True, True] Translation: X:102.18, Y:42.77, Z:5.01 [[ 6.92906043e-01 -7.20336528e-01 -3.15674066e-02 1.02180110e+02] [ 7.19583249e-01 6.93624736e-01 -3.29343622e-02 4.27702262e+01] [ 4.56197582e-02 1.05041631e-04 9.98958871e-01 5.01332189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.608040942 meters 0.016206123107290495 Centerline is valid? [True, True] Translation: X:102.20, Y:42.79, Z:5.01 [[ 6.92039835e-01 -7.21173721e-01 -3.14536293e-02 1.02200745e+02] [ 7.20426380e-01 6.92754257e-01 -3.28233298e-02 4.27876073e+01] [ 4.54609585e-02 5.50274660e-05 9.98966115e-01 5.01438126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.638040942 meters 0.01618265735120412 Centerline is valid? [True, True] Translation: X:102.22, Y:42.80, Z:5.02 [[ 6.90429775e-01 -7.22719856e-01 -3.13486126e-02 1.02224725e+02] [ 7.21978645e-01 6.91141091e-01 -3.27235143e-02 4.28039390e+01] [ 4.53162479e-02 -3.97402267e-05 9.98972690e-01 5.01625596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.668040942 meters 0.01620618668158093 Centerline is valid? [True, True] Translation: X:102.25, Y:42.82, Z:5.02 [[ 6.89885553e-01 -7.23238494e-01 -3.13688452e-02 1.02245691e+02] [ 7.22496061e-01 6.90598347e-01 -3.27622567e-02 4.28227012e+01] [ 4.53581978e-02 -6.16594993e-05 9.98970785e-01 5.01780425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.698040942 meters 0.016098812319135968 Centerline is valid? [True, True] Translation: X:102.27, Y:42.84, Z:5.02 [[ 6.89315496e-01 -7.23767655e-01 -3.16942918e-02 1.02266363e+02] [ 7.23009438e-01 6.90043748e-01 -3.31206664e-02 4.28412341e+01] [ 4.58421150e-02 -8.46835097e-05 9.98948694e-01 5.01873446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72804094199999 meters 0.01606262431472489 Centerline is valid? [True, True] Translation: X:102.29, Y:42.86, Z:5.02 [[ 6.89554547e-01 -7.23497601e-01 -3.26457950e-02 1.02288208e+02] [ 7.22691953e-01 6.90326892e-01 -3.41338993e-02 4.28580768e+01] [ 4.72320645e-02 -5.56678698e-05 9.98883942e-01 5.01940001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.758040942 meters 0.016084716046568023 Centerline is valid? [True, True] Translation: X:102.31, Y:42.88, Z:5.02 [[ 6.90061801e-01 -7.22989669e-01 -3.31760250e-02 1.02308179e+02] [ 7.22156590e-01 6.90858841e-01 -3.46975848e-02 4.28771916e+01] [ 4.80059455e-02 -1.48072608e-05 9.98847050e-01 5.01992595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.788040942 meters 0.01603213834056465 Centerline is valid? [True, True] Translation: X:102.33, Y:42.90, Z:5.02 [[ 6.91272377e-01 -7.21806176e-01 -3.37393878e-02 1.02328888e+02] [ 7.20942196e-01 6.92095252e-01 -3.53059680e-02 4.28951015e+01] [ 4.88349358e-02 8.18920616e-05 9.98806859e-01 5.02020081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.818040942 meters 0.01602999900843597 Centerline is valid? [True, True] Translation: X:102.35, Y:42.91, Z:5.02 [[ 6.91637941e-01 -7.21447067e-01 -3.39276810e-02 1.02349451e+02] [ 7.20572384e-01 6.92469577e-01 -3.55151262e-02 4.29139310e+01] [ 4.91161706e-02 1.16258818e-04 9.98793066e-01 5.02155385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.848040942 meters 0.01610813423132221 Centerline is valid? [True, True] Translation: X:102.37, Y:42.93, Z:5.02 [[ 6.91921913e-01 -7.21173860e-01 -3.39459897e-02 1.02369997e+02] [ 7.20296940e-01 6.92754099e-01 -3.55538574e-02 4.29324531e+01] [ 4.91567361e-02 1.49300483e-04 9.98791066e-01 5.02303493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.878040942 meters 0.016186430741781447 Centerline is valid? [True, True] Translation: X:102.39, Y:42.95, Z:5.02 [[ 6.91827686e-01 -7.21288473e-01 -3.34274087e-02 1.02392619e+02] [ 7.20437358e-01 6.92634763e-01 -3.50299634e-02 4.29499253e+01] [ 4.84196941e-02 1.52344518e-04 9.98827067e-01 5.02477001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.908040942 meters 0.01625720107610284 Centerline is valid? [True, True] Translation: X:102.42, Y:42.97, Z:5.03 [[ 6.90835567e-01 -7.22275649e-01 -3.26206393e-02 1.02415825e+02] [ 7.21465390e-01 6.91605291e-01 -3.42025256e-02 4.29656879e+01] [ 4.72642581e-02 9.36589521e-05 9.98882416e-01 5.02699066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.938040942 meters 0.01632261106262062 Centerline is valid? [True, True] Translation: X:102.44, Y:42.98, Z:5.03 [[ 6.90209657e-01 -7.22868987e-01 -3.27270151e-02 1.02437503e+02] [ 7.22053609e-01 6.90985112e-01 -3.43243616e-02 4.29840813e+01] [ 4.74258967e-02 6.03465192e-05 9.98874757e-01 5.02876360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.968040942 meters 0.016343486363971958 Centerline is valid? [True, True] Translation: X:102.46, Y:43.00, Z:5.03 [[ 6.89787696e-01 -7.23281600e-01 -3.25063123e-02 1.02459048e+02] [ 7.22476785e-01 6.90553202e-01 -3.41111413e-02 4.30026243e+01] [ 4.71192989e-02 4.43896245e-05 9.98889268e-01 5.03018298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.998040942 meters 0.0164767315599362 Centerline is valid? [True, True] Translation: X:102.48, Y:43.02, Z:5.03 [[ 6.89517089e-01 -7.23544715e-01 -3.23918010e-02 1.02479502e+02] [ 7.22744965e-01 6.90277512e-01 -3.40098933e-02 4.30211237e+01] [ 4.69670104e-02 3.93916077e-05 9.98896440e-01 5.03071948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.028040942 meters 0.016492618530865765 Centerline is valid? [True, True] Translation: X:102.50, Y:43.04, Z:5.03 [[ 6.89640258e-01 -7.23430349e-01 -3.23240734e-02 1.02501954e+02] [ 7.22633416e-01 6.90397370e-01 -3.39472857e-02 4.30374882e+01] [ 4.68749520e-02 5.29592792e-05 9.98900764e-01 5.03222731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.058040942 meters 0.01663098072534087 Centerline is valid? [True, True] Translation: X:102.52, Y:43.06, Z:5.03 [[ 6.89584772e-01 -7.23485571e-01 -3.22718258e-02 1.02523387e+02] [ 7.22690798e-01 6.90339500e-01 -3.39025896e-02 4.30560795e+01] [ 4.68065505e-02 5.61579867e-05 9.98903971e-01 5.03378027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.088040942 meters 0.016695025631233124 Centerline is valid? [True, True] Translation: X:102.55, Y:43.07, Z:5.04 [[ 6.89437773e-01 -7.23632056e-01 -3.21279562e-02 1.02546066e+02] [ 7.22843690e-01 6.90185949e-01 -3.37691411e-02 4.30727378e+01] [ 4.66106970e-02 5.82309741e-05 9.98913129e-01 5.03530283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.118040942 meters 0.016695025631233124 Centerline is valid? [True, True] Translation: X:102.56, Y:43.09, Z:5.04 [[ 6.89247607e-01 -7.23813582e-01 -3.21190664e-02 1.02564952e+02] [ 7.23025020e-01 6.89995576e-01 -3.37775945e-02 4.30927662e+01] [ 4.66106954e-02 5.82375810e-05 9.98913129e-01 5.03652610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.148040942 meters 0.016695315863556215 Centerline is valid? [True, True] Translation: X:102.59, Y:43.11, Z:5.04 [[ 6.89431401e-01 -7.23630305e-01 -3.23036333e-02 1.02585188e+02] [ 7.22831622e-01 6.90187782e-01 -3.39892915e-02 4.31104693e+01] [ 4.68912544e-02 8.31972074e-05 9.98899997e-01 5.03795371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.178040942 meters 0.01675045356331408 Centerline is valid? [True, True] Translation: X:102.61, Y:43.13, Z:5.04 [[ 6.89501833e-01 -7.23552876e-01 -3.25339722e-02 1.02606747e+02] [ 7.22742164e-01 6.90268953e-01 -3.42423374e-02 4.31291257e+01] [ 4.72333326e-02 9.64808974e-05 9.98883879e-01 5.03971011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.208040942 meters 0.01694366138975692 Centerline is valid? [True, True] Translation: X:102.63, Y:43.15, Z:5.04 [[ 6.90119554e-01 -7.22960803e-01 -3.25987592e-02 1.02629189e+02] [ 7.22145251e-01 6.90889032e-01 -3.43304781e-02 4.31462136e+01] [ 4.73417151e-02 1.51095091e-04 9.98878741e-01 5.04140186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.238040942 meters 0.016926276919993113 Centerline is valid? [True, True] Translation: X:102.65, Y:43.16, Z:5.04 [[ 6.90325902e-01 -7.22766528e-01 -3.25375975e-02 1.02650110e+02] [ 7.21952872e-01 6.91092262e-01 -3.42860904e-02 4.31648131e+01] [ 4.72673203e-02 1.77964299e-04 9.98882260e-01 5.04325847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.268040942 meters 0.017092731078520898 Centerline is valid? [True, True] Translation: X:102.67, Y:43.18, Z:5.05 [[ 6.90160982e-01 -7.22978849e-01 -3.12954100e-02 1.02673378e+02] [ 7.22225539e-01 6.90870144e-01 -3.29956771e-02 4.31817528e+01] [ 4.54762410e-02 1.69984621e-04 9.98965406e-01 5.04593790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.298040942 meters 0.017109449321608163 Centerline is valid? [True, True] Translation: X:102.69, Y:43.20, Z:5.05 [[ 6.89551913e-01 -7.23571450e-01 -3.10244329e-02 1.02693949e+02] [ 7.22830890e-01 6.90249474e-01 -3.27287043e-02 4.31991721e+01] [ 4.50961546e-02 1.42722172e-04 9.98982641e-01 5.04796840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.328040942 meters 0.017107305839064415 Centerline is valid? [True, True] Translation: X:102.72, Y:43.22, Z:5.05 [[ 6.88950006e-01 -7.24158407e-01 -3.07000172e-02 1.02715507e+02] [ 7.23433482e-01 6.89633664e-01 -3.23945628e-02 4.32168670e+01] [ 4.46305603e-02 1.08813929e-04 9.99003554e-01 5.05008869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.358040942 meters 0.017075194995712466 Centerline is valid? [True, True] Translation: X:102.74, Y:43.23, Z:5.05 [[ 6.87228040e-01 -7.25803848e-01 -3.04367368e-02 1.02739557e+02] [ 7.25092107e-01 6.87901718e-01 -3.21350765e-02 4.32325356e+01] [ 4.42612457e-02 1.46879895e-05 9.99019991e-01 5.05155460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.388040942 meters 0.017141974799793677 Centerline is valid? [True, True] Translation: X:102.76, Y:43.25, Z:5.05 [[ 6.86082721e-01 -7.26883976e-01 -3.04989369e-02 1.02761141e+02] [ 7.26169566e-01 6.86760281e-01 -3.22192085e-02 4.32504130e+01] [ 4.43650849e-02 -4.23575219e-05 9.99015384e-01 5.05291346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.418040942 meters 0.017240945996667284 Centerline is valid? [True, True] Translation: X:102.79, Y:43.27, Z:5.05 [[ 6.83941755e-01 -7.28901183e-01 -3.04424194e-02 1.02785745e+02] [ 7.28190592e-01 6.84618901e-01 -3.21779792e-02 4.32656257e+01] [ 4.42960229e-02 -1.60019848e-04 9.99018437e-01 5.05428702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.448040942 meters 0.017357986360411803 Centerline is valid? [True, True] Translation: X:102.81, Y:43.28, Z:5.06 [[ 6.82502855e-01 -7.30252844e-01 -3.03419996e-02 1.02807840e+02] [ 7.29547450e-01 6.83176939e-01 -3.20903222e-02 4.32835978e+01] [ 4.41630034e-02 -2.34191933e-04 9.99024311e-01 5.05555973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.47804094199999 meters 0.017398782753141506 Centerline is valid? [True, True] Translation: X:102.83, Y:43.30, Z:5.06 [[ 6.81170459e-01 -7.31501077e-01 -3.02155670e-02 1.02830378e+02] [ 7.30801970e-01 6.81840218e-01 -3.19749430e-02 4.33021756e+01] [ 4.39918941e-02 -3.01209276e-04 9.99031843e-01 5.05730734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.508040942 meters 0.018103595918835032 Centerline is valid? [True, True] Translation: X:102.86, Y:43.32, Z:5.06 [[ 6.78783981e-01 -7.33730617e-01 -2.98611550e-02 1.02855614e+02] [ 7.33049270e-01 6.79440356e-01 -3.16159887e-02 4.33164406e+01] [ 4.34864927e-02 -4.29271183e-04 9.99053923e-01 5.05914598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.538040942 meters 0.0181610734900366 Centerline is valid? [True, True] Translation: X:102.88, Y:43.33, Z:5.06 [[ 6.77453567e-01 -7.34965513e-01 -2.97045275e-02 1.02878980e+02] [ 7.34292251e-01 6.78104301e-01 -3.14554817e-02 4.33344674e+01] [ 4.32614621e-02 -5.02176105e-04 9.99063658e-01 5.06046239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.568040942 meters 0.018212921597840975 Centerline is valid? [True, True] Translation: X:102.90, Y:43.35, Z:5.06 [[ 6.77007315e-01 -7.35376238e-01 -2.97133630e-02 1.02899769e+02] [ 7.34702302e-01 6.77658852e-01 -3.14802791e-02 4.33534164e+01] [ 4.32853727e-02 -5.18096932e-04 9.99062615e-01 5.06156676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.598040942 meters 0.018316090142849344 Centerline is valid? [True, True] Translation: X:102.92, Y:43.37, Z:5.06 [[ 6.76606712e-01 -7.35725263e-01 -3.01942840e-02 1.02920311e+02] [ 7.35028843e-01 6.77279890e-01 -3.20085990e-02 4.33708822e+01] [ 4.39995163e-02 -5.36436732e-04 9.99031408e-01 5.06271687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.628040942 meters 0.018495757279950294 Centerline is valid? [True, True] Translation: X:102.94, Y:43.39, Z:5.06 [[ 6.75995293e-01 -7.36269634e-01 -3.06168271e-02 1.02942383e+02] [ 7.35553654e-01 6.76688037e-01 -3.24672598e-02 4.33880156e+01] [ 4.46226981e-02 -5.72604261e-04 9.99003747e-01 5.06306739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.658040942 meters 0.01853989541619675 Centerline is valid? [True, True] Translation: X:102.96, Y:43.41, Z:5.06 [[ 6.75690593e-01 -7.36547230e-01 -3.06659663e-02 1.02962585e+02] [ 7.35828406e-01 6.76385868e-01 -3.25378930e-02 4.34077269e+01] [ 4.47077212e-02 -5.79340868e-04 9.98999942e-01 5.06431647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.688040942 meters 0.018727019281418202 Centerline is valid? [True, True] Translation: X:102.98, Y:43.43, Z:5.07 [[ 6.75481236e-01 -7.36739649e-01 -3.06560046e-02 1.02984164e+02] [ 7.36020656e-01 6.76176275e-01 -3.25459582e-02 4.34264782e+01] [ 4.47067607e-02 -5.79268547e-04 9.98999985e-01 5.06603490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.718040942 meters 0.018734644509454473 Centerline is valid? [True, True] Translation: X:103.00, Y:43.45, Z:5.07 [[ 6.75559644e-01 -7.36660407e-01 -3.08319860e-02 1.03004109e+02] [ 7.35932203e-01 6.76262616e-01 -3.27515870e-02 4.34455837e+01] [ 4.49773169e-02 -5.64600890e-04 9.98987849e-01 5.06731759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.748040942 meters 0.018735272515220742 Centerline is valid? [True, True] Translation: X:103.02, Y:43.46, Z:5.07 [[ 6.75480436e-01 -7.36733947e-01 -3.08102584e-02 1.03024446e+02] [ 7.36006009e-01 6.76182506e-01 -3.27471258e-02 4.34647619e+01] [ 4.49592770e-02 -5.56492534e-04 9.98988665e-01 5.06855608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.778040942 meters 0.01900550594034749 Centerline is valid? [True, True] Translation: X:103.05, Y:43.48, Z:5.07 [[ 6.75093457e-01 -7.37087514e-01 -3.08353939e-02 1.03046212e+02] [ 7.36357907e-01 6.75797066e-01 -3.27926457e-02 4.34832086e+01] [ 4.50095184e-02 -5.67785613e-04 9.98986397e-01 5.07064690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.808040942 meters 0.01945352255060141 Centerline is valid? [True, True] Translation: X:103.07, Y:43.50, Z:5.07 [[ 6.74611275e-01 -7.37563050e-01 -3.00062406e-02 1.03067847e+02] [ 7.36871856e-01 6.75278032e-01 -3.19287870e-02 4.35008832e+01] [ 4.38120487e-02 -5.71234463e-04 9.99039628e-01 5.07295130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.838040942 meters 0.019378101147862693 Centerline is valid? [True, True] Translation: X:103.09, Y:43.52, Z:5.08 [[ 6.74257953e-01 -7.37908174e-01 -2.94574283e-02 1.03087535e+02] [ 7.37241989e-01 6.74900877e-01 -3.13537219e-02 4.35206095e+01] [ 4.30170119e-02 -5.76756648e-04 9.99074173e-01 5.07500134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.868040942 meters 0.019367855546831472 Centerline is valid? [True, True] Translation: X:103.11, Y:43.54, Z:5.08 [[ 6.74045799e-01 -7.38110747e-01 -2.92367379e-02 1.03107014e+02] [ 7.37453946e-01 6.74679329e-01 -3.11364862e-02 4.35404591e+01] [ 4.27075978e-02 -5.73329971e-04 9.99087450e-01 5.07690942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.898040942 meters 0.019416194721467328 Centerline is valid? [True, True] Translation: X:103.13, Y:43.56, Z:5.08 [[ 6.74507909e-01 -7.37711813e-01 -2.86419571e-02 1.03127008e+02] [ 7.37080392e-01 6.75115549e-01 -3.05203277e-02 4.35600542e+01] [ 4.18518368e-02 -5.25222563e-04 9.99123690e-01 5.07883073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.928040942 meters 0.019525955798047594 Centerline is valid? [True, True] Translation: X:103.15, Y:43.58, Z:5.08 [[ 6.74699617e-01 -7.37530537e-01 -2.87947015e-02 1.03145816e+02] [ 7.36891428e-01 6.75313596e-01 -3.07013100e-02 4.35790173e+01] [ 4.20886071e-02 -5.04406611e-04 9.99113755e-01 5.08038089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.958040942 meters 0.01932119667208158 Centerline is valid? [True, True] Translation: X:103.17, Y:43.60, Z:5.08 [[ 6.75571106e-01 -7.36717145e-01 -2.91809802e-02 1.03165996e+02] [ 7.36059483e-01 6.76200891e-01 -3.11254412e-02 4.35995481e+01] [ 4.26628510e-02 -4.51488526e-04 9.99089424e-01 5.08181385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.988040942 meters 0.01942461764851761 Centerline is valid? [True, True] Translation: X:103.18, Y:43.62, Z:5.08 [[ 6.75789868e-01 -7.36514671e-01 -2.92265995e-02 1.03184919e+02] [ 7.35854076e-01 6.76421434e-01 -3.11900930e-02 4.36185301e+01] [ 4.27414594e-02 -4.28563568e-04 9.99086074e-01 5.08350956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.018040942 meters 0.019324804477412555 Centerline is valid? [True, True] Translation: X:103.20, Y:43.64, Z:5.09 [[ 6.75682574e-01 -7.36603637e-01 -2.94642462e-02 1.03204234e+02] [ 7.35931923e-01 6.76324550e-01 -3.14532750e-02 4.36389195e+01] [ 4.30959898e-02 -4.31249523e-04 9.99070843e-01 5.08514287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.048040942 meters 0.019509562119954575 Centerline is valid? [True, True] Translation: X:103.22, Y:43.66, Z:5.09 [[ 6.75121821e-01 -7.37089094e-01 -3.01694268e-02 1.03223488e+02] [ 7.36384475e-01 6.75795425e-01 -3.22249795e-02 4.36576471e+01] [ 4.41410415e-02 -4.60510649e-04 9.99025203e-01 5.08689597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.078040942 meters 0.01968544058574391 Centerline is valid? [True, True] Translation: X:103.24, Y:43.68, Z:5.09 [[ 6.74523074e-01 -7.37638778e-01 -3.01273287e-02 1.03242351e+02] [ 7.36936211e-01 6.75195375e-01 -3.21904781e-02 4.36768841e+01] [ 4.40867779e-02 -4.88699215e-04 9.99027586e-01 5.08788328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.108040942 meters 0.019842931319684193 Centerline is valid? [True, True] Translation: X:103.26, Y:43.70, Z:5.09 [[ 6.73114809e-01 -7.38916694e-01 -3.03079760e-02 1.03261997e+02] [ 7.38206492e-01 6.73796554e-01 -3.23941219e-02 4.36972851e+01] [ 4.43579672e-02 -5.68581512e-04 9.99015539e-01 5.08926159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.138040942 meters 0.019867864908772435 Centerline is valid? [True, True] Translation: X:103.28, Y:43.72, Z:5.09 [[ 6.72248256e-01 -7.39704520e-01 -3.03233522e-02 1.03281378e+02] [ 7.38994144e-01 6.72931529e-01 -3.24162338e-02 4.37181104e+01] [ 4.43839744e-02 -6.17023037e-04 9.99014355e-01 5.09097665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.168040942 meters 0.020060598151348936 Centerline is valid? [True, True] Translation: X:103.30, Y:43.74, Z:5.09 [[ 6.71569001e-01 -7.40324134e-01 -3.02531544e-02 1.03301305e+02] [ 7.39616959e-01 6.72249774e-01 -3.23572987e-02 4.37391634e+01] [ 4.42925654e-02 -6.45587253e-04 9.99018394e-01 5.09279366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.198040942 meters 0.020360505586318682 Centerline is valid? [True, True] Translation: X:103.32, Y:43.76, Z:5.09 [[ 6.70355045e-01 -7.41444073e-01 -2.97455893e-02 1.03320719e+02] [ 7.40760843e-01 6.71014308e-01 -3.18303740e-02 4.37598160e+01] [ 4.35601581e-02 -6.96715971e-04 9.99050563e-01 5.09480025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22804094199999 meters 0.020591542992801352 Centerline is valid? [True, True] Translation: X:103.34, Y:43.78, Z:5.10 [[ 6.69345135e-01 -7.42376330e-01 -2.92314147e-02 1.03340364e+02] [ 7.41717194e-01 6.69982714e-01 -3.12852696e-02 4.37803531e+01] [ 4.28099862e-02 -7.40799878e-04 9.99082958e-01 5.09637067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.258040942 meters 0.021448563361804594 Centerline is valid? [True, True] Translation: X:103.36, Y:43.80, Z:5.10 [[ 6.67415395e-01 -7.44113616e-01 -2.91824565e-02 1.03361152e+02] [ 7.43457674e-01 6.68052558e-01 -3.12484821e-02 4.38000434e+01] [ 4.27478358e-02 -8.40203186e-04 9.99085540e-01 5.09712422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.288040942 meters 0.021946590910120998 Centerline is valid? [True, True] Translation: X:103.38, Y:43.82, Z:5.10 [[ 6.66534688e-01 -7.44909590e-01 -2.90036764e-02 1.03381356e+02] [ 7.44261742e-01 6.67164850e-01 -3.10728386e-02 4.38198018e+01] [ 4.24966889e-02 -8.75201953e-04 9.99096224e-01 5.09765973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.318040942 meters 0.022260488733845653 Centerline is valid? [True, True] Translation: X:103.40, Y:43.84, Z:5.10 [[ 6.65406964e-01 -7.45910733e-01 -2.91676219e-02 1.03401567e+02] [ 7.45256278e-01 6.66045263e-01 -3.12535930e-02 4.38407004e+01] [ 4.27393468e-02 -9.40994923e-04 9.99085814e-01 5.09865415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.348040942 meters 0.022845548393514565 Centerline is valid? [True, True] Translation: X:103.42, Y:43.86, Z:5.10 [[ 6.64409544e-01 -7.46791199e-01 -2.93745366e-02 1.03421483e+02] [ 7.46127590e-01 6.65057830e-01 -3.14913108e-02 4.38605878e+01] [ 4.30531993e-02 -9.94024717e-04 9.99072287e-01 5.09948050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.378040942 meters 0.02280930474575247 Centerline is valid? [True, True] Translation: X:103.44, Y:43.88, Z:5.10 [[ 6.64279542e-01 -7.46893821e-01 -2.97037176e-02 1.03439972e+02] [ 7.46215117e-01 6.64942557e-01 -3.18495780e-02 4.38823837e+01] [ 4.35395189e-02 -1.00834002e-03 9.99051197e-01 5.09992832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.408040942 meters 0.02291260751869351 Centerline is valid? [True, True] Translation: X:103.46, Y:43.90, Z:5.10 [[ 6.64566337e-01 -7.46623851e-01 -3.00733911e-02 1.03458337e+02] [ 7.45927054e-01 6.65245702e-01 -3.22643229e-02 4.39036481e+01] [ 4.40955072e-02 -9.90773133e-04 9.99026829e-01 5.10005074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.438040942 meters 0.022408884081668315 Centerline is valid? [True, True] Translation: X:103.48, Y:43.93, Z:5.10 [[ 6.65567525e-01 -7.45693208e-01 -3.10082234e-02 1.03476208e+02] [ 7.44951059e-01 6.66288775e-01 -3.32744522e-02 4.39268229e+01] [ 4.54729642e-02 -9.53214028e-04 9.98965115e-01 5.10035219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.468040942 meters 0.022052594075908264 Centerline is valid? [True, True] Translation: X:103.49, Y:43.95, Z:5.10 [[ 6.66059019e-01 -7.45244681e-01 -3.12369911e-02 1.03494667e+02] [ 7.44490286e-01 6.66790464e-01 -3.35364160e-02 4.39490792e+01] [ 4.58213634e-02 -9.18404093e-04 9.98949228e-01 5.10179569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.498040942 meters 0.02192122645302768 Centerline is valid? [True, True] Translation: X:103.51, Y:43.97, Z:5.10 [[ 6.66881876e-01 -7.44505907e-01 -3.12972491e-02 1.03512656e+02] [ 7.43747014e-01 6.67615322e-01 -3.36178635e-02 4.39713073e+01] [ 4.59232210e-02 -8.58091700e-04 9.98944604e-01 5.10356455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.528040942 meters 0.022108755943426664 Centerline is valid? [True, True] Translation: X:103.53, Y:43.99, Z:5.10 [[ 6.66866589e-01 -7.44515709e-01 -3.13896724e-02 1.03530575e+02] [ 7.43751561e-01 6.67604401e-01 -3.37339469e-02 4.39911487e+01] [ 4.60713369e-02 -8.50075766e-04 9.98937791e-01 5.10452355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.558040942 meters 0.021965901909173625 Centerline is valid? [True, True] Translation: X:103.55, Y:44.01, Z:5.11 [[ 6.66595369e-01 -7.44755553e-01 -3.14607550e-02 1.03548571e+02] [ 7.43987586e-01 6.67336816e-01 -3.38237351e-02 4.40132763e+01] [ 4.61853347e-02 -8.59665969e-04 9.98932518e-01 5.10551335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.588040942 meters 0.022299946609806307 Centerline is valid? [True, True] Translation: X:103.57, Y:44.04, Z:5.11 [[ 6.65601843e-01 -7.45662548e-01 -3.10088902e-02 1.03567512e+02] [ 7.44916621e-01 6.66323165e-01 -3.33566831e-02 4.40350648e+01] [ 4.55347712e-02 -8.96767970e-04 9.98962352e-01 5.10656660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.618040942 meters 0.022728166810424246 Centerline is valid? [True, True] Translation: X:103.59, Y:44.05, Z:5.11 [[ 6.65159770e-01 -7.46071002e-01 -3.06682237e-02 1.03586658e+02] [ 7.45341086e-01 6.65865784e-01 -3.30063920e-02 4.40545543e+01] [ 4.50460328e-02 -9.03763043e-04 9.98984503e-01 5.10830271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.648040942 meters 0.023164037953619983 Centerline is valid? [True, True] Translation: X:103.61, Y:44.08, Z:5.11 [[ 6.63730401e-01 -7.47383677e-01 -2.96579486e-02 1.03606147e+02] [ 7.46702110e-01 6.64391997e-01 -3.19254404e-02 4.40762070e+01] [ 4.35650568e-02 -9.55767437e-04 9.99050135e-01 5.10996024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.678040942 meters 0.023460580073607684 Centerline is valid? [True, True] Translation: X:103.63, Y:44.10, Z:5.11 [[ 6.62958414e-01 -7.48072540e-01 -2.95569964e-02 1.03625913e+02] [ 7.47395616e-01 6.63616229e-01 -3.18322774e-02 4.40978609e+01] [ 4.34273551e-02 -9.87293370e-04 9.99056100e-01 5.11123869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.708040942 meters 0.023611739168907186 Centerline is valid? [True, True] Translation: X:103.64, Y:44.12, Z:5.11 [[ 6.62181954e-01 -7.48768395e-01 -2.93419546e-02 1.03644835e+02] [ 7.48101310e-01 6.62830943e-01 -3.16159807e-02 4.41194657e+01] [ 4.31218025e-02 -1.01522284e-03 9.99069307e-01 5.11253316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.738040942 meters 0.02362860568603176 Centerline is valid? [True, True] Translation: X:103.66, Y:44.14, Z:5.11 [[ 6.61995389e-01 -7.48939502e-01 -2.91843617e-02 1.03663235e+02] [ 7.48279081e-01 6.62637609e-01 -3.14613481e-02 4.41402737e+01] [ 4.29013020e-02 -1.01077993e-03 9.99078804e-01 5.11419333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.768040942 meters 0.023784631985917314 Centerline is valid? [True, True] Translation: X:103.68, Y:44.16, Z:5.12 [[ 6.62183573e-01 -7.48769399e-01 -2.92797548e-02 1.03681204e+02] [ 7.48103708e-01 6.62829847e-01 -3.15822132e-02 4.41597722e+01] [ 4.30552902e-02 -9.91070390e-04 9.99072199e-01 5.11606500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.798040942 meters 0.023338667455600454 Centerline is valid? [True, True] Translation: X:103.70, Y:44.18, Z:5.12 [[ 6.63469161e-01 -7.47632548e-01 -2.92274785e-02 1.03698463e+02] [ 7.46967774e-01 6.64111997e-01 -3.15341067e-02 4.41827365e+01] [ 4.29862437e-02 -9.10077231e-04 9.99075250e-01 5.11696465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.828040942 meters 0.023232031688412258 Centerline is valid? [True, True] Translation: X:103.72, Y:44.20, Z:5.12 [[ 6.64411125e-01 -7.46780214e-01 -2.96170474e-02 1.03716460e+02] [ 7.46096048e-01 6.65070357e-01 -3.19704047e-02 4.42044205e+01] [ 4.35722860e-02 -8.55669522e-04 9.99049911e-01 5.11789096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.858040942 meters 0.022476665518207237 Centerline is valid? [True, True] Translation: X:103.73, Y:44.23, Z:5.12 [[ 6.65955089e-01 -7.45404131e-01 -2.96057571e-02 1.03732729e+02] [ 7.44718732e-01 6.66612410e-01 -3.19672621e-02 4.42283080e+01] [ 4.35640943e-02 -7.59201003e-04 9.99050346e-01 5.11868972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.888040942 meters 0.022623966680546122 Centerline is valid? [True, True] Translation: X:103.75, Y:44.25, Z:5.12 [[ 6.66610032e-01 -7.44821853e-01 -2.95207008e-02 1.03751987e+02] [ 7.44139111e-01 6.67262996e-01 -3.18916479e-02 4.42486875e+01] [ 4.34516676e-02 -7.08215647e-04 9.99055279e-01 5.11992926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.918040942 meters 0.022434618125048635 Centerline is valid? [True, True] Translation: X:103.77, Y:44.27, Z:5.12 [[ 6.67132849e-01 -7.44356767e-01 -2.94408708e-02 1.03770828e+02] [ 7.43677030e-01 6.67781814e-01 -3.18107597e-02 4.42704932e+01] [ 4.33386324e-02 -6.72496592e-04 9.99060214e-01 5.12119053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.948040942 meters 0.022905990306889577 Centerline is valid? [True, True] Translation: X:103.79, Y:44.29, Z:5.12 [[ 6.67987312e-01 -7.43600429e-01 -2.91779419e-02 1.03790484e+02] [ 7.42931389e-01 6.68623985e-01 -3.15423282e-02 4.42902016e+01] [ 4.29639605e-02 -6.07333872e-04 9.99076438e-01 5.12246214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.97804094199999 meters 0.022769883784277523 Centerline is valid? [True, True] Translation: X:103.81, Y:44.31, Z:5.12 [[ 6.68184169e-01 -7.43434375e-01 -2.89006314e-02 1.03808806e+02] [ 7.42777634e-01 6.68808631e-01 -3.12474184e-02 4.43107788e+01] [ 4.25593967e-02 -5.87712296e-04 9.99093766e-01 5.12418463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.008040942 meters 0.022769883784277523 Centerline is valid? [True, True] Translation: X:103.83, Y:44.33, Z:5.13 [[ 6.67992458e-01 -7.43606950e-01 -2.88925673e-02 1.03827420e+02] [ 7.42950049e-01 6.68616750e-01 -3.12548730e-02 4.43310897e+01] [ 4.25593952e-02 -5.87714865e-04 9.99093766e-01 5.12540801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.038040942 meters 0.022163765975385046 Centerline is valid? [True, True] Translation: X:103.84, Y:44.35, Z:5.13 [[ 6.68208678e-01 -7.43422374e-01 -2.86415166e-02 1.03843975e+02] [ 7.42776005e-01 6.68821994e-01 -3.09991323e-02 4.43534487e+01] [ 4.22015248e-02 -5.60342021e-04 9.99108962e-01 5.12657835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.068040942 meters 0.02206717631624782 Centerline is valid? [True, True] Translation: X:103.86, Y:44.37, Z:5.13 [[ 6.68002101e-01 -7.43605275e-01 -2.87121615e-02 1.03862755e+02] [ 7.42955146e-01 6.68618635e-01 -3.10929466e-02 4.43748700e+01] [ 4.23183653e-02 -5.61694548e-04 9.99104019e-01 5.12739105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.098040942 meters 0.022066982889642664 Centerline is valid? [True, True] Translation: X:103.88, Y:44.39, Z:5.13 [[ 6.68162673e-01 -7.43440747e-01 -2.92318034e-02 1.03882804e+02] [ 7.42765913e-01 6.68801581e-01 -3.16740215e-02 4.43944277e+01] [ 4.30980345e-02 -5.48988251e-04 9.99070697e-01 5.12798572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.128040942 meters 0.021990903171295272 Centerline is valid? [True, True] Translation: X:103.90, Y:44.41, Z:5.13 [[ 6.68422742e-01 -7.43196066e-01 -2.95066944e-02 1.03901722e+02] [ 7.42507433e-01 6.69073487e-01 -3.19903328e-02 4.44138694e+01] [ 4.35172364e-02 -5.25873997e-04 9.99052538e-01 5.12912975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.158040942 meters 0.02185458546442614 Centerline is valid? [True, True] Translation: X:103.92, Y:44.43, Z:5.13 [[ 6.68704365e-01 -7.42937128e-01 -2.96461817e-02 1.03920005e+02] [ 7.42241301e-01 6.69361015e-01 -3.21509272e-02 4.44345482e+01] [ 4.37301158e-02 -5.05155082e-04 9.99043253e-01 5.13029179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.188040942 meters 0.02169475568323152 Centerline is valid? [True, True] Translation: X:103.94, Y:44.46, Z:5.13 [[ 6.69534247e-01 -7.42173149e-01 -3.00484436e-02 1.03938324e+02] [ 7.41456701e-01 6.70208039e-01 -3.26058916e-02 4.44556689e+01] [ 4.43379258e-02 -4.48858760e-04 9.99016490e-01 5.13049213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.218040942 meters 0.021660859781966774 Centerline is valid? [True, True] Translation: X:103.96, Y:44.48, Z:5.13 [[ 6.69723642e-01 -7.41992380e-01 -3.02911083e-02 1.03957655e+02] [ 7.41263862e-01 6.70408172e-01 -3.28750618e-02 4.44765500e+01] [ 4.47004519e-02 -4.36497777e-04 9.99000340e-01 5.13123062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.248040942 meters 0.021715654459102583 Centerline is valid? [True, True] Translation: X:103.98, Y:44.50, Z:5.13 [[ 6.69692751e-01 -7.42011494e-01 -3.05051056e-02 1.03976569e+02] [ 7.41271830e-01 6.70387021e-01 -3.31257473e-02 4.44953845e+01] [ 4.50299121e-02 -4.28502634e-04 9.98985547e-01 5.13276963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.278040942 meters 0.021673004601958312 Centerline is valid? [True, True] Translation: X:104.00, Y:44.52, Z:5.13 [[ 6.69175426e-01 -7.42472347e-01 -3.06441538e-02 1.03995545e+02] [ 7.41725937e-01 6.69876561e-01 -3.32870405e-02 4.45154036e+01] [ 4.52425075e-02 -4.54694230e-04 9.98975930e-01 5.13381481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.308040942 meters 0.021812376127231813 Centerline is valid? [True, True] Translation: X:104.01, Y:44.53, Z:5.13 [[ 6.68943974e-01 -7.42671388e-01 -3.08734548e-02 1.04014313e+02] [ 7.41913123e-01 6.69655881e-01 -3.35547226e-02 4.45344527e+01] [ 4.55947230e-02 -4.59191797e-04 9.98959914e-01 5.13438277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.338040942 meters 0.021883951021654774 Centerline is valid? [True, True] Translation: X:104.03, Y:44.56, Z:5.14 [[ 6.67905527e-01 -7.43584942e-01 -3.13630342e-02 1.04034853e+02] [ 7.42802922e-01 6.68641279e-01 -3.40977902e-02 4.45551709e+01] [ 4.63252227e-02 -5.22450866e-04 9.98926274e-01 5.13507915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.368040942 meters 0.0221199551568941 Centerline is valid? [True, True] Translation: X:104.05, Y:44.58, Z:5.14 [[ 6.67366165e-01 -7.44080483e-01 -3.10907905e-02 1.04054548e+02] [ 7.43311792e-01 6.68089771e-01 -3.38177141e-02 4.45751155e+01] [ 4.59345402e-02 -5.41353026e-04 9.98944305e-01 5.13649315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.398040942 meters 0.021931824407565574 Centerline is valid? [True, True] Translation: X:104.07, Y:44.60, Z:5.14 [[ 6.65824535e-01 -7.45470690e-01 -3.08405242e-02 1.04074046e+02] [ 7.44715373e-01 6.66538115e-01 -3.35552462e-02 4.45964221e+01] [ 4.55708374e-02 -6.25506292e-04 9.98960914e-01 5.13832000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.428040942 meters 0.022458686303764658 Centerline is valid? [True, True] Translation: X:104.09, Y:44.62, Z:5.14 [[ 6.64855338e-01 -7.46333909e-01 -3.08719195e-02 1.04094563e+02] [ 7.45577230e-01 6.65571365e-01 -3.36058414e-02 4.46151911e+01] [ 4.56286445e-02 -6.74377195e-04 9.98958243e-01 5.13960146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.458040942 meters 0.022352620280873793 Centerline is valid? [True, True] Translation: X:104.11, Y:44.64, Z:5.14 [[ 6.63514103e-01 -7.47534609e-01 -3.06764241e-02 1.04114142e+02] [ 7.46788493e-01 6.64222439e-01 -3.33990613e-02 4.46361542e+01] [ 4.53429235e-02 -7.48052270e-04 9.98971201e-01 5.14131861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.488040942 meters 0.02298046850860397 Centerline is valid? [True, True] Translation: X:104.14, Y:44.65, Z:5.14 [[ 6.60974242e-01 -7.49795544e-01 -3.03264564e-02 1.04136740e+02] [ 7.49068009e-01 6.61669000e-01 -3.30341183e-02 4.46549198e+01] [ 4.48349108e-02 -8.81876956e-04 9.98994021e-01 5.14373064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.518040942 meters 0.023260299354071357 Centerline is valid? [True, True] Translation: X:104.16, Y:44.68, Z:5.15 [[ 6.59463882e-01 -7.51129581e-01 -3.01950319e-02 1.04157375e+02] [ 7.50409020e-01 6.60154099e-01 -3.29069528e-02 4.46756175e+01] [ 4.46507598e-02 -9.57677505e-04 9.99002198e-01 5.14508056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.548040942 meters 0.023985678777282603 Centerline is valid? [True, True] Translation: X:104.18, Y:44.69, Z:5.15 [[ 6.57271312e-01 -7.53057168e-01 -2.99887309e-02 1.04177659e+02] [ 7.52347713e-01 6.57954220e-01 -3.26980537e-02 4.46940832e+01] [ 4.43547157e-02 -1.07046042e-03 9.99015272e-01 5.14670738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.578040942 meters 0.0243796496434258 Centerline is valid? [True, True] Translation: X:104.20, Y:44.71, Z:5.15 [[ 6.56064740e-01 -7.54102286e-01 -3.01462835e-02 1.04197554e+02] [ 7.53385955e-01 6.56756000e-01 -3.28810023e-02 4.47146798e+01] [ 4.45943916e-02 -1.13972032e-03 9.99004525e-01 5.14785093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.608040942 meters 0.02427032883557195 Centerline is valid? [True, True] Translation: X:104.22, Y:44.74, Z:5.15 [[ 6.55315194e-01 -7.54746777e-01 -3.03199630e-02 1.04216730e+02] [ 7.54022129e-01 6.56015176e-01 -3.30865124e-02 4.47365412e+01] [ 4.48622945e-02 -1.17982880e-03 9.98992484e-01 5.14901093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.638040942 meters 0.02462283447278745 Centerline is valid? [True, True] Translation: X:104.24, Y:44.76, Z:5.15 [[ 6.54624462e-01 -7.55352476e-01 -3.01570964e-02 1.04235755e+02] [ 7.54635522e-01 6.55317622e-01 -3.29248047e-02 4.47569460e+01] [ 4.46323094e-02 -1.20423366e-03 9.99002756e-01 5.15045336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.668040942 meters 0.023765559529254937 Centerline is valid? [True, True] Translation: X:104.25, Y:44.78, Z:5.15 [[ 6.54819335e-01 -7.55193719e-01 -2.99012592e-02 1.04254004e+02] [ 7.54488356e-01 6.55500617e-01 -3.26536541e-02 4.47800570e+01] [ 4.42601283e-02 -1.17790784e-03 9.99019346e-01 5.15180861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.698040942 meters 0.023436668793519563 Centerline is valid? [True, True] Translation: X:104.27, Y:44.80, Z:5.15 [[ 6.55630902e-01 -7.54490198e-01 -2.98774472e-02 1.04272263e+02] [ 7.53784562e-01 6.56310360e-01 -3.26426948e-02 4.48022238e+01] [ 4.42374714e-02 -1.11959901e-03 9.99020417e-01 5.15342543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72804094199999 meters 0.023999929691827824 Centerline is valid? [True, True] Translation: X:104.29, Y:44.82, Z:5.15 [[ 6.56024285e-01 -7.54138437e-01 -3.01223315e-02 1.04291919e+02] [ 7.53420076e-01 6.56714565e-01 -3.29267092e-02 4.48227183e+01] [ 4.46130709e-02 -1.09404841e-03 9.99003742e-01 5.15455582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.758040942 meters 0.02293913218913262 Centerline is valid? [True, True] Translation: X:104.31, Y:44.85, Z:5.16 [[ 6.56517244e-01 -7.53716932e-01 -2.99314994e-02 1.04309055e+02] [ 7.53006500e-01 6.57198363e-01 -3.27341184e-02 4.48463194e+01] [ 4.43431917e-02 -1.04810042e-03 9.99015807e-01 5.15563160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.788040942 meters 0.022910261511893907 Centerline is valid? [True, True] Translation: X:104.33, Y:44.87, Z:5.16 [[ 6.57928463e-01 -7.52468661e-01 -3.03488443e-02 1.04326589e+02] [ 7.51736191e-01 6.58627346e-01 -3.32072143e-02 4.48677528e+01] [ 4.49759668e-02 -9.66353155e-04 9.98987602e-01 5.15664621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.818040942 meters 0.022468237853906076 Centerline is valid? [True, True] Translation: X:104.34, Y:44.89, Z:5.16 [[ 6.58467497e-01 -7.51992485e-01 -3.04607645e-02 1.04344539e+02] [ 7.51253817e-01 6.59171018e-01 -3.33357314e-02 4.48904826e+01] [ 4.51470726e-02 -9.33269942e-04 9.98979915e-01 5.15783229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.848040942 meters 0.022318436450437004 Centerline is valid? [True, True] Translation: X:104.36, Y:44.91, Z:5.16 [[ 6.60136548e-01 -7.50548013e-01 -2.99569555e-02 1.04361442e+02] [ 7.49831392e-01 6.60815424e-01 -3.28002768e-02 4.49124939e+01] [ 4.44142008e-02 -8.10004158e-04 9.99012874e-01 5.15968763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.878040942 meters 0.02167969007955563 Centerline is valid? [True, True] Translation: X:104.38, Y:44.94, Z:5.16 [[ 6.61083753e-01 -7.49740234e-01 -2.92891332e-02 1.04378844e+02] [ 7.49054203e-01 6.61731850e-01 -3.20742871e-02 4.49357647e+01] [ 4.34289358e-02 -7.35358180e-04 9.99056248e-01 5.16143340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.908040942 meters 0.02149950250318612 Centerline is valid? [True, True] Translation: X:104.40, Y:44.96, Z:5.16 [[ 6.61839902e-01 -7.49083807e-01 -2.90067969e-02 1.04397331e+02] [ 7.48409646e-01 6.62474901e-01 -3.17806324e-02 4.49578975e+01] [ 4.30226320e-02 -6.75275961e-04 9.99073870e-01 5.16323857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.938040942 meters 0.02103972748062146 Centerline is valid? [True, True] Translation: X:104.41, Y:44.98, Z:5.16 [[ 6.64169633e-01 -7.47018149e-01 -2.90272899e-02 1.04414221e+02] [ 7.46340369e-01 6.64803432e-01 -3.18190450e-02 4.49797697e+01] [ 4.30668460e-02 -5.30994803e-04 9.99072052e-01 5.16427241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.968040942 meters 0.020623560514276516 Centerline is valid? [True, True] Translation: X:104.43, Y:45.00, Z:5.17 [[ 6.65452266e-01 -7.45870978e-01 -2.91507370e-02 1.04431398e+02] [ 7.45186088e-01 6.66090291e-01 -3.19596334e-02 4.50027317e+01] [ 4.32547859e-02 -4.55113225e-04 9.99063970e-01 5.16535793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.998040942 meters 0.02056863560788608 Centerline is valid? [True, True] Translation: X:104.45, Y:45.02, Z:5.17 [[ 6.66748337e-01 -7.44707030e-01 -2.92932360e-02 1.04449720e+02] [ 7.44013577e-01 6.67391416e-01 -3.21324764e-02 4.50239406e+01] [ 4.34793353e-02 -3.70290062e-04 9.99054258e-01 5.16636764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.028040942 meters 0.02008041076551159 Centerline is valid? [True, True] Translation: X:104.47, Y:45.05, Z:5.17 [[ 6.69298645e-01 -7.42420364e-01 -2.91774918e-02 1.04466494e+02] [ 7.41729965e-01 6.69934292e-01 -3.20109807e-02 4.50470775e+01] [ 4.33126062e-02 -2.16913973e-04 9.99061545e-01 5.16827340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.058040942 meters 0.02001388895333442 Centerline is valid? [True, True] Translation: X:104.48, Y:45.07, Z:5.17 [[ 6.70151348e-01 -7.41658726e-01 -2.89742106e-02 1.04484282e+02] [ 7.40976559e-01 6.70777392e-01 -3.18029631e-02 4.50691753e+01] [ 4.30221905e-02 -1.56412244e-04 9.99074105e-01 5.16952074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.088040942 meters 0.019902934596277514 Centerline is valid? [True, True] Translation: X:104.50, Y:45.09, Z:5.17 [[ 6.71510821e-01 -7.40449573e-01 -2.84191479e-02 1.04501056e+02] [ 7.39791462e-01 6.72111915e-01 -3.12116519e-02 4.50910789e+01] [ 4.22115023e-02 -6.52809922e-05 9.99108695e-01 5.17092307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.118040942 meters 0.01993553868076456 Centerline is valid? [True, True] Translation: X:104.52, Y:45.11, Z:5.17 [[ 6.72021627e-01 -7.39989082e-01 -2.83388808e-02 1.04519364e+02] [ 7.39333887e-01 6.72618880e-01 -3.11327069e-02 4.51125091e+01] [ 4.20991295e-02 -3.00425532e-05 9.99113438e-01 5.17265276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.148040942 meters 0.019836818127039316 Centerline is valid? [True, True] Translation: X:104.54, Y:45.13, Z:5.17 [[ 6.72490825e-01 -7.39566187e-01 -2.82479391e-02 1.04537755e+02] [ 7.38914086e-01 6.73083840e-01 -3.10502486e-02 4.51334439e+01] [ 4.19769452e-02 8.20718694e-06 9.99118580e-01 5.17434189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.178040942 meters 0.019996817242656204 Centerline is valid? [True, True] Translation: X:104.56, Y:45.15, Z:5.18 [[ 6.72779504e-01 -7.39312526e-01 -2.80129943e-02 1.04555819e+02] [ 7.38670286e-01 6.73362449e-01 -3.08094476e-02 4.51544005e+01] [ 4.16407090e-02 3.55983740e-05 9.99132649e-01 5.17674474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.208040942 meters 0.01996312199436947 Centerline is valid? [True, True] Translation: X:104.57, Y:45.18, Z:5.18 [[ 6.72746079e-01 -7.39349597e-01 -2.78367852e-02 1.04574197e+02] [ 7.38714725e-01 6.73321745e-01 -3.06330415e-02 4.51752658e+01] [ 4.13916397e-02 4.48154192e-05 9.99142998e-01 5.17748916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.238040942 meters 0.019874923023515005 Centerline is valid? [True, True] Translation: X:104.59, Y:45.20, Z:5.18 [[ 6.71986521e-01 -7.40008230e-01 -2.86694280e-02 1.04592975e+02] [ 7.39334596e-01 6.72597814e-01 -3.15679505e-02 4.51959417e+01] [ 4.26435377e-02 1.69372483e-05 9.99090350e-01 5.17831137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.268040942 meters 0.01990522429052728 Centerline is valid? [True, True] Translation: X:104.61, Y:45.22, Z:5.18 [[ 6.71436041e-01 -7.40503272e-01 -2.87844890e-02 1.04611586e+02] [ 7.39823881e-01 6.72052754e-01 -3.17131120e-02 4.52158309e+01] [ 4.28283583e-02 -2.12595381e-06 9.99082445e-01 5.17903037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.298040942 meters 0.02014658772174072 Centerline is valid? [True, True] Translation: X:104.63, Y:45.23, Z:5.18 [[ 6.69362839e-01 -7.42368284e-01 -2.90296430e-02 1.04631472e+02] [ 7.41678578e-01 6.69992028e-01 -3.19932734e-02 4.52343544e+01] [ 4.32004209e-02 -1.15556041e-04 9.99066419e-01 5.17950600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.328040942 meters 0.020361926560494945 Centerline is valid? [True, True] Translation: X:104.65, Y:45.25, Z:5.18 [[ 6.67855750e-01 -7.43719015e-01 -2.91671661e-02 1.04651502e+02] [ 7.43023507e-01 6.68492325e-01 -3.21570964e-02 4.52538930e+01] [ 4.34138707e-02 -1.95588338e-04 9.99057154e-01 5.18001094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.358040942 meters 0.02063568152746106 Centerline is valid? [True, True] Translation: X:104.67, Y:45.27, Z:5.18 [[ 6.66159950e-01 -7.45238558e-01 -2.91618285e-02 1.04672087e+02] [ 7.44543976e-01 6.66797879e-01 -3.21691762e-02 4.52740926e+01] [ 4.34187558e-02 -2.82446932e-04 9.99056921e-01 5.18111856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.388040942 meters 0.021174494889421205 Centerline is valid? [True, True] Translation: X:104.69, Y:45.29, Z:5.18 [[ 6.63270419e-01 -7.47824541e-01 -2.88237243e-02 1.04693544e+02] [ 7.47147746e-01 6.63896277e-01 -3.18116331e-02 4.52933106e+01] [ 4.29254831e-02 -4.35865455e-04 9.99078182e-01 5.18129803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.418040942 meters 0.021528990869233326 Centerline is valid? [True, True] Translation: X:104.71, Y:45.31, Z:5.18 [[ 6.61621521e-01 -7.49278016e-01 -2.89726920e-02 1.04714093e+02] [ 7.48594896e-01 6.62255375e-01 -3.19921889e-02 4.53132831e+01] [ 4.31583649e-02 -5.22088681e-04 9.99068107e-01 5.18248925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.448040942 meters 0.022164613313348014 Centerline is valid? [True, True] Translation: X:104.74, Y:45.33, Z:5.18 [[ 6.59187157e-01 -7.51419577e-01 -2.89984658e-02 1.04735058e+02] [ 7.50736604e-01 6.59824366e-01 -3.20368165e-02 4.53316910e+01] [ 4.32069854e-02 -6.51951655e-04 9.99065929e-01 5.18329177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.47804094199999 meters 0.022014462277121304 Centerline is valid? [True, True] Translation: X:104.75, Y:45.35, Z:5.18 [[ 6.58037604e-01 -7.52421694e-01 -2.91222516e-02 1.04754020e+02] [ 7.51733619e-01 6.58681319e-01 -3.21789704e-02 4.53532490e+01] [ 4.33944385e-02 -7.17202960e-04 9.99057760e-01 5.18428746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.508040942 meters 0.022857032798990345 Centerline is valid? [True, True] Translation: X:104.78, Y:45.37, Z:5.18 [[ 6.56280207e-01 -7.53940381e-01 -2.94990258e-02 1.04775528e+02] [ 7.53235172e-01 6.56942337e-01 -3.26119814e-02 4.53714730e+01] [ 4.39666486e-02 -8.17105839e-04 9.99032665e-01 5.18487169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.538040942 meters 0.022926389603323404 Centerline is valid? [True, True] Translation: X:104.79, Y:45.39, Z:5.19 [[ 6.55460403e-01 -7.54639866e-01 -2.98384486e-02 1.04794749e+02] [ 7.53918787e-01 6.56138641e-01 -3.29931360e-02 4.53918205e+01] [ 4.44760949e-02 -8.70072773e-04 9.99010070e-01 5.18568526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.568040942 meters 0.022479349314990647 Centerline is valid? [True, True] Translation: X:104.81, Y:45.41, Z:5.19 [[ 6.54685290e-01 -7.55318658e-01 -2.96799031e-02 1.04813060e+02] [ 7.54605157e-01 6.55357090e-01 -3.28350624e-02 4.54139699e+01] [ 4.42518702e-02 -8.99975603e-04 9.99020001e-01 5.18649981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.598040942 meters 0.022579392304355662 Centerline is valid? [True, True] Translation: X:104.83, Y:45.44, Z:5.19 [[ 6.54023493e-01 -7.55895492e-01 -2.95850613e-02 1.04832712e+02] [ 7.55186414e-01 6.54691644e-01 -3.27464731e-02 4.54350535e+01] [ 4.41220038e-02 -9.25273673e-04 9.99025722e-01 5.18786816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.628040942 meters 0.02261668292321255 Centerline is valid? [True, True] Translation: X:104.85, Y:45.45, Z:5.19 [[ 6.53970417e-01 -7.55937471e-01 -2.96855731e-02 1.04850905e+02] [ 7.55222876e-01 6.54643180e-01 -3.28742224e-02 4.54549950e+01] [ 4.42843145e-02 -9.20454910e-04 9.99018545e-01 5.18887692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.658040942 meters 0.02240421401474935 Centerline is valid? [True, True] Translation: X:104.87, Y:45.48, Z:5.19 [[ 6.54495021e-01 -7.55477366e-01 -2.98365202e-02 1.04870434e+02] [ 7.54754542e-01 6.55174147e-01 -3.30517365e-02 4.54761394e+01] [ 4.45179555e-02 -8.87052226e-04 9.99008191e-01 5.19002877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.688040942 meters 0.022293338034332793 Centerline is valid? [True, True] Translation: X:104.89, Y:45.50, Z:5.19 [[ 6.54732733e-01 -7.55278578e-01 -2.96533026e-02 1.04889639e+02] [ 7.54563690e-01 6.55403337e-01 -3.28649147e-02 4.54975724e+01] [ 4.42570395e-02 -8.57570043e-04 9.99019809e-01 5.19113051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.718040942 meters 0.022285970801813677 Centerline is valid? [True, True] Translation: X:104.91, Y:45.52, Z:5.19 [[ 6.55423689e-01 -7.54672448e-01 -2.98208624e-02 1.04908319e+02] [ 7.53948041e-01 6.56101242e-01 -3.30682924e-02 4.55184326e+01] [ 4.45212341e-02 -8.09638606e-04 9.99008110e-01 5.19224750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.748040942 meters 0.02168072968437845 Centerline is valid? [True, True] Translation: X:104.93, Y:45.54, Z:5.19 [[ 6.56836559e-01 -7.53461361e-01 -2.93549469e-02 1.04925322e+02] [ 7.52757806e-01 6.57491805e-01 -3.25608972e-02 4.55414527e+01] [ 4.38340150e-02 -7.09977786e-04 9.99038575e-01 5.19333904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.778040942 meters 0.0213386523405125 Centerline is valid? [True, True] Translation: X:104.94, Y:45.56, Z:5.19 [[ 6.57434883e-01 -7.52933748e-01 -2.94982390e-02 1.04943872e+02] [ 7.52222053e-01 6.58095986e-01 -3.27361674e-02 4.55642805e+01] [ 4.40608378e-02 -6.67327483e-04 9.99028627e-01 5.19418050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.808040942 meters 0.02121336919127188 Centerline is valid? [True, True] Translation: X:104.96, Y:45.59, Z:5.19 [[ 6.58765418e-01 -7.51755478e-01 -2.98634452e-02 1.04961777e+02] [ 7.51024130e-01 6.59441702e-01 -3.31571509e-02 4.55859654e+01] [ 4.46192710e-02 -5.85383616e-04 9.99003893e-01 5.19451392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.838040942 meters 0.02106049112027166 Centerline is valid? [True, True] Translation: X:104.98, Y:45.61, Z:5.20 [[ 6.58606312e-01 -7.51898014e-01 -2.97842750e-02 1.04979946e+02] [ 7.51170424e-01 6.59279174e-01 -3.30751368e-02 4.56069778e+01] [ 4.45052819e-02 -5.89572561e-04 9.99008975e-01 5.19536793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.868040942 meters 0.021103933785461115 Centerline is valid? [True, True] Translation: X:105.00, Y:45.63, Z:5.20 [[ 6.58678675e-01 -7.51848391e-01 -2.94346782e-02 1.04999042e+02] [ 7.51136928e-01 6.59335783e-01 -3.27053530e-02 4.56274974e+01] [ 4.39968036e-02 -5.67155205e-04 9.99031511e-01 5.19669559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.898040942 meters 0.021103933785461115 Centerline is valid? [True, True] Translation: X:105.02, Y:45.65, Z:5.20 [[ 6.58467220e-01 -7.52033950e-01 -2.94254667e-02 1.05017404e+02] [ 7.51322302e-01 6.59124128e-01 -3.27136386e-02 4.56480451e+01] [ 4.39968019e-02 -5.67150697e-04 9.99031511e-01 5.19791897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.928040942 meters 0.02111556182848895 Centerline is valid? [True, True] Translation: X:105.04, Y:45.67, Z:5.20 [[ 6.58003142e-01 -7.52474329e-01 -2.85350435e-02 1.05036013e+02] [ 7.51804788e-01 6.58621334e-01 -3.17411149e-02 4.56685762e+01] [ 4.26781626e-02 -5.67029026e-04 9.99088711e-01 5.19999217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.958040942 meters 0.021030055827910097 Centerline is valid? [True, True] Translation: X:105.05, Y:45.69, Z:5.20 [[ 6.58078002e-01 -7.52420213e-01 -2.82341344e-02 1.05054093e+02] [ 7.51763909e-01 6.58683175e-01 -3.14244953e-02 4.56890245e+01] [ 4.22417747e-02 -5.45634140e-04 9.99107269e-01 5.20182864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.988040942 meters 0.02091618986705525 Centerline is valid? [True, True] Translation: X:105.07, Y:45.71, Z:5.20 [[ 6.57748558e-01 -7.52738819e-01 -2.74063009e-02 1.05071846e+02] [ 7.52120383e-01 6.58319053e-01 -3.05115507e-02 4.57109247e+01] [ 4.10093186e-02 -5.43909047e-04 9.99158616e-01 5.20343536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.018040942 meters 0.020751347604529485 Centerline is valid? [True, True] Translation: X:105.09, Y:45.73, Z:5.20 [[ 6.57779578e-01 -7.52720238e-01 -2.71711387e-02 1.05089287e+02] [ 7.52111658e-01 6.58340312e-01 -3.02669463e-02 4.57324147e+01] [ 4.06703989e-02 -5.26750998e-04 9.99172478e-01 5.20448063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.048040942 meters 0.020837640569717274 Centerline is valid? [True, True] Translation: X:105.11, Y:45.75, Z:5.21 [[ 6.58043351e-01 -7.52497137e-01 -2.69630807e-02 1.05106640e+02] [ 7.51896932e-01 6.58595332e-01 -3.00531464e-02 4.57525679e+01] [ 4.03726657e-02 -4.97184524e-04 9.99184568e-01 5.20540567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.078040942 meters 0.020674430292676606 Centerline is valid? [True, True] Translation: X:105.13, Y:45.78, Z:5.21 [[ 6.58752812e-01 -7.51883037e-01 -2.67699656e-02 1.05125101e+02] [ 7.51290437e-01 6.59296365e-01 -2.98493201e-02 4.57751848e+01] [ 4.00925385e-02 -4.48695655e-04 9.99195870e-01 5.20612514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.108040942 meters 0.020526369587197852 Centerline is valid? [True, True] Translation: X:105.14, Y:45.80, Z:5.21 [[ 6.58998103e-01 -7.51669726e-01 -2.67231021e-02 1.05143098e+02] [ 7.51078443e-01 6.59539569e-01 -2.98115652e-02 4.57961671e+01] [ 4.00333942e-02 -4.25381027e-04 9.99198252e-01 5.20748729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.138040942 meters 0.020389109669624556 Centerline is valid? [True, True] Translation: X:105.16, Y:45.82, Z:5.21 [[ 6.59367795e-01 -7.51352494e-01 -2.65243647e-02 1.05160727e+02] [ 7.50769057e-01 6.59900960e-01 -2.96065198e-02 4.58174526e+01] [ 3.97483862e-02 -3.92086612e-04 9.99209644e-01 5.20814571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.168040942 meters 0.0202801020041427 Centerline is valid? [True, True] Translation: X:105.18, Y:45.84, Z:5.21 [[ 6.60082250e-01 -7.50735539e-01 -2.62216193e-02 1.05176623e+02] [ 7.50164160e-01 6.60602782e-01 -2.92864690e-02 4.58392047e+01] [ 3.93084677e-02 -3.39040680e-04 9.99227066e-01 5.20836420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.198040942 meters 0.02020760584312746 Centerline is valid? [True, True] Translation: X:105.19, Y:45.86, Z:5.21 [[ 6.60118690e-01 -7.50692610e-01 -2.65314788e-02 1.05193343e+02] [ 7.50107251e-01 6.60651567e-01 -2.96415189e-02 4.58599106e+01] [ 3.97797323e-02 -3.34533986e-04 9.99208417e-01 5.20868983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22804094199999 meters 0.02019331708775649 Centerline is valid? [True, True] Translation: X:105.21, Y:45.88, Z:5.21 [[ 6.59882113e-01 -7.50908995e-01 -2.62921582e-02 1.05211281e+02] [ 7.50334010e-01 6.60405607e-01 -2.93821018e-02 4.58821645e+01] [ 3.94267733e-02 -3.39177062e-04 9.99222405e-01 5.20877927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.258040942 meters 0.020126421314954405 Centerline is valid? [True, True] Translation: X:105.23, Y:45.90, Z:5.21 [[ 6.59618507e-01 -7.51140863e-01 -2.62836480e-02 1.05230241e+02] [ 7.50565779e-01 6.60141869e-01 -2.93891899e-02 4.59030342e+01] [ 3.94263580e-02 -3.41953153e-04 9.99222420e-01 5.20997399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.288040942 meters 0.0201702718375183 Centerline is valid? [True, True] Translation: X:105.25, Y:45.92, Z:5.21 [[ 6.59144091e-01 -7.51554055e-01 -2.63736433e-02 1.05249249e+02] [ 7.50974694e-01 6.59671414e-01 -2.95065163e-02 4.59237954e+01] [ 3.95736806e-02 -3.56892850e-04 9.99216591e-01 5.21129324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.318040942 meters 0.02007742772548785 Centerline is valid? [True, True] Translation: X:105.27, Y:45.95, Z:5.21 [[ 6.58987761e-01 -7.51697388e-01 -2.61947904e-02 1.05267772e+02] [ 7.51125329e-01 6.59508084e-01 -2.93228067e-02 4.59453385e+01] [ 3.93175532e-02 -3.52199821e-04 9.99226704e-01 5.21225346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.348040942 meters 0.02001120374688087 Centerline is valid? [True, True] Translation: X:105.29, Y:45.97, Z:5.21 [[ 6.58980046e-01 -7.51700670e-01 -2.62945290e-02 1.05285739e+02] [ 7.51123587e-01 6.59504348e-01 -2.94511773e-02 4.59670197e+01] [ 3.94798260e-02 -3.42702755e-04 9.99220309e-01 5.21310925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.378040942 meters 0.019880116120107705 Centerline is valid? [True, True] Translation: X:105.30, Y:45.99, Z:5.21 [[ 6.58960681e-01 -7.51710183e-01 -2.65069925e-02 1.05303393e+02] [ 7.51123061e-01 6.59493509e-01 -2.97062135e-02 4.59895428e+01] [ 3.98116527e-02 -3.34786667e-04 9.99207146e-01 5.21322785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.408040942 meters 0.019805629650085775 Centerline is valid? [True, True] Translation: X:105.32, Y:46.01, Z:5.21 [[ 6.59092746e-01 -7.51602429e-01 -2.62781273e-02 1.05321462e+02] [ 7.51024622e-01 6.59616320e-01 -2.94674064e-02 4.60100316e+01] [ 3.94812559e-02 -3.13766822e-04 9.99220262e-01 5.21387513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.438040942 meters 0.01984639874354298 Centerline is valid? [True, True] Translation: X:105.34, Y:46.03, Z:5.21 [[ 6.59259654e-01 -7.51457732e-01 -2.62294834e-02 1.05339293e+02] [ 7.50881584e-01 6.59781167e-01 -2.94220734e-02 4.60301161e+01] [ 3.94151637e-02 -2.98450149e-04 9.99222876e-01 5.21494328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.468040942 meters 0.019808659634405708 Centerline is valid? [True, True] Translation: X:105.36, Y:46.05, Z:5.22 [[ 6.59845256e-01 -7.50971172e-01 -2.54271153e-02 1.05357494e+02] [ 7.50429064e-01 6.60334941e-01 -2.85304427e-02 4.60499030e+01] [ 3.82159527e-02 -2.55569091e-04 9.99269471e-01 5.21743060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.498040942 meters 0.01987383154299573 Centerline is valid? [True, True] Translation: X:105.38, Y:46.07, Z:5.22 [[ 6.60161993e-01 -7.50710438e-01 -2.48994204e-02 1.05375182e+02] [ 7.50190102e-01 6.60631354e-01 -2.79468303e-02 4.60696658e+01] [ 3.74293151e-02 -2.29863538e-04 9.99299251e-01 5.21921703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.528040942 meters 0.019660487202085245 Centerline is valid? [True, True] Translation: X:105.39, Y:46.09, Z:5.22 [[ 6.60920273e-01 -7.50039703e-01 -2.49967326e-02 1.05392283e+02] [ 7.49514531e-01 6.61392780e-01 -2.80634855e-02 4.60915354e+01] [ 3.75813868e-02 -1.87687865e-04 9.99293553e-01 5.21916691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.558040942 meters 0.019661833723735346 Centerline is valid? [True, True] Translation: X:105.41, Y:46.11, Z:5.22 [[ 6.61420928e-01 -7.49588495e-01 -2.52872354e-02 1.05409958e+02] [ 7.49050042e-01 6.61904120e-01 -2.84072202e-02 4.61122274e+01] [ 3.80314508e-02 -1.52274796e-04 9.99276531e-01 5.22011722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.588040942 meters 0.019556530454274138 Centerline is valid? [True, True] Translation: X:105.43, Y:46.13, Z:5.22 [[ 6.61711198e-01 -7.49333078e-01 -2.52632010e-02 1.05427773e+02] [ 7.48795193e-01 6.62193265e-01 -2.83872791e-02 4.61339487e+01] [ 3.80006487e-02 -1.32783007e-04 9.99277706e-01 5.21986449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.618040942 meters 0.019570383073786918 Centerline is valid? [True, True] Translation: X:105.44, Y:46.16, Z:5.22 [[ 6.62225568e-01 -7.48854796e-01 -2.59575032e-02 1.05444894e+02] [ 7.48285847e-01 6.62734098e-01 -2.91857254e-02 4.61553480e+01] [ 3.90587929e-02 -9.60986561e-05 9.99236910e-01 5.21964816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.648040942 meters 0.019576600504088024 Centerline is valid? [True, True] Translation: X:105.46, Y:46.18, Z:5.22 [[ 6.62205560e-01 -7.48868913e-01 -2.60604471e-02 1.05463134e+02] [ 7.48295167e-01 6.62718147e-01 -2.93087204e-02 4.61761967e+01] [ 3.92191208e-02 -9.25089742e-05 9.99230630e-01 5.22030751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.678040942 meters 0.019703604027979913 Centerline is valid? [True, True] Translation: X:105.48, Y:46.20, Z:5.22 [[ 6.61407233e-01 -7.49568886e-01 -2.62098647e-02 1.05481746e+02] [ 7.48988397e-01 6.61926333e-01 -2.94942504e-02 4.61959981e+01] [ 3.94569721e-02 -1.23174025e-04 9.99221263e-01 5.22013344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.708040942 meters 0.019825767182649855 Centerline is valid? [True, True] Translation: X:105.50, Y:46.22, Z:5.22 [[ 6.60587453e-01 -7.50286154e-01 -2.63610272e-02 1.05501201e+02] [ 7.49699183e-01 6.61113198e-01 -2.96727819e-02 4.62168009e+01] [ 3.96907004e-02 -1.61373094e-04 9.99212001e-01 5.22102769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.738040942 meters 0.019878747294130028 Centerline is valid? [True, True] Translation: X:105.52, Y:46.24, Z:5.22 [[ 6.58762196e-01 -7.51892022e-01 -2.62822496e-02 1.05521852e+02] [ 7.51309146e-01 6.59286225e-01 -2.96013490e-02 4.62363837e+01] [ 3.95845433e-02 -2.45844863e-04 9.99216195e-01 5.22194657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.768040942 meters 0.020178296296194186 Centerline is valid? [True, True] Translation: X:105.54, Y:46.26, Z:5.22 [[ 6.57702486e-01 -7.52819625e-01 -2.62688575e-02 1.05542105e+02] [ 7.52237731e-01 6.58226804e-01 -2.95951146e-02 4.62555087e+01] [ 3.95706492e-02 -2.95645275e-04 9.99216731e-01 5.22384815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.798040942 meters 0.02035568811933954 Centerline is valid? [True, True] Translation: X:105.56, Y:46.28, Z:5.22 [[ 6.56286384e-01 -7.54058158e-01 -2.61624956e-02 1.05561577e+02] [ 7.53481685e-01 6.56807553e-01 -2.94820029e-02 4.62756730e+01] [ 3.94148695e-02 -3.64324186e-04 9.99222866e-01 5.22464674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.828040942 meters 0.020502349758834575 Centerline is valid? [True, True] Translation: X:105.58, Y:46.30, Z:5.22 [[ 6.54222896e-01 -7.55829978e-01 -2.67104166e-02 1.05581299e+02] [ 7.55229919e-01 6.54767763e-01 -3.01155653e-02 4.62971496e+01] [ 4.02513668e-02 -4.70213404e-04 9.99189475e-01 5.22449697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.858040942 meters 0.020544813435820576 Centerline is valid? [True, True] Translation: X:105.60, Y:46.32, Z:5.22 [[ 6.53047199e-01 -7.56847370e-01 -2.66723618e-02 1.05600101e+02] [ 7.56249282e-01 6.53591452e-01 -3.00871707e-02 4.63189275e+01] [ 4.02042237e-02 -5.22611849e-04 9.99191347e-01 5.22474404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.888040942 meters 0.020950644637709594 Centerline is valid? [True, True] Translation: X:105.62, Y:46.34, Z:5.23 [[ 6.51026720e-01 -7.58584428e-01 -2.67184372e-02 1.05619637e+02] [ 7.57985087e-01 6.51574462e-01 -3.01550641e-02 4.63386904e+01] [ 4.02842134e-02 -6.20424446e-04 9.99188069e-01 5.22550773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.918040942 meters 0.021046013590841958 Centerline is valid? [True, True] Translation: X:105.64, Y:46.36, Z:5.23 [[ 6.50006256e-01 -7.59462092e-01 -2.66307849e-02 1.05638825e+02] [ 7.58867122e-01 6.50551217e-01 -3.00633501e-02 4.63596651e+01] [ 4.01566642e-02 -6.67861458e-04 9.99193173e-01 5.22682975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.948040942 meters 0.021200552652161843 Centerline is valid? [True, True] Translation: X:105.66, Y:46.38, Z:5.23 [[ 6.49264724e-01 -7.60104383e-01 -2.63940375e-02 1.05658262e+02] [ 7.59519894e-01 6.49800623e-01 -2.98107626e-02 4.63804229e+01] [ 3.98101533e-02 -6.91720040e-04 9.99207022e-01 5.22818134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97804094199999 meters 0.021622041232658717 Centerline is valid? [True, True] Translation: X:105.68, Y:46.40, Z:5.23 [[ 6.49034079e-01 -7.60323641e-01 -2.57434391e-02 1.05677918e+02] [ 7.59767212e-01 6.49544072e-01 -2.90909350e-02 4.64005571e+01] [ 3.88400239e-02 -6.78012726e-04 9.99245212e-01 5.23001835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00804094199998 meters 0.020932793731296355 Centerline is valid? [True, True] Translation: X:105.69, Y:46.42, Z:5.23 [[ 6.49215832e-01 -7.60168924e-01 -2.57295586e-02 1.05694200e+02] [ 7.59612735e-01 6.49725146e-01 -2.90814037e-02 4.64234321e+01] [ 3.88239206e-02 -6.64392658e-04 9.99245847e-01 5.23051307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.03804094199998 meters 0.020677189873667557 Centerline is valid? [True, True] Translation: X:105.71, Y:46.45, Z:5.23 [[ 6.50315792e-01 -7.59245082e-01 -2.52245228e-02 1.05711280e+02] [ 7.58709202e-01 6.50804549e-01 -2.85269092e-02 4.64471891e+01] [ 3.80751497e-02 -5.86578050e-04 9.99274706e-01 5.23115235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06804094199998 meters 0.020706241575139207 Centerline is valid? [True, True] Translation: X:105.73, Y:46.47, Z:5.23 [[ 6.51214254e-01 -7.58470763e-01 -2.53396273e-02 1.05728718e+02] [ 7.57928783e-01 6.51706849e-01 -2.86730238e-02 4.64684195e+01] [ 3.82616589e-02 -5.33351083e-04 9.99267612e-01 5.23199354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.09804094199998 meters 0.020252483020399392 Centerline is valid? [True, True] Translation: X:105.75, Y:46.49, Z:5.23 [[ 6.52994986e-01 -7.56928236e-01 -2.56357982e-02 1.05745913e+02] [ 7.56372133e-01 6.53497856e-01 -2.90129147e-02 4.64924901e+01] [ 3.87136335e-02 -4.44915586e-04 9.99250247e-01 5.23195577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12804094199998 meters 0.020079346778725065 Centerline is valid? [True, True] Translation: X:105.76, Y:46.52, Z:5.23 [[ 6.53749193e-01 -7.56271890e-01 -2.57841098e-02 1.05764269e+02] [ 7.55708534e-01 6.54257338e-01 -2.91881291e-02 4.65150003e+01] [ 3.89436046e-02 -4.03556003e-04 9.99241329e-01 5.23261791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.15804094199999 meters 0.02005386255829584 Centerline is valid? [True, True] Translation: X:105.78, Y:46.54, Z:5.23 [[ 6.54272207e-01 -7.55822249e-01 -2.57022762e-02 1.05781850e+02] [ 7.55261569e-01 6.54776751e-01 -2.91095908e-02 4.65365491e+01] [ 3.88309293e-02 -3.66345210e-04 9.99245728e-01 5.23338605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.188040942 meters 0.019882236951623573 Centerline is valid? [True, True] Translation: X:105.80, Y:46.56, Z:5.23 [[ 6.55051548e-01 -7.55157225e-01 -2.53975519e-02 1.05799086e+02] [ 7.54608654e-01 6.55543643e-01 -2.87803840e-02 4.65589063e+01] [ 3.83829186e-02 -3.12577370e-04 9.99263055e-01 5.23368296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.218040942 meters 0.01998447699516231 Centerline is valid? [True, True] Translation: X:105.82, Y:46.58, Z:5.24 [[ 6.55280704e-01 -7.54957457e-01 -2.54251120e-02 1.05817229e+02] [ 7.54406852e-01 6.55773706e-01 -2.88296281e-02 4.65786874e+01] [ 3.84382627e-02 -2.89379735e-04 9.99260935e-01 5.23553440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.248040942 meters 0.0199352407950649 Centerline is valid? [True, True] Translation: X:105.83, Y:46.60, Z:5.24 [[ 6.55420778e-01 -7.54842713e-01 -2.52206909e-02 1.05834969e+02] [ 7.54300548e-01 6.55905788e-01 -2.86055872e-02 4.65998688e+01] [ 3.81351162e-02 -2.75284772e-04 9.99272554e-01 5.23634186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.278040942 meters 0.019944912167813248 Centerline is valid? [True, True] Translation: X:105.85, Y:46.62, Z:5.24 [[ 6.55264372e-01 -7.54984444e-01 -2.50418018e-02 1.05852761e+02] [ 7.54449459e-01 6.55742644e-01 -2.84182663e-02 4.66215210e+01] [ 3.78763263e-02 -2.71296447e-04 9.99282398e-01 5.23699367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.308040942 meters 0.01995891531135518 Centerline is valid? [True, True] Translation: X:105.87, Y:46.64, Z:5.24 [[ 6.55138488e-01 -7.55091942e-01 -2.50942350e-02 1.05870858e+02] [ 7.54554172e-01 6.55618859e-01 -2.84940906e-02 4.66430961e+01] [ 3.79679120e-02 -2.67384278e-04 9.99278923e-01 5.23773344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.338040942 meters 0.019950275036861864 Centerline is valid? [True, True] Translation: X:105.89, Y:46.66, Z:5.24 [[ 6.54764700e-01 -7.55414670e-01 -2.51368998e-02 1.05888750e+02] [ 7.54874636e-01 6.55246977e-01 -2.85601536e-02 4.66639167e+01] [ 3.80456366e-02 -2.75027664e-04 9.99275965e-01 5.23831404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.368040942 meters 0.020006685261864086 Centerline is valid? [True, True] Translation: X:105.91, Y:46.69, Z:5.24 [[ 6.54414850e-01 -7.55706504e-01 -2.54732158e-02 1.05907279e+02] [ 7.55151820e-01 6.54910372e-01 -2.89505283e-02 4.66853354e+01] [ 3.85607758e-02 -2.90489615e-04 9.99256214e-01 5.23910375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.398040942 meters 0.020022459549878458 Centerline is valid? [True, True] Translation: X:105.93, Y:46.71, Z:5.24 [[ 6.53654500e-01 -7.56359513e-01 -2.56140990e-02 1.05925902e+02] [ 7.55798484e-01 6.54156087e-01 -2.91284316e-02 4.67050308e+01] [ 3.87871851e-02 -3.19166779e-04 9.99247443e-01 5.24024548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.428040942 meters 0.02006022436199912 Centerline is valid? [True, True] Translation: X:105.95, Y:46.73, Z:5.24 [[ 6.52754499e-01 -7.57137709e-01 -2.55744875e-02 1.05945180e+02] [ 7.56578673e-01 6.53255204e-01 -2.90921169e-02 4.67259058e+01] [ 3.87334057e-02 -3.59101604e-04 9.99249516e-01 5.24181475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.458040942 meters 0.020237486258268943 Centerline is valid? [True, True] Translation: X:105.96, Y:46.75, Z:5.24 [[ 6.51697107e-01 -7.58034941e-01 -2.59597409e-02 1.05964358e+02] [ 7.57459066e-01 6.52213815e-01 -2.95449217e-02 4.67469432e+01] [ 3.93273846e-02 -4.09101102e-04 9.99226295e-01 5.24283782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.488040942 meters 0.020285196670218542 Centerline is valid? [True, True] Translation: X:105.98, Y:46.77, Z:5.24 [[ 6.50302931e-01 -7.59212076e-01 -2.65164396e-02 1.05983380e+02] [ 7.58611468e-01 6.50843141e-01 -3.01967980e-02 4.67680496e+01] [ 4.01838165e-02 -4.78608946e-04 9.99192190e-01 5.24296171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.518040942 meters 0.020460325261764535 Centerline is valid? [True, True] Translation: X:106.00, Y:46.79, Z:5.24 [[ 6.49655185e-01 -7.59759214e-01 -2.67222268e-02 1.06001757e+02] [ 7.59149403e-01 6.50204333e-01 -3.04385989e-02 4.67880215e+01] [ 4.05009136e-02 -5.11568933e-04 9.99179370e-01 5.24402119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54804094199997 meters 0.020439982342802344 Centerline is valid? [True, True] Translation: X:106.02, Y:46.81, Z:5.24 [[ 6.48627534e-01 -7.60610132e-01 -2.74690502e-02 1.06021111e+02] [ 7.59966081e-01 6.49208670e-01 -3.12994932e-02 4.68098596e+01] [ 4.16398572e-02 -5.73833332e-04 9.99132520e-01 5.24451370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.57804094199997 meters 0.02053693926192243 Centerline is valid? [True, True] Translation: X:106.04, Y:46.83, Z:5.25 [[ 6.48281184e-01 -7.60888296e-01 -2.79375793e-02 1.06039638e+02] [ 7.60221661e-01 6.48882618e-01 -3.18492468e-02 4.68305806e+01] [ 4.23619288e-02 -5.91485518e-04 9.99102156e-01 5.24539943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60804094199997 meters 0.02062643659249728 Centerline is valid? [True, True] Translation: X:106.06, Y:46.85, Z:5.25 [[ 6.47845295e-01 -7.61245339e-01 -2.83197346e-02 1.06057305e+02] [ 7.60559869e-01 6.48463692e-01 -3.23036461e-02 4.68504760e+01] [ 4.29553197e-02 -6.11088484e-04 9.99076807e-01 5.24593382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.63804094199998 meters 0.0208376340635461 Centerline is valid? [True, True] Translation: X:106.08, Y:46.87, Z:5.25 [[ 6.46896519e-01 -7.62023919e-01 -2.90592566e-02 1.06076344e+02] [ 7.61302468e-01 6.47548526e-01 -3.31580808e-02 4.68721527e+01] [ 4.40845295e-02 -6.73036756e-04 9.99027578e-01 5.24697186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66804094199998 meters 0.020997105898528347 Centerline is valid? [True, True] Translation: X:106.09, Y:46.89, Z:5.25 [[ 6.46557539e-01 -7.62318748e-01 -2.88699860e-02 1.06094007e+02] [ 7.61606266e-01 6.47201411e-01 -3.29579766e-02 4.68920579e+01] [ 4.38091792e-02 -6.78333991e-04 9.99039687e-01 5.24807034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.69804094199998 meters 0.020980168098945498 Centerline is valid? [True, True] Translation: X:106.11, Y:46.91, Z:5.25 [[ 6.46063013e-01 -7.62727495e-01 -2.91436270e-02 1.06112511e+02] [ 7.62001106e-01 6.46719626e-01 -3.32872234e-02 4.69130580e+01] [ 4.42368361e-02 -7.01832153e-04 9.99020825e-01 5.24981341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72804094199998 meters 0.021206348968452013 Centerline is valid? [True, True] Translation: X:106.13, Y:46.93, Z:5.25 [[ 6.45630307e-01 -7.63079355e-01 -2.95195582e-02 1.06132207e+02] [ 7.62333616e-01 6.46304398e-01 -3.37354890e-02 4.69334539e+01] [ 4.48214755e-02 -7.23097427e-04 9.98994751e-01 5.25170635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.75804094199998 meters 0.020865477916975704 Centerline is valid? [True, True] Translation: X:106.15, Y:46.96, Z:5.25 [[ 6.45488636e-01 -7.63195738e-01 -2.96088914e-02 1.06150083e+02] [ 7.62444755e-01 6.46166964e-01 -3.38563248e-02 4.69553308e+01] [ 4.49712902e-02 -7.21271081e-04 9.98988019e-01 5.25342649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78804094199998 meters 0.021096606541776985 Centerline is valid? [True, True] Translation: X:106.17, Y:46.98, Z:5.25 [[ 6.45103047e-01 -7.63522491e-01 -2.95882493e-02 1.06167238e+02] [ 7.62772024e-01 6.45780823e-01 -3.38521542e-02 4.69760395e+01] [ 4.49544051e-02 -7.30960947e-04 9.98988772e-01 5.25483201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.81804094199998 meters 0.021096606541776985 Centerline is valid? [True, True] Translation: X:106.19, Y:47.00, Z:5.26 [[ 6.44887266e-01 -7.63704968e-01 -2.95826862e-02 1.06185305e+02] [ 7.62954470e-01 6.45565008e-01 -3.38570151e-02 4.69968444e+01] [ 4.49543176e-02 -7.36284773e-04 9.98988772e-01 5.25605721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84804094199998 meters 0.021253902122595116 Centerline is valid? [True, True] Translation: X:106.20, Y:47.02, Z:5.26 [[ 6.44244555e-01 -7.64231477e-01 -2.99866965e-02 1.06204153e+02] [ 7.63459995e-01 6.44941590e-01 -3.43392080e-02 4.70191065e+01] [ 4.55827714e-02 -7.70795418e-04 9.98960268e-01 5.25752664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.87804094199998 meters 0.02143085437816989 Centerline is valid? [True, True] Translation: X:106.22, Y:47.04, Z:5.26 [[ 6.43698394e-01 -7.64679932e-01 -3.02816664e-02 1.06223423e+02] [ 7.63892879e-01 6.44409779e-01 -3.46944864e-02 4.70408012e+01] [ 4.60439795e-02 -7.99164129e-04 9.98939094e-01 5.25830737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90804094199999 meters 0.02184284134508002 Centerline is valid? [True, True] Translation: X:106.24, Y:47.06, Z:5.26 [[ 6.42382191e-01 -7.65745453e-01 -3.12893081e-02 1.06243454e+02] [ 7.64905504e-01 6.43143144e-01 -3.58673385e-02 4.70620592e+01] [ 4.75887554e-02 -8.92824461e-04 9.98866614e-01 5.25958626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.938040942 meters 0.02198051662705849 Centerline is valid? [True, True] Translation: X:106.26, Y:47.08, Z:5.26 [[ 6.41482784e-01 -7.66499139e-01 -3.12875071e-02 1.06262860e+02] [ 7.65659336e-01 6.42244651e-01 -3.58830018e-02 4.70839428e+01] [ 4.75985241e-02 -9.37243997e-04 9.98866108e-01 5.26110087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.968040942 meters 0.02243131934600579 Centerline is valid? [True, True] Translation: X:106.28, Y:47.11, Z:5.26 [[ 6.40402594e-01 -7.67381368e-01 -3.17860708e-02 1.06281984e+02] [ 7.66514766e-01 6.41190161e-01 -3.64731487e-02 4.71052770e+01] [ 4.83697306e-02 -1.00699361e-03 9.98828992e-01 5.26280444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.998040942 meters 0.022613836449043027 Centerline is valid? [True, True] Translation: X:106.30, Y:47.13, Z:5.26 [[ 6.39798762e-01 -7.67885624e-01 -3.17680884e-02 1.06300444e+02] [ 7.67019753e-01 6.40586139e-01 -3.64705132e-02 4.71280380e+01] [ 4.83553799e-02 -1.03296214e-03 9.98829660e-01 5.26452322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.028040942 meters 0.022843360859219498 Centerline is valid? [True, True] Translation: X:106.32, Y:47.15, Z:5.27 [[ 6.39270903e-01 -7.68314512e-01 -3.20237973e-02 1.06317827e+02] [ 7.67434314e-01 6.40071623e-01 -3.67816687e-02 4.71494299e+01] [ 4.87574137e-02 -1.06271040e-03 9.98810085e-01 5.26546858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.058040942 meters 0.023166025861538514 Centerline is valid? [True, True] Translation: X:106.34, Y:47.17, Z:5.27 [[ 6.38256093e-01 -7.69154966e-01 -3.20904787e-02 1.06335272e+02] [ 7.68271665e-01 6.39061326e-01 -3.68682866e-02 4.71726643e+01] [ 4.88652096e-02 -1.12279692e-03 9.98804751e-01 5.26683321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.088040942 meters 0.02323333629883606 Centerline is valid? [True, True] Translation: X:106.35, Y:47.19, Z:5.27 [[ 6.37827921e-01 -7.69502190e-01 -3.22788246e-02 1.06354143e+02] [ 7.68608023e-01 6.38643147e-01 -3.71030748e-02 4.71945504e+01] [ 4.91655474e-02 -1.14438650e-03 9.98789988e-01 5.26863395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.118040942 meters 0.022873483106294324 Centerline is valid? [True, True] Translation: X:106.37, Y:47.22, Z:5.27 [[ 6.37216124e-01 -7.70037944e-01 -3.15781020e-02 1.06371198e+02] [ 7.69181955e-01 6.37997059e-01 -3.63162896e-02 4.72172363e+01] [ 4.81116571e-02 -1.14798091e-03 9.98841304e-01 5.27184925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.148040942 meters 0.023054667901058822 Centerline is valid? [True, True] Translation: X:106.39, Y:47.24, Z:5.27 [[ 6.37287390e-01 -7.69986176e-01 -3.14017742e-02 1.06388579e+02] [ 7.69138807e-01 6.38059574e-01 -3.61313651e-02 4.72376209e+01] [ 4.78568543e-02 -1.12625977e-03 9.98853569e-01 5.27363035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.178040942 meters 0.023116237593572123 Centerline is valid? [True, True] Translation: X:106.41, Y:47.26, Z:5.28 [[ 6.37443766e-01 -7.69864403e-01 -3.12129049e-02 1.06406525e+02] [ 7.69026502e-01 6.38206537e-01 -3.59256793e-02 4.72596995e+01] [ 4.75781816e-02 -1.10295076e-03 9.98866908e-01 5.27515600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.208040942 meters 0.022856488774186192 Centerline is valid? [True, True] Translation: X:106.42, Y:47.28, Z:5.28 [[ 6.38379046e-01 -7.69078589e-01 -3.14693008e-02 1.06422801e+02] [ 7.68224974e-01 6.39153378e-01 -3.62401420e-02 4.72843632e+01] [ 4.79852272e-02 -1.04055548e-03 9.98847503e-01 5.27617030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.238040942 meters 0.02296141279797471 Centerline is valid? [True, True] Translation: X:106.44, Y:47.31, Z:5.28 [[ 6.38655947e-01 -7.68852351e-01 -3.13790247e-02 1.06439928e+02] [ 7.68002507e-01 6.39425558e-01 -3.61539174e-02 4.73058979e+01] [ 4.78615748e-02 -1.00925529e-03 9.98853468e-01 5.27720533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.268040942 meters 0.02244217411509523 Centerline is valid? [True, True] Translation: X:106.46, Y:47.33, Z:5.28 [[ 6.40216511e-01 -7.67568298e-01 -3.10117388e-02 1.06456199e+02] [ 7.66736207e-01 6.40966541e-01 -3.57418734e-02 4.73301470e+01] [ 4.73118159e-02 -8.95285480e-04 9.98879768e-01 5.28002408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.29804094199997 meters 0.022557538695798525 Centerline is valid? [True, True] Translation: X:106.47, Y:47.35, Z:5.28 [[ 6.41038975e-01 -7.66885379e-01 -3.09167853e-02 1.06473987e+02] [ 7.66056759e-01 6.41783550e-01 -3.56499296e-02 4.73510937e+01] [ 4.71812940e-02 -8.31018000e-04 9.98885997e-01 5.28158990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32804094199997 meters 0.021937524805447264 Centerline is valid? [True, True] Translation: X:106.49, Y:47.38, Z:5.28 [[ 6.44078759e-01 -7.64330702e-01 -3.10020872e-02 1.06490192e+02] [ 7.63494191e-01 6.44824137e-01 -3.57554638e-02 4.73751322e+01] [ 4.73198929e-02 -6.40578735e-04 9.98879581e-01 5.28446300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.35804094199997 meters 0.021760710358038265 Centerline is valid? [True, True] Translation: X:106.51, Y:47.40, Z:5.29 [[ 6.45791277e-01 -7.62893866e-01 -3.07664816e-02 1.06507102e+02] [ 7.62067591e-01 6.46523533e-01 -3.55008201e-02 4.73977051e+01] [ 4.69746123e-02 -5.20018591e-04 9.98895948e-01 5.28639877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38804094199998 meters 0.021490451403924717 Centerline is valid? [True, True] Translation: X:106.52, Y:47.42, Z:5.29 [[ 6.47547675e-01 -7.61405044e-01 -3.07305659e-02 1.06523998e+02] [ 7.60578694e-01 6.48276325e-01 -3.54662625e-02 4.74210267e+01] [ 4.69260894e-02 -4.06917863e-04 9.98898281e-01 5.28780785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.41804094199998 meters 0.021256892476972513 Centerline is valid? [True, True] Translation: X:106.54, Y:47.45, Z:5.29 [[ 6.50823355e-01 -7.58602714e-01 -3.08363801e-02 1.06539935e+02] [ 7.57766658e-01 6.51553440e-01 -3.56062752e-02 4.74455516e+01] [ 4.71025665e-02 -1.93385147e-04 9.98890039e-01 5.28983416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44804094199998 meters 0.021269166170362678 Centerline is valid? [True, True] Translation: X:106.56, Y:47.47, Z:5.29 [[ 6.51489312e-01 -7.58017020e-01 -3.11748768e-02 1.06557096e+02] [ 7.57160943e-01 6.52234756e-01 -3.60156804e-02 4.74674787e+01] [ 4.76338369e-02 -1.40568206e-04 9.98864855e-01 5.29113402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.47804094199998 meters 0.021304588632303532 Centerline is valid? [True, True] Translation: X:106.57, Y:47.49, Z:5.29 [[ 6.52560049e-01 -7.57095379e-01 -3.11764247e-02 1.06573844e+02] [ 7.56237201e-01 6.53304358e-01 -3.60376446e-02 4.74883494e+01] [ 4.76516283e-02 -6.00450799e-05 9.98864014e-01 5.29255762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50804094199998 meters 0.021317135675688933 Centerline is valid? [True, True] Translation: X:106.59, Y:47.51, Z:5.29 [[ 6.52213249e-01 -7.57382175e-01 -3.14661597e-02 1.06592544e+02] [ 7.56507709e-01 6.52971850e-01 -3.63847533e-02 4.75096014e+01] [ 4.81036801e-02 -7.37741654e-05 9.98842345e-01 5.29400424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.53804094199998 meters 0.021350986535041513 Centerline is valid? [True, True] Translation: X:106.61, Y:47.53, Z:5.30 [[ 6.51558332e-01 -7.57942078e-01 -3.15522867e-02 1.06611609e+02] [ 7.57062457e-01 6.52321850e-01 -3.65053416e-02 4.75304682e+01] [ 4.82511805e-02 -1.01692210e-04 9.98835228e-01 5.29539432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56804094199998 meters 0.02149204007135648 Centerline is valid? [True, True] Translation: X:106.63, Y:47.55, Z:5.30 [[ 6.50621092e-01 -7.58739245e-01 -3.17325174e-02 1.06630591e+02] [ 7.57849490e-01 6.51394455e-01 -3.67343832e-02 4.75499713e+01] [ 4.85422040e-02 -1.48307631e-04 9.98821121e-01 5.29727226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.59804094199998 meters 0.021518022668633282 Centerline is valid? [True, True] Translation: X:106.65, Y:47.57, Z:5.30 [[ 6.49906567e-01 -7.59341970e-01 -3.19566350e-02 1.06648748e+02] [ 7.58439729e-01 6.50691737e-01 -3.70059581e-02 4.75703853e+01] [ 4.88940955e-02 -1.86766442e-04 9.98803951e-01 5.29864861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62804094199998 meters 0.02162174247558161 Centerline is valid? [True, True] Translation: X:106.67, Y:47.59, Z:5.30 [[ 6.48625175e-01 -7.60411892e-01 -3.25443860e-02 1.06667943e+02] [ 7.59476888e-01 6.49441055e-01 -3.76984406e-02 4.75910633e+01] [ 4.98020029e-02 -2.64551449e-04 9.98759075e-01 5.29970759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.65804094199999 meters 0.021697538157054216 Centerline is valid? [True, True] Translation: X:106.69, Y:47.61, Z:5.30 [[ 6.48020167e-01 -7.60914533e-01 -3.28471720e-02 1.06686281e+02] [ 7.59962143e-01 6.48852051e-01 -3.80599047e-02 4.76116504e+01] [ 5.02732895e-02 -2.99021405e-04 9.98735454e-01 5.30169994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.688040942 meters 0.021801782656848658 Centerline is valid? [True, True] Translation: X:106.70, Y:47.63, Z:5.30 [[ 6.47401123e-01 -7.61445048e-01 -3.27600938e-02 1.06704437e+02] [ 7.60497379e-01 6.48229382e-01 -3.79790119e-02 4.76315034e+01] [ 5.01549859e-02 -3.26310496e-04 9.98741393e-01 5.30268084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.718040942 meters 0.02202512624369891 Centerline is valid? [True, True] Translation: X:106.72, Y:47.65, Z:5.30 [[ 6.45637611e-01 -7.62948907e-01 -3.25736185e-02 1.06723855e+02] [ 7.62013277e-01 6.46458644e-01 -3.77754711e-02 4.76518948e+01] [ 4.98782516e-02 -4.32264849e-04 9.98755212e-01 5.30425532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.748040942 meters 0.02200766842331575 Centerline is valid? [True, True] Translation: X:106.74, Y:47.67, Z:5.31 [[ 6.44232786e-01 -7.64149393e-01 -3.22462741e-02 1.06742043e+02] [ 7.63233025e-01 6.45039106e-01 -3.74152716e-02 4.76737766e+01] [ 4.93909649e-02 -5.07276628e-04 9.98779393e-01 5.30626015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.778040942 meters 0.022383802131930666 Centerline is valid? [True, True] Translation: X:106.76, Y:47.69, Z:5.31 [[ 6.41981832e-01 -7.66037787e-01 -3.23332053e-02 1.06761938e+02] [ 7.65117977e-01 6.42795220e-01 -3.75338098e-02 4.76934905e+01] [ 4.95359464e-02 -6.42692629e-04 9.98772135e-01 5.30757705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.808040942 meters 0.02275167969803678 Centerline is valid? [True, True] Translation: X:106.78, Y:47.71, Z:5.31 [[ 6.40794209e-01 -7.67024099e-01 -3.25086618e-02 1.06780798e+02] [ 7.66095186e-01 6.41617889e-01 -3.77445393e-02 4.77139638e+01] [ 4.98091102e-02 -7.18247144e-04 9.98758498e-01 5.30860459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.838040942 meters 0.023448627154751423 Centerline is valid? [True, True] Translation: X:106.80, Y:47.73, Z:5.31 [[ 6.39833746e-01 -7.67814158e-01 -3.27749288e-02 1.06800537e+02] [ 7.66870501e-01 6.40672155e-01 -3.80634186e-02 4.77340089e+01] [ 5.02236160e-02 -7.79866382e-04 9.98737693e-01 5.30891998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.868040942 meters 0.022966991050782343 Centerline is valid? [True, True] Translation: X:106.82, Y:47.76, Z:5.31 [[ 6.38956771e-01 -7.68515901e-01 -3.34298446e-02 1.06818711e+02] [ 7.67534521e-01 6.39830130e-01 -3.88350721e-02 4.77566762e+01] [ 5.12347923e-02 -8.44627496e-04 9.98686278e-01 5.31084887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.898040942 meters 0.023378606783354922 Centerline is valid? [True, True] Translation: X:106.84, Y:47.78, Z:5.31 [[ 6.37918601e-01 -7.69366021e-01 -3.37013788e-02 1.06837654e+02] [ 7.68368857e-01 6.38807561e-01 -3.91688566e-02 4.77776831e+01] [ 5.16638830e-02 -9.08547693e-04 9.98664117e-01 5.31086055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.928040942 meters 0.02341328135766919 Centerline is valid? [True, True] Translation: X:106.86, Y:47.80, Z:5.31 [[ 6.37181929e-01 -7.69964269e-01 -3.39737230e-02 1.06855819e+02] [ 7.68951104e-01 6.38086287e-01 -3.94979783e-02 4.78004435e+01] [ 5.20901987e-02 -9.56733803e-04 9.98641926e-01 5.31127899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.958040942 meters 0.023480865696969905 Centerline is valid? [True, True] Translation: X:106.87, Y:47.82, Z:5.31 [[ 6.36442689e-01 -7.70569890e-01 -3.40990902e-02 1.06874293e+02] [ 7.69549072e-01 6.37354728e-01 -3.96632918e-02 4.78224894e+01] [ 5.22965548e-02 -9.97511161e-04 9.98631101e-01 5.31280859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.988040942 meters 0.023319544296328862 Centerline is valid? [True, True] Translation: X:106.89, Y:47.84, Z:5.32 [[ 6.35938929e-01 -7.70983401e-01 -3.41507452e-02 1.06892683e+02] [ 7.69959035e-01 6.36854421e-01 -3.97433213e-02 4.78447433e+01] [ 5.23904941e-02 -1.02034960e-03 9.98626154e-01 5.31501154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.018040942 meters 0.02371296221255153 Centerline is valid? [True, True] Translation: X:106.91, Y:47.87, Z:5.32 [[ 6.35123206e-01 -7.71675584e-01 -3.36942976e-02 1.06911391e+02] [ 7.70678412e-01 6.36015479e-01 -3.92313183e-02 4.78651416e+01] [ 5.17039452e-02 -1.05074709e-03 9.98661904e-01 5.31668289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04804094199997 meters 0.02440832704891043 Centerline is valid? [True, True] Translation: X:106.93, Y:47.89, Z:5.32 [[ 6.33520493e-01 -7.73021315e-01 -3.30126089e-02 1.06930169e+02] [ 7.72065456e-01 6.34379041e-01 -3.84468974e-02 4.78852671e+01] [ 5.06627783e-02 -1.13099754e-03 9.98715176e-01 5.31813264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.07804094199997 meters 0.024605658418451484 Centerline is valid? [True, True] Translation: X:106.95, Y:47.91, Z:5.32 [[ 6.31910832e-01 -7.74367505e-01 -3.23058528e-02 1.06948747e+02] [ 7.73453527e-01 6.32734944e-01 -3.76315345e-02 4.79074144e+01] [ 4.95816795e-02 -1.20730148e-03 9.98769342e-01 5.32044252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10804094199997 meters 0.02501385678304699 Centerline is valid? [True, True] Translation: X:106.97, Y:47.93, Z:5.32 [[ 6.31010872e-01 -7.75105584e-01 -3.21964812e-02 1.06966987e+02] [ 7.74197873e-01 6.31830493e-01 -3.75217396e-02 4.79286256e+01] [ 4.94260285e-02 -1.24982165e-03 9.98777005e-01 5.32220377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.13804094199998 meters 0.024681711125410472 Centerline is valid? [True, True] Translation: X:106.98, Y:47.95, Z:5.32 [[ 6.30068646e-01 -7.75899917e-01 -3.15090540e-02 1.06984257e+02] [ 7.75031075e-01 6.30854727e-01 -3.67307290e-02 4.79512630e+01] [ 4.83770052e-02 -1.27761525e-03 9.98828330e-01 5.32408626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16804094199998 meters 0.02501007595939935 Centerline is valid? [True, True] Translation: X:107.00, Y:47.97, Z:5.33 [[ 6.28741983e-01 -7.77009974e-01 -3.06434207e-02 1.07001850e+02] [ 7.76188729e-01 6.29486913e-01 -3.57391160e-02 4.79745638e+01] [ 4.70592819e-02 -1.31439511e-03 9.98891234e-01 5.32539082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.19804094199998 meters 0.02494006053992894 Centerline is valid? [True, True] Translation: X:107.02, Y:48.00, Z:5.33 [[ 6.28278748e-01 -7.77397123e-01 -3.03237272e-02 1.07019318e+02] [ 7.76592559e-01 6.29008724e-01 -3.53839158e-02 4.79971480e+01] [ 4.65812433e-02 -1.31821857e-03 9.98913635e-01 5.32647006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22804094199998 meters 0.025347853495934314 Centerline is valid? [True, True] Translation: X:107.04, Y:48.02, Z:5.33 [[ 6.27858987e-01 -7.77752569e-01 -2.99003956e-02 1.07036007e+02] [ 7.76969938e-01 6.28569178e-01 -3.49070811e-02 4.80192752e+01] [ 4.59435391e-02 -1.31498390e-03 9.98943173e-01 5.32809489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.25804094199998 meters 0.02575107306289875 Centerline is valid? [True, True] Translation: X:107.05, Y:48.04, Z:5.33 [[ 6.27873793e-01 -7.77721750e-01 -3.03871590e-02 1.07053696e+02] [ 7.76912944e-01 6.28607282e-01 -3.54846790e-02 4.80400785e+01] [ 4.66987961e-02 -1.32827722e-03 9.98908133e-01 5.32933667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28804094199998 meters 0.0251834034361749 Centerline is valid? [True, True] Translation: X:107.07, Y:48.06, Z:5.33 [[ 6.27786385e-01 -7.77789838e-01 -3.04503208e-02 1.07069721e+02] [ 7.76977210e-01 6.28523032e-01 -3.55698320e-02 4.80634784e+01] [ 4.68045818e-02 -1.32894905e-03 9.98903181e-01 5.33011906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.31804094199998 meters 0.025054570692417125 Centerline is valid? [True, True] Translation: X:107.09, Y:48.09, Z:5.33 [[ 6.28093090e-01 -7.77507354e-01 -3.13270592e-02 1.07085964e+02] [ 7.76645856e-01 6.28872435e-01 -3.66152332e-02 4.80876084e+01] [ 4.81693371e-02 -1.33225579e-03 9.98838295e-01 5.32943125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34804094199998 meters 0.024740139197468803 Centerline is valid? [True, True] Translation: X:107.10, Y:48.11, Z:5.33 [[ 6.28404453e-01 -7.77260855e-01 -3.11994608e-02 1.07102966e+02] [ 7.76405192e-01 6.29177147e-01 -3.64841843e-02 4.81113346e+01] [ 4.79877160e-02 -1.29659941e-03 9.98847084e-01 5.32988261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.37804094199998 meters 0.025296369986052593 Centerline is valid? [True, True] Translation: X:107.12, Y:48.13, Z:5.33 [[ 6.29021447e-01 -7.76752613e-01 -3.14228789e-02 1.07121349e+02] [ 7.75883115e-01 6.29804575e-01 -3.67639711e-02 4.81329928e+01] [ 4.83467835e-02 -1.25515489e-03 9.98829822e-01 5.33024971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40804094199999 meters 0.024084860500004048 Centerline is valid? [True, True] Translation: X:107.14, Y:48.16, Z:5.33 [[ 6.30528472e-01 -7.75539659e-01 -3.11782413e-02 1.07135869e+02] [ 7.74681306e-01 6.31297817e-01 -3.64957541e-02 4.81583750e+01] [ 4.79866604e-02 -1.14158864e-03 9.98847324e-01 5.33189374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.438040942 meters 0.02405953164096496 Centerline is valid? [True, True] Translation: X:107.15, Y:48.18, Z:5.33 [[ 6.31084590e-01 -7.75105919e-01 -3.07091782e-02 1.07153713e+02] [ 7.74271861e-01 6.31830393e-01 -3.59644145e-02 4.81804645e+01] [ 4.72792227e-02 -1.08066480e-03 9.98881128e-01 5.33258504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.468040942 meters 0.023511830020694013 Centerline is valid? [True, True] Translation: X:107.17, Y:48.20, Z:5.33 [[ 6.31979050e-01 -7.74392001e-01 -3.03234214e-02 1.07170451e+02] [ 7.73577140e-01 6.32705321e-01 -3.55300694e-02 4.82043243e+01] [ 4.66999916e-02 -1.00324616e-03 9.98908456e-01 5.33430911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.498040942 meters 0.024706485413944775 Centerline is valid? [True, True] Translation: X:107.19, Y:48.22, Z:5.33 [[ 6.32130727e-01 -7.74264393e-01 -3.04202846e-02 1.07189970e+02] [ 7.73443344e-01 6.32861499e-01 -3.56611321e-02 4.82235129e+01] [ 4.68629717e-02 -9.85869280e-04 9.98900841e-01 5.33491599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.528040942 meters 0.023598047664979565 Centerline is valid? [True, True] Translation: X:107.20, Y:48.25, Z:5.34 [[ 6.31855554e-01 -7.74487293e-01 -3.04629741e-02 1.07204787e+02] [ 7.73663672e-01 6.32588681e-01 -3.57222990e-02 4.82471478e+01] [ 4.69369993e-02 -9.96763392e-04 9.98897354e-01 5.33619552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.558040942 meters 0.02362799850910816 Centerline is valid? [True, True] Translation: X:107.22, Y:48.27, Z:5.34 [[ 6.31643363e-01 -7.74699255e-01 -2.94572020e-02 1.07221009e+02] [ 7.73928521e-01 6.32329131e-01 -3.45617440e-02 4.82689023e+01] [ 4.54016043e-02 -9.67072511e-04 9.98968347e-01 5.33774085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.588040942 meters 0.023786129815318493 Centerline is valid? [True, True] Translation: X:107.24, Y:48.29, Z:5.34 [[ 6.31431081e-01 -7.74883611e-01 -2.91578341e-02 1.07238709e+02] [ 7.74128182e-01 6.32103205e-01 -3.42212848e-02 4.82898511e+01] [ 4.49482731e-02 -9.63518274e-04 9.98988851e-01 5.33929035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.618040942 meters 0.02385468781405575 Centerline is valid? [True, True] Translation: X:107.26, Y:48.31, Z:5.34 [[ 6.31233611e-01 -7.75070570e-01 -2.84559349e-02 1.07256324e+02] [ 7.74350735e-01 6.31873973e-01 -3.34099036e-02 4.83111847e+01] [ 4.38755977e-02 -9.45420052e-04 9.99036555e-01 5.34041195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.648040942 meters 0.024066948494302496 Centerline is valid? [True, True] Translation: X:107.27, Y:48.33, Z:5.34 [[ 6.31663131e-01 -7.74748662e-01 -2.76803126e-02 1.07273853e+02] [ 7.74066471e-01 6.32268713e-01 -3.25172812e-02 4.83318904e+01] [ 4.26941157e-02 -8.86434294e-04 9.99087797e-01 5.34194744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.678040942 meters 0.02384772311520982 Centerline is valid? [True, True] Translation: X:107.29, Y:48.36, Z:5.34 [[ 6.32000750e-01 -7.74494986e-01 -2.70660103e-02 1.07291576e+02] [ 7.73842265e-01 6.32579482e-01 -3.18016855e-02 4.83550311e+01] [ 4.17516487e-02 -8.46133611e-04 9.99127661e-01 5.34295016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.708040942 meters 0.02384772311520982 Centerline is valid? [True, True] Translation: X:107.31, Y:48.38, Z:5.34 [[ 6.31790531e-01 -7.74666753e-01 -2.70581981e-02 1.07309344e+02] [ 7.74013906e-01 6.32369120e-01 -3.18083309e-02 4.83760733e+01] [ 4.17516253e-02 -8.47219336e-04 9.99127662e-01 5.34417400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.738040942 meters 0.02376884407799798 Centerline is valid? [True, True] Translation: X:107.33, Y:48.40, Z:5.35 [[ 6.32109513e-01 -7.74402608e-01 -2.71691693e-02 1.07326948e+02] [ 7.73743402e-01 6.32692599e-01 -3.19565870e-02 4.83990982e+01] [ 4.19369967e-02 -8.21902841e-04 9.99119919e-01 5.34522371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.768040942 meters 0.023707631021596703 Centerline is valid? [True, True] Translation: X:107.34, Y:48.42, Z:5.34 [[ 6.32965257e-01 -7.73690412e-01 -2.75341614e-02 1.07342966e+02] [ 7.73012002e-01 6.33563372e-01 -3.24021484e-02 4.84221795e+01] [ 4.25138677e-02 -7.74803017e-04 9.99095576e-01 5.34477258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.79804094199997 meters 0.022752683159173535 Centerline is valid? [True, True] Translation: X:107.36, Y:48.45, Z:5.34 [[ 6.34204638e-01 -7.72666220e-01 -2.77738917e-02 1.07360148e+02] [ 7.71974722e-01 6.34812106e-01 -3.26897295e-02 4.84462095e+01] [ 4.28894524e-02 -7.08764230e-04 9.99079573e-01 5.34477277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82804094199997 meters 0.02312470026675613 Centerline is valid? [True, True] Translation: X:107.38, Y:48.47, Z:5.35 [[ 6.34287277e-01 -7.72581176e-01 -2.82484744e-02 1.07378619e+02] [ 7.71865333e-01 6.34915604e-01 -3.32578409e-02 4.84654823e+01] [ 4.36297789e-02 -7.08992740e-04 9.99047516e-01 5.34559033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.85804094199997 meters 0.022601268938624478 Centerline is valid? [True, True] Translation: X:107.40, Y:48.49, Z:5.35 [[ 6.34119423e-01 -7.72701224e-01 -2.87293462e-02 1.07395368e+02] [ 7.71960322e-01 6.34769484e-01 -3.38372906e-02 4.84874963e+01] [ 4.43826282e-02 -7.21032135e-04 9.99014345e-01 5.34603388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88804094199998 meters 0.02259875290756622 Centerline is valid? [True, True] Translation: X:107.41, Y:48.51, Z:5.35 [[ 6.34003505e-01 -7.72775255e-01 -2.92909624e-02 1.07413922e+02] [ 7.72004257e-01 6.34679349e-01 -3.45188492e-02 4.85089814e+01] [ 4.52656814e-02 -7.27676230e-04 9.98974719e-01 5.34686659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.91804094199998 meters 0.02255405189858109 Centerline is valid? [True, True] Translation: X:107.43, Y:48.53, Z:5.35 [[ 6.33930455e-01 -7.72806083e-01 -3.00489025e-02 1.07431832e+02] [ 7.71993738e-01 6.34641801e-01 -3.54323569e-02 4.85296330e+01] [ 4.64526306e-02 -7.35914515e-04 9.98920223e-01 5.34694006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94804094199998 meters 0.022400888483544826 Centerline is valid? [True, True] Translation: X:107.45, Y:48.55, Z:5.35 [[ 6.34339757e-01 -7.72453481e-01 -3.04744541e-02 1.07450664e+02] [ 7.71616988e-01 6.35070951e-01 -3.59459583e-02 4.85512957e+01] [ 4.71200212e-02 -7.12656051e-04 9.98888981e-01 5.34789775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.97804094199998 meters 0.021923759308647008 Centerline is valid? [True, True] Translation: X:107.47, Y:48.57, Z:5.35 [[ 6.34304907e-01 -7.72479107e-01 -3.05501870e-02 1.07468664e+02] [ 7.71637573e-01 6.35039788e-01 -3.60544534e-02 4.85727370e+01] [ 4.72518963e-02 -7.04155404e-04 9.98882757e-01 5.34997253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00804094199998 meters 0.02204793777955066 Centerline is valid? [True, True] Translation: X:107.49, Y:48.59, Z:5.35 [[ 6.34323227e-01 -7.72469888e-01 -3.04025727e-02 1.07487589e+02] [ 7.71635503e-01 6.35051022e-01 -3.59005678e-02 4.85923390e+01] [ 4.70392924e-02 -6.87140468e-04 9.98892803e-01 5.35192709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.03804094199998 meters 0.02223078583083075 Centerline is valid? [True, True] Translation: X:107.51, Y:48.61, Z:5.35 [[ 6.34898476e-01 -7.72026314e-01 -2.96529231e-02 1.07507775e+02] [ 7.71231615e-01 6.35590255e-01 -3.50260508e-02 4.86114220e+01] [ 4.58881419e-02 -6.31285521e-04 9.98946385e-01 5.35426764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06804094199998 meters 0.022187333590794642 Centerline is valid? [True, True] Translation: X:107.53, Y:48.63, Z:5.36 [[ 6.34960658e-01 -7.71980265e-01 -2.95200473e-02 1.07526054e+02] [ 7.71192329e-01 6.35646195e-01 -3.48755899e-02 4.86320254e+01] [ 4.56875728e-02 -6.21006534e-04 9.98955585e-01 5.35597257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.09804094199998 meters 0.022270848361665877 Centerline is valid? [True, True] Translation: X:107.55, Y:48.65, Z:5.36 [[ 6.34442157e-01 -7.72396594e-01 -2.97766929e-02 1.07546252e+02] [ 7.71594465e-01 6.35140210e-01 -3.51979463e-02 4.86507105e+01] [ 4.60991488e-02 -6.44470402e-04 9.98936661e-01 5.35741374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12804094199998 meters 0.02225015114559086 Centerline is valid? [True, True] Translation: X:107.57, Y:48.67, Z:5.36 [[ 6.34362472e-01 -7.72452427e-01 -3.00250178e-02 1.07566012e+02] [ 7.71636097e-01 6.35072307e-01 -3.55091424e-02 4.86713201e+01] [ 4.64971806e-02 -6.42720204e-04 9.98918214e-01 5.35864645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.15804094199999 meters 0.022190853155126044 Centerline is valid? [True, True] Translation: X:107.59, Y:48.69, Z:5.36 [[ 6.33962313e-01 -7.72771876e-01 -3.02558119e-02 1.07585420e+02] [ 7.71942405e-01 6.34683538e-01 -3.58012454e-02 4.86914946e+01] [ 4.68690613e-02 -6.59103858e-04 9.98900824e-01 5.35999189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.188040942 meters 0.022192427542045968 Centerline is valid? [True, True] Translation: X:107.61, Y:48.71, Z:5.36 [[ 6.34176107e-01 -7.72610843e-01 -2.98856369e-02 1.07605755e+02] [ 7.71800517e-01 6.34879588e-01 -3.53817837e-02 4.87098716e+01] [ 4.63101306e-02 -6.27468177e-04 9.98926913e-01 5.36193835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.218040942 meters 0.021681865582550183 Centerline is valid? [True, True] Translation: X:107.62, Y:48.73, Z:5.36 [[ 6.34215138e-01 -7.72577880e-01 -2.99094990e-02 1.07623306e+02] [ 7.71765449e-01 6.34919713e-01 -3.54266873e-02 4.87311395e+01] [ 4.63600054e-02 -6.14976516e-04 9.98924608e-01 5.36361828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.248040942 meters 0.021628804251517295 Centerline is valid? [True, True] Translation: X:107.64, Y:48.75, Z:5.36 [[ 6.34496268e-01 -7.72347536e-01 -2.98959671e-02 1.07641290e+02] [ 7.71534682e-01 6.35199921e-01 -3.54301258e-02 4.87509470e+01] [ 4.63542863e-02 -5.85492866e-04 9.98924891e-01 5.36479239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.278040942 meters 0.021360539512480285 Centerline is valid? [True, True] Translation: X:107.66, Y:48.77, Z:5.37 [[ 6.35261903e-01 -7.71718147e-01 -2.98900798e-02 1.07660111e+02] [ 7.70904128e-01 6.35964482e-01 -3.54401183e-02 4.87702507e+01] [ 4.63588115e-02 -5.28628922e-04 9.98924712e-01 5.36514584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.308040942 meters 0.02120531962563983 Centerline is valid? [True, True] Translation: X:107.68, Y:48.79, Z:5.37 [[ 6.35602001e-01 -7.71432740e-01 -3.00270572e-02 1.07679000e+02] [ 7.70610309e-01 6.36310675e-01 -3.56156779e-02 4.87906393e+01] [ 4.65816371e-02 -5.01763723e-04 9.98914360e-01 5.36596793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.338040942 meters 0.021054726633904775 Centerline is valid? [True, True] Translation: X:107.70, Y:48.81, Z:5.37 [[ 6.36212857e-01 -7.70908478e-01 -3.05502710e-02 1.07700222e+02] [ 7.70055580e-01 6.36945765e-01 -3.62559857e-02 4.88082065e+01] [ 4.74089125e-02 -4.58882386e-04 9.98875460e-01 5.36685954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.368040942 meters 0.02082562889358415 Centerline is valid? [True, True] Translation: X:107.72, Y:48.83, Z:5.37 [[ 6.36410210e-01 -7.70737180e-01 -3.07610758e-02 1.07719630e+02] [ 7.69871455e-01 6.37153048e-01 -3.65230927e-02 4.88291187e+01] [ 4.77492187e-02 -4.38405060e-04 9.98859259e-01 5.36840157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.398040942 meters 0.021016564194154812 Centerline is valid? [True, True] Translation: X:107.74, Y:48.85, Z:5.37 [[ 6.36512704e-01 -7.70646719e-01 -3.09065117e-02 1.07739367e+02] [ 7.69772043e-01 6.37262469e-01 -3.67089608e-02 4.88481028e+01] [ 4.79852001e-02 -4.25248779e-04 9.98847956e-01 5.36879957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.428040942 meters 0.02091649267123715 Centerline is valid? [True, True] Translation: X:107.76, Y:48.87, Z:5.37 [[ 6.36767817e-01 -7.70412322e-01 -3.14897243e-02 1.07760581e+02] [ 7.69503086e-01 6.37545835e-01 -3.74207013e-02 4.88674905e+01] [ 4.89055119e-02 -4.03141750e-04 9.98803328e-01 5.36853008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.458040942 meters 0.020632319240492157 Centerline is valid? [True, True] Translation: X:107.78, Y:48.89, Z:5.37 [[ 6.37070160e-01 -7.70151438e-01 -3.17549175e-02 1.07779111e+02] [ 7.69225498e-01 6.37860975e-01 -3.77559273e-02 4.88879354e+01] [ 4.93330043e-02 -3.73517614e-04 9.98782316e-01 5.36955091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.488040942 meters 0.02047019759140972 Centerline is valid? [True, True] Translation: X:107.80, Y:48.91, Z:5.37 [[ 6.39015248e-01 -7.68498119e-01 -3.27132227e-02 1.07799267e+02] [ 7.67512145e-01 6.39852002e-01 -3.89168737e-02 4.89062447e+01] [ 5.08391652e-02 -2.39320031e-04 9.98706825e-01 5.36946582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.518040942 meters 0.020255318281176236 Centerline is valid? [True, True] Translation: X:107.82, Y:48.93, Z:5.37 [[ 6.40222655e-01 -7.67481122e-01 -3.29799801e-02 1.07818451e+02] [ 7.66476652e-01 6.41071529e-01 -3.92534850e-02 4.89272559e+01] [ 5.12688350e-02 -1.47414313e-04 9.98684878e-01 5.37144093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54804094199997 meters 0.020185659390448304 Centerline is valid? [True, True] Translation: X:107.84, Y:48.95, Z:5.37 [[ 6.41592228e-01 -7.66328421e-01 -3.31687174e-02 1.07837187e+02] [ 7.65309792e-01 6.42449024e-01 -3.94990331e-02 4.89468307e+01] [ 5.15784418e-02 -4.20715488e-05 9.98668945e-01 5.37197071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.57804094199997 meters 0.020269636488843643 Centerline is valid? [True, True] Translation: X:107.86, Y:48.97, Z:5.37 [[ 6.43871217e-01 -7.64438140e-01 -3.26218686e-02 1.07856409e+02] [ 7.63449662e-01 6.44697073e-01 -3.88625410e-02 4.89660325e+01] [ 5.07392318e-02 1.17316968e-04 9.98711929e-01 5.37443772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60804094199997 meters 0.020197596245340566 Centerline is valid? [True, True] Translation: X:107.88, Y:48.99, Z:5.38 [[ 6.44435723e-01 -7.63971764e-01 -3.23997394e-02 1.07875630e+02] [ 7.62995212e-01 6.45249655e-01 -3.86159319e-02 4.89861753e+01] [ 5.04074023e-02 1.64640016e-04 9.98728725e-01 5.37735065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.63804094199998 meters 0.020276867419324718 Centerline is valid? [True, True] Translation: X:107.90, Y:49.01, Z:5.38 [[ 6.45400569e-01 -7.63163908e-01 -3.22328232e-02 1.07895870e+02] [ 7.62195294e-01 6.46204914e-01 -3.84388219e-02 4.90057500e+01] [ 5.01641303e-02 2.40731416e-04 9.98740958e-01 5.37908639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66804094199998 meters 0.020376468657213088 Centerline is valid? [True, True] Translation: X:107.91, Y:49.03, Z:5.38 [[ 6.46351373e-01 -7.62378971e-01 -3.17522920e-02 1.07912340e+02] [ 7.61437065e-01 6.47130751e-01 -3.78865164e-02 4.90274394e+01] [ 4.94317679e-02 3.10629866e-04 9.98777455e-01 5.38068888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.69804094199998 meters 0.020555078223934195 Centerline is valid? [True, True] Translation: X:107.93, Y:49.05, Z:5.38 [[ 6.47403202e-01 -7.61496064e-01 -3.15093431e-02 1.07928330e+02] [ 7.60566746e-01 6.48169419e-01 -3.76115505e-02 4.90488025e+01] [ 4.90644403e-02 3.84879703e-04 9.98795541e-01 5.38241411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72804094199998 meters 0.020603220604511068 Centerline is valid? [True, True] Translation: X:107.95, Y:49.07, Z:5.38 [[ 6.48350754e-01 -7.60689407e-01 -3.15107285e-02 1.07946650e+02] [ 7.59758135e-01 6.49115873e-01 -3.76318937e-02 4.90715739e+01] [ 4.90802969e-02 4.58134283e-04 9.98794731e-01 5.38441930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.75804094199998 meters 0.020651614930983865 Centerline is valid? [True, True] Translation: X:107.96, Y:49.09, Z:5.39 [[ 6.48370907e-01 -7.60657050e-01 -3.18750486e-02 1.07963917e+02] [ 7.59703113e-01 6.49153775e-01 -3.80861747e-02 4.90937093e+01] [ 4.96623254e-02 4.78393968e-04 9.98765951e-01 5.38548661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78804094199998 meters 0.02056261333804201 Centerline is valid? [True, True] Translation: X:107.98, Y:49.12, Z:5.39 [[ 6.47499805e-01 -7.61381169e-01 -3.22911546e-02 1.07979464e+02] [ 7.60401997e-01 6.48304343e-01 -3.86041814e-02 4.91159849e+01] [ 5.03269925e-02 4.41941513e-04 9.98732696e-01 5.38542739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.81804094199998 meters 0.020364861609982614 Centerline is valid? [True, True] Translation: X:108.00, Y:49.14, Z:5.39 [[ 6.46378296e-01 -7.62336999e-01 -3.22086710e-02 1.07997922e+02] [ 7.61363372e-01 6.47180160e-01 -3.85182586e-02 4.91376746e+01] [ 5.02087065e-02 3.74864029e-04 9.98738677e-01 5.38680417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84804094199998 meters 0.02025904302393255 Centerline is valid? [True, True] Translation: X:108.02, Y:49.16, Z:5.39 [[ 6.44813691e-01 -7.63656856e-01 -3.23033994e-02 1.08017378e+02] [ 7.62678065e-01 6.45622276e-01 -3.86528764e-02 4.91590320e+01] [ 5.03733284e-02 2.86809725e-04 9.98730417e-01 5.38859297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.87804094199998 meters 0.02003403810860963 Centerline is valid? [True, True] Translation: X:108.04, Y:49.18, Z:5.39 [[ 6.40824345e-01 -7.66992684e-01 -3.26554867e-02 1.08037470e+02] [ 7.65995725e-01 6.41655843e-01 -3.90938461e-02 4.91777142e+01] [ 5.09382778e-02 3.83251332e-05 9.98701803e-01 5.38903687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90804094199999 meters 0.02012325648398839 Centerline is valid? [True, True] Translation: X:108.06, Y:49.20, Z:5.39 [[ 6.38112660e-01 -7.69218858e-01 -3.33853503e-02 1.08057856e+02] [ 7.68179009e-01 6.38985392e-01 -3.99834773e-02 4.91975751e+01] [ 5.20887959e-02 -1.31962273e-04 9.98642448e-01 5.38973324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.938040942 meters 0.020809524745324996 Centerline is valid? [True, True] Translation: X:108.08, Y:49.21, Z:5.39 [[ 6.32987138e-01 -7.73428075e-01 -3.37089966e-02 1.08080524e+02] [ 7.72372806e-01 6.33883896e-01 -4.03912804e-02 4.92144370e+01] [ 5.26073403e-02 -4.68751329e-04 9.98615165e-01 5.39024168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.968040942 meters 0.02078155038098522 Centerline is valid? [True, True] Translation: X:108.10, Y:49.24, Z:5.39 [[ 6.30927352e-01 -7.75120354e-01 -3.34531354e-02 1.08098175e+02] [ 7.74082694e-01 6.31813328e-01 -4.00986517e-02 4.92370944e+01] [ 5.22174179e-02 -5.96157032e-04 9.98635562e-01 5.39309958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.998040942 meters 0.021339811528397687 Centerline is valid? [True, True] Translation: X:108.12, Y:49.26, Z:5.39 [[ 6.28920335e-01 -7.76758699e-01 -3.32435898e-02 1.08116855e+02] [ 7.75735325e-01 6.29797913e-01 -3.98659503e-02 4.92583638e+01] [ 5.19029672e-02 -7.15720112e-04 9.98651876e-01 5.39388483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.028040942 meters 0.02310752751544494 Centerline is valid? [True, True] Translation: X:108.14, Y:49.28, Z:5.39 [[ 6.25330958e-01 -7.79639974e-01 -3.35067575e-02 1.08137101e+02] [ 7.78603769e-01 6.26227275e-01 -4.01941564e-02 4.92780714e+01] [ 5.23198166e-02 -9.53837364e-04 9.98629925e-01 5.39399606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.058040942 meters 0.023715116894469337 Centerline is valid? [True, True] Translation: X:108.16, Y:49.30, Z:5.40 [[ 6.23561313e-01 -7.81056976e-01 -3.34856375e-02 1.08156021e+02] [ 7.80023161e-01 6.24458866e-01 -4.01869871e-02 4.92987961e+01] [ 5.22987298e-02 -1.06052232e-03 9.98630922e-01 5.39530585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.088040942 meters 0.023061641395992313 Centerline is valid? [True, True] Translation: X:108.17, Y:49.32, Z:5.40 [[ 6.22275532e-01 -7.82093625e-01 -3.32073034e-02 1.08173573e+02] [ 7.81077410e-01 6.23159927e-01 -3.98721132e-02 4.93217203e+01] [ 5.18771863e-02 -1.12603407e-03 9.98652837e-01 5.39799071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.118040942 meters 0.023724330306600816 Centerline is valid? [True, True] Translation: X:108.19, Y:49.34, Z:5.40 [[ 6.20004079e-01 -7.83908816e-01 -3.28924012e-02 1.08194094e+02] [ 7.82913369e-01 6.20874703e-01 -3.95127827e-02 4.93420019e+01] [ 5.13964785e-02 -1.25381418e-03 9.98677541e-01 5.40174883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.148040942 meters 0.02458562930425553 Centerline is valid? [True, True] Translation: X:108.21, Y:49.36, Z:5.40 [[ 6.19101704e-01 -7.84620750e-01 -3.29144065e-02 1.08212632e+02] [ 7.83624056e-01 6.19974662e-01 -3.95570208e-02 4.93632356e+01] [ 5.14433574e-02 -1.30270169e-03 9.98675064e-01 5.40307722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.178040942 meters 0.024400497164230206 Centerline is valid? [True, True] Translation: X:108.23, Y:49.39, Z:5.40 [[ 6.18721392e-01 -7.84904288e-01 -3.33031061e-02 1.08229030e+02] [ 7.83883684e-01 6.19615588e-01 -4.00361515e-02 4.93858299e+01] [ 5.20596707e-02 -1.33453808e-03 9.98643084e-01 5.40334260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.208040942 meters 0.02486269755158919 Centerline is valid? [True, True] Translation: X:108.25, Y:49.41, Z:5.40 [[ 6.18903674e-01 -7.84753807e-01 -3.34619696e-02 1.08246487e+02] [ 7.83722093e-01 6.19806206e-01 -4.02485825e-02 4.94072793e+01] [ 5.23251648e-02 -1.31488927e-03 9.98629235e-01 5.40303725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.238040942 meters 0.023157723479781976 Centerline is valid? [True, True] Translation: X:108.26, Y:49.43, Z:5.40 [[ 6.19006935e-01 -7.84650267e-01 -3.39760536e-02 1.08260980e+02] [ 7.83585244e-01 6.19937284e-01 -4.08892385e-02 4.94314761e+01] [ 5.31467743e-02 -1.31241204e-03 9.98585849e-01 5.40497376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.268040942 meters 0.024473037181298927 Centerline is valid? [True, True] Translation: X:108.28, Y:49.45, Z:5.40 [[ 6.19371577e-01 -7.84323340e-01 -3.48675690e-02 1.08279671e+02] [ 7.83199888e-01 6.20350866e-01 -4.19849689e-02 4.94513419e+01] [ 5.45599177e-02 -1.30397972e-03 9.98509647e-01 5.40412461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.29804094199997 meters 0.022486317322553597 Centerline is valid? [True, True] Translation: X:108.29, Y:49.48, Z:5.41 [[ 6.19204384e-01 -7.84445287e-01 -3.50930424e-02 1.08293988e+02] [ 7.83306460e-01 6.20196638e-01 -4.22743431e-02 4.94763811e+01] [ 5.49264962e-02 -1.31214822e-03 9.98489538e-01 5.40679423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32804094199997 meters 0.02247621877186825 Centerline is valid? [True, True] Translation: X:108.31, Y:49.50, Z:5.41 [[ 6.18678340e-01 -7.84859251e-01 -3.51150723e-02 1.08312306e+02] [ 7.83718336e-01 6.19672635e-01 -4.23248723e-02 4.94983034e+01] [ 5.49789170e-02 -1.33484433e-03 9.98486623e-01 5.40847333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.35804094199997 meters 0.02262351050629386 Centerline is valid? [True, True] Translation: X:108.33, Y:49.52, Z:5.41 [[ 6.18141777e-01 -7.85293962e-01 -3.48444632e-02 1.08330837e+02] [ 7.84170076e-01 6.19121614e-01 -4.20204712e-02 4.95196631e+01] [ 5.45713826e-02 -1.34937656e-03 9.98508960e-01 5.41029549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38804094199998 meters 0.022696792285760076 Centerline is valid? [True, True] Translation: X:108.35, Y:49.54, Z:5.41 [[ 6.17472603e-01 -7.85837240e-01 -3.44589091e-02 1.08349222e+02] [ 7.84737688e-01 6.18431858e-01 -4.15788320e-02 4.95413938e+01] [ 5.39846817e-02 -1.36741499e-03 9.98540828e-01 5.41285136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.41804094199998 meters 0.022978319685665084 Centerline is valid? [True, True] Translation: X:108.37, Y:49.56, Z:5.42 [[ 6.16965314e-01 -7.86252600e-01 -3.40683223e-02 1.08367703e+02] [ 7.85177439e-01 6.17903679e-01 -4.11270378e-02 4.95612575e+01] [ 5.33871821e-02 -1.37572228e-03 9.98572940e-01 5.41510286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44804094199998 meters 0.022771055188457512 Centerline is valid? [True, True] Translation: X:108.39, Y:49.58, Z:5.42 [[ 6.16762019e-01 -7.86407610e-01 -3.41713714e-02 1.08385864e+02] [ 7.85325335e-01 6.17706367e-01 -4.12669705e-02 4.95831456e+01] [ 5.35605333e-02 -1.38374361e-03 9.98563646e-01 5.41715764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.47804094199998 meters 0.022656762231740624 Centerline is valid? [True, True] Translation: X:108.40, Y:49.60, Z:5.42 [[ 6.17874724e-01 -7.85541576e-01 -3.39890870e-02 1.08404849e+02] [ 7.84468396e-01 6.18807540e-01 -4.10677949e-02 4.96040388e+01] [ 5.32931636e-02 -1.28861215e-03 9.98578078e-01 5.41877800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50804094199998 meters 0.02242189521084981 Centerline is valid? [True, True] Translation: X:108.42, Y:49.63, Z:5.42 [[ 6.18466335e-01 -7.85074334e-01 -3.40247242e-02 1.08422841e+02] [ 7.83997684e-01 6.19400309e-01 -4.11204112e-02 4.96268413e+01] [ 5.33575041e-02 -1.24371496e-03 9.98574699e-01 5.41996306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.53804094199998 meters 0.02200231420241698 Centerline is valid? [True, True] Translation: X:108.44, Y:49.65, Z:5.42 [[ 6.19834997e-01 -7.83982414e-01 -3.42950515e-02 1.08440708e+02] [ 7.82885782e-01 6.20781975e-01 -4.14679605e-02 4.96495435e+01] [ 5.37999016e-02 -1.14581501e-03 9.98551079e-01 5.42089376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56804094199998 meters 0.021755662431761025 Centerline is valid? [True, True] Translation: X:108.46, Y:49.67, Z:5.42 [[ 6.21032144e-01 -7.83035994e-01 -3.42594127e-02 1.08458611e+02] [ 7.81939091e-01 6.21975506e-01 -4.14454902e-02 4.96716903e+01] [ 5.37618262e-02 -1.04979239e-03 9.98553235e-01 5.42197662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.59804094199998 meters 0.0210951828229924 Centerline is valid? [True, True] Translation: X:108.48, Y:49.69, Z:5.42 [[ 6.23824232e-01 -7.80810919e-01 -3.43167160e-02 1.08475378e+02] [ 7.79705978e-01 6.24766829e-01 -4.15330900e-02 4.96939639e+01] [ 5.38694361e-02 -8.47600631e-04 9.98547628e-01 5.42352168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62804094199998 meters 0.0210951828229924 Centerline is valid? [True, True] Translation: X:108.49, Y:49.72, Z:5.42 [[ 6.23609734e-01 -7.80982459e-01 -3.43117760e-02 1.08492856e+02] [ 7.79877553e-01 6.24552372e-01 -4.15371707e-02 4.97152660e+01] [ 5.38693028e-02 -8.55999907e-04 9.98547628e-01 5.42474801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.65804094199999 meters 0.02066055300721759 Centerline is valid? [True, True] Translation: X:108.51, Y:49.74, Z:5.43 [[ 6.25116271e-01 -7.79793578e-01 -3.39355613e-02 1.08510443e+02] [ 7.78709840e-01 6.26036293e-01 -4.11040747e-02 4.97380138e+01] [ 5.32975865e-02 -7.31129587e-04 9.98578406e-01 5.42609709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.688040942 meters 0.020100167984764362 Centerline is valid? [True, True] Translation: X:108.53, Y:49.76, Z:5.43 [[ 6.27528712e-01 -7.77830310e-01 -3.44633765e-02 1.08528271e+02] [ 7.76708471e-01 6.28474101e-01 -4.17642875e-02 4.97611051e+01] [ 5.41448682e-02 -5.59706939e-04 9.98532934e-01 5.42790076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.718040942 meters 0.02004058954786561 Centerline is valid? [True, True] Translation: X:108.55, Y:49.78, Z:5.43 [[ 6.28104875e-01 -7.77347208e-01 -3.48652478e-02 1.08546037e+02] [ 7.76197180e-01 6.29071584e-01 -4.22715076e-02 4.97813161e+01] [ 5.47923750e-02 -5.11367025e-04 9.98497639e-01 5.42872009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.748040942 meters 0.019885038677129836 Centerline is valid? [True, True] Translation: X:108.57, Y:49.80, Z:5.43 [[ 6.28844644e-01 -7.76734628e-01 -3.51814133e-02 1.08565103e+02] [ 7.75561800e-01 6.29827844e-01 -4.26706099e-02 4.98016446e+01] [ 5.53019740e-02 -4.52175728e-04 9.98469573e-01 5.43045768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.778040942 meters 0.019900388650675116 Centerline is valid? [True, True] Translation: X:108.58, Y:49.82, Z:5.43 [[ 6.28849439e-01 -7.76730130e-01 -3.51949932e-02 1.08583623e+02] [ 7.75555039e-01 6.29833402e-01 -4.27114435e-02 4.98231127e+01] [ 5.53422473e-02 -4.36587069e-04 9.98467348e-01 5.43196164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.808040942 meters 0.01982559667138278 Centerline is valid? [True, True] Translation: X:108.60, Y:49.84, Z:5.43 [[ 6.28637650e-01 -7.76903734e-01 -3.51467438e-02 1.08601725e+02] [ 7.75730794e-01 6.29619249e-01 -4.26771266e-02 4.98443870e+01] [ 5.52850854e-02 -4.35962873e-04 9.98470515e-01 5.43364780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.838040942 meters 0.019887335127268285 Centerline is valid? [True, True] Translation: X:108.62, Y:49.86, Z:5.43 [[ 6.28186497e-01 -7.77273972e-01 -3.50271103e-02 1.08620400e+02] [ 7.76108268e-01 6.29162116e-01 -4.25557070e-02 4.98640008e+01] [ 5.51151743e-02 -4.51909434e-04 9.98479901e-01 5.43487905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.868040942 meters 0.01994752817547491 Centerline is valid? [True, True] Translation: X:108.64, Y:49.88, Z:5.44 [[ 6.27640182e-01 -7.77711300e-01 -3.51131949e-02 1.08637839e+02] [ 7.76539320e-01 6.28621433e-01 -4.26822981e-02 4.98846385e+01] [ 5.52674125e-02 -4.77651185e-04 9.98471474e-01 5.43660412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.898040942 meters 0.020278264125850622 Centerline is valid? [True, True] Translation: X:108.66, Y:49.90, Z:5.44 [[ 6.25907813e-01 -7.79128643e-01 -3.46116533e-02 1.08655702e+02] [ 7.77990931e-01 6.26863797e-01 -4.20938417e-02 4.99049506e+01] [ 5.44933102e-02 -5.80687921e-04 9.98513967e-01 5.43813914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.928040942 meters 0.020238979944012754 Centerline is valid? [True, True] Translation: X:108.67, Y:49.93, Z:5.44 [[ 6.24674813e-01 -7.80145290e-01 -3.39809491e-02 1.08672732e+02] [ 7.79049071e-01 6.25598044e-01 -4.13477112e-02 4.99269954e+01] [ 5.35156374e-02 -6.43953038e-04 9.98566804e-01 5.43994661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.958040942 meters 0.020643228191871327 Centerline is valid? [True, True] Translation: X:108.69, Y:49.95, Z:5.44 [[ 6.22351160e-01 -7.82012265e-01 -3.37024017e-02 1.08691527e+02] [ 7.80935463e-01 6.23262548e-01 -4.10316822e-02 4.99493828e+01] [ 5.30927235e-02 -7.83285611e-04 9.98589280e-01 5.44185654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.988040942 meters 0.020847491511784416 Centerline is valid? [True, True] Translation: X:108.71, Y:49.97, Z:5.44 [[ 6.21043886e-01 -7.83055266e-01 -3.35997385e-02 1.08710206e+02] [ 7.81985451e-01 6.21951539e-01 -4.09272297e-02 4.99713150e+01] [ 5.29456918e-02 -8.56900909e-04 9.98597026e-01 5.44364224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.018040942 meters 0.021269578050119524 Centerline is valid? [True, True] Translation: X:108.73, Y:49.99, Z:5.45 [[ 6.19851937e-01 -7.84006773e-01 -3.34208934e-02 1.08728651e+02] [ 7.82948628e-01 6.20751587e-01 -4.07297564e-02 4.99929711e+01] [ 5.26784775e-02 -9.20424228e-04 9.98611101e-01 5.44505589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04804094199997 meters 0.021620539865205464 Centerline is valid? [True, True] Translation: X:108.75, Y:50.02, Z:5.45 [[ 6.18435422e-01 -7.85107009e-01 -3.38321194e-02 1.08746773e+02] [ 7.84023174e-01 6.19359311e-01 -4.12517435e-02 5.00159229e+01] [ 5.33412711e-02 -1.01362624e-03 9.98575827e-01 5.44583056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.07804094199997 meters 0.021634651981686674 Centerline is valid? [True, True] Translation: X:108.76, Y:50.04, Z:5.45 [[ 6.18181696e-01 -7.85285569e-01 -3.43215107e-02 1.08763698e+02] [ 7.84169231e-01 6.19132872e-01 -4.18700860e-02 5.00388154e+01] [ 5.41295498e-02 -1.03055182e-03 9.98533389e-01 5.44620436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10804094199997 meters 0.021536803082376953 Centerline is valid? [True, True] Translation: X:108.78, Y:50.06, Z:5.45 [[ 6.18170137e-01 -7.85265653e-01 -3.49790686e-02 1.08779401e+02] [ 7.84104702e-01 6.19158127e-01 -4.26969515e-02 5.00625156e+01] [ 5.51860241e-02 -1.03327182e-03 9.98475556e-01 5.44574189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.13804094199998 meters 0.021585852174415773 Centerline is valid? [True, True] Translation: X:108.80, Y:50.09, Z:5.45 [[ 6.17925934e-01 -7.85435860e-01 -3.54689916e-02 1.08796461e+02] [ 7.84241048e-01 6.18942171e-01 -4.33193712e-02 5.00853128e+01] [ 5.59778422e-02 -1.04807625e-03 9.98431461e-01 5.44662737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16804094199998 meters 0.021820065170709238 Centerline is valid? [True, True] Translation: X:108.81, Y:50.11, Z:5.45 [[ 6.17643127e-01 -7.85639653e-01 -3.58790222e-02 1.08812791e+02] [ 7.84416108e-01 6.18683442e-01 -4.38425238e-02 5.01065426e+01] [ 5.66421821e-02 -1.06504943e-03 9.98393975e-01 5.44646775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.19804094199998 meters 0.022025242527588463 Centerline is valid? [True, True] Translation: X:108.83, Y:50.13, Z:5.45 [[ 6.17245831e-01 -7.85940757e-01 -3.61207922e-02 1.08829680e+02] [ 7.84699831e-01 6.18300856e-01 -4.41613694e-02 5.01292483e+01] [ 5.70417368e-02 -1.08555845e-03 9.98371204e-01 5.44711038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22804094199998 meters 0.02190275086494566 Centerline is valid? [True, True] Translation: X:108.85, Y:50.15, Z:5.45 [[ 6.16583063e-01 -7.86466503e-01 -3.59967630e-02 1.08847310e+02] [ 7.85233618e-01 6.17631926e-01 -4.40337330e-02 5.01519175e+01] [ 5.68638061e-02 -1.11541453e-03 9.98381322e-01 5.44929255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.25804094199998 meters 0.02246929327967453 Centerline is valid? [True, True] Translation: X:108.86, Y:50.17, Z:5.45 [[ 6.16179907e-01 -7.86802092e-01 -3.55638875e-02 1.08864793e+02] [ 7.85598134e-01 6.17204353e-01 -4.35242316e-02 5.01724164e+01] [ 5.61951426e-02 -1.12016665e-03 9.98419176e-01 5.45093826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28804094199998 meters 0.02258333733827122 Centerline is valid? [True, True] Translation: X:108.88, Y:50.19, Z:5.45 [[ 6.15877075e-01 -7.87055393e-01 -3.52027899e-02 1.08882316e+02] [ 7.85875322e-01 6.16881309e-01 -4.30978928e-02 5.01948345e+01] [ 5.56363721e-02 -1.12199969e-03 9.98450467e-01 5.45242371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.31804094199998 meters 0.02209343424369143 Centerline is valid? [True, True] Translation: X:108.90, Y:50.22, Z:5.45 [[ 6.16014970e-01 -7.86970805e-01 -3.46772230e-02 1.08898823e+02] [ 7.85824322e-01 6.16989286e-01 -4.24777116e-02 5.02177777e+01] [ 5.48241939e-02 -1.08329901e-03 9.98495435e-01 5.45474409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34804094199998 meters 0.021873736392622942 Centerline is valid? [True, True] Translation: X:108.92, Y:50.24, Z:5.46 [[ 6.16638018e-01 -7.86516690e-01 -3.38976521e-02 1.08916420e+02] [ 7.85419322e-01 6.17568203e-01 -4.15451902e-02 5.02404535e+01] [ 5.36100976e-02 -1.00552723e-03 9.98561438e-01 5.45767441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.37804094199998 meters 0.021726415176367298 Centerline is valid? [True, True] Translation: X:108.93, Y:50.26, Z:5.46 [[ 6.17401189e-01 -7.85934081e-01 -3.35170625e-02 1.08933802e+02] [ 7.84859250e-01 6.18309594e-01 -4.10999242e-02 5.02625009e+01] [ 5.30257525e-02 -9.31034486e-04 9.98592711e-01 5.45955957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40804094199999 meters 0.02210608911715835 Centerline is valid? [True, True] Translation: X:108.95, Y:50.29, Z:5.46 [[ 6.19733741e-01 -7.84127887e-01 -3.27650414e-02 1.08949794e+02] [ 7.83097134e-01 6.20598825e-01 -4.01992142e-02 5.02870379e+01] [ 5.18552711e-02 -7.45400596e-04 9.98654332e-01 5.45978489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.438040942 meters 0.020713685477528037 Centerline is valid? [True, True] Translation: X:108.97, Y:50.31, Z:5.46 [[ 6.21079874e-01 -7.83059482e-01 -3.28273913e-02 1.08967336e+02] [ 7.82022234e-01 6.21946486e-01 -4.02963282e-02 5.03100285e+01] [ 5.19713025e-02 -6.44511440e-04 9.98648371e-01 5.46366232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.468040942 meters 0.020571373966743377 Centerline is valid? [True, True] Translation: X:108.98, Y:50.33, Z:5.46 [[ 6.22596218e-01 -7.81863850e-01 -3.26016786e-02 1.08984952e+02] [ 7.80838139e-01 6.23448988e-01 -4.00394751e-02 5.03330520e+01] [ 5.16309017e-02 -5.28208342e-04 9.98666096e-01 5.46475366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.498040942 meters 0.02037550326609392 Centerline is valid? [True, True] Translation: X:109.00, Y:50.36, Z:5.47 [[ 6.23959939e-01 -7.80774869e-01 -3.26282010e-02 1.09002469e+02] [ 7.79744948e-01 6.24812311e-01 -4.00923060e-02 5.03562371e+01] [ 5.16895666e-02 -4.25682103e-04 9.98663110e-01 5.46635834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.528040942 meters 0.020172994059663205 Centerline is valid? [True, True] Translation: X:109.02, Y:50.38, Z:5.47 [[ 6.26818476e-01 -7.78470644e-01 -3.28945925e-02 1.09019114e+02] [ 7.77419564e-01 6.27680975e-01 -4.04402640e-02 5.03796946e+01] [ 5.21288683e-02 -2.24195107e-04 9.98640341e-01 5.46731352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.558040942 meters 0.020044443224926073 Centerline is valid? [True, True] Translation: X:109.04, Y:50.40, Z:5.47 [[ 6.27549213e-01 -7.77874383e-01 -3.30670356e-02 1.09036397e+02] [ 7.76810310e-01 6.28419778e-01 -4.06733786e-02 5.04016460e+01] [ 5.24187585e-02 -1.62267467e-04 9.98625179e-01 5.46851758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.588040942 meters 0.020154254756188365 Centerline is valid? [True, True] Translation: X:109.05, Y:50.42, Z:5.47 [[ 6.28056240e-01 -7.77445429e-01 -3.35255795e-02 1.09052986e+02] [ 7.76349818e-01 6.28950389e-01 -4.12597724e-02 5.04227647e+01] [ 5.31631477e-02 -1.14120018e-04 9.98585833e-01 5.46854000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.618040942 meters 0.020133282218104936 Centerline is valid? [True, True] Translation: X:109.07, Y:50.44, Z:5.47 [[ 6.27727372e-01 -7.77701673e-01 -3.37409782e-02 1.09070499e+02] [ 7.76591476e-01 6.28633511e-01 -4.15401934e-02 5.04447271e+01] [ 5.35165875e-02 -1.27039596e-04 9.98566953e-01 5.46938305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.648040942 meters 0.020185075351340898 Centerline is valid? [True, True] Translation: X:109.09, Y:50.47, Z:5.47 [[ 6.26642488e-01 -7.78570360e-01 -3.38730884e-02 1.09088051e+02] [ 7.77451434e-01 6.27557295e-01 -4.17265978e-02 5.04664205e+01] [ 5.37443960e-02 -1.87022092e-04 9.98554708e-01 5.47077872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.678040942 meters 0.020403537943908305 Centerline is valid? [True, True] Translation: X:109.11, Y:50.49, Z:5.47 [[ 6.23808536e-01 -7.80853876e-01 -3.36174769e-02 1.09105614e+02] [ 7.79753940e-01 6.24713606e-01 -4.14331110e-02 5.04874295e+01] [ 5.33545005e-02 -3.67031696e-04 9.98575567e-01 5.47230783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.708040942 meters 0.020550345814845775 Centerline is valid? [True, True] Translation: X:109.12, Y:50.51, Z:5.47 [[ 6.22236279e-01 -7.82137006e-01 -3.29198592e-02 1.09123400e+02] [ 7.81083442e-01 6.23106325e-01 -4.05852671e-02 5.05091094e+01] [ 5.22558118e-02 -4.59531330e-04 9.98633626e-01 5.47420648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.738040942 meters 0.021106661373870118 Centerline is valid? [True, True] Translation: X:109.14, Y:50.53, Z:5.48 [[ 6.19289537e-01 -7.84491859e-01 -3.24498511e-02 1.09141459e+02] [ 7.83470329e-01 6.20138790e-01 -4.00265468e-02 5.05298367e+01] [ 5.15239115e-02 -6.35473920e-04 9.98671559e-01 5.47656733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.768040942 meters 0.021437529139693434 Centerline is valid? [True, True] Translation: X:109.16, Y:50.55, Z:5.48 [[ 6.17444610e-01 -7.85955568e-01 -3.21869291e-02 1.09160197e+02] [ 7.84951895e-01 6.18282534e-01 -3.97143678e-02 5.05523457e+01] [ 5.11143446e-02 -7.43768598e-04 9.98692531e-01 5.47855217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.79804094199997 meters 0.022375286924988507 Centerline is valid? [True, True] Translation: X:109.18, Y:50.57, Z:5.48 [[ 6.14513974e-01 -7.88287772e-01 -3.12244160e-02 1.09177926e+02] [ 7.87345383e-01 6.15306087e-01 -3.85443537e-02 5.05739021e+01] [ 4.95966159e-02 -8.98355805e-04 9.98768927e-01 5.48051436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82804094199997 meters 0.022661766408211582 Centerline is valid? [True, True] Translation: X:109.20, Y:50.60, Z:5.48 [[ 6.13480938e-01 -7.89096490e-01 -3.11105857e-02 1.09195926e+02] [ 7.88161336e-01 6.14268528e-01 -3.84172354e-02 5.05963961e+01] [ 4.94251593e-02 -9.51919158e-04 9.98777376e-01 5.48181020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.85804094199997 meters 0.023052261936363495 Centerline is valid? [True, True] Translation: X:109.21, Y:50.62, Z:5.48 [[ 6.12590096e-01 -7.89801426e-01 -3.07747020e-02 1.09213434e+02] [ 7.88886369e-01 6.13361830e-01 -3.80205604e-02 5.06187392e+01] [ 4.89047203e-02 -9.86724192e-04 9.98802961e-01 5.48348975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88804094199998 meters 0.023001703549218155 Centerline is valid? [True, True] Translation: X:109.23, Y:50.64, Z:5.49 [[ 6.12681013e-01 -7.89761052e-01 -2.99909496e-02 1.09228942e+02] [ 7.88891084e-01 6.13413877e-01 -3.70711759e-02 5.06417337e+01] [ 4.76742355e-02 -9.46787116e-04 9.98862488e-01 5.48660230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.91804094199998 meters 0.021861466844930972 Centerline is valid? [True, True] Translation: X:109.24, Y:50.67, Z:5.49 [[ 6.13136167e-01 -7.89428702e-01 -2.94340929e-02 1.09243054e+02] [ 7.88589481e-01 6.13841616e-01 -3.64019496e-02 5.06668949e+01] [ 4.68046149e-02 -8.92064189e-04 9.98903665e-01 5.48888069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94804094199998 meters 0.02135133598685952 Centerline is valid? [True, True] Translation: X:109.26, Y:50.69, Z:5.49 [[ 6.15807767e-01 -7.87357581e-01 -2.91347540e-02 1.09257651e+02] [ 7.86532202e-01 6.16496170e-01 -3.60495064e-02 5.06929186e+01] [ 4.63453164e-02 -7.15856127e-04 9.98925222e-01 5.49043517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.97804094199998 meters 0.02106531174706432 Centerline is valid? [True, True] Translation: X:109.27, Y:50.72, Z:5.49 [[ 6.17269785e-01 -7.86204621e-01 -2.93310016e-02 1.09272867e+02] [ 7.85366302e-01 6.17965939e-01 -3.63024823e-02 5.07163770e+01] [ 4.66667393e-02 -6.27154788e-04 9.98910317e-01 5.49133691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00804094199998 meters 0.020677504544649734 Centerline is valid? [True, True] Translation: X:109.29, Y:50.74, Z:5.49 [[ 6.18754831e-01 -7.85019847e-01 -2.97707653e-02 1.09288536e+02] [ 7.84154269e-01 6.19470378e-01 -3.68582902e-02 5.07412465e+01] [ 4.73765966e-02 -5.38627555e-04 9.98876953e-01 5.49191102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.03804094199998 meters 0.02028255812940034 Centerline is valid? [True, True] Translation: X:109.30, Y:50.77, Z:5.49 [[ 6.21481282e-01 -7.82848658e-01 -3.01495570e-02 1.09302295e+02] [ 7.81957420e-01 6.22212058e-01 -3.73463197e-02 5.07678653e+01] [ 4.79959342e-02 -3.65631190e-04 9.98847464e-01 5.49178788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06804094199998 meters 0.02021201937917792 Centerline is valid? [True, True] Translation: X:109.32, Y:50.79, Z:5.49 [[ 6.22472349e-01 -7.82060378e-01 -3.01618980e-02 1.09318560e+02] [ 7.81166609e-01 6.23202599e-01 -3.73798017e-02 5.07907531e+01] [ 4.80302351e-02 -2.93574651e-04 9.98845839e-01 5.49285711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.09804094199998 meters 0.020005179919649268 Centerline is valid? [True, True] Translation: X:109.33, Y:50.82, Z:5.50 [[ 6.23475140e-01 -7.81288439e-01 -2.94470054e-02 1.09332506e+02] [ 7.80435171e-01 6.24170110e-01 -3.65050285e-02 5.08154966e+01] [ 4.69008973e-02 -2.21500943e-04 9.98899523e-01 5.49556080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12804094199998 meters 0.019974250344293558 Centerline is valid? [True, True] Translation: X:109.35, Y:50.84, Z:5.50 [[ 6.23667063e-01 -7.81164682e-01 -2.86554521e-02 1.09347956e+02] [ 7.80355695e-01 6.24324997e-01 -3.55427518e-02 5.08378251e+01] [ 4.56550574e-02 -1.94601671e-04 9.98957245e-01 5.49722794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.15804094199999 meters 0.01993818925762577 Centerline is valid? [True, True] Translation: X:109.36, Y:50.86, Z:5.50 [[ 6.23884729e-01 -7.81002139e-01 -2.83461497e-02 1.09364173e+02] [ 7.80209856e-01 6.24528325e-01 -3.51703270e-02 5.08613357e+01] [ 4.51710740e-02 -1.73715425e-04 9.98979251e-01 5.49956362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.188040942 meters 0.019882403836654218 Centerline is valid? [True, True] Translation: X:109.38, Y:50.88, Z:5.50 [[ 6.24036613e-01 -7.80894548e-01 -2.79644458e-02 1.09380003e+02] [ 7.80122469e-01 6.24662855e-01 -3.47167324e-02 5.08840426e+01] [ 4.45784576e-02 -1.51180369e-04 9.99005875e-01 5.50144253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.218040942 meters 0.019927873467496058 Centerline is valid? [True, True] Translation: X:109.39, Y:50.91, Z:5.50 [[ 6.24953513e-01 -7.80189487e-01 -2.71564250e-02 1.09394141e+02] [ 7.79459912e-01 6.25543250e-01 -3.37326044e-02 5.09085352e+01] [ 4.33053417e-02 -8.60350319e-05 9.99061880e-01 5.50347124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.248040942 meters 0.019844072364662547 Centerline is valid? [True, True] Translation: X:109.41, Y:50.93, Z:5.51 [[ 6.25328488e-01 -7.79883127e-01 -2.73237944e-02 1.09409785e+02] [ 7.79143365e-01 6.25925159e-01 -3.39604505e-02 5.09315188e+01] [ 4.35878326e-02 -5.27159370e-05 9.99049597e-01 5.50514993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.278040942 meters 0.0197936405066328 Centerline is valid? [True, True] Translation: X:109.42, Y:50.96, Z:5.51 [[ 6.25590411e-01 -7.79681325e-01 -2.70863197e-02 1.09424615e+02] [ 7.78953336e-01 6.26176517e-01 -3.36848645e-02 5.09557901e+01] [ 4.32242771e-02 -2.60509019e-05 9.99065394e-01 5.50506986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.308040942 meters 0.01984741718510015 Centerline is valid? [True, True] Translation: X:109.44, Y:50.98, Z:5.51 [[ 6.25743760e-01 -7.79543845e-01 -2.74980040e-02 1.09440176e+02] [ 7.78792514e-01 6.26347662e-01 -3.42173502e-02 5.09781841e+01] [ 4.38972353e-02 -3.94622815e-06 9.99036052e-01 5.50588682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.338040942 meters 0.01979822134996599 Centerline is valid? [True, True] Translation: X:109.46, Y:51.00, Z:5.51 [[ 6.25542158e-01 -7.79688579e-01 -2.79772925e-02 1.09455961e+02] [ 7.78910445e-01 6.26167486e-01 -3.48252444e-02 5.10011541e+01] [ 4.46713162e-02 -7.14683847e-06 9.99001738e-01 5.50627376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.368040942 meters 0.019712123841912885 Centerline is valid? [True, True] Translation: X:109.47, Y:51.02, Z:5.51 [[ 6.25198124e-01 -7.79926164e-01 -2.90255683e-02 1.09469368e+02] [ 7.79087846e-01 6.25871535e-01 -3.61517602e-02 5.10247357e+01] [ 4.63619807e-02 -1.14548034e-05 9.98924705e-01 5.50535468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.398040942 meters 0.01970410049980424 Centerline is valid? [True, True] Translation: X:109.49, Y:51.05, Z:5.51 [[ 6.24793222e-01 -7.80241063e-01 -2.92799139e-02 1.09485321e+02] [ 7.79387741e-01 6.25478923e-01 -3.64810290e-02 5.10472757e+01] [ 4.67779659e-02 -2.73063052e-05 9.98905311e-01 5.50598507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.428040942 meters 0.019746089094697033 Centerline is valid? [True, True] Translation: X:109.50, Y:51.07, Z:5.51 [[ 6.23334714e-01 -7.81399620e-01 -2.94697906e-02 1.09501076e+02] [ 7.80535511e-01 6.24030948e-01 -3.67381531e-02 5.10698732e+01] [ 4.70972402e-02 -1.02051905e-04 9.98890304e-01 5.50639475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.458040942 meters 0.01981149356239039 Centerline is valid? [True, True] Translation: X:109.52, Y:51.09, Z:5.51 [[ 6.22164140e-01 -7.82309649e-01 -3.00565580e-02 1.09518757e+02] [ 7.81411206e-01 6.22889706e-01 -3.74825480e-02 5.10922074e+01] [ 4.80448795e-02 -1.66233980e-04 9.98845164e-01 5.50759466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.488040942 meters 0.019895159165451922 Centerline is valid? [True, True] Translation: X:109.54, Y:51.11, Z:5.51 [[ 6.20846222e-01 -7.83357137e-01 -3.00260678e-02 1.09536065e+02] [ 7.82460728e-01 6.21571831e-01 -3.74655675e-02 5.11140979e+01] [ 4.80122776e-02 -2.33862794e-04 9.98846718e-01 5.50913388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.518040942 meters 0.019895159165451922 Centerline is valid? [True, True] Translation: X:109.55, Y:51.14, Z:5.51 [[ 6.20625170e-01 -7.83532686e-01 -3.00154739e-02 1.09553209e+02] [ 7.82636071e-01 6.21350526e-01 -3.74740530e-02 5.11356438e+01] [ 4.80122759e-02 -2.33852056e-04 9.98846718e-01 5.51035715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54804094199997 meters 0.02022773289268925 Centerline is valid? [True, True] Translation: X:109.57, Y:51.16, Z:5.51 [[ 6.18300795e-01 -7.85372939e-01 -2.98910275e-02 1.09570311e+02] [ 7.84484867e-01 6.19022791e-01 -3.73400349e-02 5.11589951e+01] [ 4.78290803e-02 -3.61685435e-04 9.98855469e-01 5.51180653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.57804094199997 meters 0.02045275020399859 Centerline is valid? [True, True] Translation: X:109.59, Y:51.18, Z:5.51 [[ 6.17312860e-01 -7.86147776e-01 -2.99417416e-02 1.09586967e+02] [ 7.85256712e-01 6.18038434e-01 -3.74217820e-02 5.11810201e+01] [ 4.79241978e-02 -4.11006320e-04 9.98850891e-01 5.51261099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60804094199997 meters 0.02057186568189966 Centerline is valid? [True, True] Translation: X:109.60, Y:51.21, Z:5.51 [[ 6.15442083e-01 -7.87621520e-01 -2.97217869e-02 1.09602735e+02] [ 7.86744727e-01 6.16159132e-01 -3.71572092e-02 5.12059275e+01] [ 4.75791680e-02 -5.15348896e-04 9.98867337e-01 5.51446076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.63804094199998 meters 0.02082576157988307 Centerline is valid? [True, True] Translation: X:109.62, Y:51.23, Z:5.52 [[ 6.14459288e-01 -7.88400212e-01 -2.94089841e-02 1.09619786e+02] [ 7.87541807e-01 6.15162413e-01 -3.67846258e-02 5.12281841e+01] [ 4.70923084e-02 -5.58149513e-04 9.98890386e-01 5.51541883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66804094199998 meters 0.021318155520619275 Centerline is valid? [True, True] Translation: X:109.64, Y:51.25, Z:5.52 [[ 6.12025131e-01 -7.90289510e-01 -2.94572429e-02 1.09636517e+02] [ 7.89429937e-01 6.12733224e-01 -3.68560889e-02 5.12498504e+01] [ 4.71764118e-02 -6.97576745e-04 9.98886330e-01 5.51710641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.69804094199998 meters 0.021400409638165578 Centerline is valid? [True, True] Translation: X:109.65, Y:51.27, Z:5.52 [[ 6.10628485e-01 -7.91384407e-01 -2.90443616e-02 1.09653648e+02] [ 7.90549624e-01 6.11318358e-01 -3.63477373e-02 5.12727523e+01] [ 4.65203839e-02 -7.66045343e-04 9.98917047e-01 5.51873054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72804094199998 meters 0.02149794203679923 Centerline is valid? [True, True] Translation: X:109.67, Y:51.30, Z:5.52 [[ 6.09646381e-01 -7.92135566e-01 -2.91981887e-02 1.09670771e+02] [ 7.91291884e-01 6.10344639e-01 -3.65592032e-02 5.12955623e+01] [ 4.67808031e-02 -8.16103794e-04 9.98904846e-01 5.52012403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.75804094199998 meters 0.022148879581740676 Centerline is valid? [True, True] Translation: X:109.69, Y:51.32, Z:5.52 [[ 6.08375666e-01 -7.93089152e-01 -2.98101693e-02 1.09688506e+02] [ 7.92209944e-01 6.09104911e-01 -3.73445049e-02 5.13174967e+01] [ 4.77750423e-02 -8.96424540e-04 9.98857718e-01 5.52025062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78804094199998 meters 0.02188636984761612 Centerline is valid? [True, True] Translation: X:109.71, Y:51.34, Z:5.52 [[ 6.08289631e-01 -7.93146780e-01 -3.00318152e-02 1.09705163e+02] [ 7.92254119e-01 6.09029860e-01 -3.76303130e-02 5.13403863e+01] [ 4.81366337e-02 -9.02700081e-04 9.98840352e-01 5.52179629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.81804094199998 meters 0.022004142306908635 Centerline is valid? [True, True] Translation: X:109.72, Y:51.36, Z:5.52 [[ 6.08785364e-01 -7.92756407e-01 -3.02928827e-02 1.09721968e+02] [ 7.91846636e-01 6.09537963e-01 -3.79786513e-02 5.13622010e+01] [ 4.85724812e-02 -8.66470138e-04 9.98819285e-01 5.52313953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84804094199998 meters 0.021654081488407816 Centerline is valid? [True, True] Translation: X:109.74, Y:51.39, Z:5.52 [[ 6.09479745e-01 -7.92201525e-01 -3.08412876e-02 1.09738937e+02] [ 7.91257293e-01 6.10259005e-01 -3.86761336e-02 5.13854063e+01] [ 4.94604655e-02 -8.31073661e-04 9.98775736e-01 5.52373274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.87804094199998 meters 0.021168828643329956 Centerline is valid? [True, True] Translation: X:109.76, Y:51.41, Z:5.53 [[ 6.10153755e-01 -7.91670347e-01 -3.11521619e-02 1.09755551e+02] [ 7.90705288e-01 6.10947991e-01 -3.90857973e-02 5.14095648e+01] [ 4.99754174e-02 -7.83833160e-04 9.98750141e-01 5.52560736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90804094199999 meters 0.02077575866032106 Centerline is valid? [True, True] Translation: X:109.77, Y:51.43, Z:5.53 [[ 6.13338009e-01 -7.89182448e-01 -3.17419305e-02 1.09771633e+02] [ 7.88176144e-01 6.14158552e-01 -3.98451833e-02 5.14325811e+01] [ 5.09396974e-02 -5.79667000e-04 9.98701563e-01 5.52670973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.938040942 meters 0.02056394159483021 Centerline is valid? [True, True] Translation: X:109.79, Y:51.46, Z:5.53 [[ 6.15203411e-01 -7.87733531e-01 -3.16330233e-02 1.09788556e+02] [ 7.86731751e-01 6.16015974e-01 -3.97174019e-02 5.14559402e+01] [ 5.07731769e-02 -4.52422666e-04 9.98710108e-01 5.52821703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.968040942 meters 0.020102515246493948 Centerline is valid? [True, True] Translation: X:109.81, Y:51.48, Z:5.53 [[ 6.19381905e-01 -7.84462242e-01 -3.13854615e-02 1.09805086e+02] [ 7.83470900e-01 6.20176558e-01 -3.94257110e-02 5.14803238e+01] [ 5.03925091e-02 -1.70023791e-04 9.98729476e-01 5.52976155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.998040942 meters 0.01993092116456224 Centerline is valid? [True, True] Translation: X:109.82, Y:51.50, Z:5.53 [[ 6.21245340e-01 -7.82986206e-01 -3.14138408e-02 1.09821670e+02] [ 7.81990591e-01 6.22039066e-01 -3.94729762e-02 5.15014322e+01] [ 5.04474320e-02 -4.29254323e-05 9.98726717e-01 5.53087778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.028040942 meters 0.01990682480146614 Centerline is valid? [True, True] Translation: X:109.84, Y:51.52, Z:5.53 [[ 6.22406165e-01 -7.82045365e-01 -3.18686759e-02 1.09839589e+02] [ 7.81018733e-01 6.23221505e-01 -4.00586363e-02 5.15231455e+01] [ 5.11889150e-02 4.27092856e-05 9.98688987e-01 5.53232515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.058040942 meters 0.01982811000647142 Centerline is valid? [True, True] Translation: X:109.86, Y:51.54, Z:5.53 [[ 6.24496440e-01 -7.80380706e-01 -3.17828783e-02 1.09858159e+02] [ 7.79356248e-01 6.25304659e-01 -3.99740105e-02 5.15435718e+01] [ 5.10689284e-02 1.93442391e-04 9.98695112e-01 5.53384059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.088040942 meters 0.019815597848027448 Centerline is valid? [True, True] Translation: X:109.88, Y:51.56, Z:5.54 [[ 6.25017229e-01 -7.79969614e-01 -3.16364315e-02 1.09876010e+02] [ 7.78952917e-01 6.25817340e-01 -3.98121853e-02 5.15644566e+01] [ 5.08509223e-02 2.40011169e-04 9.98706226e-01 5.53524714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.118040942 meters 0.019780310910612626 Centerline is valid? [True, True] Translation: X:109.90, Y:51.58, Z:5.54 [[ 6.26325891e-01 -7.78925412e-01 -3.14814389e-02 1.09896210e+02] [ 7.77916622e-01 6.27116491e-01 -3.96312481e-02 5.15848915e+01] [ 5.06123157e-02 3.32142185e-04 9.98718320e-01 5.53800071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.148040942 meters 0.019850124727583674 Centerline is valid? [True, True] Translation: X:109.91, Y:51.61, Z:5.54 [[ 6.26870263e-01 -7.78485783e-01 -3.15207720e-02 1.09913797e+02] [ 7.77472906e-01 6.27662123e-01 -3.97006236e-02 5.16051317e+01] [ 5.06907657e-02 3.80594135e-04 9.98714324e-01 5.53926556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.178040942 meters 0.019753476033473414 Centerline is valid? [True, True] Translation: X:109.93, Y:51.63, Z:5.54 [[ 6.27152944e-01 -7.78249053e-01 -3.17426573e-02 1.09932779e+02] [ 7.77220784e-01 6.27955605e-01 -3.99951354e-02 5.16261615e+01] [ 5.10591559e-02 4.12013949e-04 9.98695546e-01 5.54070097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.208040942 meters 0.019849350284710948 Centerline is valid? [True, True] Translation: X:109.95, Y:51.65, Z:5.54 [[ 6.27925674e-01 -7.77632917e-01 -3.15657224e-02 1.09952199e+02] [ 7.76614196e-01 6.28718397e-01 -3.97940726e-02 5.16451285e+01] [ 5.07911311e-02 4.73331790e-04 9.98709185e-01 5.54168123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.238040942 meters 0.01978133847134867 Centerline is valid? [True, True] Translation: X:109.97, Y:51.67, Z:5.54 [[ 6.27969393e-01 -7.77603201e-01 -3.14277342e-02 1.09971637e+02] [ 7.76592648e-01 6.28755142e-01 -3.96336904e-02 5.16658722e+01] [ 5.05796340e-02 4.82197213e-04 9.98719915e-01 5.54376947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.268040942 meters 0.019824600010789787 Centerline is valid? [True, True] Translation: X:109.99, Y:51.69, Z:5.55 [[ 6.28165028e-01 -7.77449200e-01 -3.13279378e-02 1.09990144e+02] [ 7.76443776e-01 6.28945535e-01 -3.95294521e-02 5.16860614e+01] [ 5.04357074e-02 5.06637058e-04 9.98727181e-01 5.54532285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.29804094199997 meters 0.019827672413914373 Centerline is valid? [True, True] Translation: X:110.01, Y:51.70, Z:5.55 [[ 6.28475091e-01 -7.77205105e-01 -3.11654539e-02 1.10011528e+02] [ 7.76209088e-01 6.29247123e-01 -3.93383903e-02 5.17043854e+01] [ 5.01847699e-02 5.32289846e-04 9.98739809e-01 5.54758164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32804094199997 meters 0.019665161717627458 Centerline is valid? [True, True] Translation: X:110.03, Y:51.72, Z:5.55 [[ 6.28074981e-01 -7.77524706e-01 -3.12593924e-02 1.10031651e+02] [ 7.76521893e-01 6.28852175e-01 -3.94802718e-02 5.17247390e+01] [ 5.03544237e-02 5.22968405e-04 9.98731274e-01 5.54928643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.35804094199997 meters 0.01962729402145245 Centerline is valid? [True, True] Translation: X:110.05, Y:51.74, Z:5.55 [[ 6.27187586e-01 -7.78233582e-01 -3.14360228e-02 1.10052478e+02] [ 7.77219131e-01 6.27974728e-01 -3.97261200e-02 5.17430200e+01] [ 5.06572285e-02 4.83050966e-04 9.98715982e-01 5.55009524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38804094199998 meters 0.019523717721236438 Centerline is valid? [True, True] Translation: X:110.07, Y:51.76, Z:5.55 [[ 6.26159326e-01 -7.79062504e-01 -3.14024478e-02 1.10071326e+02] [ 7.78050646e-01 6.26946119e-01 -3.96957934e-02 5.17623589e+01] [ 5.06131470e-02 4.23196480e-04 9.98718244e-01 5.55134274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.41804094199998 meters 0.01922925176683477 Centerline is valid? [True, True] Translation: X:110.09, Y:51.78, Z:5.55 [[ 6.24752061e-01 -7.80189099e-01 -3.14615783e-02 1.10092229e+02] [ 7.79174235e-01 6.25543646e-01 -3.97826409e-02 5.17816266e+01] [ 5.07185731e-02 3.40235727e-04 9.98712927e-01 5.55313765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44804094199998 meters 0.019043804239231632 Centerline is valid? [True, True] Translation: X:110.12, Y:51.80, Z:5.55 [[ 6.21465785e-01 -7.82809129e-01 -3.14665985e-02 1.10115723e+02] [ 7.81796223e-01 6.22261881e-01 -3.98097543e-02 5.17979765e+01] [ 5.07439038e-02 1.39932280e-04 9.98711688e-01 5.55417019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.47804094199998 meters 0.018915025873741526 Centerline is valid? [True, True] Translation: X:110.14, Y:51.82, Z:5.56 [[ 6.19193330e-01 -7.84595853e-01 -3.17642536e-02 1.10136638e+02] [ 7.83565529e-01 6.20007538e-01 -4.01959530e-02 5.18165956e+01] [ 5.12316547e-02 -3.08175041e-07 9.98686797e-01 5.55687254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50804094199998 meters 0.018952572004931587 Centerline is valid? [True, True] Translation: X:110.16, Y:51.83, Z:5.56 [[ 6.15335631e-01 -7.87621760e-01 -3.18437567e-02 1.10161010e+02] [ 7.86589133e-01 6.16158995e-01 -4.03190824e-02 5.18327977e+01] [ 5.13770037e-02 -2.38185011e-04 9.98679301e-01 5.55865307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.53804094199998 meters 0.019100395214408445 Centerline is valid? [True, True] Translation: X:110.18, Y:51.85, Z:5.56 [[ 6.13435788e-01 -7.89102317e-01 -3.18444397e-02 1.10181166e+02] [ 7.88071081e-01 6.14261677e-01 -4.03306808e-02 5.18519076e+01] [ 5.13858526e-02 -3.55399085e-04 9.98678811e-01 5.55967954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56804094199998 meters 0.019253931544054692 Centerline is valid? [True, True] Translation: X:110.20, Y:51.87, Z:5.56 [[ 6.11690278e-01 -7.90455166e-01 -3.18690379e-02 1.10202046e+02] [ 7.89423550e-01 6.12519729e-01 -4.03737565e-02 5.18723068e+01] [ 5.14340588e-02 -4.61934740e-04 9.98676286e-01 5.56091274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.59804094199998 meters 0.01934963923380994 Centerline is valid? [True, True] Translation: X:110.23, Y:51.89, Z:5.56 [[ 6.08789276e-01 -7.92688743e-01 -3.19401530e-02 1.10225071e+02] [ 7.91654501e-01 6.09626236e-01 -4.04846069e-02 5.18906566e+01] [ 5.15632475e-02 -6.38971353e-04 9.98669527e-01 5.56272070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62804094199998 meters 0.019628477946567364 Centerline is valid? [True, True] Translation: X:110.25, Y:51.91, Z:5.56 [[ 6.07770256e-01 -7.93469656e-01 -3.19565482e-02 1.10245992e+02] [ 7.92434395e-01 6.08609419e-01 -4.05253631e-02 5.19102589e+01] [ 5.16047022e-02 -6.93357643e-04 9.98667349e-01 5.56328338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.65804094199999 meters 0.019746010682304523 Centerline is valid? [True, True] Translation: X:110.27, Y:51.93, Z:5.57 [[ 6.06468377e-01 -7.94453830e-01 -3.22369134e-02 1.10269712e+02] [ 7.93400979e-01 6.07324057e-01 -4.08946958e-02 5.19284725e+01] [ 5.20672008e-02 -7.75458807e-04 9.98643282e-01 5.56502438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.688040942 meters 0.019964454731852793 Centerline is valid? [True, True] Translation: X:110.29, Y:51.95, Z:5.57 [[ 6.06186298e-01 -7.94660196e-01 -3.24552789e-02 1.10289484e+02] [ 7.93592213e-01 6.07053997e-01 -4.11927674e-02 5.19478893e+01] [ 5.24363594e-02 -7.85765475e-04 9.98623959e-01 5.56628147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.718040942 meters 0.01982979540906103 Centerline is valid? [True, True] Translation: X:110.31, Y:51.97, Z:5.57 [[ 6.06295734e-01 -7.94568770e-01 -3.26489318e-02 1.10308669e+02] [ 7.93486694e-01 6.07173681e-01 -4.14606864e-02 5.19688087e+01] [ 5.27669387e-02 -7.69055685e-04 9.98606559e-01 5.56751986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.748040942 meters 0.01958239376948257 Centerline is valid? [True, True] Translation: X:110.33, Y:51.99, Z:5.57 [[ 6.07020070e-01 -7.94002414e-01 -3.29666649e-02 1.10328233e+02] [ 7.92897059e-01 6.07914187e-01 -4.18878912e-02 5.19875193e+01] [ 5.32999900e-02 -7.12380953e-04 9.98578291e-01 5.56813980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.778040942 meters 0.01938201815589231 Centerline is valid? [True, True] Translation: X:110.35, Y:52.01, Z:5.57 [[ 6.07509961e-01 -7.93621518e-01 -3.31139421e-02 1.10347299e+02] [ 7.92504550e-01 6.08411406e-01 -4.20963242e-02 5.20086448e+01] [ 5.35554487e-02 -6.69013455e-04 9.98564653e-01 5.56948577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.808040942 meters 0.018936523171277843 Centerline is valid? [True, True] Translation: X:110.37, Y:52.03, Z:5.57 [[ 6.08067123e-01 -7.93199603e-01 -3.29964208e-02 1.10368192e+02] [ 7.92088680e-01 6.08961420e-01 -4.19703708e-02 5.20286860e+01] [ 5.33844287e-02 -6.15288783e-04 9.98573845e-01 5.57178804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.838040942 meters 0.01895443216385487 Centerline is valid? [True, True] Translation: X:110.39, Y:52.05, Z:5.57 [[ 6.07976714e-01 -7.93273827e-01 -3.28777964e-02 1.10387993e+02] [ 7.92169818e-01 6.08864737e-01 -4.18415130e-02 5.20489501e+01] [ 5.32099080e-02 -6.06132360e-04 9.98583165e-01 5.57377694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.868040942 meters 0.019082842204204534 Centerline is valid? [True, True] Translation: X:110.41, Y:52.07, Z:5.58 [[ 6.07761956e-01 -7.93454605e-01 -3.24837648e-02 1.10407217e+02] [ 7.92375972e-01 6.08629140e-01 -4.13628926e-02 5.20678934e+01] [ 5.25901434e-02 -6.00562210e-04 9.98616000e-01 5.57531879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.898040942 meters 0.018940712409755627 Centerline is valid? [True, True] Translation: X:110.43, Y:52.09, Z:5.58 [[ 6.07112425e-01 -7.93966936e-01 -3.21093219e-02 1.10428375e+02] [ 7.92912863e-01 6.07960617e-01 -4.09033108e-02 5.20863030e+01] [ 5.19970795e-02 -6.26986100e-04 9.98647040e-01 5.57742949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.928040942 meters 0.01890283755842005 Centerline is valid? [True, True] Translation: X:110.45, Y:52.11, Z:5.58 [[ 6.06943905e-01 -7.94100533e-01 -3.19912307e-02 1.10447853e+02] [ 7.93053169e-01 6.07786111e-01 -4.07764063e-02 5.21071278e+01] [ 5.18243917e-02 -6.21755656e-04 9.98656020e-01 5.57889579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.958040942 meters 0.018891418147907665 Centerline is valid? [True, True] Translation: X:110.47, Y:52.13, Z:5.58 [[ 6.06671476e-01 -7.94307900e-01 -3.20106270e-02 1.10466727e+02] [ 7.93258331e-01 6.07515077e-01 -4.08246408e-02 5.21266663e+01] [ 5.18742732e-02 -6.25551486e-04 9.98653428e-01 5.58029012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.988040942 meters 0.018714631936993534 Centerline is valid? [True, True] Translation: X:110.49, Y:52.14, Z:5.58 [[ 6.07181589e-01 -7.93941549e-01 -3.14218927e-02 1.10487405e+02] [ 7.92928747e-01 6.07993825e-01 -4.00937845e-02 5.21445868e+01] [ 5.09364381e-02 -5.71114229e-04 9.98701734e-01 5.58177388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.018040942 meters 0.018241752134845694 Centerline is valid? [True, True] Translation: X:110.51, Y:52.17, Z:5.58 [[ 6.09848314e-01 -7.91899902e-01 -3.12982365e-02 1.10505137e+02] [ 7.90891567e-01 6.10650795e-01 -3.99516526e-02 5.21673858e+01] [ 5.07500028e-02 -3.89063403e-04 9.98711313e-01 5.58388462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04804094199997 meters 0.017963013689814504 Centerline is valid? [True, True] Translation: X:110.52, Y:52.19, Z:5.59 [[ 6.11823597e-01 -7.90377682e-01 -3.12250960e-02 1.10521821e+02] [ 7.89371104e-01 6.12619831e-01 -3.98773319e-02 5.21908327e+01] [ 5.06472662e-02 -2.50295882e-04 9.98716572e-01 5.58520623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.07804094199997 meters 0.019149144144146743 Centerline is valid? [True, True] Translation: X:110.54, Y:52.21, Z:5.58 [[ 6.13631300e-01 -7.88971544e-01 -3.13134180e-02 1.10537860e+02] [ 7.87956684e-01 6.14429725e-01 -4.00047277e-02 5.22141804e+01] [ 5.08024866e-02 -1.25463919e-04 9.98708712e-01 5.58455951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10804094199997 meters 0.01774133999600846 Centerline is valid? [True, True] Translation: X:110.55, Y:52.24, Z:5.59 [[ 6.15693911e-01 -7.87348244e-01 -3.16820152e-02 1.10554038e+02] [ 7.86305988e-01 6.16508509e-01 -4.04987913e-02 5.22371250e+01] [ 5.14188842e-02 2.31009771e-05 9.98677174e-01 5.58713383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.13804094199998 meters 0.01775024415624729 Centerline is valid? [True, True] Translation: X:110.57, Y:52.26, Z:5.59 [[ 6.18824228e-01 -7.84886683e-01 -3.17721487e-02 1.10569267e+02] [ 7.83834042e-01 6.19639278e-01 -4.06369301e-02 5.22608856e+01] [ 5.15826566e-02 2.43025157e-04 9.98668699e-01 5.58838405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16804094199998 meters 0.017857397908026807 Centerline is valid? [True, True] Translation: X:110.59, Y:52.28, Z:5.59 [[ 6.19848013e-01 -7.84083989e-01 -3.16344485e-02 1.10585111e+02] [ 7.83038252e-01 6.20654649e-01 -4.04833590e-02 5.22828633e+01] [ 5.13764212e-02 3.22546437e-04 9.98679308e-01 5.58932668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.19804094199998 meters 0.018015170019572313 Centerline is valid? [True, True] Translation: X:110.60, Y:52.31, Z:5.59 [[ 6.20654494e-01 -7.83453399e-01 -3.14447209e-02 1.10601892e+02] [ 7.82418268e-01 6.21450419e-01 -4.02620360e-02 5.23050577e+01] [ 5.10847640e-02 3.85889529e-04 9.98694246e-01 5.59083090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22804094199998 meters 0.01788085706424306 Centerline is valid? [True, True] Translation: X:110.62, Y:52.33, Z:5.59 [[ 6.20396144e-01 -7.83668038e-01 -3.11934437e-02 1.10619078e+02] [ 7.82648499e-01 6.21179735e-01 -3.99632861e-02 5.23273106e+01] [ 5.06946851e-02 3.79566710e-04 9.98714126e-01 5.59219966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.25804094199998 meters 0.017956928525834873 Centerline is valid? [True, True] Translation: X:110.63, Y:52.35, Z:5.59 [[ 6.19831166e-01 -7.84112894e-01 -3.12457115e-02 1.10634797e+02] [ 7.83089327e-01 6.20618112e-01 -4.00532727e-02 5.23498575e+01] [ 5.07979421e-02 3.58083511e-04 9.98708887e-01 5.59277085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28804094199998 meters 0.017809194973010648 Centerline is valid? [True, True] Translation: X:110.65, Y:52.37, Z:5.59 [[ 6.18626485e-01 -7.85098007e-01 -3.03709087e-02 1.10652148e+02] [ 7.84131194e-01 6.19371488e-01 -3.89516444e-02 5.23718500e+01] [ 4.93917333e-02 2.81741934e-04 9.98779444e-01 5.59464454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.31804094199998 meters 0.01777631018488643 Centerline is valid? [True, True] Translation: X:110.67, Y:52.39, Z:5.60 [[ 6.17913233e-01 -7.85666862e-01 -3.01797883e-02 1.10669497e+02] [ 7.84711861e-01 6.18649757e-01 -3.87269094e-02 5.23935067e+01] [ 4.90971680e-02 2.47431960e-04 9.98793976e-01 5.59663206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34804094199998 meters 0.01748924096769097 Centerline is valid? [True, True] Translation: X:110.69, Y:52.41, Z:5.60 [[ 6.15527400e-01 -7.87525814e-01 -3.04813241e-02 1.10688955e+02] [ 7.86552823e-01 6.16281655e-01 -3.91353871e-02 5.24145294e+01] [ 4.96052085e-02 1.13731575e-04 9.98768897e-01 5.59815512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.37804094199998 meters 0.01752427605651939 Centerline is valid? [True, True] Translation: X:110.71, Y:52.44, Z:5.60 [[ 6.14080891e-01 -7.88636838e-01 -3.09289068e-02 1.10707210e+02] [ 7.87635347e-01 6.14859282e-01 -3.97319003e-02 5.24356561e+01] [ 5.03509656e-02 3.79005009e-05 9.98731585e-01 5.59918748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40804094199999 meters 0.017579780401097665 Centerline is valid? [True, True] Translation: X:110.72, Y:52.46, Z:5.60 [[ 6.12384817e-01 -7.89949006e-01 -3.10709620e-02 1.10724670e+02] [ 7.88938810e-01 6.13172541e-01 -3.99373112e-02 5.24563174e+01] [ 5.06003000e-02 -5.60847733e-05 9.98718983e-01 5.59936946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.438040942 meters 0.017579780401097665 Centerline is valid? [True, True] Translation: X:110.74, Y:52.48, Z:5.60 [[ 6.12166241e-01 -7.90118803e-01 -3.10607635e-02 1.10741514e+02] [ 7.89108423e-01 6.12953729e-01 -3.99452417e-02 5.24781344e+01] [ 5.06002974e-02 -5.71817282e-05 9.98718983e-01 5.60059316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.468040942 meters 0.01790819500217857 Centerline is valid? [True, True] Translation: X:110.76, Y:52.50, Z:5.60 [[ 6.08884457e-01 -7.92615673e-01 -3.19392114e-02 1.10760987e+02] [ 7.91549477e-01 6.09721517e-01 -4.10986246e-02 5.24997898e+01] [ 5.20494384e-02 -2.57152373e-04 9.98644476e-01 5.60015872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.498040942 meters 0.018240891359616394 Centerline is valid? [True, True] Translation: X:110.78, Y:52.52, Z:5.60 [[ 6.07091724e-01 -7.93975818e-01 -3.22806419e-02 1.10778314e+02] [ 7.92887486e-01 6.07949232e-01 -4.15592000e-02 5.25207601e+01] [ 5.26219912e-02 -3.64670604e-04 9.98614437e-01 5.60021920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.528040942 meters 0.018576521316373617 Centerline is valid? [True, True] Translation: X:110.80, Y:52.54, Z:5.60 [[ 6.05672962e-01 -7.95047227e-01 -3.25602613e-02 1.10796209e+02] [ 7.93940431e-01 6.06547364e-01 -4.19390796e-02 5.25418473e+01] [ 5.30928896e-02 -4.49541294e-04 9.98589477e-01 5.60031105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.558040942 meters 0.018556099048602705 Centerline is valid? [True, True] Translation: X:110.81, Y:52.57, Z:5.60 [[ 6.03218113e-01 -7.96894705e-01 -3.29656953e-02 1.10813520e+02] [ 7.95762211e-01 6.04117915e-01 -4.24741015e-02 5.25652081e+01] [ 5.37625537e-02 -6.11707161e-04 9.98553561e-01 5.60238436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.588040942 meters 0.01886564505956402 Centerline is valid? [True, True] Translation: X:110.83, Y:52.59, Z:5.60 [[ 6.02153488e-01 -7.97683817e-01 -3.33422234e-02 1.10830819e+02] [ 7.96525377e-01 6.03075508e-01 -4.29797010e-02 5.25863883e+01] [ 5.43920903e-02 -6.77550134e-04 9.98519425e-01 5.60325059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.618040942 meters 0.019056430512582007 Centerline is valid? [True, True] Translation: X:110.85, Y:52.61, Z:5.61 [[ 6.00474231e-01 -7.98961987e-01 -3.30218281e-02 1.10848580e+02] [ 7.97827017e-01 6.01381025e-01 -4.25783241e-02 5.26090935e+01] [ 5.38771632e-02 -7.78520230e-04 9.98547267e-01 5.60612379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.648040942 meters 0.01949523764838907 Centerline is valid? [True, True] Translation: X:110.87, Y:52.63, Z:5.61 [[ 5.99836535e-01 -7.99459177e-01 -3.25753767e-02 1.10865859e+02] [ 7.98354337e-01 6.00719889e-01 -4.20234088e-02 5.26300040e+01] [ 5.31646765e-02 -7.99517309e-04 9.98585438e-01 5.60809306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.678040942 meters 0.019373448668519564 Centerline is valid? [True, True] Translation: X:110.88, Y:52.65, Z:5.61 [[ 5.98641115e-01 -8.00374632e-01 -3.20821327e-02 1.10881718e+02] [ 7.99303413e-01 5.99499553e-01 -4.14045823e-02 5.26535590e+01] [ 5.23724015e-02 -8.56872826e-04 9.98627256e-01 5.61087772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.708040942 meters 0.019650905993864688 Centerline is valid? [True, True] Translation: X:110.90, Y:52.68, Z:5.61 [[ 5.97973073e-01 -8.00867774e-01 -3.22337196e-02 1.10898506e+02] [ 7.99785871e-01 5.98840560e-01 -4.16238325e-02 5.26755068e+01] [ 5.26380448e-02 -8.90142489e-04 9.98613260e-01 5.61142856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.738040942 meters 0.01968902103953594 Centerline is valid? [True, True] Translation: X:110.92, Y:52.70, Z:5.61 [[ 5.97641074e-01 -8.01104571e-01 -3.25055802e-02 1.10915104e+02] [ 8.00003473e-01 5.98523723e-01 -4.19975727e-02 5.26976398e+01] [ 5.30998084e-02 -9.05102596e-04 9.98588800e-01 5.61272078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.768040942 meters 0.019956215877733708 Centerline is valid? [True, True] Translation: X:110.93, Y:52.72, Z:5.61 [[ 5.96574290e-01 -8.01889774e-01 -3.27399751e-02 1.10932622e+02] [ 8.00772605e-01 5.97471216e-01 -4.23247032e-02 5.27211422e+01] [ 5.35009394e-02 -9.67445405e-04 9.98567330e-01 5.61352668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.79804094199997 meters 0.021999907259770395 Centerline is valid? [True, True] Translation: X:110.95, Y:52.74, Z:5.61 [[ 5.96110301e-01 -8.02232411e-01 -3.27973589e-02 1.10951995e+02] [ 8.01110704e-01 5.97011041e-01 -4.24200018e-02 5.27399619e+01] [ 5.36110857e-02 -9.87315223e-04 9.98561404e-01 5.61239077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82804094199997 meters 0.01973482184209897 Centerline is valid? [True, True] Translation: X:110.96, Y:52.77, Z:5.62 [[ 5.95594684e-01 -8.02651101e-01 -3.19089737e-02 1.10963660e+02] [ 8.01588997e-01 5.96448018e-01 -4.12897356e-02 5.27663952e+01] [ 5.21732958e-02 -9.85935189e-04 9.98637559e-01 5.61704606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.85804094199997 meters 0.019990895081804298 Centerline is valid? [True, True] Translation: X:110.98, Y:52.79, Z:5.62 [[ 5.95688384e-01 -8.02599479e-01 -3.14551357e-02 1.10980490e+02] [ 8.01566120e-01 5.96517534e-01 -4.07257659e-02 5.27876194e+01] [ 5.14500185e-02 -9.53505410e-04 9.98675116e-01 5.61858318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88804094199998 meters 0.019528850711308207 Centerline is valid? [True, True] Translation: X:111.00, Y:52.81, Z:5.62 [[ 5.96063455e-01 -8.02353752e-01 -3.06074100e-02 1.10996674e+02] [ 8.01374054e-01 5.96848100e-01 -3.96480990e-02 5.28105609e+01] [ 5.00797755e-02 -8.95201384e-04 9.98744820e-01 5.62211794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.91804094199998 meters 0.019981114879410514 Centerline is valid? [True, True] Translation: X:111.01, Y:52.83, Z:5.62 [[ 5.96424708e-01 -8.02093648e-01 -3.03866224e-02 1.11014209e+02] [ 8.01126617e-01 5.97197664e-01 -3.93839329e-02 5.28307537e+01] [ 4.97364224e-02 -8.53981284e-04 9.98762013e-01 5.62352207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94804094199998 meters 0.019440622030793994 Centerline is valid? [True, True] Translation: X:111.03, Y:52.85, Z:5.63 [[ 5.96790136e-01 -8.01822328e-01 -3.03725029e-02 1.11029777e+02] [ 8.00855037e-01 5.97561947e-01 -3.93818294e-02 5.28540410e+01] [ 4.97266821e-02 -8.21284644e-04 9.98762526e-01 5.62559887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.97804094199998 meters 0.019392368821122625 Centerline is valid? [True, True] Translation: X:111.05, Y:52.88, Z:5.63 [[ 5.97996886e-01 -8.00915122e-01 -3.05727118e-02 1.11046073e+02] [ 7.99932709e-01 5.98777441e-01 -3.96640617e-02 5.28762985e+01] [ 5.00737969e-02 -7.37126793e-04 9.98745249e-01 5.62614135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00804094199998 meters 0.0191697857153419 Centerline is valid? [True, True] Translation: X:111.06, Y:52.90, Z:5.63 [[ 5.98513998e-01 -8.00514621e-01 -3.09408570e-02 1.11061831e+02] [ 7.99506901e-01 5.99312815e-01 -4.01604771e-02 5.28990114e+01] [ 5.06923012e-02 -7.00820994e-04 9.98714073e-01 5.62707933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.03804094199998 meters 0.019117473721889152 Centerline is valid? [True, True] Translation: X:111.08, Y:52.92, Z:5.63 [[ 5.99053922e-01 -8.00104347e-01 -3.11035811e-02 1.11077777e+02] [ 7.99084254e-01 5.99860487e-01 -4.03949370e-02 5.29209974e+01] [ 5.09779740e-02 -6.55636436e-04 9.98699563e-01 5.62708025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06804094199998 meters 0.018962410751625466 Centerline is valid? [True, True] Translation: X:111.09, Y:52.94, Z:5.63 [[ 5.98710176e-01 -8.00353364e-01 -3.13148085e-02 1.11093858e+02] [ 7.99318616e-01 5.99528185e-01 -4.06903536e-02 5.29434829e+01] [ 5.13407717e-02 -6.68780586e-04 9.98680969e-01 5.62867478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.09804094199998 meters 0.01921125947537236 Centerline is valid? [True, True] Translation: X:111.11, Y:52.96, Z:5.63 [[ 5.98289442e-01 -8.00665752e-01 -3.13703221e-02 1.11110664e+02] [ 7.99626530e-01 5.99110914e-01 -4.07863426e-02 5.29642492e+01] [ 5.14505300e-02 -6.82503633e-04 9.98675311e-01 5.62930122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12804094199998 meters 0.019601805599338766 Centerline is valid? [True, True] Translation: X:111.13, Y:52.99, Z:5.63 [[ 5.97368505e-01 -8.01353804e-01 -3.13520500e-02 1.11128077e+02] [ 8.00315619e-01 5.98190230e-01 -4.07842999e-02 5.29850044e+01] [ 5.14371439e-02 -7.28279034e-04 9.98675968e-01 5.62997875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.15804094199999 meters 0.019561622389525496 Centerline is valid? [True, True] Translation: X:111.15, Y:53.01, Z:5.63 [[ 5.95503752e-01 -8.02734789e-01 -3.14982580e-02 1.11146312e+02] [ 8.01687721e-01 5.96335606e-01 -4.09956342e-02 5.30077890e+01] [ 5.16921545e-02 -8.38712719e-04 9.98662715e-01 5.63176006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.188040942 meters 0.019838657448265583 Centerline is valid? [True, True] Translation: X:111.16, Y:53.03, Z:5.63 [[ 5.94480437e-01 -8.03484716e-01 -3.17067900e-02 1.11164839e+02] [ 8.02423689e-01 5.95324706e-01 -4.12882184e-02 5.30299853e+01] [ 5.20502878e-02 -8.97241271e-04 9.98644062e-01 5.63354362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.218040942 meters 0.020237583261750788 Centerline is valid? [True, True] Translation: X:111.18, Y:53.05, Z:5.64 [[ 5.92415970e-01 -8.05025057e-01 -3.12725946e-02 1.11184255e+02] [ 8.03993994e-01 5.93239956e-01 -4.07432502e-02 5.30511904e+01] [ 5.13514900e-02 -1.00602609e-03 9.98680135e-01 5.63591274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.248040942 meters 0.020494367947035446 Centerline is valid? [True, True] Translation: X:111.20, Y:53.07, Z:5.64 [[ 5.91068969e-01 -8.06013142e-01 -3.13095645e-02 1.11202212e+02] [ 8.04979955e-01 5.91896652e-01 -4.08120750e-02 5.30734719e+01] [ 5.14270953e-02 -1.08082071e-03 9.98676167e-01 5.63765976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.278040942 meters 0.020992899661181907 Centerline is valid? [True, True] Translation: X:111.22, Y:53.09, Z:5.64 [[ 5.89967705e-01 -8.06824695e-01 -3.11772225e-02 1.11220242e+02] [ 8.05800365e-01 5.90789830e-01 -4.06589191e-02 5.30945422e+01] [ 5.12238060e-02 -1.13516807e-03 9.98686554e-01 5.63840835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.308040942 meters 0.021646030574531353 Centerline is valid? [True, True] Translation: X:111.24, Y:53.12, Z:5.64 [[ 5.87907745e-01 -8.08310527e-01 -3.16002327e-02 1.11239468e+02] [ 8.07259672e-01 5.88755015e-01 -4.12232180e-02 5.31163615e+01] [ 5.19259566e-02 -1.27414434e-03 9.98650125e-01 5.63922144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.338040942 meters 0.02203262920240605 Centerline is valid? [True, True] Translation: X:111.26, Y:53.14, Z:5.64 [[ 5.87154579e-01 -8.08847600e-01 -3.18600158e-02 1.11257187e+02] [ 8.07779141e-01 5.88016849e-01 -4.15817716e-02 5.31377877e+01] [ 5.23675422e-02 -1.32092865e-03 9.98627005e-01 5.64001980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.368040942 meters 0.022366074042998604 Centerline is valid? [True, True] Translation: X:111.27, Y:53.16, Z:5.64 [[ 5.86414488e-01 -8.09379400e-01 -3.19849270e-02 1.11274679e+02] [ 8.08302600e-01 5.87284533e-01 -4.17586370e-02 5.31598237e+01] [ 5.25828335e-02 -1.36562998e-03 9.98615632e-01 5.64081823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.398040942 meters 0.02204978849626364 Centerline is valid? [True, True] Translation: X:111.29, Y:53.18, Z:5.64 [[ 5.86139345e-01 -8.09580424e-01 -3.19406512e-02 1.11291178e+02] [ 8.08505708e-01 5.87007380e-01 -4.17235619e-02 5.31826120e+01] [ 5.25279769e-02 -1.36837765e-03 9.98618515e-01 5.64243208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.428040942 meters 0.021692504723313983 Centerline is valid? [True, True] Translation: X:111.31, Y:53.20, Z:5.64 [[ 5.86119853e-01 -8.09604532e-01 -3.16862749e-02 1.11307953e+02] [ 8.08545677e-01 5.86974183e-01 -4.14149356e-02 5.32049496e+01] [ 5.21287449e-02 -1.34568455e-03 9.98639466e-01 5.64426358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.458040942 meters 0.02153295373127549 Centerline is valid? [True, True] Translation: X:111.32, Y:53.23, Z:5.65 [[ 5.86201087e-01 -8.09556253e-01 -3.14159164e-02 1.11324122e+02] [ 8.08514105e-01 5.87040835e-01 -4.10852755e-02 5.32274511e+01] [ 5.17032675e-02 -1.31597840e-03 9.98661625e-01 5.64630576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.488040942 meters 0.02170562944198019 Centerline is valid? [True, True] Translation: X:111.34, Y:53.25, Z:5.65 [[ 5.86286793e-01 -8.09493672e-01 -3.14291344e-02 1.11340669e+02] [ 8.08449342e-01 5.87127168e-01 -4.11260268e-02 5.32489005e+01] [ 5.17441572e-02 -1.29721668e-03 9.98659531e-01 5.64749292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.518040942 meters 0.02166653819156859 Centerline is valid? [True, True] Translation: X:111.36, Y:53.27, Z:5.65 [[ 5.86274048e-01 -8.09510369e-01 -3.12362555e-02 1.11357114e+02] [ 8.08477761e-01 5.87104189e-01 -4.08947518e-02 5.32710378e+01] [ 5.14436621e-02 -1.27828623e-03 9.98675080e-01 5.64897364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54804094199997 meters 0.021689115551131455 Centerline is valid? [True, True] Translation: X:111.37, Y:53.29, Z:5.65 [[ 5.86550781e-01 -8.09303204e-01 -3.14086920e-02 1.11373196e+02] [ 8.08257649e-01 5.87389780e-01 -4.11438850e-02 5.32924007e+01] [ 5.17470226e-02 -1.25333769e-03 9.98659439e-01 5.65011939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.57804094199997 meters 0.021514554736080133 Centerline is valid? [True, True] Translation: X:111.39, Y:53.31, Z:5.65 [[ 5.86320409e-01 -8.09480597e-01 -3.11374423e-02 1.11389938e+02] [ 8.08452242e-01 5.87145306e-01 -4.08088561e-02 5.33143583e+01] [ 5.13161802e-02 -1.24606984e-03 9.98681679e-01 5.65215732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60804094199997 meters 0.021590633240668736 Centerline is valid? [True, True] Translation: X:111.41, Y:53.34, Z:5.65 [[ 5.86378411e-01 -8.09433756e-01 -3.12626504e-02 1.11406930e+02] [ 8.08395820e-01 5.87209906e-01 -4.09966463e-02 5.33360864e+01] [ 5.15418074e-02 -1.23304753e-03 9.98670076e-01 5.65342516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.63804094199998 meters 0.02109966030346303 Centerline is valid? [True, True] Translation: X:111.42, Y:53.36, Z:5.65 [[ 5.85778099e-01 -8.09867372e-01 -3.12867171e-02 1.11423064e+02] [ 8.08827237e-01 5.86611674e-01 -4.10517262e-02 5.33595628e+01] [ 5.15996071e-02 -1.25834685e-03 9.98667060e-01 5.65496991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66804094199998 meters 0.021293985701768152 Centerline is valid? [True, True] Translation: X:111.44, Y:53.38, Z:5.66 [[ 5.85544567e-01 -8.10040835e-01 -3.11673788e-02 1.11440113e+02] [ 8.09007662e-01 5.86372126e-01 -4.09186108e-02 5.33815154e+01] [ 5.14214279e-02 -1.25497804e-03 9.98676255e-01 5.65602699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.69804094199998 meters 0.021619880121144686 Centerline is valid? [True, True] Translation: X:111.46, Y:53.40, Z:5.66 [[ 5.85609800e-01 -8.09993998e-01 -3.11590229e-02 1.11457192e+02] [ 8.08960103e-01 5.86436862e-01 -4.09311447e-02 5.34031035e+01] [ 5.14267812e-02 -1.23672689e-03 9.98676002e-01 5.65735978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72804094199998 meters 0.021141052449285675 Centerline is valid? [True, True] Translation: X:111.47, Y:53.43, Z:5.66 [[ 5.85697252e-01 -8.09940813e-01 -3.08967504e-02 1.11473238e+02] [ 8.08923110e-01 5.86510373e-01 -4.06076928e-02 5.34267445e+01] [ 5.10110923e-02 -1.20928135e-03 9.98697355e-01 5.65900715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.75804094199998 meters 0.02063754130754534 Centerline is valid? [True, True] Translation: X:111.49, Y:53.45, Z:5.66 [[ 5.86667523e-01 -8.09273591e-01 -2.99578548e-02 1.11489659e+02] [ 8.08314868e-01 5.87430880e-01 -3.93958907e-02 5.34507408e+01] [ 4.94802230e-02 -1.10308980e-03 9.98774494e-01 5.66121985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78804094199998 meters 0.02061482231385656 Centerline is valid? [True, True] Translation: X:111.51, Y:53.47, Z:5.66 [[ 5.86773595e-01 -8.09221687e-01 -2.92747361e-02 1.11506831e+02] [ 8.08305189e-01 5.87502454e-01 -3.85173733e-02 5.34735346e+01] [ 4.83680731e-02 -1.06194354e-03 9.98829015e-01 5.66348987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.81804094199998 meters 0.020543040659475213 Centerline is valid? [True, True] Translation: X:111.52, Y:53.50, Z:5.67 [[ 5.87125585e-01 -8.08982158e-01 -2.88342742e-02 1.11523908e+02] [ 8.08091716e-01 5.87832323e-01 -3.79596848e-02 5.34964113e+01] [ 4.76584261e-02 -1.01363595e-03 9.98863177e-01 5.66570272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84804094199998 meters 0.021601563999224995 Centerline is valid? [True, True] Translation: X:111.54, Y:53.52, Z:5.67 [[ 5.87796030e-01 -8.08504410e-01 -2.85735403e-02 1.11542619e+02] [ 8.07628425e-01 5.88489346e-01 -3.76379547e-02 5.35170652e+01] [ 4.72456764e-02 -9.53363018e-04 9.98882845e-01 5.66691881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.87804094199998 meters 0.02037181928075508 Centerline is valid? [True, True] Translation: X:111.56, Y:53.54, Z:5.67 [[ 5.87989077e-01 -8.08369080e-01 -2.84301970e-02 1.11556531e+02] [ 8.07500711e-01 5.88675271e-01 -3.74703364e-02 5.35412402e+01] [ 4.70260152e-02 -9.25255770e-04 9.98893236e-01 5.66847584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90804094199999 meters 0.02005082533898352 Centerline is valid? [True, True] Translation: X:111.57, Y:53.56, Z:5.67 [[ 5.88201998e-01 -8.08221203e-01 -2.82293614e-02 1.11571286e+02] [ 8.07363889e-01 5.88878330e-01 -3.72271914e-02 5.35649966e+01] [ 4.67114646e-02 -8.94258630e-04 9.98908023e-01 5.66974727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.938040942 meters 0.020012678450038256 Centerline is valid? [True, True] Translation: X:111.59, Y:53.59, Z:5.67 [[ 5.87883277e-01 -8.08464545e-01 -2.78985964e-02 1.11587138e+02] [ 8.07626492e-01 5.88544210e-01 -3.68125311e-02 5.35876230e+01] [ 4.61811836e-02 -8.90174174e-04 9.98932683e-01 5.67108050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.968040942 meters 0.02021733161797657 Centerline is valid? [True, True] Translation: X:111.60, Y:53.61, Z:5.67 [[ 5.87578700e-01 -8.08686677e-01 -2.78770398e-02 1.11603565e+02] [ 8.07849157e-01 5.88238947e-01 -3.68059977e-02 5.36089329e+01] [ 4.61628805e-02 -8.94022866e-04 9.98933526e-01 5.67187135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.998040942 meters 0.02035302318897174 Centerline is valid? [True, True] Translation: X:111.62, Y:53.63, Z:5.67 [[ 5.86597844e-01 -8.09395279e-01 -2.79687708e-02 1.11619856e+02] [ 8.08552109e-01 5.87263482e-01 -3.69471183e-02 5.36324919e+01] [ 4.63298609e-02 -9.41108613e-04 9.98925752e-01 5.67273991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.028040942 meters 0.020600442414722135 Centerline is valid? [True, True] Translation: X:111.64, Y:53.65, Z:5.67 [[ 5.86115580e-01 -8.09748413e-01 -2.78574190e-02 1.11636033e+02] [ 8.08911392e-01 5.86776448e-01 -3.68206468e-02 5.36540886e+01] [ 4.61615377e-02 -9.53028854e-04 9.98933533e-01 5.67368385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.058040942 meters 0.020799617135807257 Centerline is valid? [True, True] Translation: X:111.65, Y:53.68, Z:5.67 [[ 5.85866047e-01 -8.09914395e-01 -2.82780470e-02 1.11651597e+02] [ 8.09051135e-01 5.86547299e-01 -3.73968853e-02 5.36763185e+01] [ 4.68746879e-02 -9.68820664e-04 9.98900308e-01 5.67424208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.088040942 meters 0.020885150291605228 Centerline is valid? [True, True] Translation: X:111.67, Y:53.70, Z:5.68 [[ 5.85729579e-01 -8.10001815e-01 -2.85993059e-02 1.11668239e+02] [ 8.09117961e-01 5.86426559e-01 -3.78419798e-02 5.36992246e+01] [ 4.74234649e-02 -9.75045171e-04 9.98874399e-01 5.67515508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.118040942 meters 0.021072133208362327 Centerline is valid? [True, True] Translation: X:111.68, Y:53.72, Z:5.68 [[ 5.85693636e-01 -8.10018883e-01 -2.88508932e-02 1.11684716e+02] [ 8.09118364e-01 5.86402988e-01 -3.81969798e-02 5.37224307e+01] [ 4.78585249e-02 -9.72059535e-04 9.98853651e-01 5.67583231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.148040942 meters 0.021176699377312796 Centerline is valid? [True, True] Translation: X:111.70, Y:53.74, Z:5.68 [[ 5.85832647e-01 -8.09907447e-01 -2.91553963e-02 1.11699592e+02] [ 8.08986600e-01 5.86556907e-01 -3.86222229e-02 5.37447813e+01] [ 4.83817250e-02 -9.60165801e-04 9.98828457e-01 5.67589952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.178040942 meters 0.021012081976021096 Centerline is valid? [True, True] Translation: X:111.72, Y:53.77, Z:5.68 [[ 5.85597516e-01 -8.10074552e-01 -2.92364444e-02 1.11715354e+02] [ 8.09147819e-01 5.86326095e-01 -3.87494218e-02 5.37684006e+01] [ 4.85320108e-02 -9.65039995e-04 9.98821161e-01 5.67708767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.208040942 meters 0.02169781744558602 Centerline is valid? [True, True] Translation: X:111.73, Y:53.79, Z:5.68 [[ 5.84493406e-01 -8.10868200e-01 -2.93294975e-02 1.11731515e+02] [ 8.09935495e-01 5.85227920e-01 -3.88944078e-02 5.37905268e+01] [ 4.87026793e-02 -1.02147614e-03 9.98812798e-01 5.67775394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.238040942 meters 0.021472307699901487 Centerline is valid? [True, True] Translation: X:111.75, Y:53.81, Z:5.68 [[ 5.83617893e-01 -8.11482250e-01 -2.97777215e-02 1.11747783e+02] [ 8.10520880e-01 5.84376069e-01 -3.95033188e-02 5.38141913e+01] [ 4.94576299e-02 -1.08062131e-03 9.98775638e-01 5.67920256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.268040942 meters 0.022393675561065276 Centerline is valid? [True, True] Translation: X:111.77, Y:53.84, Z:5.68 [[ 5.82569556e-01 -8.12239216e-01 -2.96676322e-02 1.11765697e+02] [ 8.11284998e-01 5.83323392e-01 -3.93760310e-02 5.38350496e+01] [ 4.92885805e-02 -1.12962805e-03 9.98783940e-01 5.68052594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.29804094199997 meters 0.023667791948211767 Centerline is valid? [True, True] Translation: X:111.78, Y:53.86, Z:5.68 [[ 5.79602162e-01 -8.14376398e-01 -2.91961840e-02 1.11783485e+02] [ 8.13454395e-01 5.80335624e-01 -3.87622329e-02 5.38561868e+01] [ 4.85106333e-02 -1.28309019e-03 9.98821842e-01 5.68300133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32804094199997 meters 0.023667791948211767 Centerline is valid? [True, True] Translation: X:111.80, Y:53.88, Z:5.68 [[ 5.79388968e-01 -8.14528454e-01 -2.91859796e-02 1.11799974e+02] [ 8.13606258e-01 5.80122187e-01 -3.87699150e-02 5.38782752e+01] [ 4.85106332e-02 -1.28303465e-03 9.98821842e-01 5.68422499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.35804094199997 meters 0.022340199629923632 Centerline is valid? [True, True] Translation: X:111.81, Y:53.90, Z:5.69 [[ 5.77519163e-01 -8.15867604e-01 -2.88386769e-02 1.11814223e+02] [ 8.14967908e-01 5.78237135e-01 -3.83291524e-02 5.39032649e+01] [ 4.79471076e-02 -1.36677617e-03 9.98848941e-01 5.68658959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38804094199998 meters 0.02342236046401084 Centerline is valid? [True, True] Translation: X:111.83, Y:53.93, Z:5.69 [[ 5.74395433e-01 -8.18097776e-01 -2.80341974e-02 1.11831358e+02] [ 8.17249383e-01 5.75077198e-01 -3.72781728e-02 5.39258902e+01] [ 4.66190179e-02 -1.49851829e-03 9.98911619e-01 5.68888133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.41804094199998 meters 0.024153103699536053 Centerline is valid? [True, True] Translation: X:111.85, Y:53.95, Z:5.69 [[ 5.73017909e-01 -8.19073181e-01 -2.77416751e-02 1.11848456e+02] [ 8.18243038e-01 5.73686941e-01 -3.69001917e-02 5.39477948e+01] [ 4.61389941e-02 -1.55496188e-03 9.98933819e-01 5.69065737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44804094199998 meters 0.02496858067471119 Centerline is valid? [True, True] Translation: X:111.86, Y:53.97, Z:5.69 [[ 5.71464137e-01 -8.20181659e-01 -2.70330706e-02 1.11864484e+02] [ 8.19394168e-01 5.72100951e-01 -3.59680245e-02 5.39699796e+01] [ 4.49659594e-02 -1.59630431e-03 9.98987244e-01 5.69286684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.47804094199998 meters 0.025262387464244102 Centerline is valid? [True, True] Translation: X:111.88, Y:53.99, Z:5.69 [[ 5.71098169e-01 -8.20439722e-01 -2.69359395e-02 1.11880917e+02] [ 8.19657608e-01 5.71730786e-01 -3.58512778e-02 5.39931114e+01] [ 4.48139182e-02 -1.60364864e-03 9.98994065e-01 5.69405391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50804094199998 meters 0.025201071086166905 Centerline is valid? [True, True] Translation: X:111.90, Y:54.02, Z:5.70 [[ 5.71221699e-01 -8.20340863e-01 -2.73246920e-02 1.11896498e+02] [ 8.19534935e-01 5.71872614e-01 -3.63896231e-02 5.40165173e+01] [ 4.54781379e-02 -1.60699737e-03 9.98964042e-01 5.69531698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.53804094199998 meters 0.024439049850003943 Centerline is valid? [True, True] Translation: X:111.91, Y:54.04, Z:5.70 [[ 5.73406287e-01 -8.18804904e-01 -2.76361907e-02 1.11910023e+02] [ 8.17977751e-01 5.74069951e-01 -3.68251233e-02 5.40426088e+01] [ 4.60176982e-02 -1.49003193e-03 9.98939513e-01 5.69605639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56804094199998 meters 0.02422561809947904 Centerline is valid? [True, True] Translation: X:111.92, Y:54.07, Z:5.70 [[ 5.74845081e-01 -8.17792762e-01 -2.77151986e-02 1.11924755e+02] [ 8.16958857e-01 5.75511105e-01 -3.69485356e-02 5.40667678e+01] [ 4.61666495e-02 -1.40249304e-03 9.98932767e-01 5.69723954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.59804094199998 meters 0.022843495892192752 Centerline is valid? [True, True] Translation: X:111.94, Y:54.09, Z:5.70 [[ 5.78520163e-01 -8.15181710e-01 -2.81638081e-02 1.11935679e+02] [ 8.14317127e-01 5.79204039e-01 -3.75539279e-02 5.40941012e+01] [ 4.69258665e-02 -1.20856676e-03 9.98897644e-01 5.69729053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62804094199998 meters 0.022425944281455248 Centerline is valid? [True, True] Translation: X:111.95, Y:54.12, Z:5.70 [[ 5.80146217e-01 -8.14012061e-01 -2.85435046e-02 1.11949494e+02] [ 8.13121643e-01 5.80846895e-01 -3.80798840e-02 5.41174126e+01] [ 4.75768909e-02 -1.11744068e-03 9.98866953e-01 5.69778650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.65804094199999 meters 0.021175794692250442 Centerline is valid? [True, True] Translation: X:111.96, Y:54.14, Z:5.70 [[ 5.81387941e-01 -8.13121072e-01 -2.86737769e-02 1.11963524e+02] [ 8.12220750e-01 5.82093669e-01 -3.82676643e-02 5.41432996e+01] [ 4.78070682e-02 -1.04107797e-03 9.98856046e-01 5.69916278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.688040942 meters 0.02029919065849527 Centerline is valid? [True, True] Translation: X:111.98, Y:54.17, Z:5.70 [[ 5.82798537e-01 -8.12118456e-01 -2.84513352e-02 1.11977416e+02] [ 8.11229964e-01 5.83491841e-01 -3.79896829e-02 5.41688531e+01] [ 4.74532446e-02 -9.40244066e-04 9.98873018e-01 5.70079056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.718040942 meters 0.021374927009035347 Centerline is valid? [True, True] Translation: X:112.00, Y:54.19, Z:5.70 [[ 5.82970459e-01 -8.11995508e-01 -2.84383146e-02 1.11995389e+02] [ 8.11106754e-01 5.83662960e-01 -3.79918680e-02 5.41897859e+01] [ 4.74476171e-02 -9.18372287e-04 9.98873305e-01 5.70188977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.748040942 meters 0.02014681334728117 Centerline is valid? [True, True] Translation: X:112.01, Y:54.22, Z:5.70 [[ 5.82913039e-01 -8.12055592e-01 -2.78945228e-02 1.12007521e+02] [ 8.11199707e-01 5.83579399e-01 -3.72843159e-02 5.42152893e+01] [ 4.65556061e-02 -8.94514845e-04 9.98915299e-01 5.70422654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.778040942 meters 0.021578267017172366 Centerline is valid? [True, True] Translation: X:112.03, Y:54.24, Z:5.71 [[ 5.82864179e-01 -8.12097350e-01 -2.76991455e-02 1.12025445e+02] [ 8.11252461e-01 5.83521312e-01 -3.70448822e-02 5.42356783e+01] [ 4.62470924e-02 -8.78865090e-04 9.98929644e-01 5.70520118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.808040942 meters 0.020099902615007204 Centerline is valid? [True, True] Translation: X:112.04, Y:54.26, Z:5.71 [[ 5.82810669e-01 -8.12152777e-01 -2.71954316e-02 1.12038354e+02] [ 8.11337551e-01 5.83444200e-01 -3.63901612e-02 5.42613658e+01] [ 4.54213873e-02 -8.56100761e-04 9.98967549e-01 5.70701583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.838040942 meters 0.019781359206890305 Centerline is valid? [True, True] Translation: X:112.05, Y:54.28, Z:5.71 [[ 5.82486354e-01 -8.12406696e-01 -2.65519587e-02 1.12052819e+02] [ 8.11628963e-01 5.83090601e-01 -3.55496603e-02 5.42849916e+01] [ 4.43629796e-02 -8.43146663e-04 9.99015123e-01 5.70909245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.868040942 meters 0.0219738595475614 Centerline is valid? [True, True] Translation: X:112.07, Y:54.30, Z:5.71 [[ 5.82329048e-01 -8.12522008e-01 -2.64739025e-02 1.12072926e+02] [ 8.11748006e-01 5.82929916e-01 -3.54667160e-02 5.43039452e+01] [ 4.42499170e-02 -8.36838662e-04 9.99020142e-01 5.71075046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.898040942 meters 0.02009607016085493 Centerline is valid? [True, True] Translation: X:112.08, Y:54.33, Z:5.71 [[ 5.81996487e-01 -8.12755114e-01 -2.66310546e-02 1.12083676e+02] [ 8.11971474e-01 5.82604840e-01 -3.56920955e-02 5.43307366e+01] [ 4.45243144e-02 -8.50982455e-04 9.99007939e-01 5.71105742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.928040942 meters 0.020029592080307676 Centerline is valid? [True, True] Translation: X:112.10, Y:54.35, Z:5.71 [[ 5.81614396e-01 -8.13028600e-01 -2.66306061e-02 1.12099036e+02] [ 8.12244324e-01 5.82223115e-01 -3.57127799e-02 5.43539145e+01] [ 4.45404659e-02 -8.59491724e-04 9.99007211e-01 5.71161942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.958040942 meters 0.020312980923900516 Centerline is valid? [True, True] Translation: X:112.12, Y:54.38, Z:5.71 [[ 5.81508497e-01 -8.13093590e-01 -2.69570344e-02 1.12115413e+02] [ 8.12289041e-01 5.82132348e-01 -3.61724074e-02 5.43757503e+01] [ 4.51041143e-02 -8.62341410e-04 9.98981919e-01 5.71244869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.988040942 meters 0.020155477567534746 Centerline is valid? [True, True] Translation: X:112.13, Y:54.40, Z:5.71 [[ 5.81186113e-01 -8.13317158e-01 -2.71643665e-02 1.12130601e+02] [ 8.12499861e-01 5.81819927e-01 -3.64629728e-02 5.43991367e+01] [ 4.54607312e-02 -8.79270608e-04 9.98965740e-01 5.71299648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.01804094199997 meters 0.020417674947093734 Centerline is valid? [True, True] Translation: X:112.15, Y:54.42, Z:5.71 [[ 5.80713965e-01 -8.13657546e-01 -2.70682202e-02 1.12146558e+02] [ 8.12845423e-01 5.81343793e-01 -3.63553824e-02 5.44208425e+01] [ 4.53167731e-02 -8.90200652e-04 9.98972271e-01 5.71382985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04804094199997 meters 0.020786642445364517 Centerline is valid? [True, True] Translation: X:112.16, Y:54.44, Z:5.71 [[ 5.79363511e-01 -8.14613407e-01 -2.72565321e-02 1.12164165e+02] [ 8.13790087e-01 5.80003513e-01 -3.66281211e-02 5.44441334e+01] [ 4.56466429e-02 -9.60098791e-04 9.98957187e-01 5.71440133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.07804094199997 meters 0.020941203088480135 Centerline is valid? [True, True] Translation: X:112.18, Y:54.47, Z:5.72 [[ 5.78463390e-01 -8.15249135e-01 -2.73670129e-02 1.12181680e+02] [ 8.14418961e-01 5.79109524e-01 -3.67955889e-02 5.44668644e+01] [ 4.58460699e-02 -1.00331310e-03 9.98948012e-01 5.71558377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10804094199997 meters 0.020796455151997486 Centerline is valid? [True, True] Translation: X:112.20, Y:54.49, Z:5.72 [[ 5.77497975e-01 -8.15937257e-01 -2.72485118e-02 1.12198511e+02] [ 8.15114084e-01 5.78139523e-01 -3.66568071e-02 5.44900022e+01] [ 4.56630963e-02 -1.04141391e-03 9.98956354e-01 5.71679131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.13804094199998 meters 0.02153600848839753 Centerline is valid? [True, True] Translation: X:112.22, Y:54.51, Z:5.72 [[ 5.76483410e-01 -8.16641234e-01 -2.76400667e-02 1.12216948e+02] [ 8.15794122e-01 5.77144593e-01 -3.72030768e-02 5.45105299e+01] [ 4.63338816e-02 -1.10164734e-03 9.98925402e-01 5.71807744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16804094199998 meters 0.021170067615209974 Centerline is valid? [True, True] Translation: X:112.23, Y:54.53, Z:5.72 [[ 5.76101886e-01 -8.16920331e-01 -2.73457313e-02 1.12233298e+02] [ 8.16091001e-01 5.76749469e-01 -3.68175100e-02 5.45328426e+01] [ 4.58486084e-02 -1.10596823e-03 9.98947787e-01 5.71936703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.19804094199998 meters 0.021443687637401676 Centerline is valid? [True, True] Translation: X:112.25, Y:54.55, Z:5.72 [[ 5.76201449e-01 -8.16848784e-01 -2.73852974e-02 1.12250568e+02] [ 8.16015964e-01 5.76850829e-01 -3.68926470e-02 5.45541736e+01] [ 4.59329454e-02 -1.08924321e-03 9.98943931e-01 5.72049087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22804094199998 meters 0.020992488427535608 Centerline is valid? [True, True] Translation: X:112.27, Y:54.58, Z:5.72 [[ 5.77700821e-01 -8.15792289e-01 -2.72892512e-02 1.12267028e+02] [ 8.14963253e-01 5.78344154e-01 -3.67822700e-02 5.45779163e+01] [ 4.57892711e-02 -9.90589399e-04 9.98950630e-01 5.72148725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.25804094199998 meters 0.02073415028040357 Centerline is valid? [True, True] Translation: X:112.28, Y:54.60, Z:5.72 [[ 5.78598735e-01 -8.15161100e-01 -2.71272101e-02 1.12283538e+02] [ 8.14340348e-01 5.79233569e-01 -3.65823825e-02 5.46013142e+01] [ 4.55335259e-02 -9.24261503e-04 9.98962384e-01 5.72247195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28804094199998 meters 0.020203326932438346 Centerline is valid? [True, True] Translation: X:112.30, Y:54.63, Z:5.72 [[ 5.80758909e-01 -8.13639279e-01 -2.66498182e-02 1.12299710e+02] [ 8.12844684e-01 5.81369518e-01 -3.59583607e-02 5.46255427e+01] [ 4.47505267e-02 -7.79024715e-04 9.98997890e-01 5.72372541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.31804094199998 meters 0.020230529128546944 Centerline is valid? [True, True] Translation: X:112.32, Y:54.65, Z:5.73 [[ 5.81392398e-01 -8.13187216e-01 -2.66351367e-02 1.12316913e+02] [ 8.12392207e-01 5.82001730e-01 -3.59567490e-02 5.46469377e+01] [ 4.47412643e-02 -7.33196974e-04 9.98998339e-01 5.72511074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34804094199998 meters 0.019980604437574066 Centerline is valid? [True, True] Translation: X:112.33, Y:54.67, Z:5.73 [[ 5.81631307e-01 -8.13019338e-01 -2.65439034e-02 1.12333723e+02] [ 8.12228844e-01 5.82236254e-01 -3.58503825e-02 5.46698974e+01] [ 4.46018771e-02 -7.08019106e-04 9.99004590e-01 5.72655838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.37804094199998 meters 0.01969006948379918 Centerline is valid? [True, True] Translation: X:112.35, Y:54.69, Z:5.73 [[ 5.82130831e-01 -8.12668690e-01 -2.63305277e-02 1.12351313e+02] [ 8.11889608e-01 5.82725630e-01 -3.55823577e-02 5.46918251e+01] [ 4.42601413e-02 -6.63894405e-04 9.99019819e-01 5.72799801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40804094199999 meters 0.019843020184091762 Centerline is valid? [True, True] Translation: X:112.37, Y:54.71, Z:5.73 [[ 5.82010973e-01 -8.12754839e-01 -2.63210871e-02 1.12368428e+02] [ 8.11975505e-01 5.82605474e-01 -3.55899005e-02 5.47133873e+01] [ 4.42606732e-02 -6.58365347e-04 9.99019799e-01 5.72951459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.438040942 meters 0.019292032208410383 Centerline is valid? [True, True] Translation: X:112.39, Y:54.74, Z:5.73 [[ 5.82023865e-01 -8.12765898e-01 -2.56868865e-02 1.12385024e+02] [ 8.12022942e-01 5.82590074e-01 -3.47497805e-02 5.47364003e+01] [ 4.32083616e-02 -6.33139624e-04 9.99065882e-01 5.73132914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.468040942 meters 0.019336934056033164 Centerline is valid? [True, True] Translation: X:112.40, Y:54.76, Z:5.73 [[ 5.81813048e-01 -8.12920662e-01 -2.55651071e-02 1.12401695e+02] [ 8.12184000e-01 5.82374107e-01 -3.46056330e-02 5.47588616e+01] [ 4.30200905e-02 -6.29562148e-04 9.99074009e-01 5.73214550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.498040942 meters 0.019959729035107586 Centerline is valid? [True, True] Translation: X:112.42, Y:54.78, Z:5.73 [[ 5.81706333e-01 -8.12986401e-01 -2.59008417e-02 1.12419625e+02] [ 8.12229389e-01 5.82282332e-01 -3.50814083e-02 5.47792895e+01] [ 4.36023104e-02 -6.30347377e-04 9.99048768e-01 5.73275671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.528040942 meters 0.01921050373447527 Centerline is valid? [True, True] Translation: X:112.44, Y:54.80, Z:5.73 [[ 5.81836100e-01 -8.12888825e-01 -2.60482337e-02 1.12435839e+02] [ 8.12122240e-01 5.82418560e-01 -3.52999782e-02 5.48019105e+01] [ 4.38659326e-02 -6.15548300e-04 9.99037237e-01 5.73293628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.558040942 meters 0.020021146423381847 Centerline is valid? [True, True] Translation: X:112.45, Y:54.82, Z:5.73 [[ 5.81626685e-01 -8.13027373e-01 -2.63986622e-02 1.12454786e+02] [ 8.12239188e-01 5.82225131e-01 -3.57966135e-02 5.48210596e+01] [ 4.44735912e-02 -6.21762298e-04 9.99010367e-01 5.73425645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.588040942 meters 0.02028006966279688 Centerline is valid? [True, True] Translation: X:112.47, Y:54.84, Z:5.74 [[ 5.81091686e-01 -8.13398156e-01 -2.67561481e-02 1.12473711e+02] [ 8.12587968e-01 5.81706988e-01 -3.63011504e-02 5.48416296e+01] [ 4.50915271e-02 -6.47427324e-04 9.98982650e-01 5.73534378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.618040942 meters 0.019539972933503333 Centerline is valid? [True, True] Translation: X:112.49, Y:54.86, Z:5.74 [[ 5.80737851e-01 -8.13645961e-01 -2.69035235e-02 1.12489544e+02] [ 8.12826182e-01 5.81360316e-01 -3.65209671e-02 5.48646341e+01] [ 4.53557783e-02 -6.58780338e-04 9.98970680e-01 5.73655707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.648040942 meters 0.019728948118153903 Centerline is valid? [True, True] Translation: X:112.51, Y:54.89, Z:5.74 [[ 5.79878229e-01 -8.14232493e-01 -2.76890923e-02 1.12508909e+02] [ 8.13363725e-01 5.80538491e-01 -3.76099877e-02 5.48851997e+01] [ 4.66978579e-02 -7.12090161e-04 9.98908806e-01 5.73714715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.678040942 meters 0.0210570600690114 Centerline is valid? [True, True] Translation: X:112.53, Y:54.90, Z:5.74 [[ 5.79300415e-01 -8.14645891e-01 -2.76242974e-02 1.12528935e+02] [ 8.13780683e-01 5.79958220e-01 -3.75428036e-02 5.49036926e+01] [ 4.66050291e-02 -7.31557940e-04 9.98913127e-01 5.73753517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.708040942 meters 0.020130089847836534 Centerline is valid? [True, True] Translation: X:112.54, Y:54.93, Z:5.74 [[ 5.78509293e-01 -8.15213267e-01 -2.74650227e-02 1.12544666e+02] [ 8.14358162e-01 5.79160377e-01 -3.73368740e-02 5.49273184e+01] [ 4.63441680e-02 -7.66636815e-04 9.98925238e-01 5.73951405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.738040942 meters 0.020682592185965815 Centerline is valid? [True, True] Translation: X:112.56, Y:54.95, Z:5.74 [[ 5.76921554e-01 -8.16357318e-01 -2.68747138e-02 1.12563837e+02] [ 8.15538914e-01 5.77546573e-01 -3.65545635e-02 5.49473990e+01] [ 4.53629843e-02 -8.28259328e-04 9.98970227e-01 5.74163330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76804094199997 meters 0.0211320140424257 Centerline is valid? [True, True] Translation: X:112.58, Y:54.97, Z:5.74 [[ 5.75488942e-01 -8.17375211e-01 -2.66503476e-02 1.12582745e+02] [ 8.16571026e-01 5.76104993e-01 -3.62601143e-02 5.49695447e+01] [ 4.49915169e-02 -8.94606888e-04 9.98986968e-01 5.74327409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.79804094199997 meters 0.022226000237262917 Centerline is valid? [True, True] Translation: X:112.60, Y:54.99, Z:5.75 [[ 5.72771051e-01 -8.19292772e-01 -2.63187487e-02 1.12603039e+02] [ 8.18509709e-01 5.73374493e-01 -3.58266270e-02 5.49887326e+01] [ 4.44429957e-02 -1.02169648e-03 9.99011399e-01 5.74551168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82804094199997 meters 0.022795523998328092 Centerline is valid? [True, True] Translation: X:112.62, Y:55.01, Z:5.75 [[ 5.71810606e-01 -8.19961111e-01 -2.63895105e-02 1.12621377e+02] [ 8.19173848e-01 5.72418235e-01 -3.59384350e-02 5.50091685e+01] [ 4.45739561e-02 -1.06761849e-03 9.99005517e-01 5.74691855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.85804094199997 meters 0.023139353482588457 Centerline is valid? [True, True] Translation: X:112.64, Y:55.03, Z:5.75 [[ 5.71025697e-01 -8.20512460e-01 -2.62479846e-02 1.12639230e+02] [ 8.19733873e-01 5.71627582e-01 -3.57531078e-02 5.50307783e+01] [ 4.43399424e-02 -1.10041876e-03 9.99015895e-01 5.74826003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88804094199998 meters 0.02348234129713195 Centerline is valid? [True, True] Translation: X:112.66, Y:55.05, Z:5.75 [[ 5.70337342e-01 -8.21002128e-01 -2.59002473e-02 1.12657182e+02] [ 8.20243734e-01 5.70924048e-01 -3.52979929e-02 5.50526829e+01] [ 4.37668013e-02 -1.11275209e-03 9.99041155e-01 5.74969678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.91804094199998 meters 0.023696478610035265 Centerline is valid? [True, True] Translation: X:112.67, Y:55.07, Z:5.75 [[ 5.70057439e-01 -8.21185771e-01 -2.62382456e-02 1.12673966e+02] [ 8.20406785e-01 5.70659839e-01 -3.57778677e-02 5.50748775e+01] [ 4.43533888e-02 -1.13059507e-03 9.99015264e-01 5.75100548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94804094199998 meters 0.022205171210856637 Centerline is valid? [True, True] Translation: X:112.69, Y:55.10, Z:5.75 [[ 5.70694086e-01 -8.20732475e-01 -2.65794164e-02 1.12688587e+02] [ 8.19931691e-01 5.71311648e-01 -3.62632426e-02 5.50992080e+01] [ 4.49475510e-02 -1.09808770e-03 9.98988745e-01 5.75124258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.97804094199998 meters 0.02272034314568169 Centerline is valid? [True, True] Translation: X:112.71, Y:55.12, Z:5.75 [[ 5.71290842e-01 -8.20306389e-01 -2.69109871e-02 1.12705894e+02] [ 8.19484073e-01 5.71923327e-01 -3.67363901e-02 5.51207511e+01] [ 4.55261168e-02 -1.06596211e-03 9.98962580e-01 5.75142551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00804094199998 meters 0.021058378952220052 Centerline is valid? [True, True] Translation: X:112.72, Y:55.15, Z:5.75 [[ 5.72195072e-01 -8.19664701e-01 -2.72502835e-02 1.12720165e+02] [ 8.18819994e-01 5.72842685e-01 -3.72165952e-02 5.51451644e+01] [ 4.61152550e-02 -1.01792463e-03 9.98935607e-01 5.75184242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.03804094199998 meters 0.02162979997124202 Centerline is valid? [True, True] Translation: X:112.74, Y:55.17, Z:5.75 [[ 5.72237622e-01 -8.19629904e-01 -2.74030213e-02 1.12738004e+02] [ 8.18774647e-01 5.72892489e-01 -3.74469434e-02 5.51660285e+01] [ 4.63916197e-02 -1.00834925e-03 9.98922820e-01 5.75273746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06804094199998 meters 0.021330425221505415 Centerline is valid? [True, True] Translation: X:112.75, Y:55.19, Z:5.75 [[ 5.72140605e-01 -8.19694667e-01 -2.74914666e-02 1.12754535e+02] [ 8.18833216e-01 5.72799823e-01 -3.75836045e-02 5.51880842e+01] [ 4.65541874e-02 -1.00781982e-03 9.98915258e-01 5.75434367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.09804094199998 meters 0.02114226077164364 Centerline is valid? [True, True] Translation: X:112.77, Y:55.21, Z:5.76 [[ 5.72029279e-01 -8.19779995e-01 -2.72628772e-02 1.12772031e+02] [ 8.18931904e-01 5.72677721e-01 -3.72929600e-02 5.52100974e+01] [ 4.61848649e-02 -9.93774879e-04 9.98932415e-01 5.75610068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12804094199998 meters 0.021230520977290473 Centerline is valid? [True, True] Translation: X:112.79, Y:55.23, Z:5.76 [[ 5.72163789e-01 -8.19690091e-01 -2.71431950e-02 1.12789310e+02] [ 8.18848318e-01 5.72806437e-01 -3.71512712e-02 5.52311487e+01] [ 4.60003257e-02 -9.69547491e-04 9.98940954e-01 5.75792930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.15804094199999 meters 0.020665837491483378 Centerline is valid? [True, True] Translation: X:112.81, Y:55.25, Z:5.76 [[ 5.71926711e-01 -8.19875993e-01 -2.65178062e-02 1.12806258e+02] [ 8.19071945e-01 5.72540350e-01 -3.63138679e-02 5.52534777e+01] [ 4.49553826e-02 -9.51120082e-04 9.98988543e-01 5.76079518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.188040942 meters 0.02089096503291865 Centerline is valid? [True, True] Translation: X:112.82, Y:55.27, Z:5.76 [[ 5.71523215e-01 -8.20173547e-01 -2.60108869e-02 1.12823185e+02] [ 8.19399330e-01 5.72114028e-01 -3.56409426e-02 5.52743346e+01] [ 4.41129516e-02 -9.43677218e-04 9.99026104e-01 5.76259586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.218040942 meters 0.02094511235283687 Centerline is valid? [True, True] Translation: X:112.84, Y:55.30, Z:5.76 [[ 5.70866237e-01 -8.20650371e-01 -2.53910929e-02 1.12840468e+02] [ 8.19912292e-01 5.71429849e-01 -3.48103540e-02 5.52968226e+01] [ 4.30763583e-02 -9.46413330e-04 9.99071335e-01 5.76473711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.248040942 meters 0.02094511235283687 Centerline is valid? [True, True] Translation: X:112.86, Y:55.32, Z:5.77 [[ 5.70631504e-01 -8.20813907e-01 -2.53814199e-02 1.12856642e+02] [ 8.20075676e-01 5.71194917e-01 -3.48174055e-02 5.53191483e+01] [ 4.30763486e-02 -9.46776636e-04 9.99071335e-01 5.76596078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.278040942 meters 0.021509451474366014 Centerline is valid? [True, True] Translation: X:112.88, Y:55.34, Z:5.77 [[ 5.69643061e-01 -8.21508996e-01 -2.50948738e-02 1.12875290e+02] [ 8.20787125e-01 5.70194718e-01 -3.44452993e-02 5.53396489e+01] [ 4.26060878e-02 -9.76023612e-04 9.99091472e-01 5.76718489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.308040942 meters 0.021616592988830827 Centerline is valid? [True, True] Translation: X:112.89, Y:55.36, Z:5.77 [[ 5.69071490e-01 -8.21905999e-01 -2.50632802e-02 1.12892648e+02] [ 8.21185939e-01 5.69622270e-01 -3.44110896e-02 5.53612044e+01] [ 4.25592836e-02 -9.99243263e-04 9.99093444e-01 5.76874808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.338040942 meters 0.021423284641087885 Centerline is valid? [True, True] Translation: X:112.91, Y:55.38, Z:5.77 [[ 5.69189356e-01 -8.21825755e-01 -2.50180908e-02 1.12910231e+02] [ 8.21107438e-01 5.69738067e-01 -3.43672901e-02 5.53827795e+01] [ 4.24976828e-02 -9.81044699e-04 9.99096084e-01 5.77006041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.368040942 meters 0.021581788014866238 Centerline is valid? [True, True] Translation: X:112.93, Y:55.40, Z:5.77 [[ 5.69619668e-01 -8.21519190e-01 -2.52913862e-02 1.12927238e+02] [ 8.20783881e-01 5.70180064e-01 -3.47637063e-02 5.54043892e+01] [ 4.29796960e-02 -9.56671271e-04 9.99075488e-01 5.77124603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.398040942 meters 0.021216004747337255 Centerline is valid? [True, True] Translation: X:112.94, Y:55.43, Z:5.77 [[ 5.69943316e-01 -8.21290709e-01 -2.54202341e-02 1.12943134e+02] [ 8.20546940e-01 5.70509156e-01 -3.49574362e-02 5.54272561e+01] [ 4.32126939e-02 -9.34738194e-04 9.99065458e-01 5.77212386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.428040942 meters 0.02107435212451819 Centerline is valid? [True, True] Translation: X:112.96, Y:55.45, Z:5.77 [[ 5.72298991e-01 -8.19647614e-01 -2.55275137e-02 1.12959862e+02] [ 8.18895004e-01 5.72867477e-01 -3.51258639e-02 5.54498467e+01] [ 4.34147129e-02 -8.01856901e-04 9.99056815e-01 5.77263387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.458040942 meters 0.02023695041315561 Centerline is valid? [True, True] Translation: X:112.97, Y:55.47, Z:5.77 [[ 5.73071560e-01 -8.19107354e-01 -2.55368387e-02 1.12974625e+02] [ 8.18353393e-01 5.73639755e-01 -3.51447761e-02 5.54742269e+01] [ 4.34362905e-02 -7.57686955e-04 9.99055912e-01 5.77324313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.488040942 meters 0.020373811998480408 Centerline is valid? [True, True] Translation: X:112.99, Y:55.50, Z:5.77 [[ 5.73964748e-01 -8.18473999e-01 -2.57833499e-02 1.12991121e+02] [ 8.17703840e-01 5.74543138e-01 -3.55051250e-02 5.54954684e+01] [ 4.38736684e-02 -7.04454114e-04 9.99036839e-01 5.77353616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.51804094199997 meters 0.019810033396317882 Centerline is valid? [True, True] Translation: X:113.01, Y:55.52, Z:5.77 [[ 5.75750107e-01 -8.17190096e-01 -2.66863570e-02 1.13008255e+02] [ 8.16362831e-01 5.76367909e-01 -3.67663117e-02 5.55185923e+01] [ 4.54262256e-02 -6.17542059e-04 9.98967505e-01 5.77380026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54804094199997 meters 0.019536707615364586 Centerline is valid? [True, True] Translation: X:113.02, Y:55.54, Z:5.77 [[ 5.76142194e-01 -8.16908424e-01 -2.68477118e-02 1.13024912e+02] [ 8.16070221e-01 5.76767091e-01 -3.70015849e-02 5.55411960e+01] [ 4.57117830e-02 -5.91443751e-04 9.98954495e-01 5.77489895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.57804094199997 meters 0.01948885454762001 Centerline is valid? [True, True] Translation: X:113.04, Y:55.56, Z:5.78 [[ 5.77193444e-01 -8.16172309e-01 -2.66550280e-02 1.13042538e+02] [ 8.15344315e-01 5.77808355e-01 -3.67580168e-02 5.55621158e+01] [ 4.54023733e-02 -5.16539231e-04 9.98968647e-01 5.77677456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60804094199997 meters 0.019409914662948526 Centerline is valid? [True, True] Translation: X:113.06, Y:55.59, Z:5.78 [[ 5.77301026e-01 -8.16102706e-01 -2.64556080e-02 1.13059212e+02] [ 8.15286192e-01 5.77906677e-01 -3.65006639e-02 5.55850952e+01] [ 4.50771630e-02 -4.97021201e-04 9.98983384e-01 5.77839806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.63804094199998 meters 0.019529958614651028 Centerline is valid? [True, True] Translation: X:113.08, Y:55.61, Z:5.78 [[ 5.77386931e-01 -8.16054723e-01 -2.60580226e-02 1.13076315e+02] [ 8.15261579e-01 5.77974450e-01 -3.59735008e-02 5.56055411e+01] [ 4.44172165e-02 -4.73475486e-04 9.99012956e-01 5.77978275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66804094199998 meters 0.019459554499271267 Centerline is valid? [True, True] Translation: X:113.09, Y:55.63, Z:5.78 [[ 5.76860505e-01 -8.16425606e-01 -2.60995744e-02 1.13093481e+02] [ 8.15629443e-01 5.77450421e-01 -3.60502822e-02 5.56280218e+01] [ 4.45035837e-02 -4.91597351e-04 9.99009104e-01 5.78084257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.69804094199998 meters 0.01947537089163429 Centerline is valid? [True, True] Translation: X:113.11, Y:55.65, Z:5.78 [[ 5.76298593e-01 -8.16829500e-01 -2.58746817e-02 1.13111293e+02] [ 8.16046470e-01 5.76878940e-01 -3.57609731e-02 5.56498738e+01] [ 4.41371768e-02 -5.05944143e-04 9.99025352e-01 5.78184375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72804094199998 meters 0.019727160692916586 Centerline is valid? [True, True] Translation: X:113.13, Y:55.67, Z:5.78 [[ 5.75409705e-01 -8.17458504e-01 -2.57927294e-02 1.13130913e+02] [ 8.16680118e-01 5.75987241e-01 -3.56690839e-02 5.56708145e+01] [ 4.40142790e-02 -5.40072269e-04 9.99030756e-01 5.78341546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.75804094199998 meters 0.019818501707130447 Centerline is valid? [True, True] Translation: X:113.15, Y:55.69, Z:5.78 [[ 5.74602982e-01 -8.18031222e-01 -2.56190024e-02 1.13148364e+02] [ 8.17262947e-01 5.75173537e-01 -3.54496431e-02 5.56930974e+01] [ 4.37342871e-02 -5.67990755e-04 9.99043037e-01 5.78483456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78804094199998 meters 0.019763375493919693 Centerline is valid? [True, True] Translation: X:113.17, Y:55.72, Z:5.79 [[ 5.74559540e-01 -8.18051778e-01 -2.59349695e-02 1.13165265e+02] [ 8.17263488e-01 5.75144304e-01 -3.59085055e-02 5.57158599e+01] [ 4.42913667e-02 -5.64129260e-04 9.99018497e-01 5.78502955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.81804094199998 meters 0.01976367219757865 Centerline is valid? [True, True] Translation: X:113.18, Y:55.74, Z:5.79 [[ 5.75191169e-01 -8.17615907e-01 -2.56777675e-02 1.13180991e+02] [ 8.16841807e-01 5.75763811e-01 -3.55738165e-02 5.57388538e+01] [ 4.38700475e-02 -5.12928880e-04 9.99037114e-01 5.78614999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84804094199998 meters 0.01989531981641404 Centerline is valid? [True, True] Translation: X:113.20, Y:55.76, Z:5.79 [[ 5.75751171e-01 -8.17225497e-01 -2.55553634e-02 1.13196256e+02] [ 8.16457448e-01 5.76317853e-01 -3.54255328e-02 5.57612444e+01] [ 4.36786608e-02 -4.68574777e-04 9.99045522e-01 5.78738912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.87804094199998 meters 0.019754127060415527 Centerline is valid? [True, True] Translation: X:113.21, Y:55.79, Z:5.79 [[ 5.76515607e-01 -8.16693290e-01 -2.53342758e-02 1.13211306e+02] [ 8.15937359e-01 5.77071830e-01 -3.51330153e-02 5.57856205e+01] [ 4.33125947e-02 -4.16450462e-04 9.99061482e-01 5.78800182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90804094199999 meters 0.019644761653256834 Centerline is valid? [True, True] Translation: X:113.23, Y:55.81, Z:5.79 [[ 5.76649087e-01 -8.16594891e-01 -2.54679299e-02 1.13226870e+02] [ 8.15829944e-01 5.77211075e-01 -3.53394540e-02 5.58088929e+01] [ 4.35583888e-02 -3.99035968e-04 9.99050803e-01 5.78936114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.938040942 meters 0.019669421572768225 Centerline is valid? [True, True] Translation: X:113.24, Y:55.83, Z:5.79 [[ 5.76854138e-01 -8.16454263e-01 -2.53326005e-02 1.13242291e+02] [ 8.15696390e-01 5.77409990e-01 -3.51724771e-02 5.58327999e+01] [ 4.33440155e-02 -3.74321785e-04 9.99060136e-01 5.78998858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.968040942 meters 0.019685212587991736 Centerline is valid? [True, True] Translation: X:113.26, Y:55.86, Z:5.79 [[ 5.76707769e-01 -8.16562451e-01 -2.51776205e-02 1.13258424e+02] [ 8.15813044e-01 5.77256986e-01 -3.49778343e-02 5.58554403e+01] [ 4.30955434e-02 -3.68242455e-04 9.99070888e-01 5.79133689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.998040942 meters 0.01969766823796962 Centerline is valid? [True, True] Translation: X:113.27, Y:55.88, Z:5.79 [[ 5.76042159e-01 -8.17025231e-01 -2.54008349e-02 1.13274641e+02] [ 8.16262011e-01 5.76601783e-01 -3.53088367e-02 5.58783532e+01] [ 4.34943771e-02 -3.94358098e-04 9.99053594e-01 5.79254154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.028040942 meters 0.020027830247174423 Centerline is valid? [True, True] Translation: X:113.29, Y:55.90, Z:5.79 [[ 5.74149028e-01 -8.18340859e-01 -2.59062211e-02 1.13290860e+02] [ 8.17547326e-01 5.74732979e-01 -3.60329404e-02 5.59006672e+01] [ 4.43763870e-02 -4.91284089e-04 9.99014762e-01 5.79316762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.058040942 meters 0.020201160627871678 Centerline is valid? [True, True] Translation: X:113.31, Y:55.92, Z:5.79 [[ 5.72999804e-01 -8.19148734e-01 -2.58181438e-02 1.13306918e+02] [ 8.18360990e-01 5.73580904e-01 -3.59198498e-02 5.59235180e+01] [ 4.42324937e-02 -5.46494820e-04 9.99021115e-01 5.79412870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.088040942 meters 0.020705759031174515 Centerline is valid? [True, True] Translation: X:113.32, Y:55.95, Z:5.80 [[ 5.71202884e-01 -8.20416436e-01 -2.53798445e-02 1.13323730e+02] [ 8.19655611e-01 5.71766109e-01 -3.53298078e-02 5.59459739e+01] [ 4.34964900e-02 -6.22243829e-04 9.99053386e-01 5.79680924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.118040942 meters 0.0205897846402136 Centerline is valid? [True, True] Translation: X:113.34, Y:55.97, Z:5.80 [[ 5.70186545e-01 -8.21129014e-01 -2.51882173e-02 1.13338847e+02] [ 8.20379932e-01 5.70742235e-01 -3.50723430e-02 5.59694556e+01] [ 4.31748979e-02 -6.66129948e-04 9.99067307e-01 5.79874636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.148040942 meters 0.02070343152946687 Centerline is valid? [True, True] Translation: X:113.35, Y:55.99, Z:5.80 [[ 5.69545180e-01 -8.21576564e-01 -2.51045324e-02 1.13354731e+02] [ 8.20832027e-01 5.70097780e-01 -3.49757713e-02 5.59926825e+01] [ 4.30473122e-02 -6.86322249e-04 9.99072799e-01 5.80042856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.178040942 meters 0.020992085670490174 Centerline is valid? [True, True] Translation: X:113.37, Y:56.02, Z:5.80 [[ 5.68732305e-01 -8.22140466e-01 -2.50722814e-02 1.13369769e+02] [ 8.21397499e-01 5.69284235e-01 -3.49515013e-02 5.60163449e+01] [ 4.30082981e-02 -7.16261380e-04 9.99074458e-01 5.80126156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.208040942 meters 0.02126248432687846 Centerline is valid? [True, True] Translation: X:113.39, Y:56.04, Z:5.80 [[ 5.68031112e-01 -8.22623169e-01 -2.51351994e-02 1.13385277e+02] [ 8.21876055e-01 5.68586467e-01 -3.50596564e-02 5.60385079e+01] [ 4.31324199e-02 -7.43042895e-04 9.99069088e-01 5.80258907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.238040942 meters 0.021926650657804053 Centerline is valid? [True, True] Translation: X:113.40, Y:56.06, Z:5.80 [[ 5.66450867e-01 -8.23711106e-01 -2.51680451e-02 1.13401630e+02] [ 8.22962527e-01 5.67009121e-01 -3.51188854e-02 5.60605491e+01] [ 4.31983270e-02 -8.19234944e-04 9.99066181e-01 5.80356910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26804094199997 meters 0.021668847887644446 Centerline is valid? [True, True] Translation: X:113.42, Y:56.08, Z:5.80 [[ 5.65416756e-01 -8.24413508e-01 -2.54216327e-02 1.13416519e+02] [ 8.23650025e-01 5.65987279e-01 -3.54829068e-02 5.60843204e+01] [ 4.36409084e-02 -8.75898361e-04 9.99046898e-01 5.80431871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.29804094199997 meters 0.022088527193092115 Centerline is valid? [True, True] Translation: X:113.43, Y:56.11, Z:5.80 [[ 5.64580574e-01 -8.24977362e-01 -2.57124136e-02 1.13432817e+02] [ 8.24195961e-01 5.65165029e-01 -3.59097149e-02 5.61062552e+01] [ 4.41564589e-02 -9.18140022e-04 9.99024206e-01 5.80483715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32804094199997 meters 0.021941715079642144 Centerline is valid? [True, True] Translation: X:113.45, Y:56.13, Z:5.81 [[ 5.63442685e-01 -8.25750559e-01 -2.58525776e-02 1.13447510e+02] [ 8.24960558e-01 5.64034634e-01 -3.61249100e-02 5.61307136e+01] [ 4.44119138e-02 -9.73040571e-04 9.99012830e-01 5.80627694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.35804094199997 meters 0.021835333231459562 Centerline is valid? [True, True] Translation: X:113.46, Y:56.15, Z:5.81 [[ 5.63384366e-01 -8.25794439e-01 -2.57216066e-02 1.13463031e+02] [ 8.25011626e-01 5.63970409e-01 -3.59610250e-02 5.61544948e+01] [ 4.42026394e-02 -9.60745160e-04 9.99022124e-01 5.80758608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38804094199998 meters 0.021963061745204314 Centerline is valid? [True, True] Translation: X:113.48, Y:56.18, Z:5.81 [[ 5.63838838e-01 -8.25485696e-01 -2.56735467e-02 1.13477421e+02] [ 8.24704505e-01 5.64422285e-01 -3.59160665e-02 5.61777451e+01] [ 4.41389211e-02 -9.22216420e-04 9.99024977e-01 5.80873483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.41804094199998 meters 0.021869740612190335 Centerline is valid? [True, True] Translation: X:113.49, Y:56.20, Z:5.81 [[ 5.63893797e-01 -8.25451175e-01 -2.55762431e-02 1.13492866e+02] [ 8.24675231e-01 5.64472793e-01 -3.57942746e-02 5.62008670e+01] [ 4.39835194e-02 -9.07924774e-04 9.99031844e-01 5.80943885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44804094199998 meters 0.021712241775038194 Centerline is valid? [True, True] Translation: X:113.51, Y:56.22, Z:5.81 [[ 5.65034480e-01 -8.24668189e-01 -2.56595973e-02 1.13509183e+02] [ 8.23885393e-01 5.65616193e-01 -3.59330102e-02 5.62247386e+01] [ 4.41462942e-02 -8.37177685e-04 9.99024726e-01 5.81120607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.47804094199998 meters 0.021528289098986957 Centerline is valid? [True, True] Translation: X:113.52, Y:56.25, Z:5.81 [[ 5.65192667e-01 -8.24565545e-01 -2.54737352e-02 1.13524924e+02] [ 8.23793126e-01 5.65765854e-01 -3.56915045e-02 5.62482319e+01] [ 4.38421544e-02 -8.12511309e-04 9.99038140e-01 5.81277070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50804094199998 meters 0.021513134935773743 Centerline is valid? [True, True] Translation: X:113.54, Y:56.27, Z:5.81 [[ 5.65679686e-01 -8.24220325e-01 -2.58331141e-02 1.13540295e+02] [ 8.23424589e-01 5.66268701e-01 -3.62174538e-02 5.62700489e+01] [ 4.44796454e-02 -7.84143475e-04 9.99009983e-01 5.81396993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.53804094199998 meters 0.021297279509316043 Centerline is valid? [True, True] Translation: X:113.56, Y:56.29, Z:5.81 [[ 5.66409038e-01 -8.23705868e-01 -2.62572845e-02 1.13555384e+02] [ 8.22882374e-01 5.67016832e-01 -3.68308460e-02 5.62921752e+01] [ 4.52261062e-02 -7.45332504e-04 9.98976498e-01 5.81497411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56804094199998 meters 0.02130818342318469 Centerline is valid? [True, True] Translation: X:113.57, Y:56.31, Z:5.82 [[ 5.66529882e-01 -8.23613592e-01 -2.65432448e-02 1.13571172e+02] [ 8.22771272e-01 5.67150868e-01 -3.72468258e-02 5.63138011e+01] [ 4.57310163e-02 -7.37579509e-04 9.98953518e-01 5.81601186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.59804094199998 meters 0.021204229943544404 Centerline is valid? [True, True] Translation: X:113.59, Y:56.34, Z:5.82 [[ 5.66640467e-01 -8.23550680e-01 -2.61315669e-02 1.13587394e+02] [ 8.22733372e-01 5.67242252e-01 -3.66882131e-02 5.63357904e+01] [ 4.50375317e-02 -7.10285952e-04 9.98985043e-01 5.81776862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62804094199998 meters 0.02118895931647464 Centerline is valid? [True, True] Translation: X:113.60, Y:56.36, Z:5.82 [[ 5.66399006e-01 -8.23717752e-01 -2.61003910e-02 1.13603977e+02] [ 8.22901910e-01 5.66999607e-01 -3.66591391e-02 5.63585811e+01] [ 4.49956951e-02 -7.14361679e-04 9.98986925e-01 5.81929451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.65804094199999 meters 0.02099021082464506 Centerline is valid? [True, True] Translation: X:113.62, Y:56.38, Z:5.82 [[ 5.65869491e-01 -8.24079221e-01 -2.61755092e-02 1.13619488e+02] [ 8.23258091e-01 5.66474095e-01 -3.67860764e-02 5.63821963e+01] [ 4.51423890e-02 -7.33081419e-04 9.98980294e-01 5.82014171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.688040942 meters 0.02110674917007093 Centerline is valid? [True, True] Translation: X:113.64, Y:56.41, Z:5.82 [[ 5.64853204e-01 -8.24755012e-01 -2.68333223e-02 1.13636443e+02] [ 8.23891754e-01 5.65489646e-01 -3.77337768e-02 5.64052082e+01] [ 4.62950875e-02 -7.93708190e-04 9.98927492e-01 5.81970112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.718040942 meters 0.020929435463737683 Centerline is valid? [True, True] Translation: X:113.65, Y:56.43, Z:5.82 [[ 5.64206715e-01 -8.25189871e-01 -2.70639882e-02 1.13652631e+02] [ 8.24311160e-01 5.64854846e-01 -3.80803754e-02 5.64278498e+01] [ 4.67107650e-02 -8.23944020e-04 9.98908117e-01 5.82042391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.748040942 meters 0.02105144235358501 Centerline is valid? [True, True] Translation: X:113.67, Y:56.45, Z:5.82 [[ 5.63669019e-01 -8.25555771e-01 -2.71091433e-02 1.13669477e+02] [ 8.24673467e-01 5.64319908e-01 -3.81669201e-02 5.64497938e+01] [ 4.68071505e-02 -8.42680781e-04 9.98903589e-01 5.82162172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.778040942 meters 0.021161729937442635 Centerline is valid? [True, True] Translation: X:113.69, Y:56.47, Z:5.82 [[ 5.63257626e-01 -8.25836242e-01 -2.71173074e-02 1.13687139e+02] [ 8.24952666e-01 5.63909366e-01 -3.82011306e-02 5.64708092e+01] [ 4.68395818e-02 -8.53416913e-04 9.98902060e-01 5.82328897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.808040942 meters 0.02171598586868407 Centerline is valid? [True, True] Translation: X:113.70, Y:56.49, Z:5.82 [[ 5.63138791e-01 -8.25916757e-01 -2.71332410e-02 1.13704096e+02] [ 8.25031486e-01 5.63791438e-01 -3.82395290e-02 5.64915558e+01] [ 4.68801568e-02 -8.51616000e-04 9.98900158e-01 5.82465564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.838040942 meters 0.020999992280419183 Centerline is valid? [True, True] Translation: X:113.72, Y:56.52, Z:5.83 [[ 5.63491502e-01 -8.25668597e-01 -2.73622869e-02 1.13718405e+02] [ 8.24767024e-01 5.64154841e-01 -3.85833030e-02 5.65155354e+01] [ 4.72935883e-02 -8.26148619e-04 9.98880691e-01 5.82506309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.868040942 meters 0.020902875961963715 Centerline is valid? [True, True] Translation: X:113.73, Y:56.54, Z:5.83 [[ 5.63752656e-01 -8.25489779e-01 -2.73782363e-02 1.13734106e+02] [ 8.24585862e-01 5.64416501e-01 -3.86286137e-02 5.65384720e+01] [ 4.73402541e-02 -7.98722997e-04 9.98878502e-01 5.82571530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.898040942 meters 0.020367757416891008 Centerline is valid? [True, True] Translation: X:113.75, Y:56.56, Z:5.83 [[ 5.63922603e-01 -8.25371134e-01 -2.74552329e-02 1.13749022e+02] [ 8.24460884e-01 5.64590017e-01 -3.87603509e-02 5.65626938e+01] [ 4.74926251e-02 -7.77927595e-04 9.98871286e-01 5.82756842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.928040942 meters 0.020619085358570436 Centerline is valid? [True, True] Translation: X:113.77, Y:56.58, Z:5.83 [[ 5.63806900e-01 -8.25458306e-01 -2.72096522e-02 1.13765385e+02] [ 8.24563285e-01 5.64462576e-01 -3.84368318e-02 5.65844713e+01] [ 4.70868324e-02 -7.65129176e-04 9.98890507e-01 5.82819611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.958040942 meters 0.020563677613982794 Centerline is valid? [True, True] Translation: X:113.78, Y:56.61, Z:5.83 [[ 5.63510403e-01 -8.25662271e-01 -2.71632086e-02 1.13781617e+02] [ 8.24769765e-01 5.64164178e-01 -3.83876943e-02 5.66073945e+01] [ 4.70197801e-02 -7.71528126e-04 9.98893661e-01 5.82919431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.988040942 meters 0.020516229506198445 Centerline is valid? [True, True] Translation: X:113.80, Y:56.63, Z:5.83 [[ 5.62799340e-01 -8.26152715e-01 -2.69924750e-02 1.13797977e+02] [ 8.25270901e-01 5.63445703e-01 -3.81691040e-02 5.66299690e+01] [ 4.67423030e-02 -7.94557552e-04 9.98906665e-01 5.83083061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.01804094199997 meters 0.021464530182147834 Centerline is valid? [True, True] Translation: X:113.81, Y:56.65, Z:5.83 [[ 5.62499069e-01 -8.26364620e-01 -2.67640188e-02 1.13813479e+02] [ 8.25496875e-01 5.63134875e-01 -3.78684958e-02 5.66518152e+01] [ 4.63649375e-02 -7.92620266e-04 9.98924254e-01 5.83078024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04804094199997 meters 0.020742812141939036 Centerline is valid? [True, True] Translation: X:113.83, Y:56.67, Z:5.83 [[ 5.61915649e-01 -8.26752106e-01 -2.70510391e-02 1.13828805e+02] [ 8.25865097e-01 5.62565801e-01 -3.82957181e-02 5.66740492e+01] [ 4.68790550e-02 -8.21545719e-04 9.98900235e-01 5.83337041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.07804094199997 meters 0.020480985807328617 Centerline is valid? [True, True] Translation: X:113.84, Y:56.70, Z:5.83 [[ 5.61813876e-01 -8.26828968e-01 -2.68146580e-02 1.13843751e+02] [ 8.25956527e-01 5.62452845e-01 -3.79817512e-02 5.66972986e+01] [ 4.64863928e-02 -8.09066917e-04 9.98918596e-01 5.83393404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10804094199997 meters 0.020478204414533713 Centerline is valid? [True, True] Translation: X:113.86, Y:56.72, Z:5.83 [[ 5.61834865e-01 -8.26805270e-01 -2.71040457e-02 1.13858993e+02] [ 8.25912753e-01 5.62487690e-01 -3.84151558e-02 5.67197608e+01] [ 4.70075453e-02 -8.02603152e-04 9.98894212e-01 5.83496009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.13804094199998 meters 0.020478204414533713 Centerline is valid? [True, True] Translation: X:113.87, Y:56.74, Z:5.84 [[ 5.61599957e-01 -8.26965172e-01 -2.70941429e-02 1.13874812e+02] [ 8.26072504e-01 5.62252575e-01 -3.84221391e-02 5.67423374e+01] [ 4.70075225e-02 -8.03854766e-04 9.98894212e-01 5.83618398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16804094199998 meters 0.02049072095521155 Centerline is valid? [True, True] Translation: X:113.89, Y:56.77, Z:5.84 [[ 5.61862598e-01 -8.26794052e-01 -2.68703638e-02 1.13889673e+02] [ 8.25914814e-01 5.62504225e-01 -3.81276366e-02 5.67656935e+01] [ 4.66383963e-02 -7.70138507e-04 9.98911541e-01 5.83715506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.19804094199998 meters 0.020524173868676554 Centerline is valid? [True, True] Translation: X:113.91, Y:56.79, Z:5.84 [[ 5.61726026e-01 -8.26890198e-01 -2.67669953e-02 1.13905257e+02] [ 8.26016773e-01 5.62362889e-01 -3.80035680e-02 5.67883906e+01] [ 4.64775427e-02 -7.62393902e-04 9.98919044e-01 5.83854190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22804094199998 meters 0.02035908069933204 Centerline is valid? [True, True] Translation: X:113.92, Y:56.81, Z:5.84 [[ 5.61555974e-01 -8.27005877e-01 -2.67613103e-02 1.13920349e+02] [ 8.26132000e-01 5.62192762e-01 -3.80160093e-02 5.68118375e+01] [ 4.64844781e-02 -7.60257645e-04 9.98918723e-01 5.83979773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.25804094199998 meters 0.020192334442384934 Centerline is valid? [True, True] Translation: X:113.94, Y:56.83, Z:5.84 [[ 5.61533889e-01 -8.27012061e-01 -2.70322469e-02 1.13935407e+02] [ 8.26119303e-01 5.62183672e-01 -3.84241602e-02 5.68349665e+01] [ 4.69743317e-02 -7.55392833e-04 9.98895811e-01 5.84085718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28804094199998 meters 0.02026188176703706 Centerline is valid? [True, True] Translation: X:113.95, Y:56.86, Z:5.84 [[ 5.61617608e-01 -8.26955730e-01 -2.70163508e-02 1.13950618e+02] [ 8.26062867e-01 5.62266554e-01 -3.84247626e-02 5.68574975e+01] [ 4.69659680e-02 -7.37180934e-04 9.98896218e-01 5.84191009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.31804094199998 meters 0.020045556530071444 Centerline is valid? [True, True] Translation: X:113.96, Y:56.88, Z:5.84 [[ 5.62254374e-01 -8.26530055e-01 -2.67971519e-02 1.13964832e+02] [ 8.25650189e-01 5.62892174e-01 -3.81335233e-02 5.68815149e+01] [ 4.66024102e-02 -6.84333230e-04 9.98913283e-01 5.84244607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34804094199998 meters 0.019842281702420004 Centerline is valid? [True, True] Translation: X:113.98, Y:56.91, Z:5.84 [[ 5.62242102e-01 -8.26540950e-01 -2.67184738e-02 1.13979114e+02] [ 8.25665226e-01 5.62876192e-01 -3.80437416e-02 5.69062385e+01] [ 4.64839031e-02 -6.70721484e-04 9.98918814e-01 5.84312694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.37804094199998 meters 0.019700433484993923 Centerline is valid? [True, True] Translation: X:113.99, Y:56.93, Z:5.84 [[ 5.61730426e-01 -8.26889597e-01 -2.66931272e-02 1.13994074e+02] [ 8.26014872e-01 5.62363871e-01 -3.80303395e-02 5.69294267e+01] [ 4.64581424e-02 -6.86121230e-04 9.98920002e-01 5.84391977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40804094199999 meters 0.019946834724440705 Centerline is valid? [True, True] Translation: X:114.01, Y:56.95, Z:5.84 [[ 5.61146480e-01 -8.27276525e-01 -2.69847826e-02 1.14010095e+02] [ 8.26381996e-01 5.61794483e-01 -3.84675989e-02 5.69510055e+01] [ 4.69832435e-02 -7.13780733e-04 9.98895423e-01 5.84440185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.438040942 meters 0.01994138803487559 Centerline is valid? [True, True] Translation: X:114.03, Y:56.97, Z:5.85 [[ 5.60019354e-01 -8.28029423e-01 -2.73056300e-02 1.14026621e+02] [ 8.27113327e-01 5.60684114e-01 -3.89470091e-02 5.69743850e+01] [ 4.75591024e-02 -7.73771638e-04 9.98868126e-01 5.84539296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.468040942 meters 0.020189844493910206 Centerline is valid? [True, True] Translation: X:114.04, Y:57.00, Z:5.85 [[ 5.57974720e-01 -8.29400154e-01 -2.75607831e-02 1.14043516e+02] [ 8.28467451e-01 5.58654275e-01 -3.93329887e-02 5.69971765e+01] [ 4.80197362e-02 -8.86398416e-04 9.98845994e-01 5.84636896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.498040942 meters 0.02062245206424205 Centerline is valid? [True, True] Translation: X:114.06, Y:57.02, Z:5.85 [[ 5.55590605e-01 -8.30997994e-01 -2.75937212e-02 1.14060573e+02] [ 8.30064394e-01 5.56274480e-01 -3.93929511e-02 5.70204756e+01] [ 4.80851463e-02 -1.01821195e-03 9.98842721e-01 5.84733836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.528040942 meters 0.020909771413612537 Centerline is valid? [True, True] Translation: X:114.08, Y:57.04, Z:5.85 [[ 5.54433557e-01 -8.31765128e-01 -2.77525264e-02 1.14076466e+02] [ 8.30820711e-01 5.55126658e-01 -3.96401381e-02 5.70428904e+01] [ 4.83774517e-02 -1.07955097e-03 9.98828542e-01 5.84779223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.558040942 meters 0.02107518736808604 Centerline is valid? [True, True] Translation: X:114.09, Y:57.07, Z:5.85 [[ 5.53345026e-01 -8.32485239e-01 -2.78856602e-02 1.14092947e+02] [ 8.31532042e-01 5.54046050e-01 -3.98426682e-02 5.70671413e+01] [ 4.86183730e-02 -1.14107773e-03 9.98816776e-01 5.84895048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.588040942 meters 0.021231000797250807 Centerline is valid? [True, True] Translation: X:114.11, Y:57.09, Z:5.85 [[ 5.52319408e-01 -8.33176590e-01 -2.75688572e-02 1.14108630e+02] [ 8.32244807e-01 5.53005773e-01 -3.94106103e-02 5.70915934e+01] [ 4.80817351e-02 -1.17679325e-03 9.98842711e-01 5.85094753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.618040942 meters 0.02112018038542022 Centerline is valid? [True, True] Translation: X:114.12, Y:57.12, Z:5.85 [[ 5.52466464e-01 -8.33082120e-01 -2.74770499e-02 1.14124038e+02] [ 8.32155414e-01 5.53148129e-01 -3.93003039e-02 5.71150855e+01] [ 4.79392592e-02 -1.15307594e-03 9.98849587e-01 5.85194757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.648040942 meters 0.021141808202419468 Centerline is valid? [True, True] Translation: X:114.14, Y:57.14, Z:5.85 [[ 5.52808666e-01 -8.32851053e-01 -2.75989459e-02 1.14139541e+02] [ 8.31914663e-01 5.53496033e-01 -3.94985526e-02 5.71386346e+01] [ 4.81723182e-02 -1.12482561e-03 9.98838407e-01 5.85289678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.678040942 meters 0.020731271118145343 Centerline is valid? [True, True] Translation: X:114.15, Y:57.16, Z:5.85 [[ 5.54417177e-01 -8.31778537e-01 -2.76777667e-02 1.14154314e+02] [ 8.30834321e-01 5.55106676e-01 -3.96346961e-02 5.71637244e+01] [ 4.83314027e-02 -1.02148217e-03 9.98830833e-01 5.85343363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.708040942 meters 0.020060407617581735 Centerline is valid? [True, True] Translation: X:114.17, Y:57.19, Z:5.85 [[ 5.55134658e-01 -8.31289134e-01 -2.79979940e-02 1.14168236e+02] [ 8.30321252e-01 5.55839382e-01 -4.01148228e-02 5.71882590e+01] [ 4.89094040e-02 -9.78200980e-04 9.98802740e-01 5.85433041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.738040942 meters 0.02058764827894405 Centerline is valid? [True, True] Translation: X:114.18, Y:57.21, Z:5.85 [[ 5.57152139e-01 -8.29913958e-01 -2.87109060e-02 1.14184091e+02] [ 8.28893114e-01 5.57890735e-01 -4.11598584e-02 5.72111136e+01] [ 5.01766895e-02 -8.65969135e-04 9.98739981e-01 5.85319236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76804094199997 meters 0.019712137394579294 Centerline is valid? [True, True] Translation: X:114.20, Y:57.24, Z:5.85 [[ 5.57888503e-01 -8.29419244e-01 -2.87077631e-02 1.14197853e+02] [ 8.28397476e-01 5.58626039e-01 -4.11651525e-02 5.72361301e+01] [ 5.01800736e-02 -8.15873208e-04 9.98739853e-01 5.85457552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.79804094199997 meters 0.019589492853858127 Centerline is valid? [True, True] Translation: X:114.21, Y:57.26, Z:5.86 [[ 5.58577533e-01 -8.28945710e-01 -2.89853412e-02 1.14213034e+02] [ 8.27902168e-01 5.59328546e-01 -4.15881941e-02 5.72592515e+01] [ 5.06866838e-02 -7.66795970e-04 9.98714310e-01 5.85609134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82804094199997 meters 0.019408992118975527 Centerline is valid? [True, True] Translation: X:114.23, Y:57.28, Z:5.86 [[ 5.59275205e-01 -8.28481671e-01 -2.87987124e-02 1.14228104e+02] [ 8.27449681e-01 5.60015734e-01 -4.13449299e-02 5.72836596e+01] [ 5.03812487e-02 -7.06291234e-04 9.98729809e-01 5.85715745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.85804094199997 meters 0.01936463087907081 Centerline is valid? [True, True] Translation: X:114.24, Y:57.31, Z:5.86 [[ 5.58877105e-01 -8.28748459e-01 -2.88508818e-02 1.14243685e+02] [ 8.27711842e-01 5.59620833e-01 -4.14443023e-02 5.73069803e+01] [ 5.04924562e-02 -7.17944859e-04 9.98724184e-01 5.85822971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88804094199998 meters 0.019410775032439927 Centerline is valid? [True, True] Translation: X:114.26, Y:57.33, Z:5.86 [[ 5.57305640e-01 -8.29812645e-01 -2.86600381e-02 1.14260370e+02] [ 8.28789888e-01 5.58041523e-01 -4.11944263e-02 5.73305142e+01] [ 5.01771472e-02 -7.95263657e-04 9.98740017e-01 5.85970322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.91804094199998 meters 0.01954231698747647 Centerline is valid? [True, True] Translation: X:114.28, Y:57.35, Z:5.86 [[ 5.56072087e-01 -8.30646723e-01 -2.84579669e-02 1.14277242e+02] [ 8.29638334e-01 5.56799152e-01 -4.09260216e-02 5.73533897e+01] [ 4.98404376e-02 -8.52001997e-04 9.98756830e-01 5.86154084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94804094199998 meters 0.019873574345475438 Centerline is valid? [True, True] Translation: X:114.29, Y:57.37, Z:5.86 [[ 5.54950046e-01 -8.31411319e-01 -2.80297182e-02 1.14294025e+02] [ 8.30432892e-01 5.55656747e-01 -4.03335103e-02 5.73747701e+01] [ 4.91086390e-02 -8.93716542e-04 9.98793043e-01 5.86266663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.97804094199998 meters 0.020128033032752315 Centerline is valid? [True, True] Translation: X:114.31, Y:57.40, Z:5.86 [[ 5.53078009e-01 -8.32662104e-01 -2.79022560e-02 1.14311452e+02] [ 8.31693074e-01 5.53780502e-01 -4.01719634e-02 5.73977117e+01] [ 4.89013969e-02 -9.87883486e-04 9.98803122e-01 5.86422273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00804094199998 meters 0.020496757413300953 Centerline is valid? [True, True] Translation: X:114.33, Y:57.42, Z:5.86 [[ 5.51440544e-01 -8.33737918e-01 -2.81852918e-02 1.14327627e+02] [ 8.32749431e-01 5.52159319e-01 -4.06013780e-02 5.74214001e+01] [ 4.94136798e-02 -1.08203972e-03 9.98777812e-01 5.86393803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.03804094199998 meters 0.020747817419606282 Centerline is valid? [True, True] Translation: X:114.34, Y:57.45, Z:5.86 [[ 5.50404737e-01 -8.34417187e-01 -2.83299002e-02 1.14344200e+02] [ 8.33418331e-01 5.51132167e-01 -4.08315956e-02 5.74455825e+01] [ 4.96841045e-02 -1.13675451e-03 9.98764335e-01 5.86417328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06804094199998 meters 0.021021895021491186 Centerline is valid? [True, True] Translation: X:114.36, Y:57.47, Z:5.86 [[ 5.49747595e-01 -8.34836916e-01 -2.87211763e-02 1.14360852e+02] [ 8.33809694e-01 5.50496081e-01 -4.14181120e-02 5.74689822e+01] [ 5.03882639e-02 -1.17848772e-03 9.98729009e-01 5.86476005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.09804094199998 meters 0.020888629350436318 Centerline is valid? [True, True] Translation: X:114.38, Y:57.49, Z:5.87 [[ 5.49093476e-01 -8.35265276e-01 -2.87797406e-02 1.14376577e+02] [ 8.34233213e-01 5.49845853e-01 -4.15269189e-02 5.74922449e+01] [ 5.05104144e-02 -1.20685522e-03 9.98722805e-01 5.86608823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12804094199998 meters 0.020737700749665505 Centerline is valid? [True, True] Translation: X:114.39, Y:57.52, Z:5.87 [[ 5.49793882e-01 -8.34812887e-01 -2.85329773e-02 1.14392653e+02] [ 8.33796628e-01 5.50532596e-01 -4.11951976e-02 5.75153669e+01] [ 5.00986159e-02 -1.14183269e-03 9.98743623e-01 5.86816451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.15804094199999 meters 0.02048234932460001 Centerline is valid? [True, True] Translation: X:114.41, Y:57.54, Z:5.87 [[ 5.50798306e-01 -8.34141190e-01 -2.88045395e-02 1.14407044e+02] [ 8.33103314e-01 5.51549921e-01 -4.16119396e-02 5.75403986e+01] [ 5.05973743e-02 -1.07737149e-03 9.98718551e-01 5.86837021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.188040942 meters 0.02038201068678036 Centerline is valid? [True, True] Translation: X:114.42, Y:57.56, Z:5.87 [[ 5.51485333e-01 -8.33673263e-01 -2.92030545e-02 1.14422289e+02] [ 8.32604566e-01 5.52257022e-01 -4.22115941e-02 5.75640793e+01] [ 5.13182693e-02 -1.03552151e-03 9.98681813e-01 5.86876078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.218040942 meters 0.020473808566491794 Centerline is valid? [True, True] Translation: X:114.44, Y:57.59, Z:5.87 [[ 5.51905806e-01 -8.33375611e-01 -2.97501547e-02 1.14437201e+02] [ 8.32264691e-01 5.52706129e-01 -4.30281103e-02 5.75863158e+01] [ 5.23016705e-02 -1.01253943e-03 9.98630818e-01 5.86900721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.248040942 meters 0.020269259822867793 Centerline is valid? [True, True] Translation: X:114.45, Y:57.61, Z:5.87 [[ 5.52365578e-01 -8.33069682e-01 -2.97854611e-02 1.14452497e+02] [ 8.31954445e-01 5.53167209e-01 -4.31026677e-02 5.76098037e+01] [ 5.23838661e-02 -9.71716820e-04 9.98626550e-01 5.86990345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.278040942 meters 0.01990349180837871 Centerline is valid? [True, True] Translation: X:114.47, Y:57.63, Z:5.87 [[ 5.52988889e-01 -8.32652436e-01 -2.98866043e-02 1.14467779e+02] [ 8.31527643e-01 5.53795154e-01 -4.32747753e-02 5.76339346e+01] [ 5.25839037e-02 -9.21067706e-04 9.98616085e-01 5.87097593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.308040942 meters 0.019754549945080056 Centerline is valid? [True, True] Translation: X:114.48, Y:57.66, Z:5.87 [[ 5.53115061e-01 -8.32575028e-01 -2.97077801e-02 1.14483549e+02] [ 8.31462220e-01 5.53911567e-01 -4.30413001e-02 5.76573365e+01] [ 5.22905946e-02 -8.94105483e-04 9.98631511e-01 5.87249036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.338040942 meters 0.0198693886459354 Centerline is valid? [True, True] Translation: X:114.50, Y:57.68, Z:5.87 [[ 5.52779151e-01 -8.32808148e-01 -2.94244663e-02 1.14499267e+02] [ 8.31715498e-01 5.53561009e-01 -4.26560496e-02 5.76798439e+01] [ 5.18125430e-02 -8.93409791e-04 9.98656429e-01 5.87392630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.368040942 meters 0.019938534642583706 Centerline is valid? [True, True] Translation: X:114.51, Y:57.70, Z:5.88 [[ 5.52129329e-01 -8.33249567e-01 -2.91266775e-02 1.14514970e+02] [ 8.32178366e-01 5.52896307e-01 -4.22473878e-02 5.77028493e+01] [ 5.13066500e-02 -9.12568995e-04 9.98682530e-01 5.87580824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.398040942 meters 0.020070657072521595 Centerline is valid? [True, True] Translation: X:114.53, Y:57.73, Z:5.88 [[ 5.50702343e-01 -8.34212866e-01 -2.85626284e-02 1.14530684e+02] [ 8.33182859e-01 5.51441705e-01 -4.14532155e-02 5.77266712e+01] [ 5.03314302e-02 -9.69509563e-04 9.98732100e-01 5.87795786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.428040942 meters 0.020193618849902104 Centerline is valid? [True, True] Translation: X:114.55, Y:57.75, Z:5.88 [[ 5.49908372e-01 -8.34752031e-01 -2.81038927e-02 1.14546482e+02] [ 8.33754503e-01 5.50625158e-01 -4.08088685e-02 5.77496537e+01] [ 4.95399962e-02 -9.90608627e-04 9.98771649e-01 5.87945331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.458040942 meters 0.02069478646049862 Centerline is valid? [True, True] Translation: X:114.56, Y:57.77, Z:5.88 [[ 5.47957596e-01 -8.36047855e-01 -2.76849559e-02 1.14562177e+02] [ 8.35080404e-01 5.48655466e-01 -4.02231084e-02 5.77731973e+01] [ 4.88179459e-02 -1.07860635e-03 9.98807111e-01 5.88089313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.488040942 meters 0.020986789624368903 Centerline is valid? [True, True] Translation: X:114.58, Y:57.80, Z:5.88 [[ 5.46936208e-01 -8.36725032e-01 -2.74227036e-02 1.14578389e+02] [ 8.35776019e-01 5.47622100e-01 -3.98557530e-02 5.77972801e+01] [ 4.83655848e-02 -1.12068361e-03 9.98829072e-01 5.88233123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.51804094199997 meters 0.02115716830117733 Centerline is valid? [True, True] Translation: X:114.59, Y:57.82, Z:5.88 [[ 5.46352852e-01 -8.37128613e-01 -2.67253810e-02 1.14594072e+02] [ 8.36226822e-01 5.47004972e-01 -3.88620952e-02 5.78209127e+01] [ 4.71514882e-02 -1.11606383e-03 9.98887127e-01 5.88387933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54804094199997 meters 0.021319763281304673 Centerline is valid? [True, True] Translation: X:114.61, Y:57.84, Z:5.88 [[ 5.46362101e-01 -8.37123324e-01 -2.67019573e-02 1.14607894e+02] [ 8.36222033e-01 5.47013094e-01 -3.88508339e-02 5.78442462e+01] [ 4.71292595e-02 -1.10214184e-03 9.98888191e-01 5.88473902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.57804094199997 meters 0.020479684233693164 Centerline is valid? [True, True] Translation: X:114.62, Y:57.87, Z:5.89 [[ 5.46484275e-01 -8.37030376e-01 -2.71124972e-02 1.14620786e+02] [ 8.36100010e-01 5.47155318e-01 -3.94693750e-02 5.78698578e+01] [ 4.78718128e-02 -1.09936641e-03 9.98852883e-01 5.88579775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60804094199997 meters 0.020371960603214636 Centerline is valid? [True, True] Translation: X:114.63, Y:57.90, Z:5.89 [[ 5.47226366e-01 -8.36544078e-01 -2.71534394e-02 1.14632764e+02] [ 8.35609175e-01 5.47898633e-01 -3.95524234e-02 5.78952945e+01] [ 4.79646779e-02 -1.04553417e-03 9.98848485e-01 5.88573088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.63804094199998 meters 0.02021377959040235 Centerline is valid? [True, True] Translation: X:114.65, Y:57.92, Z:5.89 [[ 5.47661741e-01 -8.36262697e-01 -2.70429223e-02 1.14646534e+02] [ 8.35334289e-01 5.48328083e-01 -3.94073618e-02 5.79198843e+01] [ 4.77833004e-02 -1.00797583e-03 9.98857217e-01 5.88670432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66804094199998 meters 0.01975343800721105 Centerline is valid? [True, True] Translation: X:114.66, Y:57.94, Z:5.89 [[ 5.48203331e-01 -8.35911758e-01 -2.69191672e-02 1.14660243e+02] [ 8.34990310e-01 5.48863017e-01 -3.92501027e-02 5.79446714e+01] [ 4.75845576e-02 -9.60206691e-04 9.98866752e-01 5.88798328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.69804094199998 meters 0.020708645407095865 Centerline is valid? [True, True] Translation: X:114.68, Y:57.97, Z:5.89 [[ 5.48845244e-01 -8.35500733e-01 -2.65974462e-02 1.14676121e+02] [ 8.34599641e-01 5.49488593e-01 -3.88036787e-02 5.79669122e+01] [ 4.70354952e-02 -9.01004560e-04 9.98892812e-01 5.88918260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72804094199998 meters 0.020831047548846047 Centerline is valid? [True, True] Translation: X:114.69, Y:57.99, Z:5.89 [[ 5.48588084e-01 -8.35676527e-01 -2.63790867e-02 1.14691126e+02] [ 8.34789518e-01 5.49221207e-01 -3.85035750e-02 5.79904291e+01] [ 4.66644877e-02 -8.98382611e-04 9.98910215e-01 5.89042239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.75804094199998 meters 0.02085149300062075 Centerline is valid? [True, True] Translation: X:114.70, Y:58.01, Z:5.89 [[ 5.48883915e-01 -8.35501540e-01 -2.57609134e-02 1.14703986e+02] [ 8.34654504e-01 5.49487445e-01 -3.76218931e-02 5.80140546e+01] [ 4.55884481e-02 -8.51410444e-04 9.98959943e-01 5.89162264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78804094199998 meters 0.020959530920454543 Centerline is valid? [True, True] Translation: X:114.72, Y:58.04, Z:5.89 [[ 5.48511801e-01 -8.35753716e-01 -2.55054949e-02 1.14718711e+02] [ 8.34922704e-01 5.49103816e-01 -3.72703255e-02 5.80380435e+01] [ 4.51539776e-02 -8.51903420e-04 9.98979676e-01 5.89286682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.81804094199998 meters 0.02079124340300157 Centerline is valid? [True, True] Translation: X:114.73, Y:58.06, Z:5.89 [[ 5.48589294e-01 -8.35718723e-01 -2.49800498e-02 1.14733409e+02] [ 8.34920705e-01 5.49157120e-01 -3.65222256e-02 5.80621156e+01] [ 4.42402799e-02 -8.20658856e-04 9.99020582e-01 5.89444839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84804094199998 meters 0.020941600430807453 Centerline is valid? [True, True] Translation: X:114.75, Y:58.08, Z:5.90 [[ 5.48416888e-01 -8.35856343e-01 -2.41472766e-02 1.14747428e+02] [ 8.35109988e-01 5.48947670e-01 -3.53236854e-02 5.80847793e+01] [ 4.27811177e-02 -7.93526283e-04 9.99084154e-01 5.89733204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.87804094199998 meters 0.019543578321408465 Centerline is valid? [True, True] Translation: X:114.76, Y:58.11, Z:5.90 [[ 5.48387247e-01 -8.35881824e-01 -2.39374780e-02 1.14759404e+02] [ 8.35147834e-01 5.48908887e-01 -3.50304108e-02 5.81104838e+01] [ 4.24207781e-02 -7.81102348e-04 9.99099528e-01 5.89874836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90804094199999 meters 0.020952717303209724 Centerline is valid? [True, True] Translation: X:114.78, Y:58.13, Z:5.90 [[ 5.48856386e-01 -8.35605037e-01 -2.28230075e-02 1.14775716e+02] [ 8.34936790e-01 5.49330241e-01 -3.34192117e-02 5.81323288e+01] [ 4.04626298e-02 -7.13420848e-04 9.99180798e-01 5.90141436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.938040942 meters 0.01915192186248924 Centerline is valid? [True, True] Translation: X:114.79, Y:58.16, Z:5.90 [[ 5.48834917e-01 -8.35632610e-01 -2.23243289e-02 1.14786228e+02] [ 8.34992795e-01 5.49288322e-01 -3.27012419e-02 5.81588279e+01] [ 3.95887172e-02 -6.93070394e-04 9.99215819e-01 5.90138738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.968040942 meters 0.020854114659722926 Centerline is valid? [True, True] Translation: X:114.80, Y:58.18, Z:5.90 [[ 5.48762905e-01 -8.35676893e-01 -2.24366822e-02 1.14804072e+02] [ 8.35029842e-01 5.49220955e-01 -3.28862695e-02 5.81796445e+01] [ 3.98049915e-02 -6.88534375e-04 9.99207230e-01 5.90381711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.998040942 meters 0.019161541301226635 Centerline is valid? [True, True] Translation: X:114.81, Y:58.21, Z:5.90 [[ 5.48817753e-01 -8.35649135e-01 -2.21268576e-02 1.14813325e+02] [ 8.35019141e-01 5.49263214e-01 -3.24492877e-02 5.82069878e+01] [ 3.92696881e-02 -6.67604457e-04 9.99228425e-01 5.90326227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.028040942 meters 0.01981766857015636 Centerline is valid? [True, True] Translation: X:114.83, Y:58.23, Z:5.90 [[ 5.48238720e-01 -8.36030392e-01 -2.20791922e-02 1.14828717e+02] [ 8.35402644e-01 5.48682712e-01 -3.23991388e-02 5.82297881e+01] [ 3.92011357e-02 -6.82553149e-04 9.99231107e-01 5.90477675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.058040942 meters 0.01981766857015636 Centerline is valid? [True, True] Translation: X:114.84, Y:58.25, Z:5.91 [[ 5.48016212e-01 -8.36176480e-01 -2.20709349e-02 1.14844134e+02] [ 8.35548624e-01 5.48460051e-01 -3.24047626e-02 5.82526147e+01] [ 3.92011265e-02 -6.83004047e-04 9.99231107e-01 5.90600033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.088040942 meters 0.01974283962859576 Centerline is valid? [True, True] Translation: X:114.86, Y:58.28, Z:5.91 [[ 5.47124056e-01 -8.36766698e-01 -2.18348439e-02 1.14856955e+02] [ 8.36151970e-01 5.47559122e-01 -3.20763278e-02 5.82779911e+01] [ 3.87962709e-02 -7.07517185e-04 9.99246891e-01 5.90613033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.118040942 meters 0.01983905001363711 Centerline is valid? [True, True] Translation: X:114.87, Y:58.30, Z:5.91 [[ 5.46592382e-01 -8.37112486e-01 -2.18964355e-02 1.14871207e+02] [ 8.36493859e-01 5.47030311e-01 -3.21848176e-02 5.83019128e+01] [ 3.89203266e-02 -7.24257727e-04 9.99242055e-01 5.90701845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.148040942 meters 0.019251873267226077 Centerline is valid? [True, True] Translation: X:114.88, Y:58.33, Z:5.91 [[ 5.46973575e-01 -8.36862586e-01 -2.19298707e-02 1.14882762e+02] [ 8.36241135e-01 5.47412573e-01 -3.22527359e-02 5.83283921e+01] [ 3.89957950e-02 -6.97265680e-04 9.99239131e-01 5.90686016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.178040942 meters 0.019160716524965142 Centerline is valid? [True, True] Translation: X:114.90, Y:58.35, Z:5.91 [[ 5.46957714e-01 -8.36873268e-01 -2.19178686e-02 1.14896225e+02] [ 8.36251756e-01 5.47396257e-01 -3.22542930e-02 5.83527178e+01] [ 3.89905148e-02 -6.87121741e-04 9.99239345e-01 5.90745103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.208040942 meters 0.019534143002267912 Centerline is valid? [True, True] Translation: X:114.91, Y:58.38, Z:5.91 [[ 5.46916449e-01 -8.36898776e-01 -2.19735479e-02 1.14911010e+02] [ 8.36273339e-01 5.47357266e-01 -3.23562438e-02 5.83757370e+01] [ 3.91062819e-02 -6.79730316e-04 9.99234826e-01 5.90856755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.238040942 meters 0.019294853226972653 Centerline is valid? [True, True] Translation: X:114.92, Y:58.40, Z:5.91 [[ 5.46377716e-01 -8.37248098e-01 -2.20683973e-02 1.14922967e+02] [ 8.36616846e-01 5.46822764e-01 -3.25133630e-02 5.84021159e+01] [ 3.92892534e-02 -6.98215891e-04 9.99227635e-01 5.90828481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26804094199997 meters 0.019327627041807287 Centerline is valid? [True, True] Translation: X:114.94, Y:58.43, Z:5.91 [[ 5.45944296e-01 -8.37524151e-01 -2.23186452e-02 1.14937431e+02] [ 8.36877931e-01 5.46399840e-01 -3.29020293e-02 5.84265110e+01] [ 3.97511483e-02 -7.15306412e-04 9.99209355e-01 5.90918943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.29804094199997 meters 0.019609161482697667 Centerline is valid? [True, True] Translation: X:114.95, Y:58.45, Z:5.91 [[ 5.45352532e-01 -8.37921009e-01 -2.18860567e-02 1.14950817e+02] [ 8.37299178e-01 5.45791046e-01 -3.22834334e-02 5.84505601e+01] [ 3.89961809e-02 -7.19325195e-04 9.99239101e-01 5.91046799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32804094199997 meters 0.01981912507861443 Centerline is valid? [True, True] Translation: X:114.96, Y:58.47, Z:5.91 [[ 5.45090385e-01 -8.38105037e-01 -2.13639605e-02 1.14964963e+02] [ 8.37512051e-01 5.45508431e-01 -3.15295938e-02 5.84741201e+01] [ 3.80793319e-02 -7.06096000e-04 9.99274470e-01 5.91219786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.35804094199997 meters 0.01999856154963279 Centerline is valid? [True, True] Translation: X:114.98, Y:58.50, Z:5.91 [[ 5.44596716e-01 -8.38428509e-01 -2.12615168e-02 1.14979223e+02] [ 8.37840820e-01 5.45011121e-01 -3.13948602e-02 5.84981175e+01] [ 3.79101089e-02 -7.16228880e-04 9.99280897e-01 5.91345307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38804094199998 meters 0.020267036697548802 Centerline is valid? [True, True] Translation: X:114.99, Y:58.52, Z:5.91 [[ 5.43914267e-01 -8.38876471e-01 -2.10603147e-02 1.14990870e+02] [ 8.38299505e-01 5.44321351e-01 -3.11160271e-02 5.85227869e+01] [ 3.75660819e-02 -7.30400301e-04 9.99293879e-01 5.91405052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.41804094199998 meters 0.02030919220306157 Centerline is valid? [True, True] Translation: X:115.00, Y:58.55, Z:5.92 [[ 5.43550535e-01 -8.39115824e-01 -2.09152951e-02 1.15004729e+02] [ 8.38546375e-01 5.43952292e-01 -3.09173285e-02 5.85475554e+01] [ 3.73201423e-02 -7.33314454e-04 9.99303092e-01 5.91514091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44804094199998 meters 0.020800499916427132 Centerline is valid? [True, True] Translation: X:115.02, Y:58.57, Z:5.92 [[ 5.42843653e-01 -8.39578552e-01 -2.07032372e-02 1.15016653e+02] [ 8.39020212e-01 5.43237791e-01 -3.06232852e-02 5.85729847e+01] [ 3.69574342e-02 -7.46778468e-04 9.99316562e-01 5.91674361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.47804094199998 meters 0.019813666043129025 Centerline is valid? [True, True] Translation: X:115.03, Y:58.60, Z:5.92 [[ 5.42280710e-01 -8.39952711e-01 -2.02749690e-02 1.15028457e+02] [ 8.39417299e-01 5.42659079e-01 -2.99953809e-02 5.86002146e+01] [ 3.61970975e-02 -7.53243221e-04 9.99344386e-01 5.91701287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50804094199998 meters 0.0201148746415288 Centerline is valid? [True, True] Translation: X:115.04, Y:58.62, Z:5.92 [[ 5.41272789e-01 -8.40601735e-01 -2.03098690e-02 1.15042219e+02] [ 8.40064283e-01 5.41653119e-01 -3.00649225e-02 5.86247072e+01] [ 3.62735299e-02 -7.88271038e-04 9.99341588e-01 5.91828761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.53804094199998 meters 0.02030043977846539 Centerline is valid? [True, True] Translation: X:115.05, Y:58.65, Z:5.92 [[ 5.39855135e-01 -8.41531025e-01 -1.95439868e-02 1.15054597e+02] [ 8.41033767e-01 5.40208172e-01 -2.89367365e-02 5.86511241e+01] [ 3.49089829e-02 -8.15507011e-04 9.99390163e-01 5.91901656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56804094199998 meters 0.020123020970615444 Centerline is valid? [True, True] Translation: X:115.07, Y:58.68, Z:5.92 [[ 5.39277143e-01 -8.41909214e-01 -1.92103668e-02 1.15068538e+02] [ 8.41428521e-01 5.39618575e-01 -2.84576356e-02 5.86763222e+01] [ 3.43250164e-02 -8.17598118e-04 9.99410389e-01 5.91999801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.59804094199998 meters 0.020262270720051188 Centerline is valid? [True, True] Translation: X:115.08, Y:58.70, Z:5.92 [[ 5.39506491e-01 -8.41771107e-01 -1.88188859e-02 1.15079798e+02] [ 8.41309252e-01 5.39834038e-01 -2.78918390e-02 5.87027941e+01] [ 3.36376193e-02 -7.84674653e-04 9.99433787e-01 5.92059705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62804094199998 meters 0.02034526700668071 Centerline is valid? [True, True] Translation: X:115.09, Y:58.73, Z:5.92 [[ 5.39476773e-01 -8.41786588e-01 -1.89776384e-02 1.15092155e+02] [ 8.41316223e-01 5.39809901e-01 -2.81475314e-02 5.87266918e+01] [ 3.39385315e-02 -7.81255659e-04 9.99423617e-01 5.92121176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.65804094199999 meters 0.01996833498489188 Centerline is valid? [True, True] Translation: X:115.10, Y:58.75, Z:5.92 [[ 5.40302142e-01 -8.41239929e-01 -1.97225143e-02 1.15102376e+02] [ 8.40731238e-01 5.40661434e-01 -2.92608824e-02 5.87546059e+01] [ 3.52786255e-02 -7.71616413e-04 9.99377218e-01 5.92080116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.688040942 meters 0.02020596430649199 Centerline is valid? [True, True] Translation: X:115.12, Y:58.78, Z:5.92 [[ 5.40311225e-01 -8.41229526e-01 -1.99164523e-02 1.15115663e+02] [ 8.40710126e-01 5.40677625e-01 -2.95667088e-02 5.87781930e+01] [ 3.56407686e-02 -7.68738451e-04 9.99364370e-01 5.92115540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.718040942 meters 0.020192240077847225 Centerline is valid? [True, True] Translation: X:115.13, Y:58.80, Z:5.92 [[ 5.40474529e-01 -8.41118671e-01 -2.01659076e-02 1.15127669e+02] [ 8.40585792e-01 5.40850066e-01 -2.99454941e-02 5.88045787e+01] [ 3.60944467e-02 -7.66398561e-04 9.99348089e-01 5.92161673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.748040942 meters 0.020207442539137532 Centerline is valid? [True, True] Translation: X:115.14, Y:58.83, Z:5.92 [[ 5.40210756e-01 -8.41292167e-01 -1.99957241e-02 1.15141366e+02] [ 8.40767815e-01 5.40580158e-01 -2.97081457e-02 5.88288595e+01] [ 3.58025220e-02 -7.63101377e-04 9.99358593e-01 5.92279551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.778040942 meters 0.020171810844213843 Centerline is valid? [True, True] Translation: X:115.16, Y:58.85, Z:5.92 [[ 5.39916712e-01 -8.41485104e-01 -1.98182551e-02 1.15155092e+02] [ 8.40969508e-01 5.40279782e-01 -2.94625737e-02 5.88532977e+01] [ 3.54997195e-02 -7.59212333e-04 9.99369398e-01 5.92428814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.808040942 meters 0.02036425788936465 Centerline is valid? [True, True] Translation: X:115.17, Y:58.88, Z:5.93 [[ 5.39449850e-01 -8.41791062e-01 -1.95363224e-02 1.15166963e+02] [ 8.41289588e-01 5.39802958e-01 -2.90619386e-02 5.88796329e+01] [ 3.50098448e-02 -7.58246164e-04 9.99386680e-01 5.92583549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.838040942 meters 0.02073461052786104 Centerline is valid? [True, True] Translation: X:115.18, Y:58.90, Z:5.93 [[ 5.39342850e-01 -8.41857529e-01 -1.96262910e-02 1.15179982e+02] [ 8.41350849e-01 5.39699295e-01 -2.92133463e-02 5.89033466e+01] [ 3.51857709e-02 -7.56587101e-04 9.99380503e-01 5.92684162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.868040942 meters 0.021545603881667597 Centerline is valid? [True, True] Translation: X:115.19, Y:58.93, Z:5.93 [[ 5.38892655e-01 -8.42124280e-01 -2.05281315e-02 1.15191973e+02] [ 8.41569737e-01 5.39282905e-01 -3.05667530e-02 5.89282546e+01] [ 3.68114752e-02 -8.03655539e-04 9.99321905e-01 5.92691480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.898040942 meters 0.021030525299862952 Centerline is valid? [True, True] Translation: X:115.20, Y:58.95, Z:5.93 [[ 5.38542610e-01 -8.42347156e-01 -2.05700064e-02 1.15204461e+02] [ 8.41790209e-01 5.38934692e-01 -3.06372492e-02 5.89532750e+01] [ 3.68930899e-02 -8.16165854e-04 9.99318885e-01 5.92720153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.928040942 meters 0.021180226790033882 Centerline is valid? [True, True] Translation: X:115.22, Y:58.98, Z:5.93 [[ 5.38300178e-01 -8.42496139e-01 -2.08128472e-02 1.15218440e+02] [ 8.41925352e-01 5.38701749e-01 -3.10181690e-02 5.89774758e+01] [ 3.73446048e-02 -8.25777798e-04 9.99302106e-01 5.92845912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.958040942 meters 0.021490290286365926 Centerline is valid? [True, True] Translation: X:115.23, Y:59.00, Z:5.93 [[ 5.37819031e-01 -8.42805541e-01 -2.07246297e-02 1.15230278e+02] [ 8.42239118e-01 5.38217545e-01 -3.09053668e-02 5.90032906e+01] [ 3.72015737e-02 -8.33599374e-04 9.99307434e-01 5.93014639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.988040942 meters 0.02168225239803984 Centerline is valid? [True, True] Translation: X:115.24, Y:59.03, Z:5.93 [[ 5.37358255e-01 -8.43102159e-01 -2.06120310e-02 1.15243545e+02] [ 8.42541410e-01 5.37752773e-01 -3.07559176e-02 5.90276533e+01] [ 3.70145574e-02 -8.39543416e-04 9.99314374e-01 5.93158075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.01804094199997 meters 0.02235472801863306 Centerline is valid? [True, True] Translation: X:115.26, Y:59.05, Z:5.93 [[ 5.36707694e-01 -8.43519324e-01 -2.04939272e-02 1.15255489e+02] [ 8.42964537e-01 5.37098150e-01 -3.06000954e-02 5.90527164e+01] [ 3.68190222e-02 -8.52347225e-04 9.99321586e-01 5.93236215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04804094199997 meters 0.022635538872516466 Centerline is valid? [True, True] Translation: X:115.27, Y:59.08, Z:5.93 [[ 5.36282562e-01 -8.43779789e-01 -2.08969015e-02 1.15269346e+02] [ 8.43202898e-01 5.36688817e-01 -3.12087651e-02 5.90757694e+01] [ 3.75484586e-02 -8.83611368e-04 9.99294417e-01 5.93354336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.07804094199997 meters 0.022597742239802075 Centerline is valid? [True, True] Translation: X:115.28, Y:59.10, Z:5.93 [[ 5.35923102e-01 -8.44008929e-01 -2.08652110e-02 1.15283294e+02] [ 8.43433354e-01 5.36328385e-01 -3.11775663e-02 5.91006172e+01] [ 3.75047493e-02 -8.89636832e-04 9.99296053e-01 5.93485725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10804094199997 meters 0.022212198435742528 Centerline is valid? [True, True] Translation: X:115.29, Y:59.13, Z:5.94 [[ 5.36225662e-01 -8.43811674e-01 -2.10688687e-02 1.15294669e+02] [ 8.43223928e-01 5.36638700e-01 -3.15010134e-02 5.91275375e+01] [ 3.78872932e-02 -8.74122419e-04 9.99281636e-01 5.93601956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.13804094199998 meters 0.022106527283994325 Centerline is valid? [True, True] Translation: X:115.31, Y:59.15, Z:5.94 [[ 5.36760442e-01 -8.43469936e-01 -2.11351572e-02 1.15308116e+02] [ 8.42877586e-01 5.37175721e-01 -3.16167753e-02 5.91527588e+01] [ 3.80210927e-02 -8.43716044e-04 9.99276581e-01 5.93714556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16804094199998 meters 0.022219003381779748 Centerline is valid? [True, True] Translation: X:115.32, Y:59.18, Z:5.94 [[ 5.37595572e-01 -8.42935154e-01 -2.12444420e-02 1.15319243e+02] [ 8.42335533e-01 5.38014578e-01 -3.17988073e-02 5.91782854e+01] [ 3.82341520e-02 -8.00050352e-04 9.99268487e-01 5.93888059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.19804094199998 meters 0.022344186149172086 Centerline is valid? [True, True] Translation: X:115.33, Y:59.20, Z:5.94 [[ 5.37674650e-01 -8.42889316e-01 -2.10611307e-02 1.15332838e+02] [ 8.42299830e-01 5.38086406e-01 -3.15280195e-02 5.92028466e+01] [ 3.79073389e-02 -7.87969959e-04 9.99280948e-01 5.94010197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22804094199998 meters 0.022850994692300692 Centerline is valid? [True, True] Translation: X:115.35, Y:59.23, Z:5.94 [[ 5.37704399e-01 -8.42875265e-01 -2.08630551e-02 1.15346912e+02] [ 8.42296111e-01 5.38108442e-01 -3.12500599e-02 5.92259378e+01] [ 3.75664886e-02 -7.69575452e-04 9.99293834e-01 5.94216075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.25804094199998 meters 0.02272755440748402 Centerline is valid? [True, True] Translation: X:115.36, Y:59.25, Z:5.94 [[ 5.37638503e-01 -8.42918649e-01 -2.08084326e-02 1.15360596e+02] [ 8.42341955e-01 5.38040491e-01 -3.11843156e-02 5.92503438e+01] [ 3.74816205e-02 -7.61927038e-04 9.99297027e-01 5.94385029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28804094199998 meters 0.023045469859426675 Centerline is valid? [True, True] Translation: X:115.37, Y:59.27, Z:5.95 [[ 5.38356996e-01 -8.42469987e-01 -2.03976797e-02 1.15373460e+02] [ 8.41914843e-01 5.38742816e-01 -3.05871707e-02 5.92744360e+01] [ 3.67578767e-02 -7.06291997e-04 9.99323951e-01 5.94650326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.31804094199998 meters 0.022384037683117714 Centerline is valid? [True, True] Translation: X:115.38, Y:59.30, Z:5.95 [[ 5.39057653e-01 -8.42008409e-01 -2.09448514e-02 1.15383967e+02] [ 8.41422293e-01 5.39463963e-01 -3.14190597e-02 5.93024204e+01] [ 3.77541050e-02 -6.86780366e-04 9.99286824e-01 5.94622164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34804094199998 meters 0.022537528355898166 Centerline is valid? [True, True] Translation: X:115.40, Y:59.33, Z:5.95 [[ 5.39218834e-01 -8.41896629e-01 -2.12865178e-02 1.15398028e+02] [ 8.41290489e-01 5.39638400e-01 -3.19485379e-02 5.93273446e+01] [ 3.83843888e-02 -6.80891626e-04 9.99262816e-01 5.94712168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.37804094199998 meters 0.022354541723566223 Centerline is valid? [True, True] Translation: X:115.41, Y:59.35, Z:5.95 [[ 5.39346313e-01 -8.41808861e-01 -2.15266400e-02 1.15411267e+02] [ 8.41188248e-01 5.39775313e-01 -3.23255825e-02 5.93518702e+01] [ 3.88315106e-02 -6.73272868e-04 9.99245546e-01 5.94804937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40804094199999 meters 0.022683946903485644 Centerline is valid? [True, True] Translation: X:115.42, Y:59.38, Z:5.95 [[ 5.40218988e-01 -8.41253955e-01 -2.13361045e-02 1.15424776e+02] [ 8.40643055e-01 5.40639810e-01 -3.20601108e-02 5.93762063e+01] [ 3.85058425e-02 -6.16567421e-04 9.99258185e-01 5.95032358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.438040942 meters 0.022146485855508078 Centerline is valid? [True, True] Translation: X:115.44, Y:59.40, Z:5.95 [[ 5.40325676e-01 -8.41185814e-01 -2.13211085e-02 1.15437155e+02] [ 8.40575397e-01 5.40745834e-01 -3.20459860e-02 5.94014497e+01] [ 3.84859294e-02 -6.06730196e-04 9.99258958e-01 5.95093691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.468040942 meters 0.022732389036559372 Centerline is valid? [True, True] Translation: X:115.45, Y:59.42, Z:5.95 [[ 5.41049041e-01 -8.40706903e-01 -2.18595091e-02 1.15452156e+02] [ 8.40063976e-01 5.41490140e-01 -3.28777099e-02 5.94248036e+01] [ 3.94772263e-02 -5.74932721e-04 9.99220305e-01 5.95245061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.498040942 meters 0.02275235110769243 Centerline is valid? [True, True] Translation: X:115.47, Y:59.45, Z:5.95 [[ 5.41401837e-01 -8.40482348e-01 -2.17594497e-02 1.15467033e+02] [ 8.39844743e-01 5.41838647e-01 -3.27366632e-02 5.94487414e+01] [ 3.93046983e-02 -5.50869815e-04 9.99227120e-01 5.95397161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.528040942 meters 0.022532262356056657 Centerline is valid? [True, True] Translation: X:115.48, Y:59.48, Z:5.96 [[ 5.43133889e-01 -8.39366557e-01 -2.16647628e-02 1.15479785e+02] [ 8.38732859e-01 5.43565611e-01 -3.26131642e-02 5.94753157e+01] [ 3.91506194e-02 -4.57633793e-04 9.99233216e-01 5.95584704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.558040942 meters 0.022655903726577994 Centerline is valid? [True, True] Translation: X:115.49, Y:59.50, Z:5.96 [[ 5.44357980e-01 -8.38571840e-01 -2.17177058e-02 1.15494370e+02] [ 8.37933679e-01 5.44790892e-01 -3.27113571e-02 5.94993026e+01] [ 3.92624312e-02 -3.91308858e-04 9.99228857e-01 5.95786821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.588040942 meters 0.02263713274919983 Centerline is valid? [True, True] Translation: X:115.51, Y:59.52, Z:5.96 [[ 5.45288837e-01 -8.37971115e-01 -2.15521525e-02 1.15508251e+02] [ 8.37341828e-01 5.45714481e-01 -3.24710435e-02 5.95240758e+01] [ 3.89711183e-02 -3.40421217e-04 9.99240279e-01 5.95918870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.618040942 meters 0.0225716909426778 Centerline is valid? [True, True] Translation: X:115.52, Y:59.55, Z:5.96 [[ 5.47273824e-01 -8.36657932e-01 -2.22455879e-02 1.15521496e+02] [ 8.35985602e-01 5.47725703e-01 -3.35354737e-02 5.95503820e+01] [ 4.02422004e-02 -2.43904244e-04 9.99189925e-01 5.95982428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.648040942 meters 0.022700468827013317 Centerline is valid? [True, True] Translation: X:115.54, Y:59.57, Z:5.96 [[ 5.47845192e-01 -8.36279417e-01 -2.24139041e-02 1.15536627e+02] [ 8.35595771e-01 5.48303469e-01 -3.38084653e-02 5.95731783e+01] [ 4.05629450e-02 -2.07158324e-04 9.99176964e-01 5.96165185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.678040942 meters 0.02281606754033558 Centerline is valid? [True, True] Translation: X:115.55, Y:59.60, Z:5.96 [[ 5.49064636e-01 -8.35470775e-01 -2.27290546e-02 1.15551153e+02] [ 8.34766469e-01 5.49534862e-01 -3.42983728e-02 5.95977222e+01] [ 4.11456959e-02 -1.41429044e-04 9.99153147e-01 5.96293090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.708040942 meters 0.022879445981096307 Centerline is valid? [True, True] Translation: X:115.57, Y:59.62, Z:5.96 [[ 5.49437268e-01 -8.35216055e-01 -2.30831043e-02 1.15566030e+02] [ 8.34488547e-01 5.49921929e-01 -3.48530764e-02 5.96209246e+01] [ 4.18037542e-02 -1.13007059e-04 9.99125835e-01 5.96453911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.738040942 meters 0.022917604917889023 Centerline is valid? [True, True] Translation: X:115.58, Y:59.64, Z:5.97 [[ 5.49544915e-01 -8.35145573e-01 -2.30707174e-02 1.15581125e+02] [ 8.34417872e-01 5.50028965e-01 -3.48561556e-02 5.96443696e+01] [ 4.17995269e-02 -9.55958395e-05 9.99126013e-01 5.96604170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76804094199997 meters 0.023108338107537926 Centerline is valid? [True, True] Translation: X:115.60, Y:59.67, Z:5.97 [[ 5.49553143e-01 -8.35124120e-01 -2.36441675e-02 1.15596678e+02] [ 8.34358755e-01 5.50061539e-01 -3.57459322e-02 5.96659765e+01] [ 4.28580374e-02 -8.34287743e-05 9.99081169e-01 5.96776026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.79804094199997 meters 0.02332333565963551 Centerline is valid? [True, True] Translation: X:115.61, Y:59.69, Z:5.97 [[ 5.48269206e-01 -8.35967674e-01 -2.36416212e-02 1.15613763e+02] [ 8.35202592e-01 5.48778670e-01 -3.57575424e-02 5.96873540e+01] [ 4.28661670e-02 -1.40783911e-04 9.99080814e-01 5.97055483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82804094199997 meters 0.02344021619030795 Centerline is valid? [True, True] Translation: X:115.63, Y:59.71, Z:5.97 [[ 5.47413523e-01 -8.36531367e-01 -2.35310000e-02 1.15629962e+02] [ 8.35773451e-01 5.47919010e-01 -3.56019298e-02 5.97096369e+01] [ 4.26752132e-02 -1.77607248e-04 9.99088982e-01 5.97222092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.85804094199997 meters 0.023540877632831567 Centerline is valid? [True, True] Translation: X:115.65, Y:59.73, Z:5.97 [[ 5.46212523e-01 -8.37316792e-01 -2.35046552e-02 1.15646467e+02] [ 8.36560373e-01 5.46717969e-01 -3.55837585e-02 5.97323587e+01] [ 4.26452959e-02 -2.26768576e-04 9.99090250e-01 5.97361817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88804094199998 meters 0.02434333027811377 Centerline is valid? [True, True] Translation: X:115.66, Y:59.75, Z:5.97 [[ 5.45016452e-01 -8.38075768e-01 -2.42089683e-02 1.15663692e+02] [ 8.37273024e-01 5.45553781e-01 -3.66736215e-02 5.97541711e+01] [ 4.39425677e-02 -2.81789050e-04 9.99034019e-01 5.97364400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.91804094199998 meters 0.023758256660249128 Centerline is valid? [True, True] Translation: X:115.68, Y:59.78, Z:5.98 [[ 5.44236557e-01 -8.38581412e-01 -2.42443059e-02 1.15679594e+02] [ 8.37775804e-01 5.44776211e-01 -3.67502806e-02 5.97769697e+01] [ 4.40258233e-02 -3.10446693e-04 9.99030345e-01 5.97570052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94804094199998 meters 0.023758256660249128 Centerline is valid? [True, True] Translation: X:115.69, Y:59.80, Z:5.98 [[ 5.43993451e-01 -8.38739444e-01 -2.42336501e-02 1.15694666e+02] [ 8.37933680e-01 5.44532871e-01 -3.67573058e-02 5.97999772e+01] [ 4.40258213e-02 -3.10457981e-04 9.99030345e-01 5.97692379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.97804094199998 meters 0.024413128975440117 Centerline is valid? [True, True] Translation: X:115.71, Y:59.82, Z:5.98 [[ 5.43874906e-01 -8.38794243e-01 -2.49860752e-02 1.15710699e+02] [ 8.37936577e-01 5.44448455e-01 -3.79232508e-02 5.98226888e+01] [ 4.54134345e-02 -3.11241885e-04 9.98968229e-01 5.97621339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00804094199998 meters 0.025710588236877507 Centerline is valid? [True, True] Translation: X:115.73, Y:59.85, Z:5.98 [[ 5.43594223e-01 -8.38960319e-01 -2.55128076e-02 1.15726567e+02] [ 8.38065123e-01 5.44192504e-01 -3.87474904e-02 5.98457260e+01] [ 4.63914856e-02 -3.18482353e-04 9.98923285e-01 5.97516274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.03804094199998 meters 0.024146074602810992 Centerline is valid? [True, True] Translation: X:115.74, Y:59.87, Z:5.98 [[ 5.42577505e-01 -8.39612706e-01 -2.56934940e-02 1.15744389e+02] [ 8.38704386e-01 5.43185394e-01 -3.90458914e-02 5.98667095e+01] [ 4.67397571e-02 -3.63823792e-04 9.98907034e-01 5.97910603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06804094199998 meters 0.02500917867737621 Centerline is valid? [True, True] Translation: X:115.76, Y:59.89, Z:5.98 [[ 5.42432085e-01 -8.39695118e-01 -2.60680258e-02 1.15760130e+02] [ 8.38759489e-01 5.43057983e-01 -3.96301274e-02 5.98896912e+01] [ 4.74336740e-02 -3.68151350e-04 9.98874322e-01 5.97893001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.09804094199998 meters 0.024773522341993752 Centerline is valid? [True, True] Translation: X:115.78, Y:59.91, Z:5.98 [[ 5.42761266e-01 -8.39483470e-01 -2.60329025e-02 1.15775908e+02] [ 8.38548958e-01 5.43385122e-01 -3.96011902e-02 5.99114855e+01] [ 4.73904365e-02 -3.35871183e-04 9.98876386e-01 5.98028344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12804094199998 meters 0.024110039342864407 Centerline is valid? [True, True] Translation: X:115.79, Y:59.93, Z:5.98 [[ 5.44322835e-01 -8.38484960e-01 -2.56051401e-02 1.15791899e+02] [ 8.37579215e-01 5.44924687e-01 -3.89633725e-02 5.99345082e+01] [ 4.66230749e-02 -2.37679795e-04 9.98912525e-01 5.98345424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.15804094199999 meters 0.0241441907352466 Centerline is valid? [True, True] Translation: X:115.81, Y:59.96, Z:5.99 [[ 5.45448142e-01 -8.37757712e-01 -2.54625242e-02 1.15806967e+02] [ 8.36860867e-01 5.46042111e-01 -3.87543793e-02 5.99582046e+01] [ 4.63703906e-02 -1.70085926e-04 9.98924300e-01 5.98579157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.188040942 meters 0.024113879974716434 Centerline is valid? [True, True] Translation: X:115.82, Y:59.98, Z:5.99 [[ 5.48032772e-01 -8.36085322e-01 -2.49281940e-02 1.15821961e+02] [ 8.35222965e-01 5.48599429e-01 -3.79639965e-02 5.99807401e+01] [ 4.54167333e-02 -1.50858624e-05 9.98968128e-01 5.98774808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.218040942 meters 0.024107440398339047 Centerline is valid? [True, True] Translation: X:115.84, Y:60.00, Z:5.99 [[ 5.49254033e-01 -8.35272362e-01 -2.52999694e-02 1.15837522e+02] [ 8.34382616e-01 5.49836410e-01 -3.85431299e-02 6.00038726e+01] [ 4.61048555e-02 6.01149225e-05 9.98936604e-01 5.98939729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.248040942 meters 0.02425229272920741 Centerline is valid? [True, True] Translation: X:115.85, Y:60.03, Z:5.99 [[ 5.51477806e-01 -8.33802367e-01 -2.54134308e-02 1.15854639e+02] [ 8.32901936e-01 5.52063016e-01 -3.87400447e-02 6.00271647e+01] [ 4.63313562e-02 1.97379182e-04 9.98926107e-01 5.99052124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.278040942 meters 0.024917382991642218 Centerline is valid? [True, True] Translation: X:115.87, Y:60.05, Z:5.99 [[ 5.52168641e-01 -8.33335973e-01 -2.57089229e-02 1.15870096e+02] [ 8.32412956e-01 5.52766762e-01 -3.92119508e-02 6.00488235e+01] [ 4.68877672e-02 2.51169054e-04 9.98900132e-01 5.99029420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.308040942 meters 0.024322271774256537 Centerline is valid? [True, True] Translation: X:115.89, Y:60.07, Z:5.99 [[ 5.52271856e-01 -8.33266772e-01 -2.57348872e-02 1.15887357e+02] [ 8.32341117e-01 5.52871067e-01 -3.92663700e-02 6.00714249e+01] [ 4.69474359e-02 2.65506294e-04 9.98897326e-01 5.99262878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.338040942 meters 0.024551523649963207 Centerline is valid? [True, True] Translation: X:115.91, Y:60.09, Z:5.99 [[ 5.52956205e-01 -8.32793378e-01 -2.63557230e-02 1.15905903e+02] [ 8.31820731e-01 5.53583853e-01 -4.02391621e-02 6.00930206e+01] [ 4.81010104e-02 3.27257584e-04 9.98842423e-01 5.99311263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.368040942 meters 0.024555626915951707 Centerline is valid? [True, True] Translation: X:115.92, Y:60.12, Z:5.99 [[ 5.53098578e-01 -8.32692386e-01 -2.65584943e-02 1.15923282e+02] [ 8.31703958e-01 5.53735741e-01 -4.05617598e-02 6.01151629e+01] [ 4.84818561e-02 3.45846823e-04 9.98824004e-01 5.99447582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.398040942 meters 0.024711966395640692 Centerline is valid? [True, True] Translation: X:115.94, Y:60.14, Z:6.00 [[ 5.54003851e-01 -8.32082137e-01 -2.68150959e-02 1.15941628e+02] [ 8.31072604e-01 5.54652272e-01 -4.09778422e-02 6.01358460e+01] [ 4.89699844e-02 4.16590846e-04 9.98800164e-01 5.99613988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.428040942 meters 0.02467501284559243 Centerline is valid? [True, True] Translation: X:115.96, Y:60.16, Z:6.00 [[ 5.54752287e-01 -8.31580603e-01 -2.68998325e-02 1.15959127e+02] [ 8.30563482e-01 5.55403890e-01 -4.11196057e-02 6.01587949e+01] [ 4.91345382e-02 4.69176767e-04 9.98792059e-01 5.99797327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.458040942 meters 0.024894749572544898 Centerline is valid? [True, True] Translation: X:115.98, Y:60.18, Z:6.00 [[ 5.56319029e-01 -8.30555462e-01 -2.62061738e-02 1.15978095e+02] [ 8.29587981e-01 5.56935647e-01 -4.00807683e-02 6.01807474e+01] [ 4.78844534e-02 5.57367292e-04 9.98852726e-01 6.00092497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.488040942 meters 0.024973374278979835 Centerline is valid? [True, True] Translation: X:116.00, Y:60.20, Z:6.00 [[ 5.56619897e-01 -8.30349529e-01 -2.63429462e-02 1.15995498e+02] [ 8.29370604e-01 5.57242597e-01 -4.03124004e-02 6.02037983e+01] [ 4.81527944e-02 5.90618966e-04 9.98839807e-01 6.00262009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.51804094199997 meters 0.02502356678852703 Centerline is valid? [True, True] Translation: X:116.01, Y:60.23, Z:6.00 [[ 5.56548556e-01 -8.30397145e-01 -2.63493237e-02 1.16012783e+02] [ 8.29416714e-01 5.57171628e-01 -4.03446560e-02 6.02256582e+01] [ 4.81831827e-02 5.99190510e-04 9.98838336e-01 6.00414865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54804094199997 meters 0.024889042836104117 Centerline is valid? [True, True] Translation: X:116.03, Y:60.25, Z:6.01 [[ 5.55050656e-01 -8.31420947e-01 -2.56510816e-02 1.16033571e+02] [ 8.30491784e-01 5.55642825e-01 -3.92994669e-02 6.02464896e+01] [ 4.69272394e-02 5.10182328e-04 9.98898180e-01 6.00607617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.57804094199997 meters 0.024924823656334843 Centerline is valid? [True, True] Translation: X:116.05, Y:60.27, Z:6.01 [[ 5.54235140e-01 -8.31969244e-01 -2.55066161e-02 1.16051056e+02] [ 8.31050120e-01 5.54821552e-01 -3.90991458e-02 6.02673716e+01] [ 4.66809071e-02 4.72844174e-04 9.98909740e-01 6.00788701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60804094199997 meters 0.024906603534171227 Centerline is valid? [True, True] Translation: X:116.07, Y:60.29, Z:6.01 [[ 5.53021336e-01 -8.32762183e-01 -2.59720664e-02 1.16070358e+02] [ 8.31809470e-01 5.53630715e-01 -3.98250809e-02 6.02873690e+01] [ 4.75437550e-02 4.20308667e-04 9.98869068e-01 6.00876103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.63804094199998 meters 0.02486228152339124 Centerline is valid? [True, True] Translation: X:116.09, Y:60.31, Z:6.01 [[ 5.52605276e-01 -8.33037622e-01 -2.59947970e-02 1.16087582e+02] [ 8.32082944e-01 5.53216194e-01 -3.98725163e-02 6.03098600e+01] [ 4.75960488e-02 4.03935628e-04 9.98866584e-01 6.00932352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66804094199998 meters 0.024917132451332372 Centerline is valid? [True, True] Translation: X:116.10, Y:60.33, Z:6.01 [[ 5.52070770e-01 -8.33394660e-01 -2.59076375e-02 1.16104468e+02] [ 8.32445643e-01 5.52678200e-01 -3.97625364e-02 6.03314484e+01] [ 4.74564719e-02 3.85034190e-04 9.98873233e-01 6.01074691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.69804094199998 meters 0.02567435577577056 Centerline is valid? [True, True] Translation: X:116.12, Y:60.35, Z:6.01 [[ 5.51285097e-01 -8.33917580e-01 -2.58110562e-02 1.16124163e+02] [ 8.32975553e-01 5.51888892e-01 -3.96280130e-02 6.03517369e+01] [ 4.72913319e-02 3.46354167e-04 9.98881079e-01 6.01174976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72804094199998 meters 0.02476032541466205 Centerline is valid? [True, True] Translation: X:116.14, Y:60.37, Z:6.01 [[ 5.50801913e-01 -8.34226314e-01 -2.61478325e-02 1.16144087e+02] [ 8.33258652e-01 5.51422109e-01 -4.01705996e-02 6.03723892e+01] [ 4.79298642e-02 3.38135436e-04 9.98850646e-01 6.01447669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.75804094199998 meters 0.0247507872970742 Centerline is valid? [True, True] Translation: X:116.16, Y:60.39, Z:6.02 [[ 5.50521742e-01 -8.34400772e-01 -2.64795110e-02 1.16160366e+02] [ 8.33407373e-01 5.51158086e-01 -4.07052192e-02 6.03940462e+01] [ 4.85588629e-02 3.40888511e-04 9.98820264e-01 6.01512472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78804094199998 meters 0.02473032695588193 Centerline is valid? [True, True] Translation: X:116.18, Y:60.42, Z:6.02 [[ 5.49862085e-01 -8.34832714e-01 -2.65711775e-02 1.16178203e+02] [ 8.33832170e-01 5.50503626e-01 -4.08615921e-02 6.04157645e+01] [ 4.87401234e-02 3.12337632e-04 9.98811445e-01 6.01632661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.81804094199998 meters 0.024646701123573884 Centerline is valid? [True, True] Translation: X:116.20, Y:60.44, Z:6.02 [[ 5.49017450e-01 -8.35394272e-01 -2.63865475e-02 1.16196715e+02] [ 8.34407043e-01 5.49651103e-01 -4.06023663e-02 6.04359853e+01] [ 4.84223792e-02 2.74286599e-04 9.98826911e-01 6.01788868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84804094199998 meters 0.024539610429898367 Centerline is valid? [True, True] Translation: X:116.21, Y:60.46, Z:6.02 [[ 5.48164163e-01 -8.35956756e-01 -2.63126120e-02 1.16214482e+02] [ 8.34975007e-01 5.48795271e-01 -4.05029466e-02 6.04583534e+01] [ 4.82989488e-02 2.31890459e-04 9.98832898e-01 6.01978668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.87804094199998 meters 0.02440754224619619 Centerline is valid? [True, True] Translation: X:116.23, Y:60.48, Z:6.02 [[ 5.45954838e-01 -8.37397063e-01 -2.64475815e-02 1.16234473e+02] [ 8.36405699e-01 5.46595047e-01 -4.07352577e-02 6.04777353e+01] [ 4.85677021e-02 1.18703109e-04 9.98819886e-01 6.02079528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90804094199999 meters 0.024404820927260932 Centerline is valid? [True, True] Translation: X:116.25, Y:60.50, Z:6.02 [[ 5.44574293e-01 -8.38280476e-01 -2.69199304e-02 1.16252609e+02] [ 8.37253729e-01 5.45239251e-01 -4.14771188e-02 6.04994945e+01] [ 4.94472616e-02 4.85604905e-05 9.98776735e-01 6.02165567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.938040942 meters 0.024476709913041413 Centerline is valid? [True, True] Translation: X:116.27, Y:60.52, Z:6.02 [[ 5.43273023e-01 -8.39107117e-01 -2.74530201e-02 1.16269862e+02] [ 8.38039006e-01 5.43966217e-01 -4.23246853e-02 6.05203184e+01] [ 5.04484602e-02 -1.28419776e-05 9.98726666e-01 6.02252905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.968040942 meters 0.024500775651638367 Centerline is valid? [True, True] Translation: X:116.29, Y:60.54, Z:6.02 [[ 5.41760104e-01 -8.40052684e-01 -2.84161637e-02 1.16290049e+02] [ 8.38908229e-01 5.42504821e-01 -4.38349377e-02 6.05411165e+01] [ 5.22395628e-02 -9.05331247e-05 9.98634578e-01 6.02289021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.998040942 meters 0.02442456803966644 Centerline is valid? [True, True] Translation: X:116.31, Y:60.56, Z:6.02 [[ 5.40872143e-01 -8.40624988e-01 -2.84069422e-02 1.16309823e+02] [ 8.39480705e-01 5.41617588e-01 -4.38467194e-02 6.05622693e+01] [ 5.22443475e-02 -1.31610798e-04 9.98634323e-01 6.02388496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.028040942 meters 0.024377768730731626 Centerline is valid? [True, True] Translation: X:116.33, Y:60.58, Z:6.03 [[ 5.40759611e-01 -8.40692128e-01 -2.85620171e-02 1.16326621e+02] [ 8.39533991e-01 5.41513370e-01 -4.41128886e-02 6.05832531e+01] [ 5.25520724e-02 -1.24315683e-04 9.98618177e-01 6.02568527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.058040942 meters 0.024317025195140108 Centerline is valid? [True, True] Translation: X:116.34, Y:60.60, Z:6.03 [[ 5.40372624e-01 -8.40946049e-01 -2.84107494e-02 1.16343761e+02] [ 8.39799221e-01 5.41118957e-01 -4.39037991e-02 6.06049560e+01] [ 5.22943215e-02 -1.34914107e-04 9.98631707e-01 6.02742744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.088040942 meters 0.024301489385438392 Centerline is valid? [True, True] Translation: X:116.36, Y:60.62, Z:6.03 [[ 5.39596170e-01 -8.41444019e-01 -2.84242245e-02 1.16362317e+02] [ 8.40295416e-01 5.40344274e-01 -4.39508818e-02 6.06246532e+01] [ 5.23410736e-02 -1.69018038e-04 9.98629252e-01 6.02916825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.118040942 meters 0.024497658623456497 Centerline is valid? [True, True] Translation: X:116.38, Y:60.65, Z:6.03 [[ 5.39278698e-01 -8.41649958e-01 -2.83519710e-02 1.16379761e+02] [ 8.40506207e-01 5.40023442e-01 -4.38633972e-02 6.06469830e+01] [ 5.22283554e-02 -1.75411847e-04 9.98635153e-01 6.03019989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.148040942 meters 0.02414545634118449 Centerline is valid? [True, True] Translation: X:116.40, Y:60.67, Z:6.03 [[ 5.38811553e-01 -8.41953291e-01 -2.82270299e-02 1.16399784e+02] [ 8.40818689e-01 5.39550386e-01 -4.36956935e-02 6.06662869e+01] [ 5.20196379e-02 -1.90069780e-04 9.98646044e-01 6.03344320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.178040942 meters 0.024091672031721023 Centerline is valid? [True, True] Translation: X:116.42, Y:60.69, Z:6.04 [[ 5.38450359e-01 -8.42189600e-01 -2.80693415e-02 1.16417261e+02] [ 8.41066748e-01 5.39181452e-01 -4.34751298e-02 6.06884007e+01] [ 5.17487704e-02 -1.98990522e-04 9.98660115e-01 6.03506889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.208040942 meters 0.023931722152907002 Centerline is valid? [True, True] Translation: X:116.44, Y:60.71, Z:6.04 [[ 5.38672086e-01 -8.42045660e-01 -2.81334507e-02 1.16436031e+02] [ 8.40916151e-01 5.39406227e-01 -4.35998909e-02 6.07082226e+01] [ 5.18884574e-02 -1.71828944e-04 9.98652872e-01 6.03731682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.238040942 meters 0.02386237110704452 Centerline is valid? [True, True] Translation: X:116.45, Y:60.73, Z:6.04 [[ 5.38813180e-01 -8.41945706e-01 -2.84215518e-02 1.16452248e+02] [ 8.40791598e-01 5.39562235e-01 -4.40690792e-02 6.07295593e+01] [ 5.24389680e-02 -1.51601215e-04 9.98624119e-01 6.03844393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26804094199997 meters 0.023717162160532056 Centerline is valid? [True, True] Translation: X:116.47, Y:60.75, Z:6.04 [[ 5.39432790e-01 -8.41544007e-01 -2.85648453e-02 1.16468315e+02] [ 8.40376647e-01 5.40188555e-01 -4.43104542e-02 6.07522834e+01] [ 5.27195996e-02 -1.02717041e-04 9.98609350e-01 6.03995247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.29804094199997 meters 0.023524216481727315 Centerline is valid? [True, True] Translation: X:116.49, Y:60.77, Z:6.04 [[ 5.41741650e-01 -8.40050559e-01 -2.88278004e-02 1.16485465e+02] [ 8.38857992e-01 5.42508115e-01 -4.47461160e-02 6.07749743e+01] [ 5.32283154e-02 5.84039312e-05 9.98582367e-01 6.04161069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32804094199997 meters 0.024348540956111456 Centerline is valid? [True, True] Translation: X:116.50, Y:60.80, Z:6.04 [[ 5.43180041e-01 -8.39120103e-01 -2.88599358e-02 1.16500876e+02] [ 8.37922141e-01 5.43946161e-01 -4.48225389e-02 6.07973338e+01] [ 5.33097448e-02 1.64329330e-04 9.98578011e-01 6.04108575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.35804094199997 meters 0.023441151778321682 Centerline is valid? [True, True] Translation: X:116.52, Y:60.82, Z:6.04 [[ 5.45098362e-01 -8.37854929e-01 -2.94430711e-02 1.16518750e+02] [ 8.36605169e-01 5.45892870e-01 -4.57467488e-02 6.08187877e+01] [ 5.44019016e-02 3.04252331e-04 9.98519074e-01 6.04310116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38804094199998 meters 0.023362536528602595 Centerline is valid? [True, True] Translation: X:116.54, Y:60.84, Z:6.05 [[ 5.45288114e-01 -8.37726629e-01 -2.95798591e-02 1.16536217e+02] [ 8.36464179e-01 5.46089725e-01 -4.59748773e-02 6.08408697e+01] [ 5.46676362e-02 3.27061570e-04 9.98504553e-01 6.04573095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.41804094199998 meters 0.023314071994320344 Centerline is valid? [True, True] Translation: X:116.56, Y:60.86, Z:6.05 [[ 5.44528882e-01 -8.38227333e-01 -2.93808591e-02 1.16556401e+02] [ 8.36981063e-01 5.45320873e-01 -4.56929482e-02 6.08616068e+01] [ 5.43230738e-02 2.89907322e-04 9.98523370e-01 6.04860521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44804094199998 meters 0.023199902317745668 Centerline is valid? [True, True] Translation: X:116.57, Y:60.88, Z:6.05 [[ 5.43875007e-01 -8.38656501e-01 -2.92446592e-02 1.16573627e+02] [ 8.37420850e-01 5.44660632e-01 -4.55095139e-02 6.08837507e+01] [ 5.40952643e-02 2.61399773e-04 9.98535745e-01 6.05034887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.47804094199998 meters 0.023067278844477925 Centerline is valid? [True, True] Translation: X:116.59, Y:60.91, Z:6.05 [[ 5.43005711e-01 -8.39217381e-01 -2.93084559e-02 1.16591017e+02] [ 8.37975591e-01 5.43796045e-01 -4.56373717e-02 6.09061386e+01] [ 5.42374979e-02 2.21582787e-04 9.98528039e-01 6.05215597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50804094199998 meters 0.02305634445635169 Centerline is valid? [True, True] Translation: X:116.61, Y:60.93, Z:6.05 [[ 5.40722586e-01 -8.40677587e-01 -2.96695223e-02 1.16610461e+02] [ 8.39405676e-01 5.41535952e-01 -4.62268661e-02 6.09256696e+01] [ 5.49290033e-02 9.11451244e-05 9.98490258e-01 6.05422946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.53804094199998 meters 0.023003139134141513 Centerline is valid? [True, True] Translation: X:116.63, Y:60.95, Z:6.06 [[ 5.39369643e-01 -8.41540277e-01 -2.98387325e-02 1.16628409e+02] [ 8.40253935e-01 5.40194374e-01 -4.65119605e-02 6.09477918e+01] [ 5.52604036e-02 1.50271042e-05 9.98471976e-01 6.05551420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56804094199998 meters 0.02291980561601054 Centerline is valid? [True, True] Translation: X:116.65, Y:60.97, Z:6.06 [[ 5.36614289e-01 -8.43297753e-01 -2.98999095e-02 1.16648401e+02] [ 8.42007243e-01 5.37446627e-01 -4.66361082e-02 6.09680309e+01] [ 5.53977308e-02 -1.50338333e-04 9.98464355e-01 6.05816169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.59804094199998 meters 0.023007717904770422 Centerline is valid? [True, True] Translation: X:116.67, Y:60.99, Z:6.06 [[ 5.35256912e-01 -8.44163395e-01 -2.98026930e-02 1.16665345e+02] [ 8.42881024e-01 5.36085918e-01 -4.65130807e-02 6.09896660e+01] [ 5.52414442e-02 -2.23676473e-04 9.98473001e-01 6.05876443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62804094199998 meters 0.022985979883526825 Centerline is valid? [True, True] Translation: X:116.68, Y:61.01, Z:6.06 [[ 5.33332299e-01 -8.45371971e-01 -3.00481305e-02 1.16684645e+02] [ 8.44068771e-01 5.34177983e-01 -4.69232517e-02 6.10112085e+01] [ 5.57186515e-02 -3.37002941e-04 9.98446452e-01 6.06102051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.65804094199999 meters 0.024298598416037535 Centerline is valid? [True, True] Translation: X:116.70, Y:61.03, Z:6.06 [[ 5.32566484e-01 -8.45849728e-01 -3.01857319e-02 1.16701875e+02] [ 8.44533822e-01 5.33421126e-01 -4.71648844e-02 6.10327094e+01] [ 5.59961118e-02 -3.74434835e-04 9.98430917e-01 6.05967199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.688040942 meters 0.023149159742405986 Centerline is valid? [True, True] Translation: X:116.72, Y:61.05, Z:6.06 [[ 5.31798456e-01 -8.46303351e-01 -3.10006434e-02 1.16721222e+02] [ 8.44914876e-01 5.32701098e-01 -4.84602180e-02 6.10534515e+01] [ 5.75261217e-02 -4.21835664e-04 9.98343912e-01 6.06364475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.718040942 meters 0.02294601184969333 Centerline is valid? [True, True] Translation: X:116.74, Y:61.08, Z:6.07 [[ 5.31645218e-01 -8.46392399e-01 -3.11972741e-02 1.16737016e+02] [ 8.44984761e-01 5.32559604e-01 -4.87957214e-02 6.10761111e+01] [ 5.79147357e-02 -4.19209284e-04 9.98321445e-01 6.06631026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.748040942 meters 0.022886304609416205 Centerline is valid? [True, True] Translation: X:116.75, Y:61.10, Z:6.07 [[ 5.31389891e-01 -8.46548739e-01 -3.13052106e-02 1.16753483e+02] [ 8.45129831e-01 5.32311050e-01 -4.89950522e-02 6.10993098e+01] [ 5.81408092e-02 -4.21491929e-04 9.98308303e-01 6.06760505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.778040942 meters 0.023229559588284127 Centerline is valid? [True, True] Translation: X:116.77, Y:61.12, Z:6.07 [[ 5.31241923e-01 -8.46630960e-01 -3.15917184e-02 1.16771765e+02] [ 8.45184306e-01 5.32180273e-01 -4.94736911e-02 6.11198338e+01] [ 5.86984478e-02 -4.18325762e-04 9.98275672e-01 6.06739333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.808040942 meters 0.022861119244739454 Centerline is valid? [True, True] Translation: X:116.79, Y:61.14, Z:6.07 [[ 5.31669709e-01 -8.46353300e-01 -3.18341265e-02 1.16789038e+02] [ 8.44882128e-01 5.32621770e-01 -4.98822590e-02 6.11423290e+01] [ 5.91735634e-02 -3.75198398e-04 9.98247639e-01 6.07116019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.838040942 meters 0.024449106144718076 Centerline is valid? [True, True] Translation: X:116.80, Y:61.17, Z:6.07 [[ 5.31730668e-01 -8.46307884e-01 -3.20228298e-02 1.16804529e+02] [ 8.44817243e-01 5.32693945e-01 -5.02094311e-02 6.11657992e+01] [ 5.95510049e-02 -3.55544469e-04 9.98225201e-01 6.07159218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.868040942 meters 0.024449106144718076 Centerline is valid? [True, True] Translation: X:116.82, Y:61.19, Z:6.07 [[ 5.31486287e-01 -8.46461929e-01 -3.20082856e-02 1.16819277e+02] [ 8.44971008e-01 5.32449131e-01 -5.02187020e-02 6.11890860e+01] [ 5.95510032e-02 -3.55521938e-04 9.98225201e-01 6.07281559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.898040942 meters 0.02418675650690142 Centerline is valid? [True, True] Translation: X:116.84, Y:61.21, Z:6.07 [[ 5.31962666e-01 -8.46149327e-01 -3.23579887e-02 1.16835313e+02] [ 8.44623239e-01 5.32945797e-01 -5.07972680e-02 6.12111334e+01] [ 6.02271282e-02 -3.08059144e-04 9.98184651e-01 6.07424476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.928040942 meters 0.024430363297192427 Centerline is valid? [True, True] Translation: X:116.85, Y:61.23, Z:6.08 [[ 5.32643202e-01 -8.45709247e-01 -3.26663317e-02 1.16851890e+02] [ 8.44151614e-01 5.33643896e-01 -5.13053950e-02 6.12332517e+01] [ 6.08216355e-02 -2.47866762e-04 9.98148620e-01 6.07503789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.958040942 meters 0.02253883903070899 Centerline is valid? [True, True] Translation: X:116.87, Y:61.26, Z:6.08 [[ 5.33317001e-01 -8.45292668e-01 -3.24543118e-02 1.16867859e+02] [ 8.43752646e-01 5.34303540e-01 -5.10019586e-02 6.12564766e+01] [ 6.04520353e-02 -1.83199799e-04 9.98171086e-01 6.07920244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.988040942 meters 0.022475605886772124 Centerline is valid? [True, True] Translation: X:116.88, Y:61.28, Z:6.08 [[ 5.34957834e-01 -8.44259762e-01 -3.23352756e-02 1.16881774e+02] [ 8.42727292e-01 5.35934186e-01 -5.08454543e-02 6.12791534e+01] [ 6.02563508e-02 -4.96451123e-05 9.98182934e-01 6.08079596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.01804094199997 meters 0.022957075657001825 Centerline is valid? [True, True] Translation: X:116.90, Y:61.30, Z:6.08 [[ 5.35376009e-01 -8.44000525e-01 -3.21813986e-02 1.16895939e+02] [ 8.42480432e-01 5.36342347e-01 -5.06320905e-02 6.13034724e+01] [ 5.99937579e-02 -4.99206292e-06 9.98198752e-01 6.08251661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04804094199997 meters 0.02322661597040936 Centerline is valid? [True, True] Translation: X:116.91, Y:61.33, Z:6.08 [[ 5.36089015e-01 -8.43553500e-01 -3.20321730e-02 1.16909993e+02] [ 8.42044820e-01 5.37045146e-01 -5.04284975e-02 6.13277897e+01] [ 5.97418586e-02 6.16381883e-05 9.98213858e-01 6.08432403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.07804094199997 meters 0.022297534789706298 Centerline is valid? [True, True] Translation: X:116.92, Y:61.35, Z:6.09 [[ 5.37257353e-01 -8.42806323e-01 -3.21253525e-02 1.16923757e+02] [ 8.41285613e-01 5.38216941e-01 -5.06067440e-02 6.13521811e+01] [ 5.99420928e-02 1.62248514e-04 9.98201843e-01 6.08802240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10804094199997 meters 0.02239488223738398 Centerline is valid? [True, True] Translation: X:116.94, Y:61.38, Z:6.09 [[ 5.37127719e-01 -8.42881679e-01 -3.23154427e-02 1.16937922e+02] [ 8.41341160e-01 5.38098918e-01 -5.09372924e-02 6.13755683e+01] [ 6.03230153e-02 1.71519599e-04 9.98178894e-01 6.08866204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.13804094199998 meters 0.022380273407020895 Centerline is valid? [True, True] Translation: X:116.95, Y:61.40, Z:6.09 [[ 5.35915524e-01 -8.43625376e-01 -3.30269117e-02 1.16952123e+02] [ 8.42015789e-01 5.36932225e-01 -5.20883554e-02 6.13987246e+01] [ 6.16762715e-02 1.05777158e-04 9.98096201e-01 6.08997922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.16804094199998 meters 0.022518775672552588 Centerline is valid? [True, True] Translation: X:116.97, Y:61.42, Z:6.09 [[ 5.34751736e-01 -8.44353978e-01 -3.32707252e-02 1.16967726e+02] [ 8.42720084e-01 5.35785739e-01 -5.25023902e-02 6.14225174e+01] [ 6.21565822e-02 3.78359498e-05 9.98066410e-01 6.09186579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.19804094199998 meters 0.022768553821189013 Centerline is valid? [True, True] Translation: X:116.98, Y:61.44, Z:6.09 [[ 5.31791786e-01 -8.46219182e-01 -3.33255576e-02 1.16983503e+02] [ 8.44581843e-01 5.32834936e-01 -5.26159897e-02 6.14439313e+01] [ 6.22816811e-02 -1.65409730e-04 9.98058598e-01 6.09428047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22804094199998 meters 0.025019853150257055 Centerline is valid? [True, True] Translation: X:117.00, Y:61.47, Z:6.09 [[ 5.29810915e-01 -8.47443898e-01 -3.37525513e-02 1.16998776e+02] [ 8.45765532e-01 5.30884873e-01 -5.33096253e-02 6.14673834e+01] [ 6.30956356e-02 -3.02723174e-04 9.98007439e-01 6.09364596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.25804094199998 meters 0.02342443003841582 Centerline is valid? [True, True] Translation: X:117.02, Y:61.49, Z:6.10 [[ 5.26841379e-01 -8.49291589e-01 -3.37928545e-02 1.17015121e+02] [ 8.47611192e-01 5.27923798e-01 -5.34016015e-02 6.14889810e+01] [ 6.31935831e-02 -5.09028255e-04 9.98001158e-01 6.09808037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28804094199998 meters 0.02327544458785206 Centerline is valid? [True, True] Translation: X:117.03, Y:61.51, Z:6.10 [[ 5.25071015e-01 -8.50395390e-01 -3.35873511e-02 1.17029455e+02] [ 8.48735799e-01 5.26143796e-01 -5.31060255e-02 6.15125738e+01] [ 6.28328956e-02 -6.22352512e-04 9.98023867e-01 6.10122041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.31804094199998 meters 0.023981336138518466 Centerline is valid? [True, True] Translation: X:117.05, Y:61.54, Z:6.10 [[ 5.23623254e-01 -8.51284457e-01 -3.36669067e-02 1.17045791e+02] [ 8.49617089e-01 5.24703973e-01 -5.32592029e-02 6.15352258e+01] [ 6.30038913e-02 -7.16222136e-04 9.98013024e-01 6.10037449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34804094199998 meters 0.023604000317864797 Centerline is valid? [True, True] Translation: X:117.06, Y:61.56, Z:6.10 [[ 5.21571909e-01 -8.52549744e-01 -3.34914393e-02 1.17059807e+02] [ 8.50901362e-01 5.22645387e-01 -5.29969018e-02 6.15597614e+01] [ 6.26866413e-02 -8.56216086e-04 9.98032891e-01 6.10368553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.37804094199998 meters 0.02395357539766892 Centerline is valid? [True, True] Translation: X:117.07, Y:61.58, Z:6.10 [[ 5.20636395e-01 -8.53117084e-01 -3.36003785e-02 1.17074655e+02] [ 8.51458102e-01 5.21718695e-01 -5.31855721e-02 6.15829374e+01] [ 6.29034658e-02 -9.18969988e-04 9.98019193e-01 6.10444842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40804094199999 meters 0.024031126924634064 Centerline is valid? [True, True] Translation: X:117.09, Y:61.61, Z:6.11 [[ 5.19162265e-01 -8.54027724e-01 -3.32744467e-02 1.17089061e+02] [ 8.52401466e-01 5.20226516e-01 -5.26888287e-02 6.16072195e+01] [ 6.23079699e-02 -1.00913549e-03 9.98056461e-01 6.10576958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.438040942 meters 0.02530949046967296 Centerline is valid? [True, True] Translation: X:117.10, Y:61.63, Z:6.11 [[ 5.18707053e-01 -8.54314185e-01 -3.30191660e-02 1.17103028e+02] [ 8.52711447e-01 5.19755937e-01 -5.23159167e-02 6.16315228e+01] [ 6.18561373e-02 -1.01918580e-03 9.98084555e-01 6.10529282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.468040942 meters 0.023972863339056592 Centerline is valid? [True, True] Translation: X:117.12, Y:61.66, Z:6.11 [[ 5.18459438e-01 -8.54479065e-01 -3.26395299e-02 1.17117300e+02] [ 8.52911381e-01 5.19484848e-01 -5.17462013e-02 6.16554776e+01] [ 6.11717869e-02 -1.01032007e-03 9.98126741e-01 6.10818332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.498040942 meters 0.02375901470778418 Centerline is valid? [True, True] Translation: X:117.13, Y:61.68, Z:6.11 [[ 5.19389574e-01 -8.53936656e-01 -3.20414990e-02 1.17130889e+02] [ 8.52423114e-01 5.20376164e-01 -5.08279673e-02 6.16812546e+01] [ 6.00774968e-02 -9.13398136e-04 9.98193298e-01 6.10863778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.528040942 meters 0.02363016948666571 Centerline is valid? [True, True] Translation: X:117.14, Y:61.71, Z:6.11 [[ 5.19632971e-01 -8.53808438e-01 -3.15075625e-02 1.17144730e+02] [ 8.52343102e-01 5.20586588e-01 -5.00084007e-02 6.17058561e+01] [ 5.91000089e-02 -8.69239750e-04 9.98251688e-01 6.10928979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.558040942 meters 0.023357238498909076 Centerline is valid? [True, True] Translation: X:117.16, Y:61.73, Z:6.11 [[ 5.20701688e-01 -8.53187864e-01 -3.06630309e-02 1.17158512e+02] [ 8.51797399e-01 5.21603190e-01 -4.86960330e-02 6.17314169e+01] [ 5.75407990e-02 -7.62583362e-04 9.98342864e-01 6.10994917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.588040942 meters 0.023348069142851893 Centerline is valid? [True, True] Translation: X:117.17, Y:61.76, Z:6.11 [[ 5.20797440e-01 -8.53147964e-01 -3.01426206e-02 1.17172699e+02] [ 8.51802783e-01 5.21668492e-01 -4.78957457e-02 6.17556479e+01] [ 5.65866134e-02 -7.31586420e-04 9.98397426e-01 6.11067940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.618040942 meters 0.02431869462172612 Centerline is valid? [True, True] Translation: X:117.19, Y:61.78, Z:6.11 [[ 5.20744156e-01 -8.53201677e-01 -2.95367945e-02 1.17187950e+02] [ 8.51908640e-01 5.21580671e-01 -4.69603388e-02 6.17779383e+01] [ 5.54724609e-02 -7.08328464e-04 9.98459966e-01 6.10841107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.648040942 meters 0.023731816083427223 Centerline is valid? [True, True] Translation: X:117.20, Y:61.80, Z:6.11 [[ 5.20544638e-01 -8.53335426e-01 -2.91878682e-02 1.17202716e+02] [ 8.52071662e-01 5.21361832e-01 -4.64297607e-02 6.18020082e+01] [ 5.48376000e-02 -7.01392408e-04 9.98495040e-01 6.10988579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.678040942 meters 0.02312175464645596 Centerline is valid? [True, True] Translation: X:117.22, Y:61.83, Z:6.11 [[ 5.20355267e-01 -8.53473266e-01 -2.85268482e-02 1.17215937e+02] [ 8.52264965e-01 5.21136176e-01 -4.54039071e-02 6.18274300e+01] [ 5.36173934e-02 -6.86271087e-04 9.98561317e-01 6.11235434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.708040942 meters 0.023100380716989378 Centerline is valid? [True, True] Translation: X:117.23, Y:61.85, Z:6.11 [[ 5.19856170e-01 -8.53799027e-01 -2.78708565e-02 1.17230514e+02] [ 8.52644811e-01 5.20602292e-01 -4.43855818e-02 6.18508800e+01] [ 5.24059983e-02 -6.89822597e-04 9.98625623e-01 6.11237537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.738040942 meters 0.023082416665674378 Centerline is valid? [True, True] Translation: X:117.25, Y:61.87, Z:6.11 [[ 5.19066712e-01 -8.54292686e-01 -2.74546155e-02 1.17245188e+02] [ 8.53171999e-01 5.19791782e-01 -4.37497834e-02 6.18746171e+01] [ 5.16458034e-02 -7.14452971e-04 9.98665209e-01 6.11320017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76804094199997 meters 0.02315509228869647 Centerline is valid? [True, True] Translation: X:117.26, Y:61.90, Z:6.11 [[ 5.18005401e-01 -8.54954361e-01 -2.68969478e-02 1.17261219e+02] [ 8.53878313e-01 5.18702687e-01 -4.28876275e-02 6.18981565e+01] [ 5.06184833e-02 -7.50697758e-04 9.98717781e-01 6.11287263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.79804094199997 meters 0.023236547457307313 Centerline is valid? [True, True] Translation: X:117.28, Y:61.92, Z:6.11 [[ 5.17350392e-01 -8.55356243e-01 -2.67258255e-02 1.17276479e+02] [ 8.54293057e-01 5.18039673e-01 -4.26411745e-02 6.19200420e+01] [ 5.03184328e-02 -7.71258836e-04 9.98732928e-01 6.11358957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82804094199997 meters 0.023223282706211195 Centerline is valid? [True, True] Translation: X:117.29, Y:61.94, Z:6.11 [[ 5.16565230e-01 -8.55841044e-01 -2.63907284e-02 1.17291469e+02] [ 8.54803815e-01 5.17238315e-01 -4.21303279e-02 6.19431619e+01] [ 4.97071597e-02 -7.95832817e-04 9.98763518e-01 6.11465054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.85804094199997 meters 0.023308624528403345 Centerline is valid? [True, True] Translation: X:117.31, Y:61.97, Z:6.12 [[ 5.15473921e-01 -8.56525633e-01 -2.55044412e-02 1.17308300e+02] [ 8.55556677e-01 5.16103832e-01 -4.07382862e-02 6.19662988e+01] [ 4.80563262e-02 -8.20970803e-04 9.98844290e-01 6.11570984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88804094199998 meters 0.023339616152760156 Centerline is valid? [True, True] Translation: X:117.32, Y:61.99, Z:6.12 [[ 5.14873934e-01 -8.56903660e-01 -2.49188765e-02 1.17323628e+02] [ 8.55978028e-01 5.15475934e-01 -3.98268424e-02 6.19886302e+01] [ 4.69728482e-02 -8.24207746e-04 9.98895827e-01 6.11592525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.91804094199998 meters 0.023316897439823656 Centerline is valid? [True, True] Translation: X:117.34, Y:62.01, Z:6.12 [[ 5.14697611e-01 -8.57011700e-01 -2.48458545e-02 1.17338520e+02] [ 8.56090559e-01 5.15296298e-01 -3.97326188e-02 6.20126260e+01] [ 4.68542960e-02 -8.20017469e-04 9.98901398e-01 6.11690381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94804094199998 meters 0.022887306932376266 Centerline is valid? [True, True] Translation: X:117.35, Y:62.04, Z:6.12 [[ 5.14711985e-01 -8.57023702e-01 -2.41235741e-02 1.17352382e+02] [ 8.56154324e-01 5.15276390e-01 -3.86007287e-02 6.20371896e+01] [ 4.55120476e-02 -7.85244513e-04 9.98963481e-01 6.11805374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.97804094199998 meters 0.02274861056072422 Centerline is valid? [True, True] Translation: X:117.37, Y:62.06, Z:6.12 [[ 5.15612319e-01 -8.56490926e-01 -2.38166066e-02 1.17366643e+02] [ 8.55641903e-01 5.16161584e-01 -3.81333618e-02 6.20609205e+01] [ 4.49540958e-02 -7.16455500e-04 9.98988797e-01 6.11793425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00804094199998 meters 0.02247423178550018 Centerline is valid? [True, True] Translation: X:117.38, Y:62.09, Z:6.12 [[ 5.16568497e-01 -8.55929266e-01 -2.32826011e-02 1.17380869e+02] [ 8.55116540e-01 5.17092523e-01 -3.72964558e-02 6.20852415e+01] [ 4.39623870e-02 -6.43163135e-04 9.99032980e-01 6.11868429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.03804094199998 meters 0.022026801904992614 Centerline is valid? [True, True] Translation: X:117.39, Y:62.11, Z:6.12 [[ 5.18751637e-01 -8.54625665e-01 -2.26210669e-02 1.17394384e+02] [ 8.53856326e-01 5.19244371e-01 -3.62582107e-02 6.21105140e+01] [ 4.27330591e-02 -5.06134915e-04 9.99086397e-01 6.11944394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06804094199998 meters 0.02171130647896938 Centerline is valid? [True, True] Translation: X:117.41, Y:62.14, Z:6.12 [[ 5.20232192e-01 -8.53726824e-01 -2.25604912e-02 1.17408289e+02] [ 8.52959918e-01 5.20720974e-01 -3.61807453e-02 6.21355824e+01] [ 4.26361937e-02 -4.20806317e-04 9.99090575e-01 6.12020974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.09804094199998 meters 0.02148798118786048 Centerline is valid? [True, True] Translation: X:117.42, Y:62.16, Z:6.12 [[ 5.21372481e-01 -8.53036627e-01 -2.23438911e-02 1.17422201e+02] [ 8.52282816e-01 5.21850928e-01 -3.58554073e-02 6.21598864e+01] [ 4.22461560e-02 -3.49291791e-04 9.99107172e-01 6.12097012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12804094199998 meters 0.021377987017604495 Centerline is valid? [True, True] Translation: X:117.44, Y:62.18, Z:6.12 [[ 5.23363091e-01 -8.51821647e-01 -2.21575418e-02 1.17435856e+02] [ 8.51078333e-01 5.23831868e-01 -3.55787329e-02 6.21834518e+01] [ 4.19135613e-02 -2.37208072e-04 9.99121212e-01 6.12187180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.15804094199999 meters 0.02113039205862059 Centerline is valid? [True, True] Translation: X:117.45, Y:62.21, Z:6.12 [[ 5.23674093e-01 -8.51643109e-01 -2.16670113e-02 1.17449457e+02] [ 8.50931495e-01 5.24122096e-01 -3.48083251e-02 6.22084063e+01] [ 4.10004296e-02 -2.08924234e-04 9.99159107e-01 6.12254238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.188040942 meters 0.02102328188703648 Centerline is valid? [True, True] Translation: X:117.46, Y:62.23, Z:6.12 [[ 5.24117804e-01 -8.51376190e-01 -2.14268657e-02 1.17463237e+02] [ 8.50679187e-01 5.24555576e-01 -3.44436878e-02 6.22324945e+01] [ 4.05641176e-02 -1.74838652e-04 9.99176922e-01 6.12362266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.218040942 meters 0.02101272549460821 Centerline is valid? [True, True] Translation: X:117.48, Y:62.26, Z:6.12 [[ 5.24199866e-01 -8.51343324e-01 -2.07133835e-02 1.17477273e+02] [ 8.50691154e-01 5.24608921e-01 -3.33172751e-02 6.22563122e+01] [ 3.92308655e-02 -1.55780939e-04 9.99230161e-01 6.12446806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.248040942 meters 0.020977165884234216 Centerline is valid? [True, True] Translation: X:117.49, Y:62.28, Z:6.13 [[ 5.23856160e-01 -8.51567667e-01 -2.01799806e-02 1.17491821e+02] [ 8.50948023e-01 5.24244679e-01 -3.24804405e-02 6.22792358e+01] [ 3.82385404e-02 -1.57035759e-04 9.99268627e-01 6.12541938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.278040942 meters 0.021023993618345206 Centerline is valid? [True, True] Translation: X:117.51, Y:62.30, Z:6.13 [[ 5.23080557e-01 -8.52047192e-01 -2.00577515e-02 1.17506710e+02] [ 8.51434913e-01 5.23464945e-01 -3.22961332e-02 6.23030581e+01] [ 3.80173594e-02 -1.84390546e-04 9.99277062e-01 6.12594228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.308040942 meters 0.02115946509615841 Centerline is valid? [True, True] Translation: X:117.52, Y:62.33, Z:6.13 [[ 5.20963956e-01 -8.53352885e-01 -1.96318738e-02 1.17522925e+02] [ 8.52766527e-01 5.21333659e-01 -3.16301511e-02 6.23262888e+01] [ 3.72264373e-02 -2.63236201e-04 9.99306821e-01 6.12646013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.338040942 meters 0.0211600840309359 Centerline is valid? [True, True] Translation: X:117.54, Y:62.35, Z:6.13 [[ 5.19725063e-01 -8.54107648e-01 -1.96465052e-02 1.17538675e+02] [ 8.53520243e-01 5.20096175e-01 -3.16727700e-02 6.23496074e+01] [ 3.72700273e-02 -3.07557536e-04 9.99305184e-01 6.12727897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.368040942 meters 0.021385748421339997 Centerline is valid? [True, True] Translation: X:117.55, Y:62.37, Z:6.13 [[ 5.17045458e-01 -8.55738394e-01 -1.93854499e-02 1.17554518e+02] [ 8.55166854e-01 5.17408576e-01 -3.12732843e-02 6.23721035e+01] [ 3.67919481e-02 -4.08084633e-04 9.99322864e-01 6.12776146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.398040942 meters 0.021901176559903836 Centerline is valid? [True, True] Translation: X:117.57, Y:62.39, Z:6.13 [[ 5.15847185e-01 -8.56465396e-01 -1.92017264e-02 1.17571312e+02] [ 8.55904791e-01 5.16204244e-01 -3.09865511e-02 6.23942602e+01] [ 3.64509214e-02 -4.50524437e-04 9.99335343e-01 6.12998461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.428040942 meters 0.02152053736442348 Centerline is valid? [True, True] Translation: X:117.59, Y:62.42, Z:6.13 [[ 5.14071306e-01 -8.57544332e-01 -1.86657820e-02 1.17585678e+02] [ 8.57015091e-01 5.14409817e-01 -3.01276401e-02 6.24198814e+01] [ 3.54376485e-02 -5.09101541e-04 9.99371760e-01 6.12983074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.458040942 meters 0.022235344887662482 Centerline is valid? [True, True] Translation: X:117.60, Y:62.44, Z:6.13 [[ 5.10089257e-01 -8.59930718e-01 -1.81138191e-02 1.17602316e+02] [ 8.59433269e-01 5.10410367e-01 -2.92525661e-02 6.24425918e+01] [ 3.44006613e-02 -6.46199087e-04 9.99407913e-01 6.13138220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.488040942 meters 0.022578626556965044 Centerline is valid? [True, True] Translation: X:117.62, Y:62.47, Z:6.13 [[ 5.08179082e-01 -8.61063178e-01 -1.80062253e-02 1.17618296e+02] [ 8.60571756e-01 5.08497492e-01 -2.90956015e-02 6.24661150e+01] [ 3.42092715e-02 -7.09872855e-04 9.99414439e-01 6.13252577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.51804094199997 meters 0.02352488468340367 Centerline is valid? [True, True] Translation: X:117.64, Y:62.49, Z:6.13 [[ 5.04674872e-01 -8.63123721e-01 -1.79085511e-02 1.17636558e+02] [ 8.62638656e-01 5.04991818e-01 -2.89449970e-02 6.24890667e+01] [ 3.40267853e-02 -8.40795802e-04 9.99420568e-01 6.13382360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54804094199997 meters 0.023776740745470017 Centerline is valid? [True, True] Translation: X:117.65, Y:62.51, Z:6.14 [[ 5.03333740e-01 -8.63909070e-01 -1.77838442e-02 1.17652371e+02] [ 8.63430718e-01 5.03647044e-01 -2.87584716e-02 6.25126247e+01] [ 3.38014851e-02 -8.80008294e-04 9.99428179e-01 6.13516806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.57804094199997 meters 0.024106286226753124 Centerline is valid? [True, True] Translation: X:117.67, Y:62.54, Z:6.14 [[ 5.01860176e-01 -8.64771283e-01 -1.75212102e-02 1.17666987e+02] [ 8.64306944e-01 5.02165102e-01 -2.83499151e-02 6.25369074e+01] [ 3.33147327e-02 -9.16010288e-04 9.99444490e-01 6.13643583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60804094199997 meters 0.02385730081777644 Centerline is valid? [True, True] Translation: X:117.68, Y:62.56, Z:6.14 [[ 5.01471727e-01 -8.65004167e-01 -1.71434548e-02 1.17680350e+02] [ 8.64559274e-01 5.01763863e-01 -2.77540491e-02 6.25622396e+01] [ 3.26093342e-02 -9.03661870e-04 9.99467766e-01 6.13701949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.63804094199998 meters 0.023469731572995704 Centerline is valid? [True, True] Translation: X:117.69, Y:62.59, Z:6.14 [[ 5.01457737e-01 -8.65013187e-01 -1.70975289e-02 1.17691958e+02] [ 8.64570145e-01 5.01748332e-01 -2.76961236e-02 6.25877096e+01] [ 3.25361688e-02 -8.93577640e-04 9.99470159e-01 6.13681007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66804094199998 meters 0.023785473587567323 Centerline is valid? [True, True] Translation: X:117.71, Y:62.61, Z:6.14 [[ 5.01609497e-01 -8.64928438e-01 -1.69325136e-02 1.17705799e+02] [ 8.64493243e-01 5.01894452e-01 -2.74480005e-02 6.26110234e+01] [ 3.22388908e-02 -8.69865924e-04 9.99479813e-01 6.13830180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.69804094199998 meters 0.023733808356206792 Centerline is valid? [True, True] Translation: X:117.72, Y:62.64, Z:6.14 [[ 5.01644805e-01 -8.64911624e-01 -1.67443433e-02 1.17719539e+02] [ 8.64485741e-01 5.01923453e-01 -2.71523735e-02 6.26351291e+01] [ 3.18887821e-02 -8.54398890e-04 9.99491058e-01 6.14029985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72804094199998 meters 0.023437813990579686 Centerline is valid? [True, True] Translation: X:117.73, Y:62.66, Z:6.14 [[ 5.02127295e-01 -8.64648549e-01 -1.58450622e-02 1.17732339e+02] [ 8.64266621e-01 5.02376621e-01 -2.57087233e-02 6.26605153e+01] [ 3.01891991e-02 -7.85306689e-04 9.99543894e-01 6.14292137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.75804094199998 meters 0.023437813990579686 Centerline is valid? [True, True] Translation: X:117.75, Y:62.68, Z:6.14 [[ 5.01887084e-01 -8.64788133e-01 -1.58379412e-02 1.17746714e+02] [ 8.64406136e-01 5.02136305e-01 -2.57131089e-02 6.26840379e+01] [ 3.01891967e-02 -7.85336324e-04 9.99543894e-01 6.14414514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78804094199998 meters 0.023350030317862196 Centerline is valid? [True, True] Translation: X:117.76, Y:62.71, Z:6.15 [[ 5.02104955e-01 -8.64660214e-01 -1.59162922e-02 1.17760192e+02] [ 8.64273867e-01 5.02356563e-01 -2.58566586e-02 6.27086921e+01] [ 3.03528778e-02 -7.73279011e-04 9.99538946e-01 6.14522664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.81804094199998 meters 0.02320907513413823 Centerline is valid? [True, True] Translation: X:117.77, Y:62.73, Z:6.15 [[ 5.02348915e-01 -8.64522704e-01 -1.56863545e-02 1.17772152e+02] [ 8.64146920e-01 5.02593212e-01 -2.54983027e-02 6.27342529e+01] [ 2.99277169e-02 -7.46270261e-04 9.99551787e-01 6.14604309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84804094199998 meters 0.02271767975751369 Centerline is valid? [True, True] Translation: X:117.78, Y:62.76, Z:6.15 [[ 5.02188830e-01 -8.64616033e-01 -1.56682430e-02 1.17784778e+02] [ 8.64240682e-01 5.02432645e-01 -2.54849198e-02 6.27600376e+01] [ 2.99069070e-02 -7.42890955e-04 9.99552412e-01 6.14663307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.87804094199998 meters 0.02250615502646891 Centerline is valid? [True, True] Translation: X:117.80, Y:62.78, Z:6.15 [[ 5.01724645e-01 -8.64889255e-01 -1.54582363e-02 1.17797350e+02] [ 8.64523590e-01 5.01962177e-01 -2.51582181e-02 6.27848847e+01] [ 2.95185225e-02 -7.41511920e-04 9.99563958e-01 6.14770991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90804094199999 meters 0.02355570055195263 Centerline is valid? [True, True] Translation: X:117.81, Y:62.81, Z:6.15 [[ 5.00367214e-01 -8.65678414e-01 -1.52818050e-02 1.17810884e+02] [ 8.65320914e-01 5.00599929e-01 -2.48882781e-02 6.28091825e+01] [ 2.91953156e-02 -7.70387140e-04 9.99573429e-01 6.14967941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.938040942 meters 0.024134069252727767 Centerline is valid? [True, True] Translation: X:117.83, Y:62.83, Z:6.15 [[ 4.99576758e-01 -8.66138334e-01 -1.50814143e-02 1.17825580e+02] [ 8.65790097e-01 4.99803736e-01 -2.45709850e-02 6.28332244e+01] [ 2.88196192e-02 -7.82246087e-04 9.99584322e-01 6.15139988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.968040942 meters 0.023396304830150927 Centerline is valid? [True, True] Translation: X:117.84, Y:62.86, Z:6.15 [[ 4.98055294e-01 -8.67010228e-01 -1.53031955e-02 1.17836406e+02] [ 8.66651963e-01 4.98289628e-01 -2.49363502e-02 6.28601768e+01] [ 2.92454943e-02 -8.42863216e-04 9.99571904e-01 6.15171459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.998040942 meters 0.023903076561741027 Centerline is valid? [True, True] Translation: X:117.85, Y:62.88, Z:6.15 [[ 4.97540735e-01 -8.67308714e-01 -1.51265119e-02 1.17850337e+02] [ 8.66958313e-01 4.97769913e-01 -2.46657178e-02 6.28841126e+01] [ 2.89223145e-02 -8.41855876e-04 9.99581308e-01 6.15304440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.028040942 meters 0.0245340363016926 Centerline is valid? [True, True] Translation: X:117.86, Y:62.91, Z:6.15 [[ 4.96603182e-01 -8.67840642e-01 -1.54240148e-02 1.17862361e+02] [ 8.67476461e-01 4.96841858e-01 -2.51546930e-02 6.29091784e+01] [ 2.94935611e-02 -8.88069241e-04 9.99564576e-01 6.15380403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.058040942 meters 0.024281009141219282 Centerline is valid? [True, True] Translation: X:117.87, Y:62.93, Z:6.15 [[ 4.96330534e-01 -8.67989967e-01 -1.57929674e-02 1.17874669e+02] [ 8.67607798e-01 4.96580896e-01 -2.57705659e-02 6.29342117e+01] [ 3.02110786e-02 -9.11382961e-04 9.99543126e-01 6.15403658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.088040942 meters 0.024155147774094117 Centerline is valid? [True, True] Translation: X:117.89, Y:62.96, Z:6.15 [[ 4.97110886e-01 -8.67533653e-01 -1.63134183e-02 1.17886536e+02] [ 8.67125052e-01 4.97377667e-01 -2.66383234e-02 6.29604810e+01] [ 3.12235719e-02 -9.03573122e-04 9.99512017e-01 6.15374430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.118040942 meters 0.024447931925582467 Centerline is valid? [True, True] Translation: X:117.90, Y:62.98, Z:6.16 [[ 4.97522236e-01 -8.67296489e-01 -1.63836506e-02 1.17899759e+02] [ 8.66883748e-01 4.97791138e-01 -2.67684808e-02 6.29839756e+01] [ 3.13718455e-02 -8.84805987e-04 9.99507391e-01 6.15531426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.148040942 meters 0.0241239098210388 Centerline is valid? [True, True] Translation: X:117.91, Y:63.01, Z:6.16 [[ 4.98195647e-01 -8.66909247e-01 -1.64151130e-02 1.17912370e+02] [ 8.66494333e-01 4.98465270e-01 -2.68317963e-02 6.30092856e+01] [ 3.14430961e-02 -8.56118271e-04 9.99505177e-01 6.15657398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.178040942 meters 0.023096029330239923 Centerline is valid? [True, True] Translation: X:117.92, Y:63.04, Z:6.16 [[ 5.00196382e-01 -8.65756023e-01 -1.64343601e-02 1.17922214e+02] [ 8.65338985e-01 5.00465690e-01 -2.68799786e-02 6.30367841e+01] [ 3.14963367e-02 -7.76024487e-04 9.99503566e-01 6.15733020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.208040942 meters 0.02322034833428624 Centerline is valid? [True, True] Translation: X:117.93, Y:63.06, Z:6.16 [[ 5.01036648e-01 -8.65265523e-01 -1.66689316e-02 1.17934990e+02] [ 8.64835677e-01 5.01313292e-01 -2.72806539e-02 6.30606865e+01] [ 3.19613663e-02 -7.47279397e-04 9.99488826e-01 6.15863487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.238040942 meters 0.022533313372224868 Centerline is valid? [True, True] Translation: X:117.95, Y:63.09, Z:6.16 [[ 5.02440071e-01 -8.64442535e-01 -1.71195573e-02 1.17945624e+02] [ 8.63988311e-01 5.02731143e-01 -2.80284977e-02 6.30883846e+01] [ 3.28355602e-02 -7.08456991e-04 9.99460517e-01 6.15888802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26804094199997 meters 0.022567973118758286 Centerline is valid? [True, True] Translation: X:117.96, Y:63.11, Z:6.16 [[ 5.02984113e-01 -8.64120972e-01 -1.73760756e-02 1.17958146e+02] [ 8.63652284e-01 5.03283688e-01 -2.84650866e-02 6.31124690e+01] [ 3.33423737e-02 -6.89401052e-04 9.99443751e-01 6.15989443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.29804094199997 meters 0.02206225550483781 Centerline is valid? [True, True] Translation: X:117.97, Y:63.14, Z:6.16 [[ 5.03859336e-01 -8.63601439e-01 -1.78416426e-02 1.17968613e+02] [ 8.63106488e-01 5.04174683e-01 -2.92417411e-02 6.31396674e+01] [ 3.42485143e-02 -6.65513240e-04 9.99413126e-01 6.15930050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32804094199997 meters 0.022103217891633806 Centerline is valid? [True, True] Translation: X:117.98, Y:63.16, Z:6.16 [[ 5.03760374e-01 -8.63655888e-01 -1.79997751e-02 1.17982099e+02] [ 8.63151611e-01 5.04081403e-01 -2.95166861e-02 6.31643190e+01] [ 3.45656117e-02 -6.67198020e-04 9.99402208e-01 6.16011382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.35804094199997 meters 0.022223278595197578 Centerline is valid? [True, True] Translation: X:118.00, Y:63.19, Z:6.16 [[ 5.03776857e-01 -8.63642098e-01 -1.81990440e-02 1.17995586e+02] [ 8.63125895e-01 5.04105034e-01 -2.98630797e-02 6.31873298e+01] [ 3.49652425e-02 -6.63737684e-04 9.99388309e-01 6.16139827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38804094199998 meters 0.022134312088948966 Centerline is valid? [True, True] Translation: X:118.01, Y:63.21, Z:6.16 [[ 5.03903128e-01 -8.63565384e-01 -1.83429827e-02 1.18007892e+02] [ 8.63040369e-01 5.04236450e-01 -3.01151825e-02 6.32124509e+01] [ 3.52556296e-02 -6.55599902e-04 9.99378112e-01 6.16253607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.41804094199998 meters 0.022279662085990578 Centerline is valid? [True, True] Translation: X:118.02, Y:63.24, Z:6.16 [[ 5.03972045e-01 -8.63521748e-01 -1.85032029e-02 1.18020777e+02] [ 8.62986786e-01 5.04311184e-01 -3.03979832e-02 6.32358743e+01] [ 3.55806918e-02 -6.48285862e-04 9.99366596e-01 6.16435248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44804094199998 meters 0.021852204837523544 Centerline is valid? [True, True] Translation: X:118.03, Y:63.26, Z:6.17 [[ 5.04885535e-01 -8.62992159e-01 -1.83065919e-02 1.18031046e+02] [ 8.62467610e-01 5.05216962e-01 -3.00905943e-02 6.32629748e+01] [ 3.52167477e-02 -5.96536771e-04 9.99379520e-01 6.16513415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.47804094199998 meters 0.02163144759667398 Centerline is valid? [True, True] Translation: X:118.04, Y:63.29, Z:6.17 [[ 5.05615010e-01 -8.62564336e-01 -1.83365400e-02 1.18044286e+02] [ 8.62037116e-01 5.05947087e-01 -3.01588357e-02 6.32884788e+01] [ 3.52912550e-02 -5.58018045e-04 9.99376914e-01 6.16648314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50804094199998 meters 0.021657120908326537 Centerline is valid? [True, True] Translation: X:118.06, Y:63.31, Z:6.17 [[ 5.06615758e-01 -8.61976660e-01 -1.83496914e-02 1.18057327e+02] [ 8.61447660e-01 5.06947708e-01 -3.01984980e-02 6.33119768e+01] [ 3.53327345e-02 -5.08263753e-04 9.99375475e-01 6.16832003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.53804094199998 meters 0.021250615251066193 Centerline is valid? [True, True] Translation: X:118.07, Y:63.34, Z:6.17 [[ 5.08440828e-01 -8.60890432e-01 -1.88570684e-02 1.18069757e+02] [ 8.60330452e-01 5.08790206e-01 -3.10489805e-02 6.33384200e+01] [ 3.63240620e-02 -4.36740809e-04 9.99339968e-01 6.16936396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56804094199998 meters 0.020909447311230556 Centerline is valid? [True, True] Translation: X:118.08, Y:63.36, Z:6.17 [[ 5.10619329e-01 -8.59580257e-01 -1.97403508e-02 1.18082131e+02] [ 8.58964882e-01 5.11000644e-01 -3.25218843e-02 6.33647576e+01] [ 3.80425017e-02 -3.49965317e-04 9.99276061e-01 6.16930758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.59804094199998 meters 0.020910475175987975 Centerline is valid? [True, True] Translation: X:118.10, Y:63.39, Z:6.17 [[ 5.11462747e-01 -8.59066055e-01 -2.02823081e-02 1.18095920e+02] [ 8.58415260e-01 5.11864647e-01 -3.34338779e-02 6.33886143e+01] [ 3.91037061e-02 -3.10459818e-04 9.99235109e-01 6.16995201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62804094199998 meters 0.020839198372898698 Centerline is valid? [True, True] Translation: X:118.11, Y:63.41, Z:6.17 [[ 5.11922997e-01 -8.58784174e-01 -2.06055189e-02 1.18109604e+02] [ 8.58111546e-01 5.12337449e-01 -3.39840080e-02 6.34134511e+01] [ 3.97419073e-02 -2.84638402e-04 9.99209938e-01 6.17034920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.65804094199999 meters 0.02065133571597192 Centerline is valid? [True, True] Translation: X:118.12, Y:63.44, Z:6.17 [[ 5.12840345e-01 -8.58231800e-01 -2.08076360e-02 1.18122947e+02] [ 8.57544610e-01 5.13262236e-01 -3.43382946e-02 6.34387725e+01] [ 4.01499901e-02 -2.33413218e-04 9.99193637e-01 6.17147476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.688040942 meters 0.020580449452128086 Centerline is valid? [True, True] Translation: X:118.14, Y:63.46, Z:6.17 [[ 5.12682659e-01 -8.58325458e-01 -2.08302454e-02 1.18137165e+02] [ 8.57636066e-01 5.13105598e-01 -3.43951270e-02 6.34631716e+01] [ 4.02103287e-02 -2.30984541e-04 9.99191211e-01 6.17261437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.718040942 meters 0.02052533447200741 Centerline is valid? [True, True] Translation: X:118.15, Y:63.49, Z:6.17 [[ 5.13279429e-01 -8.57966928e-01 -2.09040053e-02 1.18151466e+02] [ 8.57271437e-01 5.13704889e-01 -3.45393879e-02 6.34863626e+01] [ 4.03721423e-02 -1.92049369e-04 9.99184694e-01 6.17452558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.748040942 meters 0.02047814904970889 Centerline is valid? [True, True] Translation: X:118.17, Y:63.51, Z:6.18 [[ 5.13298014e-01 -8.57955399e-01 -2.09208789e-02 1.18165807e+02] [ 8.57257979e-01 5.13724149e-01 -3.45869314e-02 6.35107605e+01] [ 4.04216052e-02 -1.81187215e-04 9.99182697e-01 6.17576422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.778040942 meters 0.020511591873014635 Centerline is valid? [True, True] Translation: X:118.18, Y:63.53, Z:6.18 [[ 5.12520346e-01 -8.58419156e-01 -2.09629807e-02 1.18181786e+02] [ 8.57718461e-01 5.12948837e-01 -3.46775563e-02 6.35340851e+01] [ 4.05208152e-02 -2.07382421e-04 9.99178673e-01 6.17730036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.808040942 meters 0.020530315151704177 Centerline is valid? [True, True] Translation: X:118.20, Y:63.56, Z:6.18 [[ 5.11734790e-01 -8.58888639e-01 -2.09239208e-02 1.18196952e+02] [ 8.58190110e-01 5.12162329e-01 -3.46335568e-02 6.35565622e+01] [ 4.04628125e-02 -2.33505977e-04 9.99181018e-01 6.17898833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.838040942 meters 0.020689762732894412 Centerline is valid? [True, True] Translation: X:118.21, Y:63.58, Z:6.18 [[ 5.09398702e-01 -8.60291202e-01 -2.02980249e-02 1.18214248e+02] [ 8.59634138e-01 5.09802846e-01 -3.36185454e-02 6.35801835e+01] [ 3.92697297e-02 -3.23631704e-04 9.99228594e-01 6.18112166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.868040942 meters 0.020769372831177187 Centerline is valid? [True, True] Translation: X:118.23, Y:63.60, Z:6.18 [[ 5.07938877e-01 -8.61157422e-01 -2.01492339e-02 1.18229688e+02] [ 8.60509957e-01 5.08338225e-01 -3.33895695e-02 6.36039158e+01] [ 3.89963014e-02 -3.78755940e-04 9.99239283e-01 6.18242458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.898040942 meters 0.021118710728320094 Centerline is valid? [True, True] Translation: X:118.25, Y:63.63, Z:6.18 [[ 5.05537394e-01 -8.62569023e-01 -2.01649311e-02 1.18247079e+02] [ 8.61920792e-01 5.05939180e-01 -3.34379268e-02 6.36255519e+01] [ 3.90447486e-02 -4.76451025e-04 9.99237349e-01 6.18402894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.928040942 meters 0.021307529915568217 Centerline is valid? [True, True] Translation: X:118.26, Y:63.65, Z:6.19 [[ 5.04554033e-01 -8.63143669e-01 -2.02048093e-02 1.18262732e+02] [ 8.62492987e-01 5.04958155e-01 -3.35128201e-02 6.36491876e+01] [ 3.91289618e-02 -5.17477806e-04 9.99234035e-01 6.18543264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.958040942 meters 0.021312913980282334 Centerline is valid? [True, True] Translation: X:118.28, Y:63.67, Z:6.19 [[ 5.04165821e-01 -8.63364253e-01 -2.04692591e-02 1.18277943e+02] [ 8.62695751e-01 5.04580900e-01 -3.39728790e-02 6.36722666e+01] [ 3.96593665e-02 -5.30778425e-04 9.99213117e-01 6.18634424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.988040942 meters 0.021472649407947048 Centerline is valid? [True, True] Translation: X:118.29, Y:63.69, Z:6.19 [[ 5.03896234e-01 -8.63520691e-01 -2.05085879e-02 1.18293995e+02] [ 8.62848853e-01 5.04313130e-01 -3.40605838e-02 6.36943165e+01] [ 3.97547690e-02 -5.32811620e-04 9.99209325e-01 6.18796636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.01804094199997 meters 0.021220326780484005 Centerline is valid? [True, True] Translation: X:118.31, Y:63.72, Z:6.19 [[ 5.04052536e-01 -8.63429487e-01 -2.05076227e-02 1.18308197e+02] [ 8.62757090e-01 5.04469278e-01 -3.40727461e-02 6.37183038e+01] [ 3.97648793e-02 -5.18642816e-04 9.99208930e-01 6.18880826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04804094199997 meters 0.021114312094110396 Centerline is valid? [True, True] Translation: X:118.32, Y:63.74, Z:6.19 [[ 5.04702197e-01 -8.63044539e-01 -2.07320155e-02 1.18322434e+02] [ 8.62356087e-01 5.05127600e-01 -3.44686424e-02 6.37410697e+01] [ 4.02202868e-02 -4.81980188e-04 9.99190721e-01 6.18921912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.07804094199997 meters 0.02109581228841088 Centerline is valid? [True, True] Translation: X:118.34, Y:63.77, Z:6.19 [[ 5.04852502e-01 -8.62953572e-01 -2.08586543e-02 1.18337111e+02] [ 8.62255852e-01 5.05283003e-01 -3.46977370e-02 6.37655043e+01] [ 4.04820596e-02 -4.68257409e-04 9.99180156e-01 6.18999340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10804094199997 meters 0.021074716472155038 Centerline is valid? [True, True] Translation: X:118.35, Y:63.79, Z:6.19 [[ 5.04538132e-01 -8.63139606e-01 -2.07676226e-02 1.18351872e+02] [ 8.62447239e-01 5.04965147e-01 -3.45682038e-02 6.37896593e+01] [ 4.03241114e-02 -4.70001831e-04 9.99186542e-01 6.19094062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.13804094199998 meters 0.02120180326084632 Centerline is valid? [True, True] Translation: X:118.37, Y:63.81, Z:6.19 [[ 5.03709099e-01 -8.63622356e-01 -2.08223107e-02 1.18368761e+02] [ 8.62925825e-01 5.04139045e-01 -3.46820266e-02 6.38115235e+01] [ 4.04495134e-02 -4.98457254e-04 9.99181459e-01 6.19292586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16804094199998 meters 0.021326493500873785 Centerline is valid? [True, True] Translation: X:118.38, Y:63.83, Z:6.19 [[ 5.02477553e-01 -8.64342723e-01 -2.06873251e-02 1.18384974e+02] [ 8.63654994e-01 5.02902935e-01 -3.44773744e-02 6.38342709e+01] [ 4.02039842e-02 -5.42604929e-04 9.99191346e-01 6.19439935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.19804094199998 meters 0.021382196634375895 Centerline is valid? [True, True] Translation: X:118.40, Y:63.86, Z:6.20 [[ 5.01861568e-01 -8.64704434e-01 -2.05233706e-02 1.18400147e+02] [ 8.64027057e-01 5.02280730e-01 -3.42244487e-02 6.38575438e+01] [ 3.99025261e-02 -5.56812019e-04 9.99203422e-01 6.19610144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22804094199998 meters 0.021086042106494167 Centerline is valid? [True, True] Translation: X:118.41, Y:63.88, Z:6.20 [[ 5.01309150e-01 -8.65023992e-01 -2.05579492e-02 1.18414554e+02] [ 8.64343748e-01 5.01730171e-01 -3.43033489e-02 6.38820353e+01] [ 3.99877632e-02 -5.72552201e-04 9.99200005e-01 6.19742485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.25804094199998 meters 0.02103504900692443 Centerline is valid? [True, True] Translation: X:118.43, Y:63.91, Z:6.20 [[ 5.00353688e-01 -8.65575573e-01 -2.06182838e-02 1.18430516e+02] [ 8.64890893e-01 5.00777953e-01 -3.44265269e-02 6.39054319e+01] [ 4.01239427e-02 -6.07126229e-04 9.99194526e-01 6.19852131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28804094199998 meters 0.021165633069283655 Centerline is valid? [True, True] Translation: X:118.45, Y:63.93, Z:6.20 [[ 4.99326288e-01 -8.66173402e-01 -2.04180313e-02 1.18445355e+02] [ 8.65501584e-01 4.99743165e-01 -3.41141630e-02 6.39279562e+01] [ 3.97525522e-02 -6.37740056e-04 9.99209351e-01 6.19995127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.31804094199998 meters 0.021351762625083603 Centerline is valid? [True, True] Translation: X:118.46, Y:63.95, Z:6.20 [[ 4.98010011e-01 -8.66930468e-01 -2.04350610e-02 1.18461241e+02] [ 8.66257365e-01 4.98428620e-01 -3.41626842e-02 6.39516106e+01] [ 3.98020911e-02 -6.88663379e-04 9.99207345e-01 6.20109197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34804094199998 meters 0.021594607485981177 Centerline is valid? [True, True] Translation: X:118.48, Y:63.97, Z:6.20 [[ 4.97422723e-01 -8.67266089e-01 -2.04979209e-02 1.18475909e+02] [ 8.66588344e-01 4.97844382e-01 -3.42872158e-02 6.39747733e+01] [ 3.99409144e-02 -7.08019034e-04 9.99201792e-01 6.20195483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.37804094199998 meters 0.021665333858393518 Centerline is valid? [True, True] Translation: X:118.49, Y:64.00, Z:6.20 [[ 4.96211125e-01 -8.67948777e-01 -2.09628049e-02 1.18491548e+02] [ 8.67239672e-01 4.96653126e-01 -3.50859551e-02 6.39983841e+01] [ 4.08640544e-02 -7.69734806e-04 9.99164419e-01 6.20235731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40804094199999 meters 0.021846398866935367 Centerline is valid? [True, True] Translation: X:118.51, Y:64.02, Z:6.20 [[ 4.96205028e-01 -8.67948159e-01 -2.11320333e-02 1.18506113e+02] [ 8.67226623e-01 4.96654214e-01 -3.53917463e-02 6.40206324e+01] [ 4.12135144e-02 -7.64699391e-04 9.99150070e-01 6.20357328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.438040942 meters 0.021686851493531518 Centerline is valid? [True, True] Translation: X:118.52, Y:64.05, Z:6.20 [[ 4.96116624e-01 -8.67999026e-01 -2.11183797e-02 1.18520170e+02] [ 8.67277857e-01 4.96565314e-01 -3.53837123e-02 6.40450964e+01] [ 4.11996827e-02 -7.61055154e-04 9.99150643e-01 6.20474995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.468040942 meters 0.021752404381727788 Centerline is valid? [True, True] Translation: X:118.53, Y:64.07, Z:6.21 [[ 4.96116457e-01 -8.67992826e-01 -2.13755492e-02 1.18534159e+02] [ 8.67252989e-01 4.96576156e-01 -3.58381658e-02 6.40686215e+01] [ 4.17218589e-02 -7.58105054e-04 9.99128977e-01 6.20549984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.498040942 meters 0.02185748224710816 Centerline is valid? [True, True] Translation: X:118.55, Y:64.09, Z:6.21 [[ 4.95860396e-01 -8.68134025e-01 -2.15819664e-02 1.18548432e+02] [ 8.67379308e-01 4.96329247e-01 -3.61996562e-02 6.40924958e+01] [ 4.21379144e-02 -7.69775213e-04 9.99111507e-01 6.20599225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.528040942 meters 0.021856884813554765 Centerline is valid? [True, True] Translation: X:118.56, Y:64.12, Z:6.21 [[ 4.95579930e-01 -8.68286432e-01 -2.18907641e-02 1.18562595e+02] [ 8.67509105e-01 4.96062557e-01 -3.67408753e-02 6.41165445e+01] [ 4.27607919e-02 -7.82396774e-04 9.99085033e-01 6.20688757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.558040942 meters 0.02148708508706542 Centerline is valid? [True, True] Translation: X:118.58, Y:64.14, Z:6.21 [[ 4.95320804e-01 -8.68433052e-01 -2.19393494e-02 1.18576331e+02] [ 8.67651424e-01 4.95805826e-01 -3.68454727e-02 6.41409998e+01] [ 4.28754836e-02 -7.85378614e-04 9.99080115e-01 6.20768892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.588040942 meters 0.0217573700666684 Centerline is valid? [True, True] Translation: X:118.59, Y:64.16, Z:6.21 [[ 4.94927455e-01 -8.68660385e-01 -2.18162629e-02 1.18591664e+02] [ 8.67886728e-01 4.95407421e-01 -3.66621579e-02 6.41636539e+01] [ 4.26549027e-02 -7.88936560e-04 9.99089554e-01 6.20918048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.618040942 meters 0.021639048201940327 Centerline is valid? [True, True] Translation: X:118.61, Y:64.19, Z:6.21 [[ 4.94381866e-01 -8.68972924e-01 -2.17399879e-02 1.18605900e+02] [ 8.68204079e-01 4.94858983e-01 -3.65549502e-02 6.41881196e+01] [ 4.25234903e-02 -8.02641674e-04 9.99095145e-01 6.21023528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.648040942 meters 0.02169610486126663 Centerline is valid? [True, True] Translation: X:118.62, Y:64.21, Z:6.21 [[ 4.94346702e-01 -8.68985795e-01 -2.20233210e-02 1.18620424e+02] [ 8.68195748e-01 4.94836382e-01 -3.70553477e-02 6.42126840e+01] [ 4.30985112e-02 -8.02364759e-04 9.99070505e-01 6.21091112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.678040942 meters 0.02169610486126663 Centerline is valid? [True, True] Translation: X:118.63, Y:64.24, Z:6.21 [[ 4.94104580e-01 -8.69123750e-01 -2.20129719e-02 1.18634415e+02] [ 8.68333566e-01 4.94594039e-01 -3.70614945e-02 6.42364175e+01] [ 4.30985098e-02 -8.02348214e-04 9.99070505e-01 6.21213457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.708040942 meters 0.021700598272873354 Centerline is valid? [True, True] Translation: X:118.65, Y:64.26, Z:6.21 [[ 4.93933752e-01 -8.69219293e-01 -2.20741855e-02 1.18648886e+02] [ 8.68423777e-01 4.94426110e-01 -3.71882481e-02 6.42603698e+01] [ 4.32387964e-02 -8.01216622e-04 9.99064445e-01 6.21311383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.738040942 meters 0.021982891239997113 Centerline is valid? [True, True] Translation: X:118.66, Y:64.28, Z:6.21 [[ 4.94010397e-01 -8.69171742e-01 -2.22308325e-02 1.18663819e+02] [ 8.68363792e-01 4.94509714e-01 -3.74762317e-02 6.42824852e+01] [ 4.35666442e-02 -7.90801886e-04 9.99050210e-01 6.21448525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76804094199997 meters 0.021767552261778303 Centerline is valid? [True, True] Translation: X:118.68, Y:64.31, Z:6.22 [[ 4.94471918e-01 -8.68909369e-01 -2.22268007e-02 1.18678412e+02] [ 8.68100530e-01 4.94970641e-01 -3.74904521e-02 6.43063970e+01] [ 4.35774189e-02 -7.57121664e-04 9.99049766e-01 6.21615382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.79804094199997 meters 0.021377761588607394 Centerline is valid? [True, True] Translation: X:118.69, Y:64.33, Z:6.22 [[ 4.95584851e-01 -8.68276571e-01 -2.21686943e-02 1.18692242e+02] [ 8.67470334e-01 4.96079955e-01 -3.74151937e-02 6.43313728e+01] [ 4.34841810e-02 -6.88281418e-04 9.99053879e-01 6.21754679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82804094199997 meters 0.020927183463168558 Centerline is valid? [True, True] Translation: X:118.71, Y:64.36, Z:6.22 [[ 4.97114454e-01 -8.67394161e-01 -2.24630736e-02 1.18705755e+02] [ 8.66564429e-01 4.97621343e-01 -3.79353216e-02 6.43563700e+01] [ 4.40829813e-02 -6.07503874e-04 9.99027688e-01 6.21788322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.85804094199997 meters 0.020694789169087936 Centerline is valid? [True, True] Translation: X:118.72, Y:64.38, Z:6.22 [[ 4.98018523e-01 -8.66870268e-01 -2.26602866e-02 1.18719996e+02] [ 8.66024308e-01 4.98533480e-01 -3.82918827e-02 6.43812080e+01] [ 4.44910062e-02 -5.54292100e-04 9.99009631e-01 6.21903807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88804094199998 meters 0.02040550572464769 Centerline is valid? [True, True] Translation: X:118.73, Y:64.41, Z:6.22 [[ 4.98737771e-01 -8.66451656e-01 -2.28508872e-02 1.18733615e+02] [ 8.65589859e-01 4.99260721e-01 -3.86384220e-02 6.44052762e+01] [ 4.48868752e-02 -5.09055797e-04 9.98991947e-01 6.21987663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.91804094199998 meters 0.020131985055887792 Centerline is valid? [True, True] Translation: X:118.75, Y:64.43, Z:6.22 [[ 5.00639565e-01 -8.65353466e-01 -2.28780363e-02 1.18747625e+02] [ 8.64487339e-01 5.01161870e-01 -3.87094277e-02 6.44299290e+01] [ 4.49629369e-02 -3.98301717e-04 9.98988576e-01 6.22048909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94804094199998 meters 0.020090971739168843 Centerline is valid? [True, True] Translation: X:118.76, Y:64.45, Z:6.22 [[ 5.01256806e-01 -8.64996453e-01 -2.28637207e-02 1.18761697e+02] [ 8.64129930e-01 5.01777850e-01 -3.87098530e-02 6.44529184e+01] [ 4.49563941e-02 -3.53648116e-04 9.98988888e-01 6.22155310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.97804094199998 meters 0.020016125850128744 Centerline is valid? [True, True] Translation: X:118.78, Y:64.48, Z:6.22 [[ 5.02458617e-01 -8.64301046e-01 -2.27824544e-02 1.18776272e+02] [ 8.63438962e-01 5.02974775e-01 -3.85944787e-02 6.44758974e+01] [ 4.48162481e-02 -2.79130379e-04 9.98995208e-01 6.22221091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00804094199998 meters 0.019800408935613276 Centerline is valid? [True, True] Translation: X:118.79, Y:64.50, Z:6.22 [[ 5.02734653e-01 -8.64137778e-01 -2.28860204e-02 1.18790185e+02] [ 8.63266710e-01 5.03255239e-01 -3.87911345e-02 6.45002121e+01] [ 4.50383944e-02 -2.55091966e-04 9.98985224e-01 6.22316149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.03804094199998 meters 0.019825619532603873 Centerline is valid? [True, True] Translation: X:118.81, Y:64.52, Z:6.22 [[ 5.02878848e-01 -8.64056101e-01 -2.28017414e-02 1.18806268e+02] [ 8.63190220e-01 5.03395471e-01 -3.86735657e-02 6.45234608e+01] [ 4.48944237e-02 -2.34122048e-04 9.98991710e-01 6.22431534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06804094199998 meters 0.019886452096515777 Centerline is valid? [True, True] Translation: X:118.82, Y:64.55, Z:6.23 [[ 5.02682971e-01 -8.64169232e-01 -2.28335001e-02 1.18821716e+02] [ 8.63299907e-01 5.03201237e-01 -3.87528906e-02 6.45452351e+01] [ 4.49789012e-02 -2.31740364e-04 9.98987910e-01 6.22525506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.09804094199998 meters 0.019710198255902034 Centerline is valid? [True, True] Translation: X:118.84, Y:64.57, Z:6.23 [[ 5.02421815e-01 -8.64319782e-01 -2.28830836e-02 1.18836614e+02] [ 8.63446039e-01 5.02942600e-01 -3.88545935e-02 6.45690175e+01] [ 4.50916713e-02 -2.36912541e-04 9.98982825e-01 6.22627158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12804094199998 meters 0.019700183763822113 Centerline is valid? [True, True] Translation: X:118.85, Y:64.59, Z:6.23 [[ 5.01828177e-01 -8.64657446e-01 -2.31512800e-02 1.18853226e+02] [ 8.63762261e-01 5.02361856e-01 -3.93360047e-02 6.45917296e+01] [ 4.56424894e-02 -2.57286393e-04 9.98957805e-01 6.22779495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.15804094199999 meters 0.01960013515280764 Centerline is valid? [True, True] Translation: X:118.87, Y:64.61, Z:6.23 [[ 5.01761228e-01 -8.64693895e-01 -2.32408519e-02 1.18869478e+02] [ 8.63790616e-01 5.02299120e-01 -3.95141183e-02 6.46146714e+01] [ 4.58414763e-02 -2.48577254e-04 9.98948696e-01 6.22939710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.188040942 meters 0.019818226463984227 Centerline is valid? [True, True] Translation: X:118.89, Y:64.64, Z:6.23 [[ 5.01831516e-01 -8.64651224e-01 -2.33107270e-02 1.18885170e+02] [ 8.63741273e-01 5.02372577e-01 -3.96586374e-02 6.46366969e+01] [ 4.60015594e-02 -2.32482944e-04 9.98941341e-01 6.23013789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.218040942 meters 0.01959134225528745 Centerline is valid? [True, True] Translation: X:118.90, Y:64.66, Z:6.23 [[ 5.01623370e-01 -8.64772908e-01 -2.32768424e-02 1.18899436e+02] [ 8.63864910e-01 5.02163083e-01 -3.96188749e-02 6.46609609e+01] [ 4.59501007e-02 -2.34293786e-04 9.98943709e-01 6.23174067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.248040942 meters 0.019672765268677908 Centerline is valid? [True, True] Translation: X:118.92, Y:64.68, Z:6.23 [[ 5.00993077e-01 -8.65132804e-01 -2.34769613e-02 1.18916124e+02] [ 8.64208290e-01 5.01542785e-01 -3.99858315e-02 6.46823493e+01] [ 4.63677551e-02 -2.56359863e-04 9.98924404e-01 6.23266611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.278040942 meters 0.01985487935019244 Centerline is valid? [True, True] Translation: X:118.93, Y:64.71, Z:6.23 [[ 5.00403250e-01 -8.65475538e-01 -2.34239248e-02 1.18931984e+02] [ 8.64554731e-01 5.00951111e-01 -3.99136640e-02 6.47051645e+01] [ 4.62785410e-02 -2.78337869e-04 9.98928536e-01 6.23405252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.308040942 meters 0.01980425126869031 Centerline is valid? [True, True] Translation: X:118.95, Y:64.73, Z:6.24 [[ 5.00430021e-01 -8.65454963e-01 -2.36114588e-02 1.18946662e+02] [ 8.64518140e-01 5.00986663e-01 -4.02585269e-02 6.47287063e+01] [ 4.66709678e-02 -2.65958962e-04 9.98910281e-01 6.23537666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.338040942 meters 0.01970393506905301 Centerline is valid? [True, True] Translation: X:118.96, Y:64.75, Z:6.24 [[ 5.00080969e-01 -8.65647981e-01 -2.39290091e-02 1.18960209e+02] [ 8.64684783e-01 5.00653071e-01 -4.08255957e-02 6.47527080e+01] [ 4.73207263e-02 -2.74946547e-04 9.98879709e-01 6.23635515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.368040942 meters 0.019802780308457 Centerline is valid? [True, True] Translation: X:118.97, Y:64.78, Z:6.24 [[ 5.00165061e-01 -8.65597623e-01 -2.39930664e-02 1.18973625e+02] [ 8.64628045e-01 5.00740141e-01 -4.09591826e-02 6.47763080e+01] [ 4.74684625e-02 -2.58726008e-04 9.98872704e-01 6.23733184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.398040942 meters 0.0196443226995913 Centerline is valid? [True, True] Translation: X:118.98, Y:64.80, Z:6.24 [[ 5.01442259e-01 -8.64860616e-01 -2.39118248e-02 1.18984475e+02] [ 8.63895622e-01 5.02012036e-01 -4.08444720e-02 6.48027497e+01] [ 4.73287990e-02 -1.76176403e-04 9.98879349e-01 6.23809082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.428040942 meters 0.020991155235299645 Centerline is valid? [True, True] Translation: X:119.00, Y:64.83, Z:6.24 [[ 5.01442561e-01 -8.64854664e-01 -2.41198745e-02 1.18995639e+02] [ 8.63871490e-01 5.02022294e-01 -4.12270097e-02 6.48287277e+01] [ 4.77640864e-02 -1.63494598e-04 9.98858631e-01 6.23599987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.458040942 meters 0.01972073942305895 Centerline is valid? [True, True] Translation: X:119.01, Y:64.85, Z:6.24 [[ 5.01472328e-01 -8.64835572e-01 -2.41854938e-02 1.19008970e+02] [ 8.63845699e-01 5.02055188e-01 -4.13666040e-02 6.48524857e+01] [ 4.79177633e-02 -1.48327615e-04 9.98851273e-01 6.23989223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.488040942 meters 0.019700033757140037 Centerline is valid? [True, True] Translation: X:119.02, Y:64.88, Z:6.24 [[ 5.01062588e-01 -8.65072029e-01 -2.42212421e-02 1.19022534e+02] [ 8.64078301e-01 5.01647645e-01 -4.14527463e-02 6.48772569e+01] [ 4.80101404e-02 -1.58629370e-04 9.98846836e-01 6.24091469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.51804094199997 meters 0.01979926162470633 Centerline is valid? [True, True] Translation: X:119.04, Y:64.90, Z:6.24 [[ 4.99693779e-01 -8.65853669e-01 -2.45672818e-02 1.19036628e+02] [ 8.64830901e-01 5.00297286e-01 -4.20730111e-02 6.49014591e+01] [ 4.87200154e-02 -2.22922514e-04 9.98812450e-01 6.24121408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54804094199997 meters 0.019888801953169735 Centerline is valid? [True, True] Translation: X:119.05, Y:64.93, Z:6.24 [[ 4.98724336e-01 -8.66402591e-01 -2.49115691e-02 1.19051418e+02] [ 8.65350217e-01 4.99346051e-01 -4.26910228e-02 6.49254324e+01] [ 4.94271065e-02 -2.66179691e-04 9.98777698e-01 6.24250391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.57804094199997 meters 0.020110728495512188 Centerline is valid? [True, True] Translation: X:119.07, Y:64.95, Z:6.24 [[ 4.96239987e-01 -8.67802070e-01 -2.57961941e-02 1.19067602e+02] [ 8.66673948e-01 4.96909855e-01 -4.42364432e-02 6.49499606e+01] [ 5.12068600e-02 -4.04997448e-04 9.98687986e-01 6.24288757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60804094199997 meters 0.020170178627710648 Centerline is valid? [True, True] Translation: X:119.08, Y:64.97, Z:6.24 [[ 4.95146520e-01 -8.68412643e-01 -2.62565218e-02 1.19081784e+02] [ 8.67243360e-01 4.95841977e-01 -4.50520712e-02 6.49731237e+01] [ 5.21428739e-02 -4.63417910e-04 9.98639528e-01 6.24304241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.63804094199998 meters 0.020382055415666317 Centerline is valid? [True, True] Translation: X:119.10, Y:65.00, Z:6.24 [[ 4.93828920e-01 -8.69162540e-01 -2.62579004e-02 1.19095930e+02] [ 8.67992802e-01 4.94526237e-01 -4.50809960e-02 6.49975888e+01] [ 5.21679337e-02 -5.29368920e-04 9.98638186e-01 6.24341477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66804094199998 meters 0.020743290780552648 Centerline is valid? [True, True] Translation: X:119.11, Y:65.02, Z:6.24 [[ 4.92009939e-01 -8.70183863e-01 -2.65756304e-02 1.19110160e+02] [ 8.68985684e-01 4.92726744e-01 -4.56534444e-02 6.50220096e+01] [ 5.28214145e-02 -6.31893958e-04 9.98603775e-01 6.24389643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.69804094199998 meters 0.021056952342874174 Centerline is valid? [True, True] Translation: X:119.12, Y:65.05, Z:6.25 [[ 4.90773923e-01 -8.70886615e-01 -2.64094794e-02 1.19124135e+02] [ 8.69703522e-01 4.91483491e-01 -4.53846095e-02 6.50451132e+01] [ 5.25046721e-02 -6.94834414e-04 9.98620437e-01 6.24506758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72804094199998 meters 0.02113347402346216 Centerline is valid? [True, True] Translation: X:119.14, Y:65.07, Z:6.25 [[ 4.89768273e-01 -8.71464903e-01 -2.59992699e-02 1.19138299e+02] [ 8.70317783e-01 4.90457324e-01 -4.47053602e-02 6.50697249e+01] [ 5.17106847e-02 -7.32359848e-04 9.98661839e-01 6.24831929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.75804094199998 meters 0.02148645384599298 Centerline is valid? [True, True] Translation: X:119.15, Y:65.09, Z:6.25 [[ 4.89892569e-01 -8.71405683e-01 -2.56399333e-02 1.19152560e+02] [ 8.70288602e-01 4.90562576e-01 -4.41147102e-02 6.50925258e+01] [ 5.10198009e-02 -7.02672985e-04 9.98697395e-01 6.25009420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78804094199998 meters 0.02130995785832798 Centerline is valid? [True, True] Translation: X:119.16, Y:65.12, Z:6.25 [[ 4.90677659e-01 -8.70970685e-01 -2.54066924e-02 1.19164545e+02] [ 8.69872039e-01 4.91334567e-01 -4.37376145e-02 6.51178630e+01] [ 5.05773663e-02 -6.39501039e-04 9.98719941e-01 6.25094842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.81804094199998 meters 0.020803834010861246 Centerline is valid? [True, True] Translation: X:119.18, Y:65.14, Z:6.25 [[ 4.91140579e-01 -8.70705658e-01 -2.55458215e-02 1.19175880e+02] [ 8.69593199e-01 4.91804123e-01 -4.40042405e-02 6.51438430e+01] [ 5.08782815e-02 -6.02204509e-04 9.98704680e-01 6.25263142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84804094199998 meters 0.02089634040888147 Centerline is valid? [True, True] Translation: X:119.19, Y:65.17, Z:6.25 [[ 4.91754684e-01 -8.70355064e-01 -2.56786366e-02 1.19189114e+02] [ 8.69229060e-01 4.92424364e-01 -4.42615767e-02 6.51679988e+01] [ 5.11680737e-02 -5.54779517e-04 9.98689902e-01 6.25271247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.87804094199998 meters 0.02074363140237487 Centerline is valid? [True, True] Translation: X:119.20, Y:65.19, Z:6.25 [[ 4.92399333e-01 -8.69988152e-01 -2.57587495e-02 1.19201419e+02] [ 8.68853280e-01 4.93072368e-01 -4.44254130e-02 6.51938860e+01] [ 5.13505106e-02 -5.05530235e-04 9.98680564e-01 6.25296981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90804094199999 meters 0.020543537369321126 Centerline is valid? [True, True] Translation: X:119.21, Y:65.22, Z:6.25 [[ 4.92466961e-01 -8.69944189e-01 -2.59499583e-02 1.19214074e+02] [ 8.68790867e-01 4.93149943e-01 -4.47835071e-02 6.52183864e+01] [ 5.17563722e-02 -4.90689135e-04 9.98659620e-01 6.25493154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.938040942 meters 0.020657167010627912 Centerline is valid? [True, True] Translation: X:119.23, Y:65.24, Z:6.26 [[ 4.92416413e-01 -8.69965545e-01 -2.61920954e-02 1.19227628e+02] [ 8.68789109e-01 4.93112276e-01 -4.52301678e-02 6.52412225e+01] [ 5.22643314e-02 -4.83330245e-04 9.98633169e-01 6.25653322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.968040942 meters 0.02051288500987156 Centerline is valid? [True, True] Translation: X:119.24, Y:65.27, Z:6.26 [[ 4.92766246e-01 -8.69771176e-01 -2.60677519e-02 1.19241132e+02] [ 8.68604493e-01 4.93455063e-01 -4.50370457e-02 6.52662963e+01] [ 5.20351883e-02 -4.49830525e-04 9.98645151e-01 6.25809368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.998040942 meters 0.02032569622536518 Centerline is valid? [True, True] Translation: X:119.25, Y:65.29, Z:6.26 [[ 4.94691903e-01 -8.68674922e-01 -2.61495988e-02 1.19253650e+02] [ 8.67497837e-01 4.95382456e-01 -4.52075735e-02 6.52902557e+01] [ 5.22247378e-02 -3.20899842e-04 9.98635306e-01 6.25844642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.028040942 meters 0.020234078941593615 Centerline is valid? [True, True] Translation: X:119.27, Y:65.32, Z:6.26 [[ 4.96268786e-01 -8.67776415e-01 -2.61033724e-02 1.19267009e+02] [ 8.66600932e-01 4.96954775e-01 -4.51527992e-02 6.53153193e+01] [ 5.21547298e-02 -2.13282029e-04 9.98638993e-01 6.25994505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.058040942 meters 0.02004657627087856 Centerline is valid? [True, True] Translation: X:119.28, Y:65.34, Z:6.26 [[ 4.99770900e-01 -8.65764076e-01 -2.61077148e-02 1.19279201e+02] [ 8.64583886e-01 5.00452361e-01 -4.51900355e-02 6.53409787e+01] [ 5.21895768e-02 1.23552651e-05 9.98637195e-01 6.26190647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.088040942 meters 0.020096818994745826 Centerline is valid? [True, True] Translation: X:119.29, Y:65.36, Z:6.26 [[ 5.01470038e-01 -8.64779206e-01 -2.61672559e-02 1.19292211e+02] [ 8.63590698e-01 5.02152275e-01 -4.53232691e-02 6.53647361e+01] [ 5.23345678e-02 1.30462687e-04 9.98629599e-01 6.26297031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.118040942 meters 0.0201544704998223 Centerline is valid? [True, True] Translation: X:119.31, Y:65.39, Z:6.26 [[ 5.02519241e-01 -8.64172336e-01 -2.60880557e-02 1.19305446e+02] [ 8.62988812e-01 5.03195917e-01 -4.52126083e-02 6.53882832e+01] [ 5.21988885e-02 2.06505370e-04 9.98636687e-01 6.26334238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.148040942 meters 0.02024237766921329 Centerline is valid? [True, True] Translation: X:119.32, Y:65.41, Z:6.26 [[ 5.03736874e-01 -8.63449864e-01 -2.65234814e-02 1.19321235e+02] [ 8.62224276e-01 5.04434579e-01 -4.59897083e-02 6.54122594e+01] [ 5.30891685e-02 2.97522283e-04 9.98589731e-01 6.26494969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.178040942 meters 0.020260562940592065 Centerline is valid? [True, True] Translation: X:119.34, Y:65.44, Z:6.27 [[ 5.03758150e-01 -8.63431787e-01 -2.67072267e-02 1.19336059e+02] [ 8.62187520e-01 5.04465509e-01 -4.63382166e-02 6.54360851e+01] [ 5.34827639e-02 3.16616713e-04 9.98568723e-01 6.26579399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.208040942 meters 0.02040378924789583 Centerline is valid? [True, True] Translation: X:119.35, Y:65.46, Z:6.27 [[ 5.03881314e-01 -8.63353716e-01 -2.69069288e-02 1.19350917e+02] [ 8.62088976e-01 5.04599093e-01 -4.67156665e-02 6.54583755e+01] [ 5.39093561e-02 3.42984764e-04 9.98545774e-01 6.26680313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.238040942 meters 0.020410870433552556 Centerline is valid? [True, True] Translation: X:119.37, Y:65.48, Z:6.27 [[ 5.03598350e-01 -8.63523324e-01 -2.67613571e-02 1.19365850e+02] [ 8.62270950e-01 5.04308789e-01 -4.64914372e-02 6.54826940e+01] [ 5.36424280e-02 3.37470210e-04 9.98560151e-01 6.26837638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26804094199997 meters 0.020451357667039923 Centerline is valid? [True, True] Translation: X:119.38, Y:65.51, Z:6.27 [[ 5.02248598e-01 -8.64327079e-01 -2.61733938e-02 1.19381057e+02] [ 8.63128730e-01 5.02930047e-01 -4.54990420e-02 6.55060536e+01] [ 5.24894403e-02 2.60821893e-04 9.98621445e-01 6.27085092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.29804094199997 meters 0.020427586148818507 Centerline is valid? [True, True] Translation: X:119.40, Y:65.53, Z:6.27 [[ 5.01243952e-01 -8.64917552e-01 -2.59254645e-02 1.19395333e+02] [ 8.63741099e-01 5.01913921e-01 -4.50968936e-02 6.55298401e+01] [ 5.20174464e-02 2.11655950e-04 9.98646154e-01 6.27221114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32804094199997 meters 0.020520764900273207 Centerline is valid? [True, True] Translation: X:119.41, Y:65.55, Z:6.27 [[ 4.98391276e-01 -8.66577713e-01 -2.54794934e-02 1.19410897e+02] [ 8.65442133e-01 4.99042148e-01 -4.43491740e-02 6.55526113e+01] [ 5.11473468e-02 5.22142905e-05 9.98691117e-01 6.27397891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.35804094199997 meters 0.02062256641453265 Centerline is valid? [True, True] Translation: X:119.43, Y:65.58, Z:6.28 [[ 4.96520622e-01 -8.67662028e-01 -2.50973426e-02 1.19426106e+02] [ 8.66560446e-01 4.97154506e-01 -4.37080166e-02 6.55764145e+01] [ 5.04010433e-02 -4.64328232e-05 9.98729059e-01 6.27586323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38804094199998 meters 0.020815833640596394 Centerline is valid? [True, True] Translation: X:119.44, Y:65.60, Z:6.28 [[ 4.92158243e-01 -8.70156607e-01 -2.46524463e-02 1.19442172e+02] [ 8.69095493e-01 4.92775202e-01 -4.29607366e-02 6.55994553e+01] [ 4.95306830e-02 -2.81849336e-04 9.98772563e-01 6.27794646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.41804094199998 meters 0.02102833543794518 Centerline is valid? [True, True] Translation: X:119.46, Y:65.62, Z:6.28 [[ 4.89505607e-01 -8.71651321e-01 -2.46624127e-02 1.19457267e+02] [ 8.70589859e-01 4.90126309e-01 -4.30058051e-02 6.56231393e+01] [ 4.95737641e-02 -4.19263632e-04 9.98770377e-01 6.27933367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44804094199998 meters 0.021615815248481596 Centerline is valid? [True, True] Translation: X:119.47, Y:65.65, Z:6.28 [[ 4.85741717e-01 -8.73755927e-01 -2.46082372e-02 1.19473434e+02] [ 8.72700529e-01 4.86364264e-01 -4.29370413e-02 6.56462148e+01] [ 4.94850615e-02 -6.19309521e-04 9.98774672e-01 6.28056055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.47804094199998 meters 0.02177912239157644 Centerline is valid? [True, True] Translation: X:119.49, Y:65.67, Z:6.28 [[ 4.84571125e-01 -8.74401462e-01 -2.47569619e-02 1.19487655e+02] [ 8.73333260e-01 4.85202657e-01 -4.32134103e-02 6.56708390e+01] [ 4.97980129e-02 -6.81107411e-04 9.98759077e-01 6.28164574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50804094199998 meters 0.02184114267205287 Centerline is valid? [True, True] Translation: X:119.50, Y:65.70, Z:6.28 [[ 4.82806302e-01 -8.75368824e-01 -2.50498779e-02 1.19501487e+02] [ 8.74275083e-01 4.83455085e-01 -4.37522511e-02 6.56958897e+01] [ 5.04098475e-02 -7.76621486e-04 9.98728313e-01 6.28192784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.53804094199998 meters 0.02239655570371185 Centerline is valid? [True, True] Translation: X:119.52, Y:65.72, Z:6.28 [[ 4.82138773e-01 -8.75735275e-01 -2.50984469e-02 1.19515960e+02] [ 8.74636479e-01 4.82790929e-01 -4.38628377e-02 6.57188093e+01] [ 5.05295368e-02 -8.04042515e-04 9.98722243e-01 6.28262019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56804094199998 meters 0.02239655570371185 Centerline is valid? [True, True] Translation: X:119.53, Y:65.74, Z:6.28 [[ 4.81898916e-01 -8.75867617e-01 -2.50868867e-02 1.19529553e+02] [ 8.74768656e-01 4.82550795e-01 -4.38694487e-02 6.57427762e+01] [ 5.05295266e-02 -8.04582395e-04 9.98722243e-01 6.28384377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.59804094199998 meters 0.022261200207151107 Centerline is valid? [True, True] Translation: X:119.54, Y:65.77, Z:6.29 [[ 4.81552408e-01 -8.76057167e-01 -2.51220560e-02 1.19542437e+02] [ 8.74953956e-01 4.82206574e-01 -4.39590227e-02 6.57680860e+01] [ 5.06246375e-02 -8.12068988e-04 9.98717421e-01 6.28547718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62804094199998 meters 0.021843760365871746 Centerline is valid? [True, True] Translation: X:119.55, Y:65.79, Z:6.29 [[ 4.82417508e-01 -8.75583574e-01 -2.50350164e-02 1.19552691e+02] [ 8.74485930e-01 4.83066090e-01 -4.38350464e-02 6.57942569e+01] [ 5.04748141e-02 -7.45975705e-04 9.98725056e-01 6.28655798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.65804094199999 meters 0.02175140154104941 Centerline is valid? [True, True] Translation: X:119.56, Y:65.82, Z:6.29 [[ 4.83272047e-01 -8.75106248e-01 -2.52424974e-02 1.19564949e+02] [ 8.73988192e-01 4.83930348e-01 -4.42273441e-02 6.58197644e+01] [ 5.09192357e-02 -6.87805615e-04 9.98702537e-01 6.28760342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.688040942 meters 0.021353591239958645 Centerline is valid? [True, True] Translation: X:119.58, Y:65.85, Z:6.29 [[ 4.85578051e-01 -8.73823934e-01 -2.54103921e-02 1.19576136e+02] [ 8.72687704e-01 4.86242159e-01 -4.45503544e-02 6.58464579e+01] [ 5.12847699e-02 -5.42662520e-04 9.98683923e-01 6.28916800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.718040942 meters 0.021279294106152116 Centerline is valid? [True, True] Translation: X:119.59, Y:65.87, Z:6.29 [[ 4.86694031e-01 -8.73208533e-01 -2.52146433e-02 1.19588658e+02] [ 8.72087644e-01 4.87346535e-01 -4.42322923e-02 6.58705082e+01] [ 5.09122841e-02 -4.61786264e-04 9.98703022e-01 6.29068501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.748040942 meters 0.02110001420609249 Centerline is valid? [True, True] Translation: X:119.60, Y:65.90, Z:6.29 [[ 4.87464548e-01 -8.72782798e-01 -2.50699535e-02 1.19601904e+02] [ 8.71672961e-01 4.88108621e-01 -4.40025386e-02 6.58955406e+01] [ 5.06415191e-02 -4.03122970e-04 9.98716814e-01 6.29233721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.778040942 meters 0.020813576177435168 Centerline is valid? [True, True] Translation: X:119.61, Y:65.92, Z:6.29 [[ 4.89100466e-01 -8.71870866e-01 -2.49384699e-02 1.19613894e+02] [ 8.70770034e-01 4.89735753e-01 -4.37999982e-02 6.59215329e+01] [ 5.04012027e-02 -2.93072756e-04 9.98729009e-01 6.29400392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.808040942 meters 0.020767865773868802 Centerline is valid? [True, True] Translation: X:119.63, Y:65.95, Z:6.30 [[ 4.89599668e-01 -8.71593024e-01 -2.48548748e-02 1.19626604e+02] [ 8.70497799e-01 4.90230086e-01 -4.36811669e-02 6.59459020e+01] [ 5.02568078e-02 -2.49828979e-04 9.98736297e-01 6.29539245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.838040942 meters 0.02047894126592626 Centerline is valid? [True, True] Translation: X:119.64, Y:65.97, Z:6.30 [[ 4.91132399e-01 -8.70750170e-01 -2.41476316e-02 1.19638800e+02] [ 8.69714201e-01 4.91725655e-01 -4.24627952e-02 6.59714384e+01] [ 4.88484962e-02 -1.46683660e-04 9.98806189e-01 6.29909327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.868040942 meters 0.02040459437684124 Centerline is valid? [True, True] Translation: X:119.65, Y:66.00, Z:6.30 [[ 4.91429839e-01 -8.70588222e-01 -2.39344920e-02 1.19651933e+02] [ 8.69568964e-01 4.92012331e-01 -4.21151169e-02 6.59963436e+01] [ 4.84409900e-02 -1.16066308e-04 9.98826039e-01 6.30160611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.898040942 meters 0.020284595624795346 Centerline is valid? [True, True] Translation: X:119.66, Y:66.02, Z:6.30 [[ 4.91925196e-01 -8.70316252e-01 -2.36478848e-02 1.19664268e+02] [ 8.69319643e-01 4.92493264e-01 -4.16382381e-02 6.60203320e+01] [ 4.78848594e-02 -7.46723607e-05 9.98852859e-01 6.30388543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.928040942 meters 0.020133804468825355 Centerline is valid? [True, True] Translation: X:119.68, Y:66.05, Z:6.31 [[ 4.91862430e-01 -8.70358029e-01 -2.34147931e-02 1.19677257e+02] [ 8.69379853e-01 4.92419433e-01 -4.12525589e-02 6.60454732e+01] [ 4.74343949e-02 -6.57655160e-05 9.98874353e-01 6.30584560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.958040942 meters 0.020138208613559076 Centerline is valid? [True, True] Translation: X:119.69, Y:66.07, Z:6.31 [[ 4.91869168e-01 -8.70353872e-01 -2.34277478e-02 1.19689858e+02] [ 8.69373296e-01 4.92426781e-01 -4.13030032e-02 6.60697075e+01] [ 4.74846792e-02 -5.17845281e-05 9.98871965e-01 6.30671096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.988040942 meters 0.02004601946406269 Centerline is valid? [True, True] Translation: X:119.70, Y:66.09, Z:6.31 [[ 4.91144797e-01 -8.70742061e-01 -2.41878152e-02 1.19701237e+02] [ 8.69695957e-01 4.91740029e-01 -4.26694978e-02 6.60948186e+01] [ 4.90482434e-02 -7.91432128e-05 9.98796407e-01 6.30627232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.01804094199997 meters 0.020009298435971715 Centerline is valid? [True, True] Translation: X:119.71, Y:66.12, Z:6.31 [[ 4.90361346e-01 -8.71177430e-01 -2.44056372e-02 1.19714329e+02] [ 8.70111639e-01 4.90968301e-01 -4.30797189e-02 6.61188334e+01] [ 4.95124730e-02 -1.11000027e-04 9.98773499e-01 6.30606533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04804094199997 meters 0.020039956169307732 Centerline is valid? [True, True] Translation: X:119.73, Y:66.14, Z:6.31 [[ 4.88291480e-01 -8.72328705e-01 -2.47802619e-02 1.19728559e+02] [ 8.71230068e-01 4.88919813e-01 -4.37674059e-02 6.61430048e+01] [ 5.02951255e-02 -2.18057841e-04 9.98734376e-01 6.30804190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.07804094199997 meters 0.02019172603455545 Centerline is valid? [True, True] Translation: X:119.74, Y:66.17, Z:6.31 [[ 4.86586128e-01 -8.73282408e-01 -2.47341144e-02 1.19743196e+02] [ 8.72187657e-01 4.87214270e-01 -4.37143631e-02 6.61669326e+01] [ 5.02257977e-02 -3.01986623e-04 9.98737843e-01 6.31005996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10804094199997 meters 0.02034189787532734 Centerline is valid? [True, True] Translation: X:119.76, Y:66.19, Z:6.31 [[ 4.83460763e-01 -8.75013110e-01 -2.48545429e-02 1.19759055e+02] [ 8.73908486e-01 4.84098995e-01 -4.39558861e-02 6.61909378e+01] [ 5.04940358e-02 -4.69649728e-04 9.98724252e-01 6.31151405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.13804094199998 meters 0.020384431124556093 Centerline is valid? [True, True] Translation: X:119.77, Y:66.22, Z:6.31 [[ 4.82158050e-01 -8.75716445e-01 -2.53835200e-02 1.19772883e+02] [ 8.74563959e-01 4.82825448e-01 -4.49162304e-02 6.62157252e+01] [ 5.15896910e-02 -5.42789735e-04 9.98668218e-01 6.31266747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16804094199998 meters 0.020775691823423613 Centerline is valid? [True, True] Translation: X:119.79, Y:66.24, Z:6.31 [[ 4.81008987e-01 -8.76338627e-01 -2.57092611e-02 1.19786329e+02] [ 8.75156402e-01 4.81695173e-01 -4.55085896e-02 6.62392688e+01] [ 5.22649619e-02 -6.09583858e-04 9.98633067e-01 6.31208161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.19804094199998 meters 0.02066763940022882 Centerline is valid? [True, True] Translation: X:119.80, Y:66.27, Z:6.31 [[ 4.79568044e-01 -8.77127944e-01 -2.57111003e-02 1.19797853e+02] [ 8.75945243e-01 4.80256290e-01 -4.55392917e-02 6.62652761e+01] [ 5.22917029e-02 -6.82326929e-04 9.98631620e-01 6.31323009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22804094199998 meters 0.020771004139243168 Centerline is valid? [True, True] Translation: X:119.81, Y:66.29, Z:6.31 [[ 4.78785265e-01 -8.77565412e-01 -2.53696127e-02 1.19811193e+02] [ 8.76413085e-01 4.79456409e-01 -4.49628392e-02 6.62900524e+01] [ 5.16214559e-02 -7.06715662e-04 9.98666474e-01 6.31450855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.25804094199998 meters 0.020532301962252114 Centerline is valid? [True, True] Translation: X:119.82, Y:66.32, Z:6.32 [[ 4.78354728e-01 -8.77821424e-01 -2.46231796e-02 1.19823173e+02] [ 8.76734881e-01 4.78987534e-01 -4.36679592e-02 6.63150723e+01] [ 5.01268663e-02 -6.99225703e-04 9.98742614e-01 6.31705306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28804094199998 meters 0.02063451802275633 Centerline is valid? [True, True] Translation: X:119.84, Y:66.34, Z:6.32 [[ 4.78338416e-01 -8.77836188e-01 -2.44128484e-02 1.19835979e+02] [ 8.76766761e-01 4.78960503e-01 -4.33230161e-02 6.63390381e+01] [ 4.97233015e-02 -6.81311072e-04 9.98762799e-01 6.31904594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.31804094199998 meters 0.020452031185627814 Centerline is valid? [True, True] Translation: X:119.85, Y:66.36, Z:6.32 [[ 4.78180841e-01 -8.77935321e-01 -2.39302302e-02 1.19848085e+02] [ 8.76906700e-01 4.78778789e-01 -4.24912970e-02 6.63642884e+01] [ 4.87618971e-02 -6.66055117e-04 9.98810209e-01 6.32151450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34804094199998 meters 0.020157658436838765 Centerline is valid? [True, True] Translation: X:119.86, Y:66.39, Z:6.32 [[ 4.77747534e-01 -8.78178442e-01 -2.36625840e-02 1.19860013e+02] [ 8.77171716e-01 4.78332703e-01 -4.20429028e-02 6.63892616e+01] [ 4.82397587e-02 -6.70256277e-04 9.98835560e-01 6.32361497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.37804094199998 meters 0.020197816714587143 Centerline is valid? [True, True] Translation: X:119.87, Y:66.41, Z:6.33 [[ 4.77503841e-01 -8.78319780e-01 -2.33333834e-02 1.19872883e+02] [ 8.77339744e-01 4.78073140e-01 -4.14854980e-02 6.64137632e+01] [ 4.75925973e-02 -6.61819972e-04 9.98866611e-01 6.32539419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40804094199999 meters 0.020511955162308405 Centerline is valid? [True, True] Translation: X:119.89, Y:66.44, Z:6.33 [[ 4.77701297e-01 -8.78224554e-01 -2.28714661e-02 1.19885302e+02] [ 8.77281606e-01 4.78248095e-01 -4.06908316e-02 6.64373457e+01] [ 4.66739226e-02 -6.26653438e-04 9.98909982e-01 6.32730930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.438040942 meters 0.019948098884269648 Centerline is valid? [True, True] Translation: X:119.90, Y:66.46, Z:6.33 [[ 4.78010399e-01 -8.78060910e-01 -2.26957342e-02 1.19895890e+02] [ 8.77131122e-01 4.78548519e-01 -4.04018649e-02 6.64633358e+01] [ 4.63363083e-02 -5.94623232e-04 9.98925719e-01 6.32881473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.468040942 meters 0.01998811535981142 Centerline is valid? [True, True] Translation: X:119.91, Y:66.49, Z:6.33 [[ 4.78580200e-01 -8.77743941e-01 -2.29470381e-02 1.19906312e+02] [ 8.76791774e-01 4.79129695e-01 -4.08769076e-02 6.64882655e+01] [ 4.68740653e-02 -5.56895647e-04 9.98900652e-01 6.32915627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.498040942 meters 0.0199711820690856 Centerline is valid? [True, True] Translation: X:119.92, Y:66.51, Z:6.33 [[ 4.78745443e-01 -8.77642504e-01 -2.33759433e-02 1.19918375e+02] [ 8.76653074e-01 4.79315488e-01 -4.16659451e-02 6.65137352e+01] [ 4.77722561e-02 -5.45211148e-04 9.98858105e-01 6.32957793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.528040942 meters 0.019709932622685278 Centerline is valid? [True, True] Translation: X:119.93, Y:66.54, Z:6.33 [[ 4.78658250e-01 -8.77684632e-01 -2.35789316e-02 1.19929245e+02] [ 8.76676659e-01 4.79238347e-01 -4.20552293e-02 6.65399405e+01] [ 4.82111567e-02 -5.41016515e-04 9.98837020e-01 6.33031202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.558040942 meters 0.019744546434619384 Centerline is valid? [True, True] Translation: X:119.94, Y:66.56, Z:6.33 [[ 4.77742693e-01 -8.78168228e-01 -2.41346821e-02 1.19940534e+02] [ 8.77111304e-01 4.78351561e-01 -4.30760253e-02 6.65644982e+01] [ 4.93728597e-02 -5.89546186e-04 9.98780243e-01 6.32949865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.588040942 meters 0.01986089442872784 Centerline is valid? [True, True] Translation: X:119.95, Y:66.59, Z:6.33 [[ 4.76319180e-01 -8.78932769e-01 -2.44382163e-02 1.19954124e+02] [ 8.77848748e-01 4.76945223e-01 -4.36443479e-02 6.65896492e+01] [ 5.00161381e-02 -6.64417619e-04 9.98748189e-01 6.33079059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.618040942 meters 0.0203763038754818 Centerline is valid? [True, True] Translation: X:119.97, Y:66.62, Z:6.33 [[ 4.72122748e-01 -8.81183282e-01 -2.48220420e-02 1.19968116e+02] [ 8.80066672e-01 4.72773948e-01 -4.43558983e-02 6.66151187e+01] [ 5.08208909e-02 -9.03623348e-04 9.98707375e-01 6.33135985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.648040942 meters 0.022049528408754373 Centerline is valid? [True, True] Translation: X:119.98, Y:66.64, Z:6.33 [[ 4.69762861e-01 -8.82439613e-01 -2.49636422e-02 1.19984156e+02] [ 8.81310691e-01 4.70424555e-01 -4.46341077e-02 6.66377540e+01] [ 5.11304150e-02 -1.03327857e-03 9.98691450e-01 6.33112961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.678040942 meters 0.021954338773001292 Centerline is valid? [True, True] Translation: X:119.99, Y:66.66, Z:6.33 [[ 4.65235960e-01 -8.84834365e-01 -2.49729269e-02 1.19994248e+02] [ 8.83707124e-01 4.65903947e-01 -4.46680157e-02 6.66647578e+01] [ 5.11587805e-02 -1.28758620e-03 9.98689702e-01 6.33291159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.708040942 meters 0.024377783135012085 Centerline is valid? [True, True] Translation: X:120.01, Y:66.69, Z:6.33 [[ 4.63398327e-01 -8.85798527e-01 -2.49591742e-02 1.20012133e+02] [ 8.84673098e-01 4.64067936e-01 -4.46593783e-02 6.66864327e+01] [ 5.11419640e-02 -1.38562883e-03 9.98690432e-01 6.33345491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.738040942 meters 0.02365810167497957 Centerline is valid? [True, True] Translation: X:120.02, Y:66.71, Z:6.34 [[ 4.60697733e-01 -8.87218695e-01 -2.45068621e-02 1.20021429e+02] [ 8.86134852e-01 4.61346633e-01 -4.38669385e-02 6.67135515e+01] [ 5.02257262e-02 -1.50698552e-03 9.98736755e-01 6.33579282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76804094199997 meters 0.022390958042202678 Centerline is valid? [True, True] Translation: X:120.03, Y:66.74, Z:6.34 [[ 4.60178305e-01 -8.87491746e-01 -2.43788606e-02 1.20033062e+02] [ 8.86418766e-01 4.60821101e-01 -4.36541390e-02 6.67393678e+01] [ 4.99769815e-02 -1.52119182e-03 9.98749211e-01 6.33887030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.79804094199997 meters 0.022685165829482858 Centerline is valid? [True, True] Translation: X:120.04, Y:66.76, Z:6.34 [[ 4.60082782e-01 -8.87551895e-01 -2.39889032e-02 1.20044037e+02] [ 8.86511673e-01 4.60705343e-01 -4.29841991e-02 6.67645427e+01] [ 4.92025233e-02 -1.49015275e-03 9.98787711e-01 6.33991463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82804094199997 meters 0.022861190433161614 Centerline is valid? [True, True] Translation: X:120.06, Y:66.79, Z:6.34 [[ 4.60448825e-01 -8.87363659e-01 -2.39293839e-02 1.20055742e+02] [ 8.86327105e-01 4.61067912e-01 -4.29027145e-02 6.67890605e+01] [ 4.91033809e-02 -1.45475705e-03 9.98792642e-01 6.34136112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.85804094199997 meters 0.022676927525263166 Centerline is valid? [True, True] Translation: X:120.07, Y:66.81, Z:6.34 [[ 4.60990823e-01 -8.87083833e-01 -2.38690951e-02 1.20067224e+02] [ 8.86050986e-01 4.61606199e-01 -4.28178392e-02 6.68149883e+01] [ 4.90011352e-02 -1.41060429e-03 9.98797727e-01 6.34203247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88804094199998 meters 0.022771980368623945 Centerline is valid? [True, True] Translation: X:120.08, Y:66.84, Z:6.34 [[ 4.63001774e-01 -8.86036159e-01 -2.38596450e-02 1.20076957e+02] [ 8.85001469e-01 4.63614354e-01 -4.28267644e-02 6.68412889e+01] [ 4.90077357e-02 -1.28695296e-03 9.98797570e-01 6.34166340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.91804094199998 meters 0.022413148361508314 Centerline is valid? [True, True] Translation: X:120.09, Y:66.87, Z:6.34 [[ 4.65081210e-01 -8.84959092e-01 -2.33853459e-02 1.20086215e+02] [ 8.83963325e-01 4.65667364e-01 -4.19850736e-02 6.68691982e+01] [ 4.80448649e-02 -1.14531931e-03 9.98844522e-01 6.34231876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94804094199998 meters 0.022293805185477307 Centerline is valid? [True, True] Translation: X:120.10, Y:66.90, Z:6.34 [[ 4.66514862e-01 -8.84209471e-01 -2.31839276e-02 1.20098138e+02] [ 8.83228720e-01 4.67089406e-01 -4.16475056e-02 6.68953827e+01] [ 4.76540859e-02 -1.04753037e-03 9.98863349e-01 6.34349052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.97804094199998 meters 0.021860387742253008 Centerline is valid? [True, True] Translation: X:120.11, Y:66.92, Z:6.34 [[ 4.67677260e-01 -8.83602450e-01 -2.29061126e-02 1.20109605e+02] [ 8.82643237e-01 4.68236888e-01 -4.11720028e-02 6.69222621e+01] [ 4.71051694e-02 -9.62715867e-04 9.98889471e-01 6.34474913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00804094199998 meters 0.02184563326720663 Centerline is valid? [True, True] Translation: X:120.12, Y:66.95, Z:6.35 [[ 4.71260104e-01 -8.81695744e-01 -2.29462282e-02 1.20120805e+02] [ 8.80729787e-01 4.71817798e-01 -4.12675176e-02 6.69476524e+01] [ 4.72118335e-02 -7.61692026e-04 9.98884609e-01 6.34543570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.03804094199998 meters 0.02104524846481659 Centerline is valid? [True, True] Translation: X:120.13, Y:66.97, Z:6.35 [[ 4.73180937e-01 -8.80664600e-01 -2.30144005e-02 1.20130819e+02] [ 8.79691214e-01 4.73739835e-01 -4.13997176e-02 6.69747163e+01] [ 4.73621040e-02 -6.56008816e-04 9.98877570e-01 6.34711873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06804094199998 meters 0.020533445670247303 Centerline is valid? [True, True] Translation: X:120.14, Y:67.00, Z:6.35 [[ 4.76707819e-01 -8.78772632e-01 -2.25458761e-02 1.20139960e+02] [ 8.77835292e-01 4.77240465e-01 -4.05800218e-02 6.70031399e+01] [ 4.64204170e-02 -4.46752030e-04 9.98921891e-01 6.34842114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.09804094199998 meters 0.020449331140629322 Centerline is valid? [True, True] Translation: X:120.15, Y:67.03, Z:6.35 [[ 4.77981774e-01 -8.78078034e-01 -2.26360386e-02 1.20152242e+02] [ 8.77131355e-01 4.78517324e-01 -4.07646535e-02 6.70276946e+01] [ 4.66262834e-02 -3.70017771e-04 9.98912335e-01 6.34899597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12804094199998 meters 0.020206192753716837 Centerline is valid? [True, True] Translation: X:120.16, Y:67.05, Z:6.35 [[ 4.78876919e-01 -8.77586557e-01 -2.27756877e-02 1.20163846e+02] [ 8.76626501e-01 4.79418124e-01 -4.10394922e-02 6.70536820e+01] [ 4.69347841e-02 -3.12905873e-04 9.98897907e-01 6.35001167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.15804094199999 meters 0.0201414309852754 Centerline is valid? [True, True] Translation: X:120.18, Y:67.08, Z:6.35 [[ 4.80021204e-01 -8.76956602e-01 -2.29513015e-02 1.20175985e+02] [ 8.75979633e-01 4.80569517e-01 -4.13838342e-02 6.70788785e+01] [ 4.73215225e-02 -2.39754754e-04 9.98879680e-01 6.35104120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.188040942 meters 0.020071422478225548 Centerline is valid? [True, True] Translation: X:120.19, Y:67.10, Z:6.35 [[ 4.80173905e-01 -8.76870735e-01 -2.30377036e-02 1.20189314e+02] [ 8.75884964e-01 4.80726187e-01 -4.15675706e-02 6.71038481e+01] [ 4.75242136e-02 -2.18715475e-04 9.98870062e-01 6.35277275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.218040942 meters 0.020097954848728387 Centerline is valid? [True, True] Translation: X:120.20, Y:67.13, Z:6.35 [[ 4.79644052e-01 -8.77163165e-01 -2.29426784e-02 1.20201991e+02] [ 8.76184534e-01 4.80192387e-01 -4.14238370e-02 6.71280654e+01] [ 4.73523635e-02 -2.33322999e-04 9.98878220e-01 6.35414823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.248040942 meters 0.020221918508116207 Centerline is valid? [True, True] Translation: X:120.22, Y:67.15, Z:6.35 [[ 4.79001401e-01 -8.77510063e-01 -2.31029646e-02 1.20215515e+02] [ 8.76516877e-01 4.79558154e-01 -4.17389768e-02 6.71527018e+01] [ 4.77055872e-02 -2.57109991e-04 9.98861407e-01 6.35496904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.278040942 meters 0.020179793043717153 Centerline is valid? [True, True] Translation: X:120.23, Y:67.18, Z:6.36 [[ 4.78034544e-01 -8.78034230e-01 -2.32134940e-02 1.20228866e+02] [ 8.77030784e-01 4.78597746e-01 -4.19666660e-02 6.71773594e+01] [ 4.79580951e-02 -2.97432833e-04 9.98849304e-01 6.35589425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.308040942 meters 0.02040166355962525 Centerline is valid? [True, True] Translation: X:120.24, Y:67.20, Z:6.36 [[ 4.76201849e-01 -8.79029023e-01 -2.32330681e-02 1.20243782e+02] [ 8.78023719e-01 4.76768108e-01 -4.20299887e-02 6.72007408e+01] [ 4.80223659e-02 -3.84426538e-04 9.98846187e-01 6.35706369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.338040942 meters 0.02054378670784053 Centerline is valid? [True, True] Translation: X:120.26, Y:67.22, Z:6.36 [[ 4.75133815e-01 -8.79603652e-01 -2.33510973e-02 1.20258299e+02] [ 8.78588108e-01 4.75707078e-01 -4.22576803e-02 6.72243798e+01] [ 4.82782922e-02 -4.37943494e-04 9.98833827e-01 6.35769059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.368040942 meters 0.0207229620400577 Centerline is valid? [True, True] Translation: X:120.27, Y:67.25, Z:6.36 [[ 4.73106165e-01 -8.80686692e-01 -2.36961302e-02 1.20274262e+02] [ 8.79640873e-01 4.73698908e-01 -4.29101379e-02 6.72473462e+01] [ 4.90152184e-02 -5.43033892e-04 9.98797884e-01 6.35870215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.398040942 meters 0.020843073173828195 Centerline is valid? [True, True] Translation: X:120.29, Y:67.27, Z:6.36 [[ 4.71961630e-01 -8.81295568e-01 -2.38818236e-02 1.20288920e+02] [ 8.80233312e-01 4.72565083e-01 -4.32615263e-02 6.72714022e+01] [ 4.94119073e-02 -6.03796209e-04 9.98778303e-01 6.35987902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.428040942 meters 0.021205826915081608 Centerline is valid? [True, True] Translation: X:120.30, Y:67.30, Z:6.36 [[ 4.70532531e-01 -8.82050207e-01 -2.42191888e-02 1.20303853e+02] [ 8.80957322e-01 4.71154932e-01 -4.39001888e-02 6.72951155e+01] [ 5.01331609e-02 -6.79604788e-04 9.98742311e-01 6.36031655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.458040942 meters 0.02148553262113186 Centerline is valid? [True, True] Translation: X:120.32, Y:67.32, Z:6.36 [[ 4.68106165e-01 -8.83342874e-01 -2.41243630e-02 1.20319552e+02] [ 8.82259498e-01 4.68726695e-01 -4.37431584e-02 6.73189602e+01] [ 4.99479403e-02 -8.07506261e-04 9.98751496e-01 6.36120157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.488040942 meters 0.02148553262113186 Centerline is valid? [True, True] Translation: X:120.33, Y:67.34, Z:6.36 [[ 4.67856922e-01 -8.83475209e-01 -2.41133910e-02 1.20332767e+02] [ 8.82391697e-01 4.68477214e-01 -4.37492061e-02 6.73431157e+01] [ 4.99479133e-02 -8.09087074e-04 9.98751496e-01 6.36242539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.51804094199997 meters 0.021662848192892773 Centerline is valid? [True, True] Translation: X:120.35, Y:67.37, Z:6.36 [[ 4.66761836e-01 -8.84059090e-01 -2.39356114e-02 1.20347141e+02] [ 8.82990842e-01 4.67374368e-01 -4.34554028e-02 6.73674632e+01] [ 4.96040351e-02 -8.51602013e-04 9.98768599e-01 6.36368436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54804094199997 meters 0.021933832874184708 Centerline is valid? [True, True] Translation: X:120.36, Y:67.39, Z:6.37 [[ 4.65559259e-01 -8.84701189e-01 -2.36301079e-02 1.20362520e+02] [ 8.83659602e-01 4.66157702e-01 -4.29267323e-02 6.73904060e+01] [ 4.89926879e-02 -8.96034097e-04 9.98798735e-01 6.36535508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.57804094199997 meters 0.022283477825264533 Centerline is valid? [True, True] Translation: X:120.38, Y:67.41, Z:6.37 [[ 4.65124524e-01 -8.84928749e-01 -2.36703937e-02 1.20377528e+02] [ 8.83883207e-01 4.65725534e-01 -4.30139868e-02 6.74127999e+01] [ 4.90882203e-02 -9.15003420e-04 9.98794028e-01 6.36676336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60804094199997 meters 0.022089552621099764 Centerline is valid? [True, True] Translation: X:120.39, Y:67.44, Z:6.37 [[ 4.64795314e-01 -8.85108816e-01 -2.34029971e-02 1.20392500e+02] [ 8.84085769e-01 4.65383233e-01 -4.25534883e-02 6.74369638e+01] [ 4.85558301e-02 -9.11594725e-04 9.98820054e-01 6.36875233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.63804094199998 meters 0.021947080592711787 Centerline is valid? [True, True] Translation: X:120.41, Y:67.46, Z:6.37 [[ 4.65239267e-01 -8.84872177e-01 -2.35298610e-02 1.20406033e+02] [ 8.83836309e-01 4.65833080e-01 -4.28126293e-02 6.74615723e+01] [ 4.88446921e-02 -8.78429198e-04 9.98805999e-01 6.36956870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66804094199998 meters 0.021615612883899866 Centerline is valid? [True, True] Translation: X:120.42, Y:67.49, Z:6.37 [[ 4.65755897e-01 -8.84603653e-01 -2.34055850e-02 1.20419035e+02] [ 8.83577007e-01 4.66342882e-01 -4.26144259e-02 6.74866352e+01] [ 4.86119048e-02 -8.32716567e-04 9.98817395e-01 6.37066572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.69804094199998 meters 0.02165518047026703 Centerline is valid? [True, True] Translation: X:120.43, Y:67.51, Z:6.37 [[ 4.68311569e-01 -8.83248980e-01 -2.35693332e-02 1.20434583e+02] [ 8.82204834e-01 4.68903798e-01 -4.29401842e-02 6.75097701e+01] [ 4.89786238e-02 -6.83594577e-04 9.98799593e-01 6.37116958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72804094199998 meters 0.021328451067947812 Centerline is valid? [True, True] Translation: X:120.45, Y:67.53, Z:6.37 [[ 4.71012201e-01 -8.81806023e-01 -2.37832665e-02 1.20448630e+02] [ 8.80740205e-01 4.71611976e-01 -4.33455288e-02 6.75332299e+01] [ 4.94388217e-02 -5.30606095e-04 9.98777013e-01 6.37207658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.75804094199998 meters 0.021004296538118514 Centerline is valid? [True, True] Translation: X:120.46, Y:67.56, Z:6.37 [[ 4.72641696e-01 -8.80939239e-01 -2.35771871e-02 1.20462022e+02] [ 8.79889781e-01 4.73229199e-01 -4.29895140e-02 6.75577800e+01] [ 4.90285631e-02 -4.26689184e-04 9.98797286e-01 6.37371471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78804094199998 meters 0.02078830237876735 Centerline is valid? [True, True] Translation: X:120.48, Y:67.58, Z:6.38 [[ 4.73934966e-01 -8.80244777e-01 -2.35537622e-02 1.20475950e+02] [ 8.79195221e-01 4.74519773e-01 -4.29737980e-02 6.75826102e+01] [ 4.90041872e-02 -3.41569676e-04 9.98798515e-01 6.37561289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.81804094199998 meters 0.020641744009758944 Centerline is valid? [True, True] Translation: X:120.49, Y:67.61, Z:6.38 [[ 4.76523326e-01 -8.78854766e-01 -2.32340457e-02 1.20491558e+02] [ 8.77830544e-01 4.77089371e-01 -4.24177831e-02 6.76051696e+01] [ 4.83637871e-02 -1.82491897e-04 9.98829771e-01 6.37754806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84804094199998 meters 0.020595839496740685 Centerline is valid? [True, True] Translation: X:120.51, Y:67.63, Z:6.38 [[ 4.78549110e-01 -8.77746157e-01 -2.35038964e-02 1.20506307e+02] [ 8.76695503e-01 4.79125955e-01 -4.29338299e-02 6.76276421e+01] [ 4.89463310e-02 -5.98141713e-05 9.98801408e-01 6.37819161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.87804094199998 meters 0.02066461087926991 Centerline is valid? [True, True] Translation: X:120.52, Y:67.65, Z:6.38 [[ 4.79268445e-01 -8.77347103e-01 -2.37448406e-02 1.20520511e+02] [ 8.76273026e-01 4.79856291e-01 -4.33995796e-02 6.76510571e+01] [ 4.94706066e-02 -6.91424040e-06 9.98775580e-01 6.37841787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90804094199999 meters 0.020638038650223078 Centerline is valid? [True, True] Translation: X:120.54, Y:67.67, Z:6.38 [[ 4.79937153e-01 -8.76978892e-01 -2.38401459e-02 1.20535278e+02] [ 8.75894424e-01 4.80528897e-01 -4.35997418e-02 6.76749656e+01] [ 4.96919323e-02 4.36851381e-05 9.98764592e-01 6.38053213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.938040942 meters 0.02153782207045787 Centerline is valid? [True, True] Translation: X:120.55, Y:67.70, Z:6.38 [[ 4.80660451e-01 -8.76583194e-01 -2.38208986e-02 1.20551353e+02] [ 8.75498527e-01 4.81250345e-01 -4.35939710e-02 6.76974795e+01] [ 4.96775581e-02 9.87360941e-05 9.98765303e-01 6.38001117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.968040942 meters 0.020689531193049414 Centerline is valid? [True, True] Translation: X:120.57, Y:67.72, Z:6.38 [[ 4.80147634e-01 -8.76864593e-01 -2.38061937e-02 1.20567170e+02] [ 8.75780271e-01 4.80737432e-01 -4.35940326e-02 6.77206316e+01] [ 4.96705921e-02 8.25768101e-05 9.98765651e-01 6.38307990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.998040942 meters 0.0206621881931715 Centerline is valid? [True, True] Translation: X:120.59, Y:67.74, Z:6.39 [[ 4.78505875e-01 -8.77769561e-01 -2.35101190e-02 1.20586321e+02] [ 8.76711768e-01 4.79083080e-01 -4.30798928e-02 6.77424669e+01] [ 4.90775188e-02 2.38377420e-06 9.98794973e-01 6.38548086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.028040942 meters 0.020629383358956106 Centerline is valid? [True, True] Translation: X:120.60, Y:67.77, Z:6.39 [[ 4.77010671e-01 -8.78584456e-01 -2.34557823e-02 1.20602587e+02] [ 8.77531095e-01 4.77587008e-01 -4.30096263e-02 6.77660536e+01] [ 4.89897660e-02 -6.71276017e-05 9.98799278e-01 6.38699541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.058040942 meters 0.02172834961941689 Centerline is valid? [True, True] Translation: X:120.62, Y:67.79, Z:6.39 [[ 4.74403623e-01 -8.79985458e-01 -2.38074916e-02 1.20621299e+02] [ 8.78900497e-01 4.75000583e-01 -4.36848132e-02 6.77880370e+01] [ 4.97505727e-02 -2.00182547e-04 9.98761653e-01 6.38681251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.088040942 meters 0.020857563627079384 Centerline is valid? [True, True] Translation: X:120.64, Y:67.81, Z:6.39 [[ 4.73141231e-01 -8.80661394e-01 -2.39350251e-02 1.20637306e+02] [ 8.79564144e-01 4.73746180e-01 -4.39485393e-02 6.78110038e+01] [ 5.00429086e-02 -2.58523915e-04 9.98747035e-01 6.38862980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.118040942 meters 0.02231078197400106 Centerline is valid? [True, True] Translation: X:120.65, Y:67.83, Z:6.39 [[ 4.71796029e-01 -8.81377446e-01 -2.41309978e-02 1.20653409e+02] [ 8.80261538e-01 4.72412631e-01 -4.43388208e-02 6.78346970e+01] [ 5.04790248e-02 -3.22709661e-04 9.98725069e-01 6.38788666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.148040942 meters 0.02119732848689174 Centerline is valid? [True, True] Translation: X:120.67, Y:67.86, Z:6.39 [[ 4.70566545e-01 -8.82019046e-01 -2.46886459e-02 1.20672931e+02] [ 8.80850218e-01 4.71213596e-01 -4.53942688e-02 6.78554054e+01] [ 5.16722353e-02 -3.85974941e-04 9.98664023e-01 6.38932795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.178040942 meters 0.021177093594108222 Centerline is valid? [True, True] Translation: X:120.69, Y:67.88, Z:6.39 [[ 4.69767802e-01 -8.82438336e-01 -2.49157622e-02 1.20688456e+02] [ 8.81246990e-01 4.70427895e-01 -4.58403544e-02 6.78784028e+01] [ 5.21723556e-02 -4.22617857e-04 9.98638006e-01 6.39029423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.208040942 meters 0.02278392595247874 Centerline is valid? [True, True] Translation: X:120.71, Y:67.90, Z:6.39 [[ 4.68098864e-01 -8.83291797e-01 -2.60586891e-02 1.20707450e+02] [ 8.81988093e-01 4.68823341e-01 -4.79758124e-02 6.79008713e+01] [ 5.45935632e-02 -5.26030224e-04 9.98508521e-01 6.38871332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.238040942 meters 0.021556434824955208 Centerline is valid? [True, True] Translation: X:120.72, Y:67.92, Z:6.39 [[ 4.67224983e-01 -8.83746736e-01 -2.63158033e-02 1.20723630e+02] [ 8.82416276e-01 4.67965148e-01 -4.84781949e-02 6.79230742e+01] [ 5.51573253e-02 -5.71269353e-04 9.98477513e-01 6.39062055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26804094199997 meters 0.021705558583731042 Centerline is valid? [True, True] Translation: X:120.74, Y:67.95, Z:6.39 [[ 4.65867082e-01 -8.84442360e-01 -2.70106183e-02 1.20743221e+02] [ 8.83040069e-01 4.66648991e-01 -4.97891161e-02 6.79452007e+01] [ 5.66400812e-02 -6.56348008e-04 9.98394446e-01 6.39112359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.29804094199997 meters 0.021892302925449695 Centerline is valid? [True, True] Translation: X:120.76, Y:67.97, Z:6.39 [[ 4.65001829e-01 -8.84883048e-01 -2.74825232e-02 1.20759320e+02] [ 8.83430214e-01 4.65812720e-01 -5.06908914e-02 6.79681752e+01] [ 5.76572194e-02 -7.07534108e-04 9.98336188e-01 6.39219334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32804094199997 meters 0.021822341265497446 Centerline is valid? [True, True] Translation: X:120.77, Y:67.99, Z:6.39 [[ 4.65586091e-01 -8.84585719e-01 -2.71605955e-02 1.20774806e+02] [ 8.83164521e-01 4.66377192e-01 -5.01272782e-02 6.79918900e+01] [ 5.70089567e-02 -6.48710815e-04 9.98373456e-01 6.39438578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.35804094199997 meters 0.022337812526548016 Centerline is valid? [True, True] Translation: X:120.79, Y:68.02, Z:6.40 [[ 4.67091950e-01 -8.83804846e-01 -2.67227503e-02 1.20786855e+02] [ 8.82426073e-01 4.67855442e-01 -4.93508998e-02 6.80174912e+01] [ 5.61189486e-02 -5.29443626e-04 9.98423950e-01 6.39544515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38804094199998 meters 0.0212812153411666 Centerline is valid? [True, True] Translation: X:120.80, Y:68.04, Z:6.40 [[ 4.68154323e-01 -8.83246468e-01 -2.65933775e-02 1.20799489e+02] [ 8.81878320e-01 4.68908818e-01 -4.91441594e-02 6.80428335e+01] [ 5.58762744e-02 -4.45072447e-04 9.98437601e-01 6.39859137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.41804094199998 meters 0.021187028055318604 Centerline is valid? [True, True] Translation: X:120.81, Y:68.07, Z:6.40 [[ 4.71294629e-01 -8.81586250e-01 -2.62117498e-02 1.20810470e+02] [ 8.80252871e-01 4.72022913e-01 -4.84690870e-02 6.80677654e+01] [ 5.51022271e-02 -2.29747689e-04 9.98480692e-01 6.39903441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44804094199998 meters 0.02088686629033678 Centerline is valid? [True, True] Translation: X:120.82, Y:68.09, Z:6.40 [[ 4.72867415e-01 -8.80748437e-01 -2.60499083e-02 1.20821698e+02] [ 8.79428926e-01 4.73584392e-01 -4.81932333e-02 6.80935954e+01] [ 5.47829448e-02 -1.20033228e-04 9.98498280e-01 6.40235129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.47804094199998 meters 0.02173262924771618 Centerline is valid? [True, True] Translation: X:120.83, Y:68.12, Z:6.40 [[ 4.75214445e-01 -8.79490496e-01 -2.58398790e-02 1.20833742e+02] [ 8.78188528e-01 4.75916449e-01 -4.78376724e-02 6.81193677e+01] [ 5.43704016e-02 4.08676554e-05 9.98520835e-01 6.40369917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50804094199998 meters 0.02079720214601725 Centerline is valid? [True, True] Translation: X:120.85, Y:68.14, Z:6.41 [[ 4.75505368e-01 -8.79340962e-01 -2.55757438e-02 1.20846626e+02] [ 8.78063553e-01 4.76192680e-01 -4.73806789e-02 6.81432925e+01] [ 5.38427537e-02 7.26386942e-05 9.98549424e-01 6.40664097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.53804094199998 meters 0.020955981695607036 Centerline is valid? [True, True] Translation: X:120.86, Y:68.17, Z:6.41 [[ 4.75516839e-01 -8.79337121e-01 -2.54944030e-02 1.20859800e+02] [ 8.78066223e-01 4.76199770e-01 -4.72597789e-02 6.81678930e+01] [ 5.36977067e-02 8.70464945e-05 9.98557234e-01 6.40923302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56804094199998 meters 0.02086604730690602 Centerline is valid? [True, True] Translation: X:120.87, Y:68.19, Z:6.41 [[ 4.75205938e-01 -8.79501036e-01 -2.56367762e-02 1.20872661e+02] [ 8.78214347e-01 4.75896964e-01 -4.75567059e-02 6.81932959e+01] [ 5.40266361e-02 8.46443798e-05 9.98539491e-01 6.40978666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.59804094199998 meters 0.021541469031547918 Centerline is valid? [True, True] Translation: X:120.89, Y:68.22, Z:6.41 [[ 4.75069939e-01 -8.79571170e-01 -2.57509092e-02 1.20885475e+02] [ 8.78271326e-01 4.75767326e-01 -4.78009411e-02 6.82170849e+01] [ 5.42957709e-02 9.25049881e-05 9.98524892e-01 6.40908699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62804094199998 meters 0.02088029564472353 Centerline is valid? [True, True] Translation: X:120.90, Y:68.24, Z:6.41 [[ 4.74854151e-01 -8.79683884e-01 -2.58804814e-02 1.20900451e+02] [ 8.78369415e-01 4.75558887e-01 -4.80719772e-02 6.82412513e+01] [ 5.45958365e-02 9.45545914e-05 9.98508531e-01 6.41219381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.65804094199999 meters 0.020920307772881265 Centerline is valid? [True, True] Translation: X:120.91, Y:68.27, Z:6.41 [[ 4.74564064e-01 -8.79838177e-01 -2.59563459e-02 1.20914197e+02] [ 8.78514431e-01 4.75273368e-01 -4.82454237e-02 6.82654796e+01] [ 5.47845256e-02 9.25198559e-05 9.98498196e-01 6.41305907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.688040942 meters 0.020831540325520103 Centerline is valid? [True, True] Translation: X:120.93, Y:68.29, Z:6.42 [[ 4.73397206e-01 -8.80456970e-01 -2.62794544e-02 1.20929067e+02] [ 8.79099136e-01 4.74126062e-01 -4.88793121e-02 6.82893590e+01] [ 5.54959052e-02 3.70840745e-05 9.98458914e-01 6.41528616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.718040942 meters 0.020901464694591334 Centerline is valid? [True, True] Translation: X:120.94, Y:68.31, Z:6.42 [[ 4.72760849e-01 -8.80799833e-01 -2.62456285e-02 1.20942681e+02] [ 8.79444177e-01 4.73488810e-01 -4.88496220e-02 6.83123712e+01] [ 5.54537503e-02 1.26236218e-05 9.98461257e-01 6.41608352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.748040942 meters 0.02085314882394216 Centerline is valid? [True, True] Translation: X:120.96, Y:68.34, Z:6.42 [[ 4.71829254e-01 -8.81295841e-01 -2.63589832e-02 1.20956749e+02] [ 8.79927469e-01 4.72564958e-01 -4.90918544e-02 6.83367724e+01] [ 5.57207789e-02 -3.10203245e-05 9.98446390e-01 6.41733192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.778040942 meters 0.02099501578359363 Centerline is valid? [True, True] Translation: X:120.97, Y:68.36, Z:6.42 [[ 4.70589747e-01 -8.81950978e-01 -2.66038125e-02 1.20970953e+02] [ 8.80556182e-01 4.71341133e-01 -4.95817078e-02 6.83607723e+01] [ 5.62681068e-02 -9.35083003e-05 9.98415691e-01 6.41865529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.808040942 meters 0.02196226890235081 Centerline is valid? [True, True] Translation: X:120.98, Y:68.39, Z:6.42 [[ 4.69754465e-01 -8.82408007e-01 -2.62078503e-02 1.20983746e+02] [ 8.81053465e-01 4.70484953e-01 -4.88743270e-02 6.83850476e+01] [ 5.54574968e-02 -1.31583990e-04 9.98461040e-01 6.41858842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.838040942 meters 0.021161115852973585 Centerline is valid? [True, True] Translation: X:121.00, Y:68.41, Z:6.42 [[ 4.68310739e-01 -8.83205041e-01 -2.51775243e-02 1.20997111e+02] [ 8.81954937e-01 4.68987008e-01 -4.69752726e-02 6.84093587e+01] [ 5.32967293e-02 -2.06417182e-04 9.98578698e-01 6.42261431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.868040942 meters 0.022954315000127873 Centerline is valid? [True, True] Translation: X:121.01, Y:68.43, Z:6.42 [[ 4.67243750e-01 -8.83773327e-01 -2.50596125e-02 1.21009579e+02] [ 8.82534094e-01 4.67915207e-01 -4.67860180e-02 6.84341167e+01] [ 5.30740085e-02 -2.55487963e-04 9.98590549e-01 6.42240434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.898040942 meters 0.02299251996269972 Centerline is valid? [True, True] Translation: X:121.02, Y:68.46, Z:6.43 [[ 4.66022869e-01 -8.84428156e-01 -2.46885131e-02 1.21022803e+02] [ 8.83224660e-01 4.66676269e-01 -4.61243976e-02 6.84592743e+01] [ 5.23152591e-02 -3.10479547e-04 9.98630571e-01 6.42531326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.928040942 meters 0.021293504129780552 Centerline is valid? [True, True] Translation: X:121.04, Y:68.48, Z:6.43 [[ 4.65394292e-01 -8.84761414e-01 -2.46047586e-02 1.21036498e+02] [ 8.83564869e-01 4.66044130e-01 -4.59999004e-02 6.84841469e+01] [ 5.21658402e-02 -3.31809223e-04 9.98638381e-01 6.42936867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.958040942 meters 0.02219363894627386 Centerline is valid? [True, True] Translation: X:121.05, Y:68.51, Z:6.43 [[ 4.64347717e-01 -8.85305795e-01 -2.47960920e-02 1.21048858e+02] [ 8.84089624e-01 4.65009144e-01 -4.63900083e-02 6.85100094e+01] [ 5.25997527e-02 -3.80873152e-04 9.98615602e-01 6.42891362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.988040942 meters 0.021388363283518595 Centerline is valid? [True, True] Translation: X:121.06, Y:68.53, Z:6.43 [[ 4.63716561e-01 -8.85632795e-01 -2.49299708e-02 1.21061559e+02] [ 8.84402195e-01 4.64386034e-01 -4.66730070e-02 6.85345504e+01] [ 5.29122759e-02 -4.05074580e-04 9.98599082e-01 6.43138378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.01804094199997 meters 0.022969037925586484 Centerline is valid? [True, True] Translation: X:121.07, Y:68.56, Z:6.43 [[ 4.62659450e-01 -8.86176876e-01 -2.52344522e-02 1.21073793e+02] [ 8.84915063e-01 4.63346884e-01 -4.72757516e-02 6.85590823e+01] [ 5.35869827e-02 -4.57773590e-04 9.98563080e-01 6.42970117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04804094199997 meters 0.023927858391091378 Centerline is valid? [True, True] Translation: X:121.09, Y:68.58, Z:6.43 [[ 4.60129619e-01 -8.87487960e-01 -2.54136777e-02 1.21087439e+02] [ 8.86208643e-01 4.60830511e-01 -4.76390686e-02 6.85839402e+01] [ 5.39904978e-02 -6.01674379e-04 9.98541268e-01 6.43022883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.07804094199997 meters 0.023202546846909488 Centerline is valid? [True, True] Translation: X:121.10, Y:68.61, Z:6.43 [[ 4.57813398e-01 -8.88688876e-01 -2.52779614e-02 1.21101800e+02] [ 8.87424016e-01 4.58510141e-01 -4.74032459e-02 6.86090412e+01] [ 5.37169389e-02 -7.30428968e-04 9.98555936e-01 6.43314190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10804094199997 meters 0.022906114260293826 Centerline is valid? [True, True] Translation: X:121.12, Y:68.63, Z:6.44 [[ 4.53452174e-01 -8.90925151e-01 -2.51694536e-02 1.21117623e+02] [ 8.89673037e-01 4.54149117e-01 -4.72278136e-02 6.86322686e+01] [ 5.35071321e-02 -9.77029501e-04 9.98566989e-01 6.43621904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.13804094199998 meters 0.024270353893201244 Centerline is valid? [True, True] Translation: X:121.13, Y:68.66, Z:6.44 [[ 4.51437451e-01 -8.91943937e-01 -2.53029665e-02 1.21131978e+02] [ 8.90678676e-01 4.52144690e-01 -4.75044719e-02 6.86572519e+01] [ 5.38119277e-02 -1.09151502e-03 9.98550492e-01 6.43566140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16804094199998 meters 0.023636883143872064 Centerline is valid? [True, True] Translation: X:121.15, Y:68.68, Z:6.44 [[ 4.49922277e-01 -8.92709779e-01 -2.52822879e-02 1.21147542e+02] [ 8.91446258e-01 4.50630539e-01 -4.74940586e-02 6.86820618e+01] [ 5.37913816e-02 -1.16916595e-03 9.98551511e-01 6.43856122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.19804094199998 meters 0.02400064459569123 Centerline is valid? [True, True] Translation: X:121.16, Y:68.70, Z:6.44 [[ 4.48807404e-01 -8.93270448e-01 -2.52946805e-02 1.21162264e+02] [ 8.92005045e-01 4.49517974e-01 -4.75456803e-02 6.87047854e+01] [ 5.38415647e-02 -1.22412924e-03 9.98548741e-01 6.44040644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22804094199998 meters 0.023997002329748822 Centerline is valid? [True, True] Translation: X:121.18, Y:68.73, Z:6.44 [[ 4.48615603e-01 -8.93363117e-01 -2.54240369e-02 1.21175830e+02] [ 8.92083273e-01 4.49333765e-01 -4.78184270e-02 6.87295820e+01] [ 5.41430972e-02 -1.22826560e-03 9.98532431e-01 6.44169145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.25804094199998 meters 0.024167625053779215 Centerline is valid? [True, True] Translation: X:121.19, Y:68.75, Z:6.44 [[ 4.48818767e-01 -8.93252383e-01 -2.57272964e-02 1.21188039e+02] [ 8.91939907e-01 4.49553893e-01 -4.84200280e-02 6.87532414e+01] [ 5.48171116e-02 -1.21538508e-03 9.98495672e-01 6.44144287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28804094199998 meters 0.02416088406303861 Centerline is valid? [True, True] Translation: X:121.20, Y:68.78, Z:6.44 [[ 4.48967025e-01 -8.93168694e-01 -2.60440810e-02 1.21200385e+02] [ 8.91822086e-01 4.49720162e-01 -4.90422550e-02 6.87780417e+01] [ 5.55155552e-02 -1.20833126e-03 9.98457091e-01 6.44261511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.31804094199998 meters 0.023436881376351807 Centerline is valid? [True, True] Translation: X:121.21, Y:68.80, Z:6.44 [[ 4.49214343e-01 -8.93045662e-01 -2.59984444e-02 1.21211626e+02] [ 8.91701748e-01 4.49964512e-01 -4.89890890e-02 6.88037099e+01] [ 5.54478708e-02 -1.17625683e-03 9.98460891e-01 6.44414004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34804094199998 meters 0.024000601273811435 Centerline is valid? [True, True] Translation: X:121.22, Y:68.83, Z:6.44 [[ 4.49783436e-01 -8.92757443e-01 -2.60577878e-02 1.21223976e+02] [ 8.91405090e-01 4.50536207e-01 -4.91334064e-02 6.88281847e+01] [ 5.56041911e-02 -1.12865229e-03 9.98452252e-01 6.44468333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.37804094199998 meters 0.024000601273811435 Centerline is valid? [True, True] Translation: X:121.24, Y:68.85, Z:6.45 [[ 4.49532672e-01 -8.92884085e-01 -2.60458586e-02 1.21236807e+02] [ 8.91531578e-01 4.50285167e-01 -4.91397297e-02 6.88525764e+01] [ 5.56041464e-02 -1.13079141e-03 9.98452252e-01 6.44590762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40804094199999 meters 0.023740707348683228 Centerline is valid? [True, True] Translation: X:121.25, Y:68.88, Z:6.45 [[ 4.50668152e-01 -8.92317749e-01 -2.58312005e-02 1.21250329e+02] [ 8.90984811e-01 4.51406643e-01 -4.87658609e-02 6.88765897e+01] [ 5.51750187e-02 -1.03798688e-03 9.98476159e-01 6.44848527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.438040942 meters 0.022997835608729686 Centerline is valid? [True, True] Translation: X:121.26, Y:68.90, Z:6.45 [[ 4.52726803e-01 -8.91283407e-01 -2.55407370e-02 1.21259713e+02] [ 8.89977422e-01 4.53445800e-01 -4.82399719e-02 6.89040767e+01] [ 5.45768265e-02 -8.91150972e-04 9.98509177e-01 6.45056768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.468040942 meters 0.022934795598444482 Centerline is valid? [True, True] Translation: X:121.27, Y:68.93, Z:6.45 [[ 4.53223234e-01 -8.91022507e-01 -2.58378217e-02 1.21271375e+02] [ 8.89684290e-01 4.53958317e-01 -4.88232681e-02 6.89300181e+01] [ 5.52319248e-02 -8.59664573e-04 9.98473182e-01 6.45172815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.498040942 meters 0.0230777868643539 Centerline is valid? [True, True] Translation: X:121.28, Y:68.96, Z:6.45 [[ 4.53574643e-01 -8.90846272e-01 -2.57480602e-02 1.21283071e+02] [ 8.89515237e-01 4.54304134e-01 -4.86867281e-02 6.89552429e+01] [ 5.50698404e-02 -8.20226613e-04 9.98482168e-01 6.45219763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.528040942 meters 0.023121475388148374 Centerline is valid? [True, True] Translation: X:121.29, Y:68.98, Z:6.45 [[ 4.53742320e-01 -8.90763590e-01 -2.56541335e-02 1.21294376e+02] [ 8.89440367e-01 4.54466279e-01 -4.85410575e-02 6.89800955e+01] [ 5.48975452e-02 -7.92689857e-04 9.98491678e-01 6.45307510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.558040942 meters 0.023955951369217333 Centerline is valid? [True, True] Translation: X:121.31, Y:69.00, Z:6.45 [[ 4.52965525e-01 -8.91155833e-01 -2.57587758e-02 1.21307604e+02] [ 8.89820775e-01 4.53696587e-01 -4.87688080e-02 6.90045712e+01] [ 5.51472763e-02 -8.30105098e-04 9.98477886e-01 6.45342480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.588040942 meters 0.024487985321013487 Centerline is valid? [True, True] Translation: X:121.32, Y:69.03, Z:6.45 [[ 4.52154191e-01 -8.91560690e-01 -2.60024001e-02 1.21321127e+02] [ 8.90199061e-01 4.52900403e-01 -4.92631317e-02 6.90293927e+01] [ 5.56975692e-02 -8.72780757e-04 9.98447304e-01 6.45415708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.618040942 meters 0.0245034755925121 Centerline is valid? [True, True] Translation: X:121.33, Y:69.05, Z:6.46 [[ 4.51337121e-01 -8.91971888e-01 -2.60950943e-02 1.21334214e+02] [ 8.90599370e-01 4.52089946e-01 -4.94716287e-02 6.90540104e+01] [ 5.59246318e-02 -9.11892048e-04 9.98434577e-01 6.45537339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.648040942 meters 0.024027642245274802 Centerline is valid? [True, True] Translation: X:121.35, Y:69.08, Z:6.46 [[ 4.50977049e-01 -8.92153076e-01 -2.61264296e-02 1.21346798e+02] [ 8.90775700e-01 4.51732268e-01 -4.95642068e-02 6.90783825e+01] [ 5.60210109e-02 -9.20468898e-04 9.98429166e-01 6.45743714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.678040942 meters 0.02414240715706952 Centerline is valid? [True, True] Translation: X:121.36, Y:69.10, Z:6.46 [[ 4.50925079e-01 -8.92173421e-01 -2.63279312e-02 1.21357310e+02] [ 8.90772755e-01 4.51692097e-01 -4.99814826e-02 6.91040893e+01] [ 5.64842688e-02 -9.14299787e-04 9.98403071e-01 6.45841020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.708040942 meters 0.023543551690837182 Centerline is valid? [True, True] Translation: X:121.37, Y:69.13, Z:6.46 [[ 4.51254167e-01 -8.92000145e-01 -2.65597123e-02 1.21370743e+02] [ 8.90572431e-01 4.52034244e-01 -5.04557990e-02 6.91273510e+01] [ 5.70124796e-02 -8.84958010e-04 9.98373074e-01 6.46086184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.738040942 meters 0.024170692403642266 Centerline is valid? [True, True] Translation: X:121.39, Y:69.15, Z:6.46 [[ 4.51325579e-01 -8.91960409e-01 -2.66805217e-02 1.21385124e+02] [ 8.90517800e-01 4.52112676e-01 -5.07166209e-02 6.91502353e+01] [ 5.72998200e-02 -8.69771214e-04 9.98356637e-01 6.46070898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76804094199997 meters 0.024193419125969978 Centerline is valid? [True, True] Translation: X:121.40, Y:69.18, Z:6.46 [[ 4.51011411e-01 -8.92118642e-01 -2.67027278e-02 1.21397844e+02] [ 8.90672107e-01 4.51800354e-01 -5.07901400e-02 6.91750255e+01] [ 5.73751327e-02 -8.76442105e-04 9.98352306e-01 6.46182257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.79804094199997 meters 0.023492955521375692 Centerline is valid? [True, True] Translation: X:121.41, Y:69.20, Z:6.46 [[ 4.50790821e-01 -8.92238641e-01 -2.64167233e-02 1.21408330e+02] [ 8.90821330e-01 4.51563346e-01 -5.02782534e-02 6.92014072e+01] [ 5.67890244e-02 -8.67605439e-04 9.98385824e-01 6.46411888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82804094199997 meters 0.024334847706190023 Centerline is valid? [True, True] Translation: X:121.42, Y:69.23, Z:6.46 [[ 4.50326940e-01 -8.92467299e-01 -2.66038928e-02 1.21420322e+02] [ 8.91028248e-01 4.51111220e-01 -5.06688107e-02 6.92270610e+01] [ 5.72215712e-02 -8.87289492e-04 9.98361109e-01 6.46390584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.85804094199997 meters 0.023261395795605603 Centerline is valid? [True, True] Translation: X:121.43, Y:69.25, Z:6.47 [[ 4.50259989e-01 -8.92517754e-01 -2.60384372e-02 1.21433519e+02] [ 8.91137501e-01 4.51011440e-01 -4.96249410e-02 6.92519829e+01] [ 5.60347740e-02 -8.59702492e-04 9.98428448e-01 6.46758501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88804094199998 meters 0.02341467105034426 Centerline is valid? [True, True] Translation: X:121.45, Y:69.28, Z:6.47 [[ 4.50388871e-01 -8.92459028e-01 -2.58214579e-02 1.21446583e+02] [ 8.91099883e-01 4.51127689e-01 -4.92423366e-02 6.92753552e+01] [ 5.55955425e-02 -8.31297673e-04 9.98453026e-01 6.46891451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.91804094199998 meters 0.023904294875448793 Centerline is valid? [True, True] Translation: X:121.46, Y:69.30, Z:6.47 [[ 4.50965135e-01 -8.92175242e-01 -2.55692276e-02 1.21458019e+02] [ 8.90840739e-01 4.51688757e-01 -4.87857006e-02 6.93008796e+01] [ 5.50747269e-02 -7.77459516e-04 9.98481933e-01 6.46985808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94804094199998 meters 0.02299157916923772 Centerline is valid? [True, True] Translation: X:121.47, Y:69.32, Z:6.47 [[ 4.51655364e-01 -8.91833582e-01 -2.53040247e-02 1.21470968e+02] [ 8.90524379e-01 4.52363076e-01 -4.83112648e-02 6.93244422e+01] [ 5.45322148e-02 -7.13808965e-04 9.98511757e-01 6.47288068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.97804094199998 meters 0.02285287868519121 Centerline is valid? [True, True] Translation: X:121.48, Y:69.35, Z:6.47 [[ 4.52281444e-01 -8.91523444e-01 -2.50488334e-02 1.21483271e+02] [ 8.90238697e-01 4.52974079e-01 -4.78492041e-02 6.93503992e+01] [ 5.40051595e-02 -6.58133701e-04 9.98540440e-01 6.47431094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00804094199998 meters 0.022405773230832 Centerline is valid? [True, True] Translation: X:121.49, Y:69.38, Z:6.48 [[ 4.54745231e-01 -8.90282090e-01 -2.45880994e-02 1.21494595e+02] [ 8.89041287e-01 4.55409221e-01 -4.69896866e-02 6.93761694e+01] [ 5.30317236e-02 -4.91499684e-04 9.98592707e-01 6.47652654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.03804094199998 meters 0.0224726585260965 Centerline is valid? [True, True] Translation: X:121.51, Y:69.40, Z:6.48 [[ 4.56023558e-01 -8.89642463e-01 -2.40583019e-02 1.21507253e+02] [ 8.88452201e-01 4.56657565e-01 -4.60060304e-02 6.94002218e+01] [ 5.19153238e-02 -3.94817595e-04 9.98651412e-01 6.47726438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06804094199998 meters 0.02213146413386649 Centerline is valid? [True, True] Translation: X:121.52, Y:69.43, Z:6.48 [[ 4.58579291e-01 -8.88331653e-01 -2.39145816e-02 1.21518373e+02] [ 8.87152515e-01 4.59202373e-01 -4.57558382e-02 6.94268413e+01] [ 5.16279920e-02 -2.33201376e-04 9.98666359e-01 6.47867783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.09804094199998 meters 0.02198800532758733 Centerline is valid? [True, True] Translation: X:121.53, Y:69.45, Z:6.48 [[ 4.59526060e-01 -8.87843710e-01 -2.38609685e-02 1.21530158e+02] [ 8.86667729e-01 4.60145106e-01 -4.56817129e-02 6.94522858e+01] [ 5.15377293e-02 -1.64813193e-04 9.98671035e-01 6.47984765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12804094199998 meters 0.021965372294733037 Centerline is valid? [True, True] Translation: X:121.54, Y:69.48, Z:6.48 [[ 4.59907370e-01 -8.87649812e-01 -2.37280984e-02 1.21542310e+02] [ 8.86485044e-01 4.60519050e-01 -4.54584672e-02 6.94778040e+01] [ 5.12784412e-02 -1.27920207e-04 9.98684387e-01 6.48079842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.15804094199999 meters 0.02253746956701249 Centerline is valid? [True, True] Translation: X:121.55, Y:69.50, Z:6.48 [[ 4.60487962e-01 -8.87365724e-01 -2.30847979e-02 1.21553837e+02] [ 8.86261432e-01 4.61066226e-01 -4.42561703e-02 6.95033405e+01] [ 4.99150293e-02 -7.97323547e-05 9.98753465e-01 6.48112064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.188040942 meters 0.021826305756307448 Centerline is valid? [True, True] Translation: X:121.56, Y:69.53, Z:6.48 [[ 4.61355857e-01 -8.86939626e-01 -2.21104855e-02 1.21564180e+02] [ 8.85924782e-01 4.61885375e-01 -4.24167557e-02 6.95287245e+01] [ 4.78336113e-02 -1.90084043e-05 9.98855317e-01 6.48400214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.218040942 meters 0.021861921250743474 Centerline is valid? [True, True] Translation: X:121.58, Y:69.55, Z:6.49 [[ 4.61560824e-01 -8.86852965e-01 -2.12937519e-02 1.21575650e+02] [ 8.85910542e-01 4.62051748e-01 -4.08741174e-02 6.95542874e+01] [ 4.60881476e-02 1.53201314e-06 9.98937377e-01 6.48622891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.248040942 meters 0.02171609507474672 Centerline is valid? [True, True] Translation: X:121.59, Y:69.58, Z:6.49 [[ 4.61984887e-01 -8.86650635e-01 -2.05089201e-02 1.21587328e+02] [ 8.85775040e-01 4.62439889e-01 -3.93945011e-02 6.95792557e+01] [ 4.44133021e-02 3.33746561e-05 9.99013242e-01 6.48812094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.278040942 meters 0.021846359073083917 Centerline is valid? [True, True] Translation: X:121.60, Y:69.60, Z:6.49 [[ 4.63310166e-01 -8.85983982e-01 -1.93926348e-02 1.21598803e+02] [ 8.85199510e-01 4.63715833e-01 -3.72753743e-02 6.96041662e+01] [ 4.20180564e-02 1.03709022e-04 9.99116846e-01 6.49088331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.308040942 meters 0.021834686862956445 Centerline is valid? [True, True] Translation: X:121.61, Y:69.63, Z:6.49 [[ 4.63768160e-01 -8.85750993e-01 -1.90859029e-02 1.21610572e+02] [ 8.84989998e-01 4.64160705e-01 -3.67088867e-02 6.96290996e+01] [ 4.13738590e-02 1.33579636e-04 9.99143726e-01 6.49270362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.338040942 meters 0.02192968654699565 Centerline is valid? [True, True] Translation: X:121.62, Y:69.65, Z:6.50 [[ 4.64637593e-01 -8.85308232e-01 -1.84727178e-02 1.21620827e+02] [ 8.84594018e-01 4.65004626e-01 -3.55544868e-02 6.96549615e+01] [ 4.00665790e-02 1.79095501e-04 9.99196996e-01 6.49510290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.368040942 meters 0.021848862806343763 Centerline is valid? [True, True] Translation: X:121.63, Y:69.68, Z:6.50 [[ 4.64754418e-01 -8.85256231e-01 -1.80204454e-02 1.21631534e+02] [ 8.84575967e-01 4.65103613e-01 -3.46985312e-02 6.96804071e+01] [ 3.90984652e-02 1.85842706e-04 9.99235345e-01 6.49681861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.398040942 meters 0.02182551630151593 Centerline is valid? [True, True] Translation: X:121.64, Y:69.71, Z:6.50 [[ 4.64540291e-01 -8.85368466e-01 -1.80276954e-02 1.21642197e+02] [ 8.84686885e-01 4.64889928e-01 -3.47342729e-02 6.97064913e+01] [ 3.91335240e-02 1.86603558e-04 9.99233973e-01 6.49747338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.428040942 meters 0.02166967164625094 Centerline is valid? [True, True] Translation: X:121.65, Y:69.73, Z:6.50 [[ 4.63638694e-01 -8.85837782e-01 -1.81820055e-02 1.21651320e+02] [ 8.85143858e-01 4.63995041e-01 -3.50564220e-02 6.97335725e+01] [ 3.94906635e-02 1.59823175e-04 9.99219927e-01 6.49691534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.458040942 meters 0.02156201271975118 Centerline is valid? [True, True] Translation: X:121.66, Y:69.76, Z:6.50 [[ 4.62566889e-01 -8.86396501e-01 -1.82514559e-02 1.21662222e+02] [ 8.85696688e-01 4.62926806e-01 -3.52157483e-02 6.97582509e+01] [ 3.96642043e-02 1.24385138e-04 9.99213058e-01 6.49794256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.488040942 meters 0.021517618824822185 Centerline is valid? [True, True] Translation: X:121.67, Y:69.78, Z:6.50 [[ 4.59519660e-01 -8.87980226e-01 -1.82428077e-02 1.21674013e+02] [ 8.87281438e-01 4.59881634e-01 -3.52212001e-02 6.97843310e+01] [ 3.96652614e-02 -1.67075298e-06 9.99213024e-01 6.49840570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.51804094199997 meters 0.02153773234857928 Centerline is valid? [True, True] Translation: X:121.69, Y:69.81, Z:6.50 [[ 4.57590704e-01 -8.88978828e-01 -1.80939534e-02 1.21686166e+02] [ 8.88291273e-01 4.57948291e-01 -3.49567769e-02 6.98094380e+01] [ 3.93619296e-02 -7.68047905e-05 9.99225016e-01 6.49993289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54804094199997 meters 0.021610002912717842 Centerline is valid? [True, True] Translation: X:121.70, Y:69.83, Z:6.50 [[ 4.55707827e-01 -8.89950260e-01 -1.78580872e-02 1.21697623e+02] [ 8.89280310e-01 4.56057577e-01 -3.45255933e-02 6.98338366e+01] [ 3.88703767e-02 -1.47262191e-04 9.99244250e-01 6.50119876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.57804094199997 meters 0.02178404277627086 Centerline is valid? [True, True] Translation: X:121.71, Y:69.86, Z:6.50 [[ 4.52838228e-01 -8.91406838e-01 -1.82040686e-02 1.21706647e+02] [ 8.90710922e-01 4.53203903e-01 -3.52175535e-02 6.98611901e+01] [ 3.96433229e-02 -2.66708201e-04 9.99213859e-01 6.50091227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60804094199997 meters 0.021889141882582838 Centerline is valid? [True, True] Translation: X:121.72, Y:69.89, Z:6.50 [[ 4.50253012e-01 -8.92714767e-01 -1.82364936e-02 1.21715745e+02] [ 8.92016451e-01 4.50622022e-01 -3.53050099e-02 6.98893875e+01] [ 3.97350693e-02 -3.71065296e-04 9.99210181e-01 6.50040951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.63804094199998 meters 0.022126980588255265 Centerline is valid? [True, True] Translation: X:121.73, Y:69.91, Z:6.50 [[ 4.49068453e-01 -8.93311437e-01 -1.82263873e-02 1.21727451e+02] [ 8.92613523e-01 4.49437989e-01 -3.53071230e-02 6.99133271e+01] [ 3.97318876e-02 -4.13804641e-04 9.99210291e-01 6.50191760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66804094199998 meters 0.022118384619814333 Centerline is valid? [True, True] Translation: X:121.74, Y:69.94, Z:6.50 [[ 4.47636254e-01 -8.94032528e-01 -1.81003583e-02 1.21739531e+02] [ 8.93343958e-01 4.48001812e-01 -3.50848805e-02 6.99393069e+01] [ 3.94760177e-02 -4.64581269e-04 9.99220410e-01 6.50310404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.69804094199998 meters 0.022584664541542645 Centerline is valid? [True, True] Translation: X:121.75, Y:69.96, Z:6.50 [[ 4.45348049e-01 -8.95178190e-01 -1.79199486e-02 1.21750492e+02] [ 8.94503203e-01 4.45708097e-01 -3.47607822e-02 6.99644578e+01] [ 3.91041603e-02 -5.48804867e-04 9.99234989e-01 6.50482776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72804094199998 meters 0.022772841135739054 Centerline is valid? [True, True] Translation: X:121.76, Y:69.99, Z:6.51 [[ 4.44068134e-01 -8.95816036e-01 -1.78079392e-02 1.21761305e+02] [ 8.95149701e-01 4.44424654e-01 -3.45505533e-02 6.99904240e+01] [ 3.88652269e-02 -5.97971670e-04 9.99244283e-01 6.50562815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.75804094199998 meters 0.023139805323308567 Centerline is valid? [True, True] Translation: X:121.77, Y:70.02, Z:6.51 [[ 4.41748482e-01 -8.96956289e-01 -1.81023149e-02 1.21769537e+02] [ 8.96267730e-01 4.42118680e-01 -3.51458247e-02 7.00186250e+01] [ 3.95276401e-02 -6.98905963e-04 9.99218233e-01 6.50539802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78804094199998 meters 0.02372056738984096 Centerline is valid? [True, True] Translation: X:121.78, Y:70.04, Z:6.51 [[ 4.40286723e-01 -8.97669113e-01 -1.83784028e-02 1.21781668e+02] [ 8.96959059e-01 4.40669468e-01 -3.57052667e-02 7.00436450e+01] [ 4.01503160e-02 -7.64120044e-04 9.99193359e-01 6.50614070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.81804094199998 meters 0.023901163769828662 Centerline is valid? [True, True] Translation: X:121.79, Y:70.07, Z:6.51 [[ 4.38717338e-01 -8.98437105e-01 -1.83811373e-02 1.21793145e+02] [ 8.97727092e-01 4.39101447e-01 -3.57209785e-02 7.00698741e+01] [ 4.01642365e-02 -8.29832306e-04 9.99192747e-01 6.50687715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84804094199998 meters 0.0241399789846194 Centerline is valid? [True, True] Translation: X:121.80, Y:70.10, Z:6.51 [[ 4.35760159e-01 -8.99883055e-01 -1.79880805e-02 1.21803782e+02] [ 8.99203512e-01 4.36130274e-01 -3.49775279e-02 7.00967259e+01] [ 3.93208311e-02 -9.33132071e-04 9.99226201e-01 6.50842658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.87804094199998 meters 0.024887344416441328 Centerline is valid? [True, True] Translation: X:121.82, Y:70.12, Z:6.51 [[ 4.34649299e-01 -9.00427369e-01 -1.76221316e-02 1.21816325e+02] [ 8.99774796e-01 4.35005339e-01 -3.42880618e-02 7.01215959e+01] [ 3.85396306e-02 -9.52667864e-04 9.99256618e-01 6.51090930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90804094199999 meters 0.024898513443351297 Centerline is valid? [True, True] Translation: X:121.82, Y:70.15, Z:6.51 [[ 4.33500673e-01 -9.00987307e-01 -1.72927156e-02 1.21823859e+02] [ 9.00358987e-01 4.33844341e-01 -3.36568324e-02 7.01501651e+01] [ 3.78267256e-02 -9.79392357e-04 9.99283833e-01 6.51209983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.938040942 meters 0.025136600059468644 Centerline is valid? [True, True] Translation: X:121.83, Y:70.18, Z:6.51 [[ 4.33197456e-01 -9.01135261e-01 -1.71815296e-02 1.21833338e+02] [ 9.00514356e-01 4.33536949e-01 -3.34605686e-02 7.01753449e+01] [ 3.76013261e-02 -9.77180881e-04 9.99292342e-01 6.51316899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.968040942 meters 0.026095719945435327 Centerline is valid? [True, True] Translation: X:121.84, Y:70.20, Z:6.51 [[ 4.33591672e-01 -9.00943020e-01 -1.73186594e-02 1.21842617e+02] [ 9.00311174e-01 4.33936350e-01 -3.37495940e-02 7.02015572e+01] [ 3.79216570e-02 -9.58639675e-04 9.99280255e-01 6.51449285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.998040942 meters 0.025338682335851546 Centerline is valid? [True, True] Translation: X:121.85, Y:70.23, Z:6.52 [[ 4.33409976e-01 -9.01031224e-01 -1.72778934e-02 1.21851528e+02] [ 9.00401753e-01 4.33753176e-01 -3.36877678e-02 7.02288401e+01] [ 3.78480718e-02 -9.56430875e-04 9.99283047e-01 6.51523047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.028040942 meters 0.024822499503005857 Centerline is valid? [True, True] Translation: X:121.86, Y:70.26, Z:6.52 [[ 4.33887311e-01 -9.00800321e-01 -1.73373490e-02 1.21861377e+02] [ 9.00165435e-01 4.34232563e-01 -3.38270843e-02 7.02560065e+01] [ 3.79998899e-02 -9.29339638e-04 9.99277311e-01 6.51642523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.058040942 meters 0.02455531468303533 Centerline is valid? [True, True] Translation: X:121.87, Y:70.28, Z:6.52 [[ 4.34451939e-01 -9.00520833e-01 -1.77127765e-02 1.21869167e+02] [ 8.99857051e-01 4.34811905e-01 -3.45817210e-02 7.02835947e+01] [ 3.88432863e-02 -9.14871099e-04 9.99244896e-01 6.51676293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.088040942 meters 0.02476360692303093 Centerline is valid? [True, True] Translation: X:121.88, Y:70.31, Z:6.52 [[ 4.34871548e-01 -9.00308914e-01 -1.81823186e-02 1.21880126e+02] [ 8.99608260e-01 4.35250542e-01 -3.55238571e-02 7.03087752e+01] [ 3.98963093e-02 -9.08649266e-04 9.99203412e-01 6.51805133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.118040942 meters 0.024469207416839733 Centerline is valid? [True, True] Translation: X:121.89, Y:70.34, Z:6.52 [[ 4.35898790e-01 -8.99808346e-01 -1.83626168e-02 1.21888183e+02] [ 8.99092482e-01 4.36284536e-01 -3.58958659e-02 7.03373200e+01] [ 4.03107255e-02 -8.62726224e-04 9.99186820e-01 6.51872896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.148040942 meters 0.024238707544875136 Centerline is valid? [True, True] Translation: X:121.90, Y:70.36, Z:6.52 [[ 4.36558439e-01 -8.99485444e-01 -1.85112105e-02 1.21898415e+02] [ 8.98756770e-01 4.36949935e-01 -3.62080501e-02 7.03633044e+01] [ 4.06570863e-02 -8.30145979e-04 9.99172814e-01 6.51949515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.178040942 meters 0.023961470122994214 Centerline is valid? [True, True] Translation: X:121.91, Y:70.39, Z:6.52 [[ 4.36720526e-01 -8.99404386e-01 -1.86261275e-02 1.21908107e+02] [ 8.98665555e-01 4.37116784e-01 -3.64573220e-02 7.03894252e+01] [ 4.09316683e-02 -8.16998406e-04 9.99161614e-01 6.52055224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.208040942 meters 0.02349403118002028 Centerline is valid? [True, True] Translation: X:121.92, Y:70.42, Z:6.52 [[ 4.39130500e-01 -8.98234681e-01 -1.84082257e-02 1.21916386e+02] [ 8.97510987e-01 4.39515625e-01 -3.60561226e-02 7.04175898e+01] [ 4.04775626e-02 -6.88241681e-04 9.99180211e-01 6.52297677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.238040942 meters 0.023611938203276013 Centerline is valid? [True, True] Translation: X:121.93, Y:70.44, Z:6.53 [[ 4.40544825e-01 -8.97542950e-01 -1.83551066e-02 1.21927233e+02] [ 8.96821918e-01 4.40926612e-01 -3.59745779e-02 7.04422946e+01] [ 4.03819838e-02 -6.12847787e-04 9.99184127e-01 6.52533698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26804094199997 meters 0.023034425904854754 Centerline is valid? [True, True] Translation: X:121.93, Y:70.47, Z:6.53 [[ 4.43247148e-01 -8.96207092e-01 -1.85691783e-02 1.21934806e+02] [ 8.95467150e-01 4.43635674e-01 -3.64139067e-02 7.04694299e+01] [ 4.08723513e-02 -4.87728878e-04 9.99164257e-01 6.52645873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.29804094199997 meters 0.023034425904854754 Centerline is valid? [True, True] Translation: X:121.95, Y:70.49, Z:6.53 [[ 4.43004712e-01 -8.96327081e-01 -1.85631328e-02 1.21947214e+02] [ 8.95587115e-01 4.43393192e-01 -3.64169883e-02 7.04939928e+01] [ 4.08722995e-02 -4.92005120e-04 9.99164257e-01 6.52768300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32804094199997 meters 0.022773961986612155 Centerline is valid? [True, True] Translation: X:121.96, Y:70.52, Z:6.53 [[ 4.44103442e-01 -8.95784030e-01 -1.85230897e-02 1.21957894e+02] [ 8.95045789e-01 4.44489355e-01 -3.63627355e-02 7.05202297e+01] [ 4.08064739e-02 -4.30197438e-04 9.99166976e-01 6.52850675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.35804094199997 meters 0.02255703203485442 Centerline is valid? [True, True] Translation: X:121.97, Y:70.55, Z:6.53 [[ 4.44459835e-01 -8.95598777e-01 -1.89284266e-02 1.21968878e+02] [ 8.94826638e-01 4.44862519e-01 -3.71836821e-02 7.05462244e+01] [ 4.17222077e-02 -4.11007155e-04 9.99129165e-01 6.52892798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38804094199998 meters 0.02261652680563995 Centerline is valid? [True, True] Translation: X:121.98, Y:70.57, Z:6.53 [[ 4.44176389e-01 -8.95738994e-01 -1.89470187e-02 1.21981547e+02] [ 8.94964403e-01 4.44580120e-01 -3.72455877e-02 7.05713846e+01] [ 4.17857931e-02 -4.13296652e-04 9.99126507e-01 6.53065083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.41804094199998 meters 0.022374356418136825 Centerline is valid? [True, True] Translation: X:121.99, Y:70.60, Z:6.53 [[ 4.43833205e-01 -8.95906644e-01 -1.90622704e-02 1.21993476e+02] [ 8.95121668e-01 4.44242173e-01 -3.74978969e-02 7.05971101e+01] [ 4.20628794e-02 -4.20239515e-04 9.99114877e-01 6.53194361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44804094199998 meters 0.0223174227137172 Centerline is valid? [True, True] Translation: X:122.01, Y:70.62, Z:6.53 [[ 4.44076654e-01 -8.95786161e-01 -1.90546479e-02 1.22005808e+02] [ 8.95000529e-01 4.44485092e-01 -3.75107397e-02 7.06209068e+01] [ 4.20711084e-02 -3.96276196e-04 9.99114540e-01 6.53377833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.47804094199998 meters 0.022290229592935466 Centerline is valid? [True, True] Translation: X:122.02, Y:70.64, Z:6.54 [[ 4.44045442e-01 -8.95797698e-01 -1.92387683e-02 1.22018031e+02] [ 8.94996186e-01 4.44461842e-01 -3.78879670e-02 7.06444623e+01] [ 4.24908520e-02 -3.94645157e-04 9.99096778e-01 6.53516552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50804094199998 meters 0.022052207947335076 Centerline is valid? [True, True] Translation: X:122.03, Y:70.67, Z:6.54 [[ 4.44775959e-01 -8.95425661e-01 -1.96782102e-02 1.22031024e+02] [ 8.94585912e-01 4.45210913e-01 -3.87722760e-02 7.06697212e+01] [ 4.34786448e-02 -3.58873343e-04 9.99054292e-01 6.53589011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.53804094199998 meters 0.02197146796054071 Centerline is valid? [True, True] Translation: X:122.04, Y:70.69, Z:6.54 [[ 4.44700663e-01 -8.95453713e-01 -2.00989745e-02 1.22043787e+02] [ 8.94576408e-01 4.45154491e-01 -3.96299144e-02 7.06944672e+01] [ 4.44339028e-02 -3.56619221e-04 9.99012263e-01 6.53693902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56804094199998 meters 0.021924550691272814 Centerline is valid? [True, True] Translation: X:122.06, Y:70.72, Z:6.54 [[ 4.44231632e-01 -8.95680976e-01 -2.03432258e-02 1.22056939e+02] [ 8.94781143e-01 4.44697034e-01 -4.01404254e-02 7.07197310e+01] [ 4.49995876e-02 -3.71088162e-04 9.98986937e-01 6.53808827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.59804094199998 meters 0.02199630182745698 Centerline is valid? [True, True] Translation: X:122.07, Y:70.74, Z:6.54 [[ 4.43020885e-01 -8.96273601e-01 -2.06428363e-02 1.22071718e+02] [ 8.95346350e-01 4.43501354e-01 -4.07610388e-02 7.07429202e+01] [ 4.56881690e-02 -4.24496652e-04 9.98955660e-01 6.54016420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62804094199998 meters 0.021997002602978336 Centerline is valid? [True, True] Translation: X:122.09, Y:70.77, Z:6.54 [[ 4.42054636e-01 -8.96754879e-01 -2.04544758e-02 1.22086124e+02] [ 8.95843822e-01 4.42527374e-01 -4.04149636e-02 7.07673173e+01] [ 4.52939812e-02 -4.58393796e-04 9.98973596e-01 6.54263061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.65804094199999 meters 0.022367386534097138 Centerline is valid? [True, True] Translation: X:122.10, Y:70.79, Z:6.55 [[ 4.39714592e-01 -8.97912951e-01 -2.00850559e-02 1.22103426e+02] [ 8.97034487e-01 4.40172721e-01 -3.97127782e-02 7.07901084e+01] [ 4.44995116e-02 -5.54699722e-04 9.99009252e-01 6.54560164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.688040942 meters 0.0226542580789654 Centerline is valid? [True, True] Translation: X:122.12, Y:70.81, Z:6.55 [[ 4.38217199e-01 -8.98649807e-01 -1.98547542e-02 1.22118249e+02] [ 8.97791522e-01 4.38666326e-01 -3.92713303e-02 7.08146029e+01] [ 4.40007854e-02 -6.16057647e-04 9.99031306e-01 6.54695367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.718040942 meters 0.02255360333817686 Centerline is valid? [True, True] Translation: X:122.13, Y:70.84, Z:6.55 [[ 4.36488289e-01 -8.99491614e-01 -1.98194189e-02 1.22133117e+02] [ 8.98636103e-01 4.36937481e-01 -3.92274347e-02 7.08388087e+01] [ 4.39445955e-02 -6.88129491e-04 9.99033733e-01 6.54841731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.748040942 meters 0.02258957721340262 Centerline is valid? [True, True] Translation: X:122.15, Y:70.86, Z:6.55 [[ 4.35776510e-01 -8.99833822e-01 -1.99480927e-02 1.22147137e+02] [ 8.98966930e-01 4.36232246e-01 -3.94954078e-02 7.08633663e+01] [ 4.42413050e-02 -7.21504646e-04 9.99020614e-01 6.54999586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.778040942 meters 0.022478863761600004 Centerline is valid? [True, True] Translation: X:122.16, Y:70.89, Z:6.55 [[ 4.36356831e-01 -8.99555066e-01 -1.98342859e-02 1.22161749e+02] [ 8.98696504e-01 4.36806850e-01 -3.92984547e-02 7.08864856e+01] [ 4.40148760e-02 -6.76854264e-04 9.99030646e-01 6.55133080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.808040942 meters 0.022471352859233355 Centerline is valid? [True, True] Translation: X:122.18, Y:70.91, Z:6.55 [[ 4.36819615e-01 -8.99337491e-01 -1.95115504e-02 1.22175319e+02] [ 8.98505436e-01 4.37254702e-01 -3.86821308e-02 7.09103433e+01] [ 4.33198076e-02 -6.34120573e-04 9.99061055e-01 6.55317337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.838040942 meters 0.022540885255093547 Centerline is valid? [True, True] Translation: X:122.19, Y:70.93, Z:6.55 [[ 4.37531449e-01 -8.98995179e-01 -1.93364728e-02 1.22189077e+02] [ 8.98176653e-01 4.37958133e-01 -3.83584855e-02 7.09342995e+01] [ 4.29526591e-02 -5.84524700e-04 9.99076938e-01 6.55491313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.868040942 meters 0.022226856928466637 Centerline is valid? [True, True] Translation: X:122.20, Y:70.96, Z:6.56 [[ 4.38935124e-01 -8.98311569e-01 -1.92946305e-02 1.22203170e+02] [ 8.97494780e-01 4.39358704e-01 -3.83020828e-02 7.09591396e+01] [ 4.28844679e-02 -5.04700733e-04 9.99079911e-01 6.55691572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.898040942 meters 0.02227635460156026 Centerline is valid? [True, True] Translation: X:122.22, Y:70.98, Z:6.56 [[ 4.39462125e-01 -8.98052555e-01 -1.93558772e-02 1.22216184e+02] [ 8.97229174e-01 4.39887928e-01 -3.84502195e-02 7.09826729e+01] [ 4.30447346e-02 -4.69242581e-04 9.99073036e-01 6.55784497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.928040942 meters 0.02221198950847187 Centerline is valid? [True, True] Translation: X:122.23, Y:71.01, Z:6.56 [[ 4.39139962e-01 -8.98212519e-01 -1.92448539e-02 1.22231514e+02] [ 8.97397725e-01 4.39561199e-01 -3.82527897e-02 7.10065679e+01] [ 4.28184256e-02 -4.71959519e-04 9.99082759e-01 6.55897484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.958040942 meters 0.022245639236486384 Centerline is valid? [True, True] Translation: X:122.25, Y:71.03, Z:6.56 [[ 4.38264083e-01 -8.98637251e-01 -1.93825790e-02 1.22245679e+02] [ 8.97809943e-01 4.38692189e-01 -3.85547739e-02 7.10291775e+01] [ 4.31497420e-02 -5.04699541e-04 9.99068489e-01 6.56014409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.988040942 meters 0.022378688760017043 Centerline is valid? [True, True] Translation: X:122.26, Y:71.05, Z:6.56 [[ 4.37258074e-01 -8.99129851e-01 -1.92584486e-02 1.22260285e+02] [ 8.98312511e-01 4.37681643e-01 -3.83329046e-02 7.10532967e+01] [ 4.28953283e-02 -5.38733301e-04 9.99079427e-01 6.56180809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.01804094199997 meters 0.022447618186897923 Centerline is valid? [True, True] Translation: X:122.28, Y:71.08, Z:6.56 [[ 4.35731322e-01 -8.99870100e-01 -1.92877582e-02 1.22276152e+02] [ 8.99049836e-01 4.36157589e-01 -3.84181091e-02 7.10774368e+01] [ 4.29838098e-02 -6.00682356e-04 9.99075588e-01 6.56364231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04804094199997 meters 0.02263531856904483 Centerline is valid? [True, True] Translation: X:122.29, Y:71.10, Z:6.56 [[ 4.35014738e-01 -9.00208899e-01 -1.96498267e-02 1.22289991e+02] [ 8.99356666e-01 4.35457846e-01 -3.91669781e-02 7.11004135e+01] [ 4.38151334e-02 -6.33989936e-04 9.99039455e-01 6.56479367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.07804094199997 meters 0.022737170015439616 Centerline is valid? [True, True] Translation: X:122.31, Y:71.12, Z:6.57 [[ 4.34483383e-01 -9.00462022e-01 -1.98074867e-02 1.22305562e+02] [ 8.99595156e-01 4.34934156e-01 -3.95074111e-02 7.11233939e+01] [ 4.41898758e-02 -6.53405410e-04 9.99022937e-01 6.56541232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10804094199997 meters 0.022678506647664992 Centerline is valid? [True, True] Translation: X:122.32, Y:71.15, Z:6.57 [[ 4.34306881e-01 -9.00537243e-01 -2.02535625e-02 1.22319655e+02] [ 8.99630047e-01 4.34778367e-01 -4.04171908e-02 7.11473397e+01] [ 4.52029964e-02 -6.67249309e-04 9.98977599e-01 6.56688439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.13804094199998 meters 0.02240706532344666 Centerline is valid? [True, True] Translation: X:122.33, Y:71.17, Z:6.57 [[ 4.34471846e-01 -9.00440533e-01 -2.10014571e-02 1.22334885e+02] [ 8.99463522e-01 4.34978619e-01 -4.19401080e-02 7.11710464e+01] [ 4.68997580e-02 -6.68248425e-04 9.98899377e-01 6.56687496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.16804094199998 meters 0.022501516327221496 Centerline is valid? [True, True] Translation: X:122.35, Y:71.19, Z:6.57 [[ 4.34767168e-01 -9.00295419e-01 -2.11108797e-02 1.22349395e+02] [ 8.99306618e-01 4.35278929e-01 -4.21884002e-02 7.11942414e+01] [ 4.71711445e-02 -6.43022549e-04 9.98886615e-01 6.56804900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.19804094199998 meters 0.022237190626208103 Centerline is valid? [True, True] Translation: X:122.36, Y:71.22, Z:6.57 [[ 4.35071283e-01 -9.00141633e-01 -2.14013830e-02 1.22362769e+02] [ 8.99123923e-01 4.35596892e-01 -4.27962592e-02 7.12184139e+01] [ 4.78450705e-02 -6.23072007e-04 9.98854575e-01 6.56983772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22804094199998 meters 0.02202687200461584 Centerline is valid? [True, True] Translation: X:122.38, Y:71.24, Z:6.57 [[ 4.36500049e-01 -8.99436766e-01 -2.19365122e-02 1.22377541e+02] [ 8.98365063e-01 4.37050576e-01 -4.38977029e-02 7.12417093e+01] [ 4.90705732e-02 -5.45646723e-04 9.98795165e-01 6.57103155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.25804094199998 meters 0.02194609772725862 Centerline is valid? [True, True] Translation: X:122.39, Y:71.27, Z:6.57 [[ 4.36805309e-01 -8.99283578e-01 -2.21397533e-02 1.22391137e+02] [ 8.98190409e-01 4.37365722e-01 -4.43307348e-02 7.12664110e+01] [ 4.95490710e-02 -5.21813784e-04 9.98771554e-01 6.57228049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28804094199998 meters 0.021715865793502636 Centerline is valid? [True, True] Translation: X:122.41, Y:71.29, Z:6.58 [[ 4.37698903e-01 -8.98852183e-01 -2.20095993e-02 1.22406555e+02] [ 8.97769771e-01 4.38251690e-01 -4.41009650e-02 7.12906096e+01] [ 4.92859928e-02 -4.56608886e-04 9.98784603e-01 6.57515288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.31804094199998 meters 0.02174407976132979 Centerline is valid? [True, True] Translation: X:122.42, Y:71.31, Z:6.58 [[ 4.37775358e-01 -8.98818831e-01 -2.18505239e-02 1.22420353e+02] [ 8.97750573e-01 4.38320110e-01 -4.38108484e-02 7.13139084e+01] [ 4.89555395e-02 -4.37010466e-04 9.98800863e-01 6.57703272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34804094199998 meters 0.021756828653733823 Centerline is valid? [True, True] Translation: X:122.43, Y:71.34, Z:6.58 [[ 4.37777234e-01 -8.98820925e-01 -2.17264174e-02 1.22434714e+02] [ 8.97763461e-01 4.38315828e-01 -4.35890340e-02 7.13374201e+01] [ 4.87017685e-02 -4.22896950e-04 9.98813275e-01 6.57889395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.37804094199998 meters 0.022737592620367907 Centerline is valid? [True, True] Translation: X:122.45, Y:71.36, Z:6.58 [[ 4.36827309e-01 -8.99286229e-01 -2.15912103e-02 1.22451262e+02] [ 8.98241420e-01 4.37360337e-01 -4.33392023e-02 7.13603610e+01] [ 4.84174868e-02 -4.62372249e-04 9.98827079e-01 6.57932142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40804094199999 meters 0.02177925403982324 Centerline is valid? [True, True] Translation: X:122.47, Y:71.38, Z:6.58 [[ 4.35500153e-01 -8.99929143e-01 -2.16137283e-02 1.22465841e+02] [ 8.98881469e-01 4.36035853e-01 -4.34147338e-02 7.13843111e+01] [ 4.84945446e-02 -5.21056639e-04 9.98823312e-01 6.58316915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.438040942 meters 0.022025661195732297 Centerline is valid? [True, True] Translation: X:122.48, Y:71.41, Z:6.58 [[ 4.33388298e-01 -9.00946790e-01 -2.16671393e-02 1.22484245e+02] [ 8.99893721e-01 4.33929135e-01 -4.35522255e-02 7.14072489e+01] [ 4.86402408e-02 -6.23097765e-04 9.98816169e-01 6.58487674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.468040942 meters 0.022281174535732272 Centerline is valid? [True, True] Translation: X:122.50, Y:71.43, Z:6.59 [[ 4.32098110e-01 -9.01567507e-01 -2.16160363e-02 1.22499644e+02] [ 9.00518855e-01 4.32637918e-01 -4.34767057e-02 7.14304060e+01] [ 4.85491021e-02 -6.79445880e-04 9.98820566e-01 6.58694655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.498040942 meters 0.022682936452831887 Centerline is valid? [True, True] Translation: X:122.52, Y:71.45, Z:6.59 [[ 4.30510522e-01 -9.02336305e-01 -2.12104641e-02 1.22517450e+02] [ 9.01326333e-01 4.31032070e-01 -4.26871929e-02 7.14519078e+01] [ 4.76605942e-02 -7.40264119e-04 9.98863314e-01 6.58983460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.528040942 meters 0.022837673119691544 Centerline is valid? [True, True] Translation: X:122.53, Y:71.47, Z:6.59 [[ 4.29836417e-01 -9.02655742e-01 -2.12900471e-02 1.22531619e+02] [ 9.01637608e-01 4.30362660e-01 -4.28673030e-02 7.14748777e+01] [ 4.78568585e-02 -7.69979188e-04 9.98853907e-01 6.59085963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.558040942 meters 0.023477359114506557 Centerline is valid? [True, True] Translation: X:122.55, Y:71.50, Z:6.59 [[ 4.29418025e-01 -9.02852030e-01 -2.14096142e-02 1.22547257e+02] [ 9.01821140e-01 4.29950693e-01 -4.31396848e-02 7.14971950e+01] [ 4.81538305e-02 -7.82684397e-04 9.98839625e-01 6.59158079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.588040942 meters 0.022407411296124877 Centerline is valid? [True, True] Translation: X:122.56, Y:71.52, Z:6.59 [[ 4.29360349e-01 -9.02874636e-01 -2.16121025e-02 1.22561242e+02] [ 9.01822625e-01 4.29903228e-01 -4.35794316e-02 7.15218664e+01] [ 4.86378761e-02 -7.79003069e-04 9.98816174e-01 6.59362422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.618040942 meters 0.02255140707787244 Centerline is valid? [True, True] Translation: X:122.58, Y:71.55, Z:6.59 [[ 4.29862819e-01 -9.02629469e-01 -2.18631820e-02 1.22576019e+02] [ 9.01550994e-01 4.30417802e-01 -4.41171239e-02 7.15450317e+01] [ 4.92317189e-02 -7.46462214e-04 9.98787105e-01 6.59437289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.648040942 meters 0.021989241686819195 Centerline is valid? [True, True] Translation: X:122.59, Y:71.57, Z:6.60 [[ 4.31023397e-01 -9.02069448e-01 -2.21255926e-02 1.22590892e+02] [ 9.00962763e-01 4.31590373e-01 -4.46749359e-02 7.15686084e+01] [ 4.98490875e-02 -6.78392367e-04 9.98756531e-01 6.59575492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.678040942 meters 0.02188779029364756 Centerline is valid? [True, True] Translation: X:122.60, Y:71.59, Z:6.60 [[ 4.31767682e-01 -9.01710784e-01 -2.22335419e-02 1.22604550e+02] [ 9.00591198e-01 4.32339299e-01 -4.49246523e-02 7.15927323e+01] [ 5.01214773e-02 -6.26319144e-04 9.98742933e-01 6.59683531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.708040942 meters 0.021773025494681346 Centerline is valid? [True, True] Translation: X:122.62, Y:71.62, Z:6.60 [[ 4.32208899e-01 -9.01499718e-01 -2.22199526e-02 1.22618288e+02] [ 9.00379619e-01 4.32779289e-01 -4.49291429e-02 7.16171120e+01] [ 5.01199450e-02 -5.87617036e-04 9.98743033e-01 6.59719186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.738040942 meters 0.02170314812190787 Centerline is valid? [True, True] Translation: X:122.63, Y:71.64, Z:6.60 [[ 4.32461793e-01 -9.01370833e-01 -2.25259644e-02 1.22632217e+02] [ 9.00217805e-01 4.33047689e-01 -4.55807389e-02 7.16418695e+01] [ 5.08399654e-02 -5.66346118e-04 9.98706652e-01 6.59875104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76804094199997 meters 0.021596261530761655 Centerline is valid? [True, True] Translation: X:122.65, Y:71.67, Z:6.60 [[ 4.32885529e-01 -9.01163240e-01 -2.26921386e-02 1.22647877e+02] [ 8.99991150e-01 4.33479564e-01 -4.59499560e-02 7.16655380e+01] [ 5.12449896e-02 -5.31652877e-04 9.98685971e-01 6.60025104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.79804094199997 meters 0.021562871429785063 Centerline is valid? [True, True] Translation: X:122.66, Y:71.69, Z:6.60 [[ 4.33001804e-01 -9.01112773e-01 -2.24768099e-02 1.22664560e+02] [ 8.99961102e-01 4.33584494e-01 -4.55467034e-02 7.16887724e+01] [ 5.07883125e-02 -5.06449813e-04 9.98709312e-01 6.60235021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82804094199997 meters 0.021684180564588384 Centerline is valid? [True, True] Translation: X:122.68, Y:71.71, Z:6.60 [[ 4.32867004e-01 -9.01178154e-01 -2.24519952e-02 1.22678789e+02] [ 9.00027452e-01 4.33448597e-01 -4.55291148e-02 7.17119594e+01] [ 5.07616294e-02 -4.99360476e-04 9.98710673e-01 6.60382657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.85804094199997 meters 0.021618954162028012 Centerline is valid? [True, True] Translation: X:122.69, Y:71.74, Z:6.61 [[ 4.32610053e-01 -9.01297224e-01 -2.26242189e-02 1.22692766e+02] [ 9.00127386e-01 4.33200946e-01 -4.59089297e-02 7.17364169e+01] [ 5.11784239e-02 -5.04014547e-04 9.98689399e-01 6.60588971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88804094199998 meters 0.021527855597151205 Centerline is valid? [True, True] Translation: X:122.71, Y:71.76, Z:6.61 [[ 4.32745171e-01 -9.01231802e-01 -2.26463241e-02 1.22707855e+02] [ 9.00057883e-01 4.33337058e-01 -4.59869689e-02 7.17602145e+01] [ 5.12584104e-02 -4.82363839e-04 9.98685307e-01 6.60678260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.91804094199998 meters 0.02150987623146639 Centerline is valid? [True, True] Translation: X:122.72, Y:71.78, Z:6.61 [[ 4.32367169e-01 -9.01406135e-01 -2.29262207e-02 1.22721556e+02] [ 9.00201453e-01 4.32974290e-01 -4.65897913e-02 7.17846090e+01] [ 5.19227878e-02 -4.94321049e-04 9.98650980e-01 6.60797357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94804094199998 meters 0.021617398746924452 Centerline is valid? [True, True] Translation: X:122.74, Y:71.81, Z:6.61 [[ 4.32366969e-01 -9.01407150e-01 -2.28900451e-02 1.22736916e+02] [ 9.00204526e-01 4.32972193e-01 -4.65498713e-02 7.18072764e+01] [ 5.18711399e-02 -4.79095442e-04 9.98653671e-01 6.60963519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.97804094199998 meters 0.021560994569361027 Centerline is valid? [True, True] Translation: X:122.75, Y:71.83, Z:6.61 [[ 4.32400941e-01 -9.01393167e-01 -2.27987984e-02 1.22750829e+02] [ 9.00198507e-01 4.33001322e-01 -4.63950680e-02 7.18314243e+01] [ 5.16921071e-02 -4.62173272e-04 9.98662962e-01 6.61121553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00804094199998 meters 0.021612782632380447 Centerline is valid? [True, True] Translation: X:122.76, Y:71.85, Z:6.61 [[ 4.31896564e-01 -9.01642035e-01 -2.25166406e-02 1.22764902e+02] [ 9.00475519e-01 4.32482853e-01 -4.58521807e-02 7.18544657e+01] [ 5.10803144e-02 -4.72284316e-04 9.98694437e-01 6.61223125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.03804094199998 meters 0.02160626038027947 Centerline is valid? [True, True] Translation: X:122.78, Y:71.88, Z:6.61 [[ 4.31403940e-01 -9.01871867e-01 -2.27546876e-02 1.22779108e+02] [ 9.00679597e-01 4.32003346e-01 -4.63613262e-02 7.18790611e+01] [ 5.16420770e-02 -4.94224037e-04 9.98665535e-01 6.61395170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06804094199998 meters 0.021727711512490595 Centerline is valid? [True, True] Translation: X:122.80, Y:71.90, Z:6.62 [[ 4.30668979e-01 -9.02211132e-01 -2.32229093e-02 1.22795090e+02] [ 9.00968010e-01 4.31294320e-01 -4.73482348e-02 7.19014121e+01] [ 5.27340133e-02 -5.31682432e-04 9.98608452e-01 6.61527565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.09804094199998 meters 0.021817072095140992 Centerline is valid? [True, True] Translation: X:122.81, Y:71.92, Z:6.62 [[ 4.29788856e-01 -9.02629971e-01 -2.32524164e-02 1.22811319e+02] [ 9.01383043e-01 4.30417015e-01 -4.74320865e-02 7.19248865e+01] [ 5.28218585e-02 -5.73551688e-04 9.98603786e-01 6.61665178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12804094199998 meters 0.021898978093652738 Centerline is valid? [True, True] Translation: X:122.83, Y:71.95, Z:6.62 [[ 4.28982411e-01 -9.03022166e-01 -2.29141595e-02 1.22825834e+02] [ 9.01810122e-01 4.29593540e-01 -4.67749439e-02 7.19490455e+01] [ 5.20825861e-02 -5.98592699e-04 9.98642602e-01 6.61862169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.15804094199999 meters 0.02197309221646713 Centerline is valid? [True, True] Translation: X:122.84, Y:71.97, Z:6.62 [[ 4.27491529e-01 -9.03726743e-01 -2.29992964e-02 1.22840352e+02] [ 9.02504933e-01 4.28109241e-01 -4.69821506e-02 7.19730548e+01] [ 5.23052372e-02 -6.72507091e-04 9.98630918e-01 6.62076133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.188040942 meters 0.02197309221646713 Centerline is valid? [True, True] Translation: X:122.85, Y:72.00, Z:6.62 [[ 4.27237194e-01 -9.03847332e-01 -2.29865348e-02 1.22852385e+02] [ 9.02625361e-01 4.27854587e-01 -4.69883938e-02 7.19978522e+01] [ 5.23052287e-02 -6.73039755e-04 9.98630918e-01 6.62198489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.218040942 meters 0.022455687268811565 Centerline is valid? [True, True] Translation: X:122.87, Y:72.02, Z:6.62 [[ 4.25420542e-01 -9.04707561e-01 -2.28383619e-02 1.22869192e+02] [ 9.03500879e-01 4.26032453e-01 -4.67173504e-02 7.20195379e+01] [ 5.19954235e-02 -7.59959484e-04 9.98647034e-01 6.62322605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.248040942 meters 0.0223184111558369 Centerline is valid? [True, True] Translation: X:122.88, Y:72.04, Z:6.63 [[ 4.24555617e-01 -9.05112586e-01 -2.28852488e-02 1.22882998e+02] [ 9.03900191e-01 4.25171220e-01 -4.68388621e-02 7.20442548e+01] [ 5.21245928e-02 -8.00278766e-04 9.98640269e-01 6.62529689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.278040942 meters 0.022599899820722837 Centerline is valid? [True, True] Translation: X:122.90, Y:72.07, Z:6.63 [[ 4.23285782e-01 -9.05718331e-01 -2.24377182e-02 1.22898280e+02] [ 9.04552101e-01 4.23879220e-01 -4.59554516e-02 7.20670735e+01] [ 5.11335774e-02 -8.43795903e-04 9.98691467e-01 6.62715830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.308040942 meters 0.022679077155129936 Centerline is valid? [True, True] Translation: X:122.91, Y:72.09, Z:6.63 [[ 4.23177857e-01 -9.05773628e-01 -2.22404171e-02 1.22912084e+02] [ 9.04626189e-01 4.23761074e-01 -4.55851977e-02 7.20918522e+01] [ 5.07144929e-02 -8.28617526e-04 9.98712848e-01 6.62862796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.338040942 meters 0.02237019570095795 Centerline is valid? [True, True] Translation: X:122.92, Y:72.12, Z:6.63 [[ 4.22983688e-01 -9.05867720e-01 -2.21014394e-02 1.22924453e+02] [ 9.04733106e-01 4.23559912e-01 -4.53322001e-02 7.21167278e+01] [ 5.04262604e-02 -8.21122724e-04 9.98727449e-01 6.63030949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.368040942 meters 0.022852608425934087 Centerline is valid? [True, True] Translation: X:122.94, Y:72.14, Z:6.63 [[ 4.23374232e-01 -9.05677540e-01 -2.24154815e-02 1.22939656e+02] [ 9.04508425e-01 4.23966463e-01 -4.60102901e-02 7.21399284e+01] [ 5.11738987e-02 -7.95420686e-04 9.98689441e-01 6.63078162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.398040942 meters 0.022377732926469388 Centerline is valid? [True, True] Translation: X:122.95, Y:72.17, Z:6.63 [[ 4.23512115e-01 -9.05613731e-01 -2.23888149e-02 1.22951381e+02] [ 9.04445529e-01 4.24102788e-01 -4.59903233e-02 7.21651816e+01] [ 5.11446271e-02 -7.72004430e-04 9.98690959e-01 6.63269592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.428040942 meters 0.022345707853814522 Centerline is valid? [True, True] Translation: X:122.97, Y:72.19, Z:6.63 [[ 4.24386557e-01 -9.05202205e-01 -2.24726027e-02 1.22965836e+02] [ 9.04022945e-01 4.24980543e-01 -4.61958128e-02 7.21894252e+01] [ 5.13669705e-02 -7.10866529e-04 9.98679593e-01 6.63475119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.458040942 meters 0.02196421223974488 Centerline is valid? [True, True] Translation: X:122.98, Y:72.21, Z:6.64 [[ 4.24976686e-01 -9.04927425e-01 -2.23868789e-02 1.22977875e+02] [ 9.03755079e-01 4.25565411e-01 -4.60525618e-02 7.22148249e+01] [ 5.12013075e-02 -6.60990346e-04 9.98688134e-01 6.63650923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.488040942 meters 0.02200715337963487 Centerline is valid? [True, True] Translation: X:122.99, Y:72.24, Z:6.64 [[ 4.25886902e-01 -9.04496049e-01 -2.25220679e-02 1.22990122e+02] [ 9.03307228e-01 4.26481580e-01 -4.63628384e-02 7.22388509e+01] [ 5.15402512e-02 -5.99021111e-04 9.98670738e-01 6.63744859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.51804094199997 meters 0.022282559502180575 Centerline is valid? [True, True] Translation: X:123.00, Y:72.26, Z:6.64 [[ 4.26980622e-01 -9.03973039e-01 -2.28099336e-02 1.23003712e+02] [ 9.02751654e-01 4.27589126e-01 -4.69786076e-02 7.22628538e+01] [ 5.22206743e-02 -5.32750198e-04 9.98635428e-01 6.63683920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54804094199997 meters 0.021783040181167838 Centerline is valid? [True, True] Translation: X:123.01, Y:72.29, Z:6.64 [[ 4.27326021e-01 -9.03809177e-01 -2.28351507e-02 1.23014843e+02] [ 9.02583498e-01 4.27935416e-01 -4.70564480e-02 7.22884711e+01] [ 5.23020192e-02 -5.02185454e-04 9.98631186e-01 6.63857116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.57804094199997 meters 0.02173496563525751 Centerline is valid? [True, True] Translation: X:123.03, Y:72.31, Z:6.64 [[ 4.27393189e-01 -9.03769852e-01 -2.31325704e-02 1.23027717e+02] [ 9.02510121e-01 4.28018475e-01 -4.77039513e-02 7.23131408e+01] [ 5.30145605e-02 -4.89035053e-04 9.98593620e-01 6.63968459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60804094199997 meters 0.021824353503516022 Centerline is valid? [True, True] Translation: X:123.04, Y:72.34, Z:6.64 [[ 4.26928683e-01 -9.03986658e-01 -2.32383792e-02 1.23041779e+02] [ 9.02713857e-01 4.27560368e-01 -4.79564818e-02 7.23376954e+01] [ 5.32878297e-02 -5.03609270e-04 9.98579067e-01 6.64050847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.63804094199998 meters 0.02195193063352285 Centerline is valid? [True, True] Translation: X:123.05, Y:72.36, Z:6.64 [[ 4.26149119e-01 -9.04357413e-01 -2.31213633e-02 1.23054400e+02] [ 9.03096140e-01 4.26775568e-01 -4.77490998e-02 7.23614650e+01] [ 5.30498853e-02 -5.32577119e-04 9.98591721e-01 6.64148380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66804094199998 meters 0.02280971722286384 Centerline is valid? [True, True] Translation: X:123.07, Y:72.38, Z:6.64 [[ 4.24389676e-01 -9.05175699e-01 -2.34596699e-02 1.23070024e+02] [ 9.03876536e-01 4.25037125e-01 -4.84834932e-02 7.23848112e+01] [ 5.38573106e-02 -6.28751223e-04 9.98548444e-01 6.64072466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.69804094199998 meters 0.022141249458370545 Centerline is valid? [True, True] Translation: X:123.08, Y:72.41, Z:6.64 [[ 4.23274927e-01 -9.05698269e-01 -2.34303759e-02 1.23080288e+02] [ 9.04401467e-01 4.23922378e-01 -4.84541390e-02 7.24104958e+01] [ 5.38174905e-02 -6.81044191e-04 9.98550557e-01 6.64432881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72804094199998 meters 0.022215734763346384 Centerline is valid? [True, True] Translation: X:123.09, Y:72.44, Z:6.65 [[ 4.22044197e-01 -9.06276164e-01 -2.32853948e-02 1.23092836e+02] [ 9.04994399e-01 4.22685430e-01 -4.81888505e-02 7.24352812e+01] [ 5.35148037e-02 -7.35327171e-04 9.98566785e-01 6.64605323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.75804094199998 meters 0.02241570225532163 Centerline is valid? [True, True] Translation: X:123.11, Y:72.46, Z:6.65 [[ 4.19836501e-01 -9.07309032e-01 -2.29702703e-02 1.23105676e+02] [ 9.06061513e-01 4.20463570e-01 -4.75701587e-02 7.24605174e+01] [ 5.28189965e-02 -8.40788902e-04 9.98603749e-01 6.64872688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78804094199998 meters 0.022534954063609447 Centerline is valid? [True, True] Translation: X:123.12, Y:72.49, Z:6.65 [[ 4.18694772e-01 -9.07836077e-01 -2.29857561e-02 1.23117841e+02] [ 9.06585993e-01 4.19324286e-01 -4.76338133e-02 7.24852414e+01] [ 5.28821800e-02 -8.94535928e-04 9.98600358e-01 6.64988410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.81804094199998 meters 0.022916727119448303 Centerline is valid? [True, True] Translation: X:123.13, Y:72.51, Z:6.65 [[ 4.16545185e-01 -9.08819654e-01 -2.31721002e-02 1.23130635e+02] [ 9.07549378e-01 4.17187971e-01 -4.80450052e-02 7.25092872e+01] [ 5.33313664e-02 -1.01690953e-03 9.98576352e-01 6.65091919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84804094199998 meters 0.023049826688450882 Centerline is valid? [True, True] Translation: X:123.14, Y:72.54, Z:6.65 [[ 4.15263297e-01 -9.09408949e-01 -2.30598751e-02 1.23142896e+02] [ 9.08150634e-01 4.15901674e-01 -4.78353824e-02 7.25353212e+01] [ 5.30925655e-02 -1.07756159e-03 9.98589014e-01 6.65227713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.87804094199998 meters 0.022825826605216232 Centerline is valid? [True, True] Translation: X:123.15, Y:72.56, Z:6.65 [[ 4.14270792e-01 -9.09859198e-01 -2.31506110e-02 1.23154159e+02] [ 9.08589884e-01 4.14915620e-01 -4.80567517e-02 7.25611615e+01] [ 5.33304277e-02 -1.12590242e-03 9.98576285e-01 6.65356258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90804094199999 meters 0.023224577233952753 Centerline is valid? [True, True] Translation: X:123.17, Y:72.59, Z:6.65 [[ 4.12388665e-01 -9.10714162e-01 -2.31366521e-02 1.23165900e+02] [ 9.09446009e-01 4.13035376e-01 -4.80597044e-02 7.25858980e+01] [ 5.33249092e-02 -1.22225860e-03 9.98576467e-01 6.65459022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.938040942 meters 0.023092165883456462 Centerline is valid? [True, True] Translation: X:123.18, Y:72.61, Z:6.66 [[ 4.11073013e-01 -9.11312070e-01 -2.30062943e-02 1.23177201e+02] [ 9.10057856e-01 4.11714301e-01 -4.78124667e-02 7.26119141e+01] [ 5.30440984e-02 -1.28264415e-03 9.98591347e-01 6.65646063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.968040942 meters 0.023500208117881165 Centerline is valid? [True, True] Translation: X:123.19, Y:72.64, Z:6.66 [[ 4.10650738e-01 -9.11500831e-01 -2.30696182e-02 1.23189067e+02] [ 9.10238177e-01 4.11296188e-01 -4.79781848e-02 7.26364989e+01] [ 5.32206013e-02 -1.29657021e-03 9.98581938e-01 6.65750249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.998040942 meters 0.023510225439768183 Centerline is valid? [True, True] Translation: X:123.20, Y:72.66, Z:6.66 [[ 4.10727991e-01 -9.11463887e-01 -2.31538338e-02 1.23200130e+02] [ 9.10189958e-01 4.11378099e-01 -4.81902446e-02 7.26624597e+01] [ 5.34486478e-02 -1.28130466e-03 9.98569777e-01 6.65840076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.028040942 meters 0.023041843194461925 Centerline is valid? [True, True] Translation: X:123.21, Y:72.69, Z:6.66 [[ 4.11363416e-01 -9.11178371e-01 -2.31109624e-02 1.23209315e+02] [ 9.09906876e-01 4.12010278e-01 -4.81353048e-02 7.26893519e+01] [ 5.33818026e-02 -1.22772019e-03 9.98573420e-01 6.65991593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.058040942 meters 0.022797157157755158 Centerline is valid? [True, True] Translation: X:123.22, Y:72.72, Z:6.66 [[ 4.11578354e-01 -9.11082419e-01 -2.30669351e-02 1.23219803e+02] [ 9.09813775e-01 4.12222498e-01 -4.80781370e-02 7.27155780e+01] [ 5.33118550e-02 -1.19869482e-03 9.98577192e-01 6.66185784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.088040942 meters 0.022440024499753082 Centerline is valid? [True, True] Translation: X:123.23, Y:72.74, Z:6.66 [[ 4.12984087e-01 -9.10448773e-01 -2.29603132e-02 1.23229747e+02] [ 9.09189029e-01 4.13620391e-01 -4.78903116e-02 7.27423154e+01] [ 5.30985291e-02 -1.09732822e-03 9.98588675e-01 6.66303989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.118040942 meters 0.022430487298822972 Centerline is valid? [True, True] Translation: X:123.24, Y:72.77, Z:6.66 [[ 4.12996087e-01 -9.10444453e-01 -2.29157430e-02 1.23241040e+02] [ 9.09187808e-01 4.13629944e-01 -4.78309409e-02 7.27679660e+01] [ 5.30260523e-02 -1.08072272e-03 9.98592544e-01 6.66374936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.148040942 meters 0.022314829325424352 Centerline is valid? [True, True] Translation: X:123.25, Y:72.79, Z:6.66 [[ 4.13447673e-01 -9.10235204e-01 -2.30845381e-02 1.23252194e+02] [ 9.08957756e-01 4.14090301e-01 -4.82184693e-02 7.27934187e+01] [ 5.34492316e-02 -1.04705601e-03 9.98570019e-01 6.66488452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.178040942 meters 0.022136096295475673 Centerline is valid? [True, True] Translation: X:123.26, Y:72.82, Z:6.67 [[ 4.14484146e-01 -9.09763763e-01 -2.30822026e-02 1.23262182e+02] [ 9.08483957e-01 4.15125224e-01 -4.82488170e-02 7.28183051e+01] [ 5.34770299e-02 -9.71441020e-04 9.98568607e-01 6.66556881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.208040942 meters 0.02208133871439799 Centerline is valid? [True, True] Translation: X:123.27, Y:72.84, Z:6.67 [[ 4.14715357e-01 -9.09657456e-01 -2.31189425e-02 1.23273523e+02] [ 9.08371490e-01 4.15358184e-01 -4.83612951e-02 7.28439792e+01] [ 5.35948547e-02 -9.44416529e-04 9.98562316e-01 6.66665953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.238040942 meters 0.0217658214426967 Centerline is valid? [True, True] Translation: X:123.28, Y:72.87, Z:6.67 [[ 4.16112161e-01 -9.09020732e-01 -2.30646493e-02 1.23284993e+02] [ 9.07738089e-01 4.16750035e-01 -4.82801264e-02 7.28701286e+01] [ 5.34998293e-02 -8.46712963e-04 9.98567500e-01 6.66833170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26804094199997 meters 0.021729478503464714 Centerline is valid? [True, True] Translation: X:123.30, Y:72.90, Z:6.67 [[ 4.16333957e-01 -9.08926267e-01 -2.27832687e-02 1.23296867e+02] [ 9.07673389e-01 4.16956085e-01 -4.77141772e-02 7.28960478e+01] [ 5.28682915e-02 -8.14734540e-04 9.98601162e-01 6.67008917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.29804094199997 meters 0.021696158582193117 Centerline is valid? [True, True] Translation: X:123.31, Y:72.92, Z:6.67 [[ 4.16824624e-01 -9.08704279e-01 -2.26664153e-02 1.23308383e+02] [ 9.07462131e-01 4.17439748e-01 -4.75030312e-02 7.29212435e+01] [ 5.26280704e-02 -7.68480407e-04 9.98613887e-01 6.67156941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32804094199997 meters 0.021657943199226044 Centerline is valid? [True, True] Translation: X:123.32, Y:72.95, Z:6.67 [[ 4.17160242e-01 -9.08557921e-01 -2.23570200e-02 1.23319411e+02] [ 9.07347563e-01 4.17758276e-01 -4.68873481e-02 7.29465012e+01] [ 5.19397016e-02 -7.26050080e-04 9.98649959e-01 6.67295993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.35804094199997 meters 0.02140437208497837 Centerline is valid? [True, True] Translation: X:123.33, Y:72.97, Z:6.67 [[ 4.17026043e-01 -9.08628446e-01 -2.19915230e-02 1.23330915e+02] [ 9.07455824e-01 4.17604890e-01 -4.61528241e-02 7.29720589e+01] [ 5.11195364e-02 -7.09406053e-04 9.98692290e-01 6.67475303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38804094199998 meters 0.021679743069431736 Centerline is valid? [True, True] Translation: X:123.34, Y:73.00, Z:6.68 [[ 4.16631513e-01 -9.08812124e-01 -2.18793399e-02 1.23344853e+02] [ 9.07650016e-01 4.17205001e-01 -4.59503638e-02 7.29956402e+01] [ 5.08884177e-02 -7.14413566e-04 9.98704090e-01 6.67624349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.41804094199998 meters 0.021679100557014035 Centerline is valid? [True, True] Translation: X:123.36, Y:73.02, Z:6.68 [[ 4.16181640e-01 -9.09021119e-01 -2.17588654e-02 1.23357662e+02] [ 9.07870340e-01 4.16749427e-01 -4.57314007e-02 7.30207277e+01] [ 5.06388037e-02 -7.21659162e-04 9.98716772e-01 6.67779877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44804094199998 meters 0.021415378132049235 Centerline is valid? [True, True] Translation: X:123.37, Y:73.05, Z:6.68 [[ 4.16096622e-01 -9.09062473e-01 -2.16568741e-02 1.23368720e+02] [ 9.07920907e-01 4.16659232e-01 -4.55489889e-02 7.30460251e+01] [ 5.04304131e-02 -7.09948376e-04 9.98727325e-01 6.68015638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.47804094199998 meters 0.02149414990680135 Centerline is valid? [True, True] Translation: X:123.38, Y:73.07, Z:6.68 [[ 4.15463121e-01 -9.09362521e-01 -2.12179259e-02 1.23381945e+02] [ 9.08265574e-01 4.16003954e-01 -4.46582239e-02 7.30713504e+01] [ 4.94372561e-02 -7.17666613e-04 9.98776973e-01 6.68103516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50804094199998 meters 0.021905413881313333 Centerline is valid? [True, True] Translation: X:123.40, Y:73.09, Z:6.68 [[ 4.15301738e-01 -9.09436127e-01 -2.12225381e-02 1.23395094e+02] [ 9.08337178e-01 4.15843025e-01 -4.47006639e-02 7.30949037e+01] [ 4.94776431e-02 -7.12956913e-04 9.98774977e-01 6.68152961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.53804094199998 meters 0.02183990772962214 Centerline is valid? [True, True] Translation: X:123.41, Y:73.12, Z:6.68 [[ 4.14944813e-01 -9.09597879e-01 -2.12720873e-02 1.23408162e+02] [ 9.08492506e-01 4.15489084e-01 -4.48351129e-02 7.31202203e+01] [ 4.96202437e-02 -7.21434371e-04 9.98767896e-01 6.68270436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56804094199998 meters 0.02173726981762326 Centerline is valid? [True, True] Translation: X:123.42, Y:73.15, Z:6.68 [[ 4.14781632e-01 -9.09673856e-01 -2.12055038e-02 1.23420704e+02] [ 9.08573895e-01 4.15322723e-01 -4.47270893e-02 7.31455355e+01] [ 4.94941914e-02 -7.14792052e-04 9.98774156e-01 6.68341211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.59804094199998 meters 0.02187756029187664 Centerline is valid? [True, True] Translation: X:123.43, Y:73.17, Z:6.69 [[ 4.14508527e-01 -9.09793814e-01 -2.13985298e-02 1.23434824e+02] [ 9.08672219e-01 4.15059869e-01 -4.51674990e-02 7.31696951e+01] [ 4.99747822e-02 -7.21936088e-04 9.98750219e-01 6.68500535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62804094199998 meters 0.021853022331162892 Centerline is valid? [True, True] Translation: X:123.45, Y:73.19, Z:6.69 [[ 4.13783643e-01 -9.10125755e-01 -2.13121312e-02 1.23447559e+02] [ 9.09012010e-01 4.14331455e-01 -4.50178898e-02 7.31943333e+01] [ 4.98022273e-02 -7.45316815e-04 9.98758821e-01 6.68603394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.65804094199999 meters 0.021857756124346976 Centerline is valid? [True, True] Translation: X:123.46, Y:73.22, Z:6.69 [[ 4.13512479e-01 -9.10246497e-01 -2.14183345e-02 1.23459757e+02] [ 9.09120109e-01 4.14066122e-01 -4.52755448e-02 7.32190688e+01] [ 5.00805127e-02 -7.49835857e-04 9.98744902e-01 6.68719843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.688040942 meters 0.02192440705165661 Centerline is valid? [True, True] Translation: X:123.47, Y:73.24, Z:6.69 [[ 4.14280465e-01 -9.09893499e-01 -2.15758563e-02 1.23470071e+02] [ 9.08748209e-01 4.14841337e-01 -4.56438215e-02 7.32437158e+01] [ 5.04815735e-02 -6.97677198e-04 9.98724749e-01 6.68810375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.718040942 meters 0.021688046715522324 Centerline is valid? [True, True] Translation: X:123.48, Y:73.27, Z:6.69 [[ 4.15313854e-01 -9.09422875e-01 -2.15507925e-02 1.23481585e+02] [ 9.08277891e-01 4.15872148e-01 -4.56248729e-02 7.32696629e+01] [ 5.04546775e-02 -6.25466568e-04 9.98726156e-01 6.68921322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.748040942 meters 0.02153306223306087 Centerline is valid? [True, True] Translation: X:123.49, Y:73.30, Z:6.69 [[ 4.15711883e-01 -9.09236545e-01 -2.17378809e-02 1.23492381e+02] [ 9.08069635e-01 4.16279416e-01 -4.60541655e-02 7.32955103e+01] [ 5.09231627e-02 -5.94245763e-04 9.98702397e-01 6.69023761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.778040942 meters 0.021434801284754244 Centerline is valid? [True, True] Translation: X:123.50, Y:73.32, Z:6.69 [[ 4.16409516e-01 -9.08917302e-01 -2.17359838e-02 1.23502605e+02] [ 9.07748468e-01 4.16976073e-01 -4.60833381e-02 7.33218861e+01] [ 5.09493285e-02 -5.41265471e-04 9.98701093e-01 6.69211154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.808040942 meters 0.0215768214372045 Centerline is valid? [True, True] Translation: X:123.51, Y:73.35, Z:6.69 [[ 4.15987074e-01 -9.09114981e-01 -2.15570500e-02 1.23514478e+02] [ 9.07963890e-01 4.16544899e-01 -4.57375336e-02 7.33462751e+01] [ 5.05601562e-02 -5.46800173e-04 9.98720868e-01 6.69315707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.838040942 meters 0.021621314841350874 Centerline is valid? [True, True] Translation: X:123.53, Y:73.37, Z:6.69 [[ 4.14352287e-01 -9.09858773e-01 -2.16609400e-02 1.23526525e+02] [ 9.08695755e-01 4.14917609e-01 -4.59935079e-02 7.33717359e+01] [ 5.08351020e-02 -6.25689068e-04 9.98706864e-01 6.69482438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.868040942 meters 0.0217795731759217 Centerline is valid? [True, True] Translation: X:123.54, Y:73.40, Z:6.70 [[ 4.13236349e-01 -9.10373632e-01 -2.13440722e-02 1.23538774e+02] [ 9.09243456e-01 4.13786668e-01 -4.53534019e-02 7.33968248e+01] [ 5.01204337e-02 -6.65283759e-04 9.98742960e-01 6.69628483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.898040942 meters 0.022007193312834072 Centerline is valid? [True, True] Translation: X:123.55, Y:73.42, Z:6.70 [[ 4.11991420e-01 -9.10942118e-01 -2.11548538e-02 1.23551140e+02] [ 9.09831017e-01 4.12533571e-01 -4.49841342e-02 7.34213091e+01] [ 4.97050299e-02 -7.14264837e-04 9.98763686e-01 6.69749089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.928040942 meters 0.022397235968365212 Centerline is valid? [True, True] Translation: X:123.56, Y:73.45, Z:6.70 [[ 4.09854845e-01 -9.11912146e-01 -2.08624819e-02 1.23564025e+02] [ 9.10831171e-01 4.10384682e-01 -4.43958352e-02 7.34467436e+01] [ 4.90467444e-02 -8.06350662e-04 9.98796159e-01 6.69976330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.958040942 meters 0.022457927183595825 Centerline is valid? [True, True] Translation: X:123.58, Y:73.47, Z:6.70 [[ 4.08624022e-01 -9.12463998e-01 -2.08772683e-02 1.23575375e+02] [ 9.11380721e-01 4.09156096e-01 -4.44575145e-02 7.34721500e+01] [ 4.91079430e-02 -8.60731413e-04 9.98793106e-01 6.70090139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.988040942 meters 0.022607480185925184 Centerline is valid? [True, True] Translation: X:123.59, Y:73.50, Z:6.70 [[ 4.07104709e-01 -9.13141735e-01 -2.09267195e-02 1.23586712e+02] [ 9.12052807e-01 4.07641143e-01 -4.45911983e-02 7.34976401e+01] [ 4.92486760e-02 -9.32986390e-04 9.98786112e-01 6.70220108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.01804094199997 meters 0.023082215806252245 Centerline is valid? [True, True] Translation: X:123.60, Y:73.52, Z:6.70 [[ 4.06364483e-01 -9.13471910e-01 -2.09039968e-02 1.23599211e+02] [ 9.12384703e-01 4.06900654e-01 -4.45646794e-02 7.35215441e+01] [ 4.92144328e-02 -9.62984049e-04 9.98787771e-01 6.70312698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04804094199997 meters 0.02280866146213452 Centerline is valid? [True, True] Translation: X:123.61, Y:73.55, Z:6.70 [[ 4.05543633e-01 -9.13840962e-01 -2.07137086e-02 1.23610182e+02] [ 9.12772292e-01 4.06071085e-01 -4.41929575e-02 7.35470848e+01] [ 4.87965729e-02 -9.84726697e-04 9.98808252e-01 6.70464170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.07804094199997 meters 0.023299865153402495 Centerline is valid? [True, True] Translation: X:123.62, Y:73.57, Z:6.71 [[ 4.04056559e-01 -9.14498899e-01 -2.07378893e-02 1.23622748e+02] [ 9.13427038e-01 4.04587019e-01 -4.42763063e-02 7.35710829e+01] [ 4.88809142e-02 -1.05241681e-03 9.98804059e-01 6.70595529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10804094199997 meters 0.023299865153402495 Centerline is valid? [True, True] Translation: X:123.63, Y:73.60, Z:6.71 [[ 4.03800354e-01 -9.14612243e-01 -2.07296635e-02 1.23634359e+02] [ 9.13540333e-01 4.04330716e-01 -4.42801573e-02 7.35960900e+01] [ 4.88808137e-02 -1.05704056e-03 9.98804059e-01 6.70718059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.13804094199998 meters 0.023641157254367214 Centerline is valid? [True, True] Translation: X:123.65, Y:73.62, Z:6.71 [[ 4.02788241e-01 -9.15056730e-01 -2.08041785e-02 1.23646672e+02] [ 9.13976090e-01 4.03323651e-01 -4.44717743e-02 7.36219803e+01] [ 4.90850136e-02 -1.10181400e-03 9.98793997e-01 6.70806929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.16804094199998 meters 0.024132155113932983 Centerline is valid? [True, True] Translation: X:123.66, Y:73.65, Z:6.71 [[ 4.01370564e-01 -9.15670210e-01 -2.12070278e-02 1.23659102e+02] [ 9.14546543e-01 4.01928674e-01 -4.53647625e-02 7.36469426e+01] [ 5.00628741e-02 -1.18673370e-03 9.98745363e-01 6.70893392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.19804094199998 meters 0.023746005217272534 Centerline is valid? [True, True] Translation: X:123.67, Y:73.67, Z:6.71 [[ 4.00563222e-01 -9.16023895e-01 -2.11973765e-02 1.23670011e+02] [ 9.14900232e-01 4.01121851e-01 -4.53742926e-02 7.36730367e+01] [ 5.00666671e-02 -1.21821182e-03 9.98745135e-01 6.71027228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22804094199998 meters 0.024440019469433395 Centerline is valid? [True, True] Translation: X:123.68, Y:73.70, Z:6.71 [[ 4.00028945e-01 -9.16258583e-01 -2.11436156e-02 1.23682926e+02] [ 9.15139257e-01 4.00585440e-01 -4.52928987e-02 7.36970389e+01] [ 4.99698318e-02 -1.23088218e-03 9.98749969e-01 6.71111390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.25804094199998 meters 0.023834465243518028 Centerline is valid? [True, True] Translation: X:123.69, Y:73.72, Z:6.71 [[ 3.99722462e-01 -9.16392178e-01 -2.11501550e-02 1.23692819e+02] [ 9.15270581e-01 4.00279718e-01 -4.53421468e-02 7.37237324e+01] [ 5.00171668e-02 -1.23384015e-03 9.98747596e-01 6.71251398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28804094199998 meters 0.023599280666835656 Centerline is valid? [True, True] Translation: X:123.70, Y:73.75, Z:6.71 [[ 3.99241885e-01 -9.16608381e-01 -2.08565026e-02 1.23704113e+02] [ 9.15516413e-01 3.99784395e-01 -4.47452243e-02 7.37498958e+01] [ 4.93519518e-02 -1.23030276e-03 9.98780692e-01 6.71386586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.31804094199998 meters 0.023621193227943437 Centerline is valid? [True, True] Translation: X:123.72, Y:73.78, Z:6.72 [[ 3.99019305e-01 -9.16709715e-01 -2.06613759e-02 1.23715656e+02] [ 9.15636624e-01 3.99552017e-01 -4.43594229e-02 7.37758210e+01] [ 4.89200083e-02 -1.21804636e-03 9.98801957e-01 6.71580640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34804094199998 meters 0.02412940473415282 Centerline is valid? [True, True] Translation: X:123.73, Y:73.80, Z:6.72 [[ 3.99277598e-01 -9.16596008e-01 -2.07161135e-02 1.23727807e+02] [ 9.15515429e-01 3.99812872e-01 -4.45102943e-02 7.37998168e+01] [ 4.90805269e-02 -1.19395818e-03 9.98794111e-01 6.71671911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.37804094199998 meters 0.02343033641142467 Centerline is valid? [True, True] Translation: X:123.74, Y:73.83, Z:6.72 [[ 3.99433992e-01 -9.16529598e-01 -2.06393089e-02 1.23737723e+02] [ 9.15455262e-01 3.99965163e-01 -4.43794129e-02 7.38261573e+01] [ 4.89300501e-02 -1.16771791e-03 9.98801525e-01 6.71822895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40804094199999 meters 0.02353570390653646 Centerline is valid? [True, True] Translation: X:123.75, Y:73.85, Z:6.72 [[ 4.00834989e-01 -9.15914175e-01 -2.07975126e-02 1.23748784e+02] [ 9.14820817e-01 4.01372697e-01 -4.47529999e-02 7.38517953e+01] [ 4.93374607e-02 -1.08742923e-03 9.98781574e-01 6.71805612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.438040942 meters 0.023276405489593525 Centerline is valid? [True, True] Translation: X:123.76, Y:73.88, Z:6.72 [[ 4.02011067e-01 -9.15399252e-01 -2.07680562e-02 1.23759393e+02] [ 9.14306733e-01 4.02545886e-01 -4.47214448e-02 7.38779315e+01] [ 4.92980727e-02 -1.00985790e-03 9.98783600e-01 6.71928642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.468040942 meters 0.0226182002079846 Centerline is valid? [True, True] Translation: X:123.77, Y:73.91, Z:6.72 [[ 4.05193733e-01 -9.13998095e-01 -2.06281736e-02 1.23768325e+02] [ 9.12916902e-01 4.05717648e-01 -4.44513245e-02 7.39053317e+01] [ 4.89976400e-02 -8.20410227e-04 9.98798557e-01 6.72007680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.498040942 meters 0.02236513834006665 Centerline is valid? [True, True] Translation: X:123.78, Y:73.93, Z:6.72 [[ 4.06686771e-01 -9.13331193e-01 -2.07846399e-02 1.23778221e+02] [ 9.12231087e-01 4.07216889e-01 -4.48201830e-02 7.39313508e+01] [ 4.93995276e-02 -7.32619136e-04 9.98778829e-01 6.72103486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.528040942 meters 0.02188372814506076 Centerline is valid? [True, True] Translation: X:123.79, Y:73.96, Z:6.72 [[ 4.10070662e-01 -9.11813704e-01 -2.09241656e-02 1.23786754e+02] [ 9.10695199e-01 4.10603796e-01 -4.51528254e-02 7.39579788e+01] [ 4.97625068e-02 -5.39688107e-04 9.98760933e-01 6.72113597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.558040942 meters 0.021663613664455256 Centerline is valid? [True, True] Translation: X:123.80, Y:73.98, Z:6.72 [[ 4.11180130e-01 -9.11307623e-01 -2.11971093e-02 1.23796878e+02] [ 9.10157896e-01 4.11725869e-01 -4.57647552e-02 7.39843650e+01] [ 5.04331685e-02 -4.75158414e-04 9.98727325e-01 6.72252819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.588040942 meters 0.021402466908677108 Centerline is valid? [True, True] Translation: X:123.81, Y:74.01, Z:6.72 [[ 4.13658265e-01 -9.10188515e-01 -2.10643456e-02 1.23805959e+02] [ 9.09050016e-01 4.14194113e-01 -4.55116040e-02 7.40108032e+01] [ 5.01488672e-02 -3.22292604e-04 9.98741702e-01 6.72369525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.618040942 meters 0.021309738976838546 Centerline is valid? [True, True] Translation: X:123.82, Y:74.04, Z:6.72 [[ 4.14587842e-01 -9.09764620e-01 -2.11011118e-02 1.23816604e+02] [ 9.08619891e-01 4.15124403e-01 -4.56248075e-02 7.40373081e+01] [ 5.02674221e-02 -2.57399442e-04 9.98735761e-01 6.72462886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.648040942 meters 0.02130985595916482 Centerline is valid? [True, True] Translation: X:123.83, Y:74.06, Z:6.73 [[ 4.15215469e-01 -9.09480534e-01 -2.10064814e-02 1.23826796e+02] [ 9.08344012e-01 4.15746455e-01 -4.54537241e-02 7.40621005e+01] [ 5.00726474e-02 -2.08022290e-04 9.98745557e-01 6.72527863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.678040942 meters 0.02123571528197126 Centerline is valid? [True, True] Translation: X:123.84, Y:74.09, Z:6.73 [[ 4.15994893e-01 -9.09121820e-01 -2.11131640e-02 1.23836359e+02] [ 9.07971467e-01 4.16530303e-01 -4.57200334e-02 7.40882610e+01] [ 5.03593526e-02 -1.50850104e-04 9.98731151e-01 6.72619335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.708040942 meters 0.02123237266067778 Centerline is valid? [True, True] Translation: X:123.85, Y:74.11, Z:6.73 [[ 4.15994856e-01 -9.09121682e-01 -2.11198059e-02 1.23848278e+02] [ 9.07968891e-01 4.16530609e-01 -4.57683826e-02 7.41137197e+01] [ 5.04060747e-02 -1.36715002e-04 9.98728796e-01 6.72845151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.738040942 meters 0.02121722228468009 Centerline is valid? [True, True] Translation: X:123.86, Y:74.14, Z:6.73 [[ 4.15303321e-01 -9.09449419e-01 -2.06132474e-02 1.23860435e+02] [ 9.08350066e-01 4.15814537e-01 -4.47037868e-02 7.41375586e+01] [ 4.92271208e-02 -1.58413501e-04 9.98787598e-01 6.73093082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76804094199997 meters 0.021244449041654016 Centerline is valid? [True, True] Translation: X:123.87, Y:74.16, Z:6.73 [[ 4.14829495e-01 -9.09672623e-01 -2.03029423e-02 1.23872624e+02] [ 9.08604951e-01 4.15326005e-01 -4.40607702e-02 7.41624878e+01] [ 4.85132163e-02 -1.69646881e-04 9.98822526e-01 6.73305760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.79804094199997 meters 0.021369784471583622 Centerline is valid? [True, True] Translation: X:123.89, Y:74.19, Z:6.73 [[ 4.14425914e-01 -9.09859940e-01 -2.01507081e-02 1.23885208e+02] [ 9.08806903e-01 4.14915483e-01 -4.37624751e-02 7.41864773e+01] [ 4.81785638e-02 -1.76798911e-04 9.98838723e-01 6.73426852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82804094199997 meters 0.021401408272565727 Centerline is valid? [True, True] Translation: X:123.90, Y:74.21, Z:6.74 [[ 4.13303196e-01 -9.10373616e-01 -2.00086589e-02 1.23897871e+02] [ 9.09334817e-01 4.13787177e-01 -4.34783075e-02 7.42115281e+01] [ 4.78608305e-02 -2.24846727e-04 9.98853989e-01 6.73637182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.85804094199997 meters 0.021460721747991397 Centerline is valid? [True, True] Translation: X:123.91, Y:74.24, Z:6.74 [[ 4.12798885e-01 -9.10602148e-01 -2.00202051e-02 1.23910082e+02] [ 9.09560843e-01 4.13284009e-01 -4.35362066e-02 7.42361476e+01] [ 4.79181938e-02 -2.37897110e-04 9.98851235e-01 6.73722417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88804094199998 meters 0.021443171387646794 Centerline is valid? [True, True] Translation: X:123.92, Y:74.26, Z:6.74 [[ 4.12185204e-01 -9.10884424e-01 -1.98222922e-02 1.23922141e+02] [ 9.09862339e-01 4.12661484e-01 -4.31395810e-02 7.42617198e+01] [ 4.74750689e-02 -2.54060155e-04 9.98872391e-01 6.73879210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.91804094199998 meters 0.021376202182995695 Centerline is valid? [True, True] Translation: X:123.93, Y:74.29, Z:6.74 [[ 4.11921272e-01 -9.11004594e-01 -1.97862501e-02 1.23934167e+02] [ 9.09984839e-01 4.12396127e-01 -4.30932489e-02 7.42873676e+01] [ 4.74179207e-02 -2.54161719e-04 9.98875105e-01 6.74008621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94804094199998 meters 0.021389249904080403 Centerline is valid? [True, True] Translation: X:123.95, Y:74.31, Z:6.74 [[ 4.11714979e-01 -9.11102471e-01 -1.95720152e-02 1.23946336e+02] [ 9.10103321e-01 4.12179846e-01 -4.26581632e-02 7.43126935e+01] [ 4.69331481e-02 -2.49551293e-04 9.98898001e-01 6.74152526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.97804094199998 meters 0.021302119963990646 Centerline is valid? [True, True] Translation: X:123.96, Y:74.34, Z:6.74 [[ 4.10546024e-01 -9.11627977e-01 -1.96568949e-02 1.23959235e+02] [ 9.10619222e-01 4.11016232e-01 -4.28752829e-02 7.43379445e+01] [ 4.71656103e-02 -2.97669435e-04 9.98887039e-01 6.74347063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00804094199998 meters 0.0213579862484756 Centerline is valid? [True, True] Translation: X:123.97, Y:74.36, Z:6.74 [[ 4.09833035e-01 -9.11950007e-01 -1.95976619e-02 1.23971182e+02] [ 9.10946179e-01 4.10301209e-01 -4.27782296e-02 7.43619850e+01] [ 4.70525511e-02 -3.20483533e-04 9.98892364e-01 6.74455617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.03804094199998 meters 0.0214149773070777 Centerline is valid? [True, True] Translation: X:123.98, Y:74.39, Z:6.75 [[ 4.08037473e-01 -9.12754119e-01 -1.96300315e-02 1.23983996e+02] [ 9.11746503e-01 4.08509188e-01 -4.28784138e-02 7.43873002e+01] [ 4.71564971e-02 -4.01612963e-04 9.98887433e-01 6.74586713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06804094199998 meters 0.021452384648407426 Centerline is valid? [True, True] Translation: X:124.00, Y:74.41, Z:6.75 [[ 4.07161941e-01 -9.13140132e-01 -1.98558108e-02 1.23996201e+02] [ 9.12108082e-01 4.07645566e-01 -4.34043681e-02 7.44128098e+01] [ 4.77284037e-02 -4.38038739e-04 9.98860254e-01 6.74737486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.09804094199998 meters 0.021544635159800842 Centerline is valid? [True, True] Translation: X:124.01, Y:74.44, Z:6.75 [[ 4.05985430e-01 -9.13666702e-01 -1.97227896e-02 1.24008187e+02] [ 9.12647533e-01 4.06463927e-01 -4.31457609e-02 7.44378382e+01] [ 4.74374476e-02 -4.83404991e-04 9.98874094e-01 6.74878944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12804094199998 meters 0.021716784130072414 Centerline is valid? [True, True] Translation: X:124.02, Y:74.46, Z:6.75 [[ 4.03942462e-01 -9.14574654e-01 -1.95880114e-02 1.24021806e+02] [ 9.13568938e-01 4.04416709e-01 -4.28826414e-02 7.44621642e+01] [ 4.71410960e-02 -5.72879037e-04 9.98888076e-01 6.75059975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.15804094199999 meters 0.022006252985021117 Centerline is valid? [True, True] Translation: X:124.04, Y:74.49, Z:6.75 [[ 4.01431688e-01 -9.15683154e-01 -1.94154943e-02 1.24035364e+02] [ 9.14695045e-01 4.01900351e-01 -4.25333109e-02 7.44867533e+01] [ 4.67501302e-02 -6.85037662e-04 9.98906380e-01 6.75231858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.188040942 meters 0.022164739908549006 Centerline is valid? [True, True] Translation: X:124.05, Y:74.51, Z:6.75 [[ 4.00267906e-01 -9.16197393e-01 -1.91817561e-02 1.24047153e+02] [ 9.15232178e-01 4.00726605e-01 -4.20505395e-02 7.45125450e+01] [ 4.62132347e-02 -7.24279015e-04 9.98931335e-01 6.75376366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.218040942 meters 0.022391948449577544 Centerline is valid? [True, True] Translation: X:124.06, Y:74.54, Z:6.76 [[ 3.99172187e-01 -9.16676604e-01 -1.91198523e-02 1.24059134e+02] [ 9.15716721e-01 3.99629101e-01 -4.19460191e-02 7.45384204e+01] [ 4.60917838e-02 -7.64684300e-04 9.98936916e-01 6.75519061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.248040942 meters 0.022415088937305486 Centerline is valid? [True, True] Translation: X:124.07, Y:74.56, Z:6.76 [[ 3.98366644e-01 -9.17028491e-01 -1.90463587e-02 1.24070991e+02] [ 9.16074963e-01 3.98820916e-01 -4.18155408e-02 7.45643109e+01] [ 4.59421285e-02 -7.89975678e-04 9.98943791e-01 6.75649991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.278040942 meters 0.022648591988288037 Centerline is valid? [True, True] Translation: X:124.08, Y:74.59, Z:6.76 [[ 3.97298332e-01 -9.17491863e-01 -1.90451185e-02 1.24082278e+02] [ 9.16537577e-01 3.97753680e-01 -4.18435068e-02 7.45893859e+01] [ 4.59663430e-02 -8.31211301e-04 9.98942643e-01 6.75816513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.308040942 meters 0.02283365638377651 Centerline is valid? [True, True] Translation: X:124.09, Y:74.61, Z:6.76 [[ 3.96766358e-01 -9.17730711e-01 -1.86225492e-02 1.24092476e+02] [ 9.16817406e-01 3.97202283e-01 -4.09413061e-02 7.46139922e+01] [ 4.49700130e-02 -8.29344351e-04 9.98987993e-01 6.76019460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.338040942 meters 0.02298783634783922 Centerline is valid? [True, True] Translation: X:124.10, Y:74.64, Z:6.76 [[ 3.96318528e-01 -9.17929506e-01 -1.83588251e-02 1.24103137e+02] [ 9.17040751e-01 3.96742658e-01 -4.03921204e-02 7.46384939e+01] [ 4.43608482e-02 -8.27645134e-04 9.99015230e-01 6.76165549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.368040942 meters 0.022860320873033677 Centerline is valid? [True, True] Translation: X:124.11, Y:74.66, Z:6.76 [[ 3.95976823e-01 -9.18078187e-01 -1.82974730e-02 1.24113983e+02] [ 9.17194175e-01 3.96398479e-01 -4.02876201e-02 7.46642287e+01] [ 4.42402757e-02 -8.29371877e-04 9.99020575e-01 6.76340689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.398040942 meters 0.02270745462774791 Centerline is valid? [True, True] Translation: X:124.12, Y:74.69, Z:6.77 [[ 3.94764963e-01 -9.18601879e-01 -1.81992370e-02 1.24124049e+02] [ 9.17726630e-01 3.95183284e-01 -4.00999310e-02 7.46911157e+01] [ 4.40279062e-02 -8.71876587e-04 9.99029921e-01 6.76548200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.428040942 meters 0.023226564566345045 Centerline is valid? [True, True] Translation: X:124.14, Y:74.72, Z:6.77 [[ 3.93844174e-01 -9.18999730e-01 -1.80627293e-02 1.24135838e+02] [ 9.18136761e-01 3.94257135e-01 -3.98271250e-02 7.47157721e+01] [ 4.37224770e-02 -8.98374606e-04 9.99043311e-01 6.76724235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.458040942 meters 0.022815532175408746 Centerline is valid? [True, True] Translation: X:124.14, Y:74.74, Z:6.77 [[ 3.92229256e-01 -9.19693874e-01 -1.78714484e-02 1.24144279e+02] [ 9.18848479e-01 3.92635033e-01 -3.94360731e-02 7.47431595e+01] [ 4.32860716e-02 -9.53171516e-04 9.99062264e-01 6.76870938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.488040942 meters 0.022920117791387244 Centerline is valid? [True, True] Translation: X:124.15, Y:74.77, Z:6.77 [[ 3.91583036e-01 -9.19970554e-01 -1.78018198e-02 1.24154882e+02] [ 9.19130818e-01 3.91986275e-01 -3.93102916e-02 7.47687858e+01] [ 4.31423798e-02 -9.68957847e-04 9.99068464e-01 6.76959699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.51804094199997 meters 0.023186345445977488 Centerline is valid? [True, True] Translation: X:124.17, Y:74.79, Z:6.77 [[ 3.91086315e-01 -9.20180718e-01 -1.78589363e-02 1.24165222e+02] [ 9.19334511e-01 3.91492630e-01 -3.94661642e-02 7.47934834e+01] [ 4.33076452e-02 -9.83659727e-04 9.99061300e-01 6.77089978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54804094199997 meters 0.023630143234909706 Centerline is valid? [True, True] Translation: X:124.17, Y:74.82, Z:6.77 [[ 3.90009771e-01 -9.20642319e-01 -1.76095925e-02 1.24174382e+02] [ 9.19818744e-01 3.90405818e-01 -3.89457948e-02 7.48192776e+01] [ 4.27300342e-02 -1.00839271e-03 9.99086146e-01 6.77175331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.57804094199997 meters 0.023698594128008357 Centerline is valid? [True, True] Translation: X:124.18, Y:74.85, Z:6.77 [[ 3.89312364e-01 -9.20940887e-01 -1.74288629e-02 1.24184326e+02] [ 9.20133372e-01 3.89700963e-01 -3.85711996e-02 7.48453035e+01] [ 4.23138394e-02 -1.02063344e-03 9.99103847e-01 6.77292530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60804094199997 meters 0.022904476650165574 Centerline is valid? [True, True] Translation: X:124.19, Y:74.87, Z:6.78 [[ 3.89021391e-01 -9.21070394e-01 -1.70788470e-02 1.24191361e+02] [ 9.20294001e-01 3.89394816e-01 -3.78236540e-02 7.48733220e+01] [ 4.14886624e-02 -1.00334998e-03 9.99138471e-01 6.77504860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.63804094199998 meters 0.02335100222073547 Centerline is valid? [True, True] Translation: X:124.20, Y:74.90, Z:6.78 [[ 3.88587428e-01 -9.21256100e-01 -1.69413478e-02 1.24202297e+02] [ 9.20491117e-01 3.88955257e-01 -3.75487812e-02 7.48981256e+01] [ 4.11814701e-02 -1.00337585e-03 9.99151180e-01 6.77710531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.66804094199998 meters 0.023141000127828572 Centerline is valid? [True, True] Translation: X:124.21, Y:74.92, Z:6.78 [[ 3.88480673e-01 -9.21304292e-01 -1.67680965e-02 1.24212006e+02] [ 9.20554196e-01 3.88841124e-01 -3.71827009e-02 7.49248798e+01] [ 4.07767075e-02 -9.91180936e-04 9.99167793e-01 6.77827482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.69804094199998 meters 0.024269869916235715 Centerline is valid? [True, True] Translation: X:124.22, Y:74.95, Z:6.78 [[ 3.89176843e-01 -9.21008308e-01 -1.68843356e-02 1.24221875e+02] [ 9.20246314e-01 3.89541760e-01 -3.74691648e-02 7.49498154e+01] [ 4.10865659e-02 -9.55616326e-04 9.99155134e-01 6.77989441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72804094199998 meters 0.023083426362824074 Centerline is valid? [True, True] Translation: X:124.23, Y:74.98, Z:6.78 [[ 3.90995233e-01 -9.20230196e-01 -1.72949400e-02 1.24226590e+02] [ 9.19428613e-01 3.91376555e-01 -3.84111688e-02 7.49794024e+01] [ 4.21159515e-02 -8.82878826e-04 9.99112340e-01 6.77982725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.75804094199998 meters 0.02235787333705067 Centerline is valid? [True, True] Translation: X:124.23, Y:75.01, Z:6.78 [[ 3.91736768e-01 -9.19914849e-01 -1.72908905e-02 1.24233827e+02] [ 9.19112278e-01 3.92117286e-01 -3.84272677e-02 7.50072034e+01] [ 4.21298712e-02 -8.38896118e-04 9.99111791e-01 6.77994144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78804094199998 meters 0.022594161050606347 Centerline is valid? [True, True] Translation: X:124.24, Y:75.03, Z:6.78 [[ 3.92022201e-01 -9.19790600e-01 -1.74312154e-02 1.24243390e+02] [ 9.18973554e-01 3.92408690e-01 -3.87689060e-02 7.50328896e+01] [ 4.24994357e-02 -8.20554094e-04 9.99096154e-01 6.78096405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.81804094199998 meters 0.02231993882097552 Centerline is valid? [True, True] Translation: X:124.25, Y:75.06, Z:6.78 [[ 3.92409463e-01 -9.19628983e-01 -1.72437543e-02 1.24250758e+02] [ 9.18828472e-01 3.92787365e-01 -3.83708934e-02 7.50603663e+01] [ 4.20601145e-02 -7.86950782e-04 9.99114772e-01 6.78208310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84804094199998 meters 0.02217244156795708 Centerline is valid? [True, True] Translation: X:124.26, Y:75.09, Z:6.78 [[ 3.91742293e-01 -9.19917633e-01 -1.70154232e-02 1.24260279e+02] [ 9.19137293e-01 3.92110846e-01 -3.78909256e-02 7.50865637e+01] [ 4.15284625e-02 -7.96031952e-04 9.99137004e-01 6.78293587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.87804094199998 meters 0.022388014620395965 Centerline is valid? [True, True] Translation: X:124.27, Y:75.11, Z:6.78 [[ 3.90717382e-01 -9.20347032e-01 -1.73570797e-02 1.24269333e+02] [ 9.19534166e-01 3.91101808e-01 -3.86819538e-02 7.51124486e+01] [ 4.23892066e-02 -8.46716110e-04 9.99100815e-01 6.78367509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90804094199999 meters 0.022417081136247952 Centerline is valid? [True, True] Translation: X:124.28, Y:75.14, Z:6.78 [[ 3.90385526e-01 -9.20487235e-01 -1.73894298e-02 1.24279354e+02] [ 9.19670340e-01 3.90771702e-01 -3.87806885e-02 7.51390995e+01] [ 4.24924258e-02 -8.53123366e-04 9.99096425e-01 6.78467208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.938040942 meters 0.022578808009287892 Centerline is valid? [True, True] Translation: X:124.29, Y:75.16, Z:6.79 [[ 3.90072408e-01 -9.20620594e-01 -1.73562533e-02 1.24289043e+02] [ 9.19805678e-01 3.90457415e-01 -3.87365770e-02 7.51643495e+01] [ 4.24385683e-02 -8.54310458e-04 9.99098713e-01 6.78541226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.968040942 meters 0.022868690555784613 Centerline is valid? [True, True] Translation: X:124.30, Y:75.19, Z:6.79 [[ 3.90895261e-01 -9.20267025e-01 -1.75925562e-02 1.24297130e+02] [ 9.19428216e-01 3.91290093e-01 -3.92914646e-02 7.51900316e+01] [ 4.30424322e-02 -8.16245173e-04 9.99072912e-01 6.78595946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.998040942 meters 0.022868690555784613 Centerline is valid? [True, True] Translation: X:124.31, Y:75.22, Z:6.79 [[ 3.90647020e-01 -9.20372645e-01 -1.75812161e-02 1.24308287e+02] [ 9.19533715e-01 3.91041594e-01 -3.92965381e-02 7.52152223e+01] [ 4.30424455e-02 -8.15445434e-04 9.99072912e-01 6.78718261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.028040942 meters 0.022826206830700527 Centerline is valid? [True, True] Translation: X:124.32, Y:75.24, Z:6.79 [[ 3.91089312e-01 -9.20182375e-01 -1.77072692e-02 1.24317383e+02] [ 9.19329917e-01 3.91489176e-01 -3.96071684e-02 7.52403850e+01] [ 4.33780225e-02 -7.88882042e-04 9.99058419e-01 6.78833956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.058040942 meters 0.02211020264356083 Centerline is valid? [True, True] Translation: X:124.32, Y:75.27, Z:6.79 [[ 3.91901676e-01 -9.19827211e-01 -1.81928198e-02 1.24324671e+02] [ 9.18925555e-01 3.92322989e-01 -4.07246502e-02 7.52678819e+01] [ 4.45971029e-02 -7.57788329e-04 9.99004767e-01 6.78892782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.088040942 meters 0.022018859046159193 Centerline is valid? [True, True] Translation: X:124.33, Y:75.29, Z:6.79 [[ 3.91829571e-01 -9.19854343e-01 -1.83732074e-02 1.24334402e+02] [ 9.18933329e-01 3.92259373e-01 -4.11597125e-02 7.52946459e+01] [ 4.50680031e-02 -7.56160153e-04 9.98983635e-01 6.78959095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.118040942 meters 0.02187129411439874 Centerline is valid? [True, True] Translation: X:124.34, Y:75.32, Z:6.79 [[ 3.91639553e-01 -9.19936483e-01 -1.83119776e-02 1.24343240e+02] [ 9.19020296e-01 3.92066709e-01 -4.10535102e-02 7.53210364e+01] [ 4.49461386e-02 -7.50900702e-04 9.98989129e-01 6.79011345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.148040942 meters 0.021819688497458214 Centerline is valid? [True, True] Translation: X:124.35, Y:75.35, Z:6.79 [[ 3.92208505e-01 -9.19701475e-01 -1.79356100e-02 1.24351643e+02] [ 9.18820986e-01 3.92617768e-01 -4.02403184e-02 7.53472694e+01] [ 4.40509193e-02 -6.97019762e-04 9.99029044e-01 6.79194932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.178040942 meters 0.021866454000870957 Centerline is valid? [True, True] Translation: X:124.36, Y:75.37, Z:6.79 [[ 3.92326343e-01 -9.19653728e-01 -1.78062378e-02 1.24361574e+02] [ 9.18784971e-01 3.92729628e-01 -3.99702026e-02 7.53721530e+01] [ 4.37517830e-02 -6.78740259e-04 9.99042202e-01 6.79368553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.208040942 meters 0.021561648442211947 Centerline is valid? [True, True] Translation: X:124.37, Y:75.40, Z:6.80 [[ 3.92800436e-01 -9.19455411e-01 -1.75944665e-02 1.24369983e+02] [ 9.18605865e-01 3.93193769e-01 -3.95212035e-02 7.53989462e+01] [ 4.32560190e-02 -6.38434122e-04 9.99063816e-01 6.79560968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.238040942 meters 0.021776788059449388 Centerline is valid? [True, True] Translation: X:124.38, Y:75.42, Z:6.80 [[ 3.92640768e-01 -9.19526378e-01 -1.74490073e-02 1.24380832e+02] [ 9.18689600e-01 3.93027791e-01 -3.92246607e-02 7.54242242e+01] [ 4.29260550e-02 -6.29020641e-04 9.99078054e-01 6.79712742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26804094199997 meters 0.021612718958844163 Centerline is valid? [True, True] Translation: X:124.39, Y:75.45, Z:6.80 [[ 3.92060321e-01 -9.19775148e-01 -1.73891157e-02 1.24391001e+02] [ 9.18943197e-01 3.92445235e-01 -3.91169906e-02 7.54505212e+01] [ 4.28031114e-02 -6.43389698e-04 9.99083320e-01 6.79805214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.29804094199997 meters 0.021774280172141964 Centerline is valid? [True, True] Translation: X:124.40, Y:75.48, Z:6.80 [[ 3.90689256e-01 -9.20354341e-01 -1.76009307e-02 1.24401793e+02] [ 9.19501229e-01 3.91084892e-01 -3.96244531e-02 7.54769208e+01] [ 4.33519955e-02 -7.03229276e-04 9.99059613e-01 6.79861581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32804094199997 meters 0.02192620691324956 Centerline is valid? [True, True] Translation: X:124.41, Y:75.50, Z:6.80 [[ 3.89449462e-01 -9.20880017e-01 -1.75815663e-02 1.24412981e+02] [ 9.20028042e-01 3.89845397e-01 -3.96102160e-02 7.55021074e+01] [ 4.33303491e-02 -7.49356716e-04 9.99060518e-01 6.79940739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.35804094199997 meters 0.022642416561344643 Centerline is valid? [True, True] Translation: X:124.43, Y:75.53, Z:6.80 [[ 3.86482425e-01 -9.22126439e-01 -1.77247266e-02 1.24425133e+02] [ 9.21260615e-01 3.86887641e-01 -3.99603763e-02 7.55263927e+01] [ 4.37059971e-02 -8.85109386e-04 9.99044044e-01 6.80065842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38804094199998 meters 0.02294789107044124 Centerline is valid? [True, True] Translation: X:124.44, Y:75.55, Z:6.80 [[ 3.84989697e-01 -9.22745991e-01 -1.79657566e-02 1.24437270e+02] [ 9.21855810e-01 3.85407472e-01 -4.05332729e-02 7.55521675e+01] [ 4.43260519e-02 -9.56944675e-04 9.99016659e-01 6.80220483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.41804094199998 meters 0.02350842045717478 Centerline is valid? [True, True] Translation: X:124.45, Y:75.58, Z:6.80 [[ 3.82923241e-01 -9.23610237e-01 -1.77178474e-02 1.24449367e+02] [ 9.22744152e-01 3.83331537e-01 -4.00020323e-02 7.55778874e+01] [ 4.37380962e-02 -1.03133226e-03 9.99042499e-01 6.80367091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44804094199998 meters 0.023321793217634598 Centerline is valid? [True, True] Translation: X:124.46, Y:75.60, Z:6.81 [[ 3.82069452e-01 -9.23961934e-01 -1.78122900e-02 1.24459918e+02] [ 9.23085717e-01 3.82482949e-01 -4.02436626e-02 7.56041074e+01] [ 4.39965095e-02 -1.06639637e-03 9.99031116e-01 6.80503895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.47804094199998 meters 0.02390525399190931 Centerline is valid? [True, True] Translation: X:124.47, Y:75.63, Z:6.81 [[ 3.81349139e-01 -9.24263397e-01 -1.76070176e-02 1.24471600e+02] [ 9.23406334e-01 3.81753864e-01 -3.98086573e-02 7.56286759e+01] [ 4.35152318e-02 -1.07743440e-03 9.99052183e-01 6.80651026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50804094199998 meters 0.023513998940407472 Centerline is valid? [True, True] Translation: X:124.48, Y:75.66, Z:6.81 [[ 3.81739551e-01 -9.24103132e-01 -1.75589581e-02 1.24480445e+02] [ 9.23249179e-01 3.82141743e-01 -3.97321256e-02 7.56559416e+01] [ 4.34265926e-02 -1.04396989e-03 9.99056075e-01 6.80800461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.53804094199998 meters 0.023503663114460543 Centerline is valid? [True, True] Translation: X:124.49, Y:75.68, Z:6.81 [[ 3.81974910e-01 -9.24004027e-01 -1.76557615e-02 1.24490298e+02] [ 9.23139702e-01 3.82381347e-01 -3.99699439e-02 7.56820380e+01] [ 4.36836230e-02 -1.03121866e-03 9.99044883e-01 6.80909308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56804094199998 meters 0.02292911346921939 Centerline is valid? [True, True] Translation: X:124.50, Y:75.71, Z:6.81 [[ 3.83657960e-01 -9.23303304e-01 -1.78207521e-02 1.24497424e+02] [ 9.22420629e-01 3.84070449e-01 -4.03741588e-02 7.57100787e+01] [ 4.41220185e-02 -9.48361952e-04 9.99025699e-01 6.80857026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.59804094199998 meters 0.02276911223507971 Centerline is valid? [True, True] Translation: X:124.51, Y:75.74, Z:6.81 [[ 3.84093790e-01 -9.23118896e-01 -1.79851272e-02 1.24507002e+02] [ 9.22218314e-01 3.84513524e-01 -4.07765906e-02 7.57361469e+01] [ 4.45571659e-02 -9.24178484e-04 9.99006409e-01 6.80950458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62804094199998 meters 0.022990870708637527 Centerline is valid? [True, True] Translation: X:124.52, Y:75.76, Z:6.81 [[ 3.84433388e-01 -9.22976913e-01 -1.80163428e-02 1.24517882e+02] [ 9.22071678e-01 3.84854275e-01 -4.08779653e-02 7.57611523e+01] [ 4.46630848e-02 -8.97504753e-04 9.99001703e-01 6.81042607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.65804094199999 meters 0.023021756338642885 Centerline is valid? [True, True] Translation: X:124.53, Y:75.79, Z:6.81 [[ 3.84997366e-01 -9.22740490e-01 -1.80835950e-02 1.24527395e+02] [ 9.21826758e-01 3.85420870e-01 -4.10631343e-02 7.57865057e+01] [ 4.48604116e-02 -8.60743217e-04 9.98992894e-01 6.81161463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.688040942 meters 0.022602995727542596 Centerline is valid? [True, True] Translation: X:124.54, Y:75.81, Z:6.81 [[ 3.85108292e-01 -9.22694878e-01 -1.80489674e-02 1.24536786e+02] [ 9.21783193e-01 3.85530094e-01 -4.10157598e-02 7.58124845e+01] [ 4.48034516e-02 -8.41725649e-04 9.98995467e-01 6.81328010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.718040942 meters 0.02190239221943708 Centerline is valid? [True, True] Translation: X:124.54, Y:75.84, Z:6.81 [[ 3.86221557e-01 -9.22236569e-01 -1.76810774e-02 1.24544889e+02] [ 9.21359910e-01 3.86625313e-01 -4.02092513e-02 7.58393736e+01] [ 4.39183941e-02 -7.60956256e-04 9.99034832e-01 6.81450095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.748040942 meters 0.021806583272982363 Centerline is valid? [True, True] Translation: X:124.56, Y:75.86, Z:6.82 [[ 3.86932873e-01 -9.21937267e-01 -1.77377263e-02 1.24555110e+02] [ 9.21053295e-01 3.87338560e-01 -4.03691288e-02 7.58645128e+01] [ 4.40883097e-02 -7.17248322e-04 9.99027380e-01 6.81620317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.778040942 meters 0.021581691352816998 Centerline is valid? [True, True] Translation: X:124.57, Y:75.89, Z:6.82 [[ 3.88573636e-01 -9.21249674e-01 -1.75945301e-02 1.24565306e+02] [ 9.20378099e-01 3.88971270e-01 -4.00687749e-02 7.58914470e+01] [ 4.37571126e-02 -6.23950638e-04 9.99042004e-01 6.81749954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.808040942 meters 0.021510616012847948 Centerline is valid? [True, True] Translation: X:124.58, Y:75.92, Z:6.82 [[ 3.89243253e-01 -9.20970168e-01 -1.74252835e-02 1.24575831e+02] [ 9.20113821e-01 3.89632671e-01 -3.97106740e-02 7.59175557e+01] [ 4.33618059e-02 -5.76132294e-04 9.99059268e-01 6.81914567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.838040942 meters 0.021347520710898422 Centerline is valid? [True, True] Translation: X:124.59, Y:75.94, Z:6.82 [[ 3.90185951e-01 -9.20571736e-01 -1.73954664e-02 1.24586123e+02] [ 9.19716619e-01 3.90573180e-01 -3.96728008e-02 7.59439788e+01] [ 4.33158617e-02 -5.19130045e-04 9.99061293e-01 6.82079221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.868040942 meters 0.021107477756322424 Centerline is valid? [True, True] Translation: X:124.60, Y:75.97, Z:6.82 [[ 3.92622594e-01 -9.19542877e-01 -1.69822167e-02 1.24595378e+02] [ 9.18725748e-01 3.92989503e-01 -3.87588705e-02 7.59712006e+01] [ 4.23142762e-02 -3.84391499e-04 9.99104276e-01 6.82166560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.898040942 meters 0.021028330266980075 Centerline is valid? [True, True] Translation: X:124.61, Y:76.00, Z:6.82 [[ 3.93724952e-01 -9.19068675e-01 -1.71298922e-02 1.24605528e+02] [ 9.18235544e-01 3.94097280e-01 -3.91256946e-02 7.59962087e+01] [ 4.27100443e-02 -3.24513655e-04 9.99087457e-01 6.82288072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.928040942 meters 0.020838867041882134 Centerline is valid? [True, True] Translation: X:124.61, Y:76.02, Z:6.82 [[ 3.95985842e-01 -9.18094842e-01 -1.72358467e-02 1.24614683e+02] [ 9.17249328e-01 3.96360716e-01 -3.93935703e-02 7.60215578e+01] [ 4.29986462e-02 -2.10272660e-04 9.99075108e-01 6.82384327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.958040942 meters 0.020711624216282417 Centerline is valid? [True, True] Translation: X:124.62, Y:76.05, Z:6.82 [[ 3.97078340e-01 -9.17627426e-01 -1.69911289e-02 1.24624809e+02] [ 9.16804063e-01 3.97441676e-01 -3.88641902e-02 7.60476425e+01] [ 4.24158295e-02 -1.45407844e-04 9.99100033e-01 6.82411894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.988040942 meters 0.020762711530118712 Centerline is valid? [True, True] Translation: X:124.64, Y:76.07, Z:6.83 [[ 3.97678492e-01 -9.17364939e-01 -1.71284986e-02 1.24635390e+02] [ 9.16526603e-01 3.98047180e-01 -3.92100497e-02 7.60720607e+01] [ 4.27878754e-02 -1.05731186e-04 9.99084174e-01 6.82558234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.01804094199997 meters 0.02072227034237119 Centerline is valid? [True, True] Translation: X:124.65, Y:76.10, Z:6.83 [[ 3.98580510e-01 -9.16972643e-01 -1.71682727e-02 1.24646755e+02] [ 9.16128841e-01 3.98950084e-01 -3.93290808e-02 7.60973350e+01] [ 4.29129750e-02 -5.25446631e-05 9.99078813e-01 6.82640270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04804094199997 meters 0.020689150287465742 Centerline is valid? [True, True] Translation: X:124.66, Y:76.12, Z:6.83 [[ 3.98569031e-01 -9.16979462e-01 -1.70702439e-02 1.24658190e+02] [ 9.16143956e-01 3.98934411e-01 -3.91355107e-02 7.61218141e+01] [ 4.26963672e-02 -4.05982075e-05 9.99088094e-01 6.82772367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.07804094199997 meters 0.02076769281884658 Centerline is valid? [True, True] Translation: X:124.67, Y:76.15, Z:6.83 [[ 3.98844946e-01 -9.16864486e-01 -1.67995011e-02 1.24669795e+02] [ 9.16054052e-01 3.99198589e-01 -3.85416778e-02 7.61464279e+01] [ 4.20438328e-02 -1.70976461e-05 9.99115767e-01 6.82950880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10804094199997 meters 0.020779691726146896 Centerline is valid? [True, True] Translation: X:124.68, Y:76.17, Z:6.83 [[ 3.98931706e-01 -9.16830266e-01 -1.66059600e-02 1.24680939e+02] [ 9.16037147e-01 3.99277177e-01 -3.81271841e-02 7.61710799e+01] [ 4.15865372e-02 -1.53367183e-06 9.99134906e-01 6.83078385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.13804094199998 meters 0.020770817743790405 Centerline is valid? [True, True] Translation: X:124.69, Y:76.20, Z:6.83 [[ 3.98981238e-01 -9.16814245e-01 -1.62975801e-02 1.24692730e+02] [ 9.16049148e-01 3.99313961e-01 -3.74475564e-02 7.61968771e+01] [ 4.08403044e-02 1.14881039e-05 9.99165687e-01 6.83128662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.16804094199998 meters 0.020690382121947425 Centerline is valid? [True, True] Translation: X:124.71, Y:76.22, Z:6.83 [[ 3.98682498e-01 -9.16935674e-01 -1.67700621e-02 1.24705775e+02] [ 9.16124348e-01 3.99035047e-01 -3.85643565e-02 7.62221065e+01] [ 4.20528768e-02 1.14717984e-05 9.99115386e-01 6.83213901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.19804094199998 meters 0.020668459279019762 Centerline is valid? [True, True] Translation: X:124.72, Y:76.25, Z:6.83 [[ 3.97681631e-01 -9.17368253e-01 -1.68762753e-02 1.24717897e+02] [ 9.16545664e-01 3.98039555e-01 -3.88401553e-02 7.62461264e+01] [ 4.23481505e-02 -2.18606964e-05 9.99102914e-01 6.83273203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22804094199998 meters 0.020575282055608272 Centerline is valid? [True, True] Translation: X:124.73, Y:76.27, Z:6.83 [[ 3.96186926e-01 -9.18009415e-01 -1.71648829e-02 1.24732962e+02] [ 9.17157792e-01 3.96558579e-01 -3.95332582e-02 7.62705871e+01] [ 4.30987849e-02 -8.03460617e-05 9.99070812e-01 6.83427048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.25804094199998 meters 0.020665048683478685 Centerline is valid? [True, True] Translation: X:124.75, Y:76.29, Z:6.84 [[ 3.94786482e-01 -9.18616006e-01 -1.69784474e-02 1.24745751e+02] [ 9.17782038e-01 3.95151385e-01 -3.91345507e-02 7.62940357e+01] [ 4.26586817e-02 -1.32722408e-04 9.99089695e-01 6.83525757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28804094199998 meters 0.02061685609687917 Centerline is valid? [True, True] Translation: X:124.76, Y:76.32, Z:6.84 [[ 3.93179723e-01 -9.19302193e-01 -1.71226258e-02 1.24759170e+02] [ 9.18453422e-01 3.93552334e-01 -3.94952209e-02 7.63189725e+01] [ 4.30466925e-02 -1.97614196e-04 9.99073042e-01 6.83619217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.31804094199998 meters 0.020739129413337994 Centerline is valid? [True, True] Translation: X:124.78, Y:76.34, Z:6.84 [[ 3.90654056e-01 -9.20368400e-01 -1.76469961e-02 1.24775128e+02] [ 9.19466449e-01 3.91052313e-01 -4.07374193e-02 7.63431200e+01] [ 4.43943321e-02 -3.11582724e-04 9.99014037e-01 6.83637940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34804094199998 meters 0.02095285286825139 Centerline is valid? [True, True] Translation: X:124.79, Y:76.37, Z:6.84 [[ 3.89594403e-01 -9.20815049e-01 -1.77720993e-02 1.24789059e+02] [ 9.19899329e-01 3.89999387e-01 -4.10573230e-02 7.63662047e+01] [ 4.47373087e-02 -3.52839036e-04 9.98998723e-01 6.83720335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.37804094199998 meters 0.02094194567002594 Centerline is valid? [True, True] Translation: X:124.80, Y:76.39, Z:6.84 [[ 3.87317143e-01 -9.21769955e-01 -1.80438531e-02 1.24803830e+02] [ 9.20825463e-01 3.87736949e-01 -4.17195965e-02 7.63913787e+01] [ 4.54521392e-02 -4.56524444e-04 9.98966413e-01 6.83882451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40804094199999 meters 0.021088705835475282 Centerline is valid? [True, True] Translation: X:124.82, Y:76.42, Z:6.84 [[ 3.86412832e-01 -9.22145091e-01 -1.82634556e-02 1.24816402e+02] [ 9.21176516e-01 3.86843877e-01 -4.22568479e-02 7.64150610e+01] [ 4.60320509e-02 -4.95278151e-04 9.98939841e-01 6.83953461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.438040942 meters 0.021180007603312224 Centerline is valid? [True, True] Translation: X:124.83, Y:76.44, Z:6.84 [[ 3.85000990e-01 -9.22729333e-01 -1.85692305e-02 1.24830923e+02] [ 9.21727239e-01 3.85448132e-01 -4.29957527e-02 7.64393937e+01] [ 4.68309174e-02 -5.62358152e-04 9.98902672e-01 6.84040563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.468040942 meters 0.02136352096770459 Centerline is valid? [True, True] Translation: X:124.84, Y:76.46, Z:6.84 [[ 3.84112920e-01 -9.23101383e-01 -1.84689354e-02 1.24843439e+02] [ 9.22109025e-01 3.84556220e-01 -4.27955539e-02 7.64631185e+01] [ 4.66069790e-02 -5.92046872e-04 9.98913129e-01 6.84127683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.498040942 meters 0.021556752420425287 Centerline is valid? [True, True] Translation: X:124.86, Y:76.49, Z:6.84 [[ 3.82762300e-01 -9.23651687e-01 -1.89890436e-02 1.24858152e+02] [ 9.22601584e-01 3.83232463e-01 -4.40363051e-02 7.64860808e+01] [ 4.79514254e-02 -6.63884355e-04 9.98849448e-01 6.84229405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.528040942 meters 0.021636070950349272 Centerline is valid? [True, True] Translation: X:124.87, Y:76.51, Z:6.84 [[ 3.81985931e-01 -9.23964901e-01 -1.93806734e-02 1.24871172e+02] [ 9.22870566e-01 3.82476609e-01 -4.49617888e-02 7.65107469e+01] [ 4.89557690e-02 -7.11082313e-04 9.98800694e-01 6.84395064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.558040942 meters 0.021699004672203443 Centerline is valid? [True, True] Translation: X:124.88, Y:76.54, Z:6.85 [[ 3.81611003e-01 -9.24121013e-01 -1.93234471e-02 1.24884495e+02] [ 9.23031670e-01 3.82099255e-01 -4.48630692e-02 7.65352291e+01] [ 4.88423797e-02 -7.15912796e-04 9.98806242e-01 6.84513195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.588040942 meters 0.021357455460465774 Centerline is valid? [True, True] Translation: X:124.90, Y:76.56, Z:6.85 [[ 3.81797173e-01 -9.24045420e-01 -1.92608791e-02 1.24898196e+02] [ 9.22961433e-01 3.82282075e-01 -4.47505156e-02 7.65602963e+01] [ 4.87145977e-02 -6.91428225e-04 9.98812500e-01 6.84804438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.618040942 meters 0.021290728509542823 Centerline is valid? [True, True] Translation: X:124.91, Y:76.59, Z:6.85 [[ 3.81820053e-01 -9.24040322e-01 -1.90507460e-02 1.24910152e+02] [ 9.22978781e-01 3.82294426e-01 -4.42847687e-02 7.65860921e+01] [ 4.82039059e-02 -6.74621633e-04 9.98837288e-01 6.84949161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.648040942 meters 0.0212182355107651 Centerline is valid? [True, True] Translation: X:124.92, Y:76.61, Z:6.85 [[ 3.82458347e-01 -9.23778239e-01 -1.89572422e-02 1.24922908e+02] [ 9.22725109e-01 3.82927374e-01 -4.41021390e-02 7.66106664e+01] [ 4.79998433e-02 -6.25092223e-04 9.98847148e-01 6.85162351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.678040942 meters 0.021334436247091762 Centerline is valid? [True, True] Translation: X:124.94, Y:76.63, Z:6.85 [[ 3.82451405e-01 -9.23785800e-01 -1.87274757e-02 1.24935608e+02] [ 9.22756460e-01 3.82909165e-01 -4.36014439e-02 7.66345420e+01] [ 4.74493169e-02 -6.05465728e-04 9.98873463e-01 6.85268817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.708040942 meters 0.02130890358100125 Centerline is valid? [True, True] Translation: X:124.95, Y:76.66, Z:6.85 [[ 3.82206656e-01 -9.23883181e-01 -1.89193250e-02 1.24948719e+02] [ 9.22831219e-01 3.82674136e-01 -4.40800023e-02 7.66591736e+01] [ 4.79647090e-02 -6.11673462e-04 9.98848844e-01 6.85415078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.738040942 meters 0.021324749012217623 Centerline is valid? [True, True] Translation: X:124.96, Y:76.68, Z:6.86 [[ 3.81672562e-01 -9.24097394e-01 -1.92370195e-02 1.24963685e+02] [ 9.23008323e-01 3.82156517e-01 -4.48556880e-02 7.66837691e+01] [ 4.88025767e-02 -6.35743752e-04 9.98808242e-01 6.85623977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76804094199997 meters 0.02137839763985195 Centerline is valid? [True, True] Translation: X:124.98, Y:76.71, Z:6.86 [[ 3.81449076e-01 -9.24188569e-01 -1.92896775e-02 1.24976623e+02] [ 9.23091866e-01 3.81935970e-01 -4.50146789e-02 7.67086393e+01] [ 4.89694734e-02 -6.35336703e-04 9.98800074e-01 6.85701377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.79804094199997 meters 0.02153271394581115 Centerline is valid? [True, True] Translation: X:124.99, Y:76.73, Z:6.86 [[ 3.82063802e-01 -9.23926324e-01 -1.96824747e-02 1.24990671e+02] [ 9.22782324e-01 3.82569978e-01 -4.59673218e-02 7.67319945e+01] [ 5.00003426e-02 -6.00190005e-04 9.98749020e-01 6.85761178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82804094199997 meters 0.021296464634648297 Centerline is valid? [True, True] Translation: X:125.00, Y:76.76, Z:6.86 [[ 3.82742498e-01 -9.23642349e-01 -1.98240029e-02 1.25002274e+02] [ 9.22480105e-01 3.83255138e-01 -4.63244501e-02 7.67570815e+01] [ 5.03848749e-02 -5.56912505e-04 9.98729720e-01 6.85851195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.85804094199997 meters 0.02123986593708927 Centerline is valid? [True, True] Translation: X:125.01, Y:76.78, Z:6.86 [[ 3.83316101e-01 -9.23402175e-01 -1.99296166e-02 1.25014294e+02] [ 9.22225300e-01 3.83833504e-01 -4.66083407e-02 7.67825861e+01] [ 5.06878977e-02 -5.13869190e-04 9.98714410e-01 6.85918260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88804094199998 meters 0.021052186551950403 Centerline is valid? [True, True] Translation: X:125.03, Y:76.81, Z:6.86 [[ 3.85008867e-01 -9.22687390e-01 -2.03998246e-02 1.25028393e+02] [ 9.21451256e-01 3.85548711e-01 -4.77469738e-02 7.68070272e+01] [ 5.19206567e-02 -4.14435726e-04 9.98651127e-01 6.85996269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.91804094199998 meters 0.021052186551950403 Centerline is valid? [True, True] Translation: X:125.04, Y:76.83, Z:6.86 [[ 3.84742092e-01 -9.22798967e-01 -2.03860003e-02 1.25039142e+02] [ 9.21562677e-01 3.85281578e-01 -4.77528758e-02 7.68324071e+01] [ 5.19206548e-02 -4.14435710e-04 9.98651127e-01 6.86118598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94804094199998 meters 0.02110203513220119 Centerline is valid? [True, True] Translation: X:125.05, Y:76.86, Z:6.86 [[ 3.85251919e-01 -9.22581791e-01 -2.05863647e-02 1.25051560e+02] [ 9.21318735e-01 3.85801373e-01 -4.82606332e-02 7.68564593e+01] [ 5.24666291e-02 -3.74101924e-04 9.98622608e-01 6.86206239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.97804094199998 meters 0.021071857074962768 Centerline is valid? [True, True] Translation: X:125.06, Y:76.88, Z:6.86 [[ 3.87009848e-01 -9.21846208e-01 -2.05656627e-02 1.25063959e+02] [ 9.20582807e-01 3.87555804e-01 -4.82472256e-02 7.68817438e+01] [ 5.24468640e-02 -2.60244038e-04 9.98623682e-01 6.86367912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00804094199998 meters 0.021096796460166715 Centerline is valid? [True, True] Translation: X:125.07, Y:76.91, Z:6.86 [[ 3.88924171e-01 -9.21041755e-01 -2.04957277e-02 1.25072730e+02] [ 9.19783921e-01 3.89463820e-01 -4.81193462e-02 7.69072522e+01] [ 5.23022715e-02 -1.36863992e-04 9.98631290e-01 6.86488619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.03804094199998 meters 0.02109397664998318 Centerline is valid? [True, True] Translation: X:125.08, Y:76.93, Z:6.87 [[ 3.90450680e-01 -9.20399732e-01 -2.03125431e-02 1.25082245e+02] [ 9.19161938e-01 3.90978684e-01 -4.77179313e-02 7.69340921e+01] [ 5.18613426e-02 -3.90177481e-05 9.98654294e-01 6.86674735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06804094199998 meters 0.02120429227868815 Centerline is valid? [True, True] Translation: X:125.09, Y:76.96, Z:6.87 [[ 3.92727595e-01 -9.19431490e-01 -2.02674988e-02 1.25090705e+02] [ 9.18195930e-01 3.93250206e-01 -4.76498655e-02 7.69608772e+01] [ 5.17809849e-02 1.03882224e-04 9.98658460e-01 6.86868192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.09804094199998 meters 0.021259837814788494 Centerline is valid? [True, True] Translation: X:125.10, Y:76.99, Z:6.87 [[ 3.93059745e-01 -9.19282470e-01 -2.05858724e-02 1.25099795e+02] [ 9.18005472e-01 3.93598427e-01 -4.84379131e-02 7.69867004e+01] [ 5.26306913e-02 1.41050263e-04 9.98614035e-01 6.86916529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12804094199998 meters 0.021350219905702492 Centerline is valid? [True, True] Translation: X:125.11, Y:77.01, Z:6.87 [[ 3.92780573e-01 -9.19388590e-01 -2.11670127e-02 1.25108543e+02] [ 9.18036270e-01 3.93350479e-01 -4.98478371e-02 7.70132007e+01] [ 5.41555872e-02 1.47176632e-04 9.98532499e-01 6.86905170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.15804094199999 meters 0.02138403499031482 Centerline is valid? [True, True] Translation: X:125.12, Y:77.04, Z:6.87 [[ 3.91784796e-01 -9.19807823e-01 -2.14065827e-02 1.25118929e+02] [ 9.18423094e-01 3.92369159e-01 -5.04525840e-02 7.70387523e+01] [ 5.48059643e-02 1.06255411e-04 9.98497018e-01 6.87004943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.188040942 meters 0.02132963556099278 Centerline is valid? [True, True] Translation: X:125.13, Y:77.06, Z:6.87 [[ 3.88829270e-01 -9.21056618e-01 -2.15987505e-02 1.25129310e+02] [ 9.19646462e-01 3.89428689e-01 -5.09478239e-02 7.70644063e+01] [ 5.53370034e-02 -5.32093237e-05 9.98467733e-01 6.87036061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.218040942 meters 0.02140347104783075 Centerline is valid? [True, True] Translation: X:125.14, Y:77.09, Z:6.87 [[ 3.86500925e-01 -9.22041624e-01 -2.13606656e-02 1.25140632e+02] [ 9.20661747e-01 3.87090702e-01 -5.04255563e-02 7.70896284e+01] [ 5.47629769e-02 -1.76423532e-04 9.98499367e-01 6.87117620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.248040942 meters 0.021414128271368193 Centerline is valid? [True, True] Translation: X:125.15, Y:77.11, Z:6.87 [[ 3.84294035e-01 -9.22965520e-01 -2.12777849e-02 1.25152525e+02] [ 9.21595584e-01 3.84882534e-01 -5.02694170e-02 7.71147075e+01] [ 5.45863863e-02 -2.91275495e-04 9.98509009e-01 6.87324180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.278040942 meters 0.02183960343468301 Centerline is valid? [True, True] Translation: X:125.17, Y:77.14, Z:6.87 [[ 3.78967561e-01 -9.25158369e-01 -2.15773287e-02 1.25166649e+02] [ 9.23750876e-01 3.79580867e-01 -5.10165075e-02 7.71379962e+01] [ 5.53886900e-02 -5.98474879e-04 9.98464689e-01 6.87475714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.308040942 meters 0.02230569662814699 Centerline is valid? [True, True] Translation: X:125.18, Y:77.16, Z:6.88 [[ 3.76370011e-01 -9.26212840e-01 -2.18034557e-02 1.25178874e+02] [ 9.24775658e-01 3.77000284e-01 -5.15826416e-02 7.71624485e+01] [ 5.59964139e-02 -7.49145715e-04 9.98430689e-01 6.87519627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.338040942 meters 0.022890927985472223 Centerline is valid? [True, True] Translation: X:125.19, Y:77.19, Z:6.88 [[ 3.72304405e-01 -9.27843133e-01 -2.22834250e-02 1.25191707e+02] [ 9.26342579e-01 3.72969329e-01 -5.27570459e-02 7.71882225e+01] [ 5.72612968e-02 -1.00040478e-03 9.98358725e-01 6.87528474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.368040942 meters 0.023024309088157963 Centerline is valid? [True, True] Translation: X:125.20, Y:77.21, Z:6.88 [[ 3.71224973e-01 -9.28274831e-01 -2.23127241e-02 1.25202342e+02] [ 9.26768834e-01 3.71893437e-01 -5.28658716e-02 7.72137844e+01] [ 5.73720137e-02 -1.05360553e-03 9.98352314e-01 6.87584818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.398040942 meters 0.023131865002071508 Centerline is valid? [True, True] Translation: X:125.21, Y:77.24, Z:6.88 [[ 3.71099238e-01 -9.28325729e-01 -2.22867029e-02 1.25210960e+02] [ 9.26820930e-01 3.71766392e-01 -5.28461335e-02 7.72396397e+01] [ 5.73438726e-02 -1.04462281e-03 9.98353940e-01 6.87533395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.428040942 meters 0.023088841754820975 Centerline is valid? [True, True] Translation: X:125.22, Y:77.27, Z:6.88 [[ 3.71120429e-01 -9.28313624e-01 -2.24375378e-02 1.25220726e+02] [ 9.26785826e-01 3.71796648e-01 -5.32474008e-02 7.72654878e+01] [ 5.77724890e-02 -1.03359380e-03 9.98329240e-01 6.87653997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.458040942 meters 0.02279312625899242 Centerline is valid? [True, True] Translation: X:125.23, Y:77.29, Z:6.88 [[ 3.71115061e-01 -9.28321250e-01 -2.22096561e-02 1.25230195e+02] [ 9.26822039e-01 3.71777674e-01 -5.27472260e-02 7.72915170e+01] [ 5.72234250e-02 -1.00910879e-03 9.98360887e-01 6.87874586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.488040942 meters 0.02278171723924289 Centerline is valid? [True, True] Translation: X:125.24, Y:77.32, Z:6.88 [[ 3.70865636e-01 -9.28428931e-01 -2.18723673e-02 1.25240058e+02] [ 9.26972855e-01 3.71508721e-01 -5.19865078e-02 7.73181665e+01] [ 5.63915531e-02 -9.95081524e-04 9.98408234e-01 6.88093090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.51804094199997 meters 0.023014005325139107 Centerline is valid? [True, True] Translation: X:125.25, Y:77.34, Z:6.88 [[ 3.70086104e-01 -9.28745037e-01 -2.16548159e-02 1.25250540e+02] [ 9.27316230e-01 3.70717706e-01 -5.15072032e-02 7.73428975e+01] [ 5.58648830e-02 -1.01876206e-03 9.98437818e-01 6.88240678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54804094199997 meters 0.022995884528363902 Centerline is valid? [True, True] Translation: X:125.26, Y:77.37, Z:6.88 [[ 3.68469022e-01 -9.29393961e-01 -2.13879498e-02 1.25260284e+02] [ 9.27999571e-01 3.69087622e-01 -5.09030869e-02 7.73693308e+01] [ 5.52030491e-02 -1.09179759e-03 9.98474552e-01 6.88481516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.57804094199997 meters 0.02327487120340249 Centerline is valid? [True, True] Translation: X:125.27, Y:77.39, Z:6.89 [[ 3.67843316e-01 -9.29651197e-01 -2.09749189e-02 1.25271093e+02] [ 9.28308539e-01 3.68439214e-01 -4.99580117e-02 7.73944163e+01] [ 5.41715080e-02 -1.09447564e-03 9.98531046e-01 6.88589912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60804094199997 meters 0.02337886947032431 Centerline is valid? [True, True] Translation: X:125.28, Y:77.42, Z:6.89 [[ 3.67675210e-01 -9.29717597e-01 -2.09792826e-02 1.25281487e+02] [ 9.28372240e-01 3.68271644e-01 -5.00097955e-02 7.74200225e+01] [ 5.42210617e-02 -1.08922153e-03 9.98528362e-01 6.88643867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.63804094199998 meters 0.02331039568403408 Centerline is valid? [True, True] Translation: X:125.29, Y:77.45, Z:6.89 [[ 3.68039010e-01 -9.29569276e-01 -2.11718534e-02 1.25292081e+02] [ 9.28196663e-01 3.68645944e-01 -5.05086514e-02 7.74457743e+01] [ 5.47562084e-02 -1.06248955e-03 9.98499188e-01 6.88729714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.66804094199998 meters 0.024187587847591233 Centerline is valid? [True, True] Translation: X:125.30, Y:77.47, Z:6.89 [[ 3.68813751e-01 -9.29255321e-01 -2.14700847e-02 1.25304809e+02] [ 9.27840928e-01 3.69436757e-01 -5.12610458e-02 7.74702769e+01] [ 5.55664380e-02 -1.01504479e-03 9.98454476e-01 6.88667166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.69804094199998 meters 0.022878223422211408 Centerline is valid? [True, True] Translation: X:125.31, Y:77.50, Z:6.89 [[ 3.71721709e-01 -9.28089496e-01 -2.17452980e-02 1.25311637e+02] [ 9.26634205e-01 3.72356266e-01 -5.19601930e-02 7.74983071e+01] [ 5.63207073e-02 -8.35205168e-04 9.98412380e-01 6.88833941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72804094199998 meters 0.022840587084145204 Centerline is valid? [True, True] Translation: X:125.32, Y:77.52, Z:6.89 [[ 3.72976792e-01 -9.27582812e-01 -2.18732559e-02 1.25320619e+02] [ 9.26107195e-01 3.73616872e-01 -5.23057959e-02 7.75236355e+01] [ 5.66901747e-02 -7.48131732e-04 9.98391539e-01 6.88884441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.75804094199998 meters 0.02322788794325567 Centerline is valid? [True, True] Translation: X:125.33, Y:77.55, Z:6.89 [[ 3.74968033e-01 -9.26780260e-01 -2.18477378e-02 1.25329494e+02] [ 9.25304361e-01 3.75603484e-01 -5.22863519e-02 7.75491710e+01] [ 5.66640452e-02 -6.10096599e-04 9.98393116e-01 6.88758860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78804094199998 meters 0.0226022370490941 Centerline is valid? [True, True] Translation: X:125.34, Y:77.58, Z:6.89 [[ 3.75242255e-01 -9.26674547e-01 -2.16225508e-02 1.25337272e+02] [ 9.25226519e-01 3.75864279e-01 -5.17873726e-02 7.75763938e+01] [ 5.61171845e-02 -5.72946959e-04 9.98424025e-01 6.89096391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.81804094199998 meters 0.022683653969205058 Centerline is valid? [True, True] Translation: X:125.35, Y:77.60, Z:6.89 [[ 3.74668293e-01 -9.26907061e-01 -2.16095242e-02 1.25347003e+02] [ 9.25458850e-01 3.75290489e-01 -5.17973500e-02 7.76022211e+01] [ 5.61211784e-02 -5.91900697e-04 9.98423789e-01 6.89315879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84804094199998 meters 0.02309833677009453 Centerline is valid? [True, True] Translation: X:125.36, Y:77.63, Z:6.89 [[ 3.73490083e-01 -9.27386886e-01 -2.14177671e-02 1.25359505e+02] [ 9.25962798e-01 3.74103127e-01 -5.13784692e-02 7.76262572e+01] [ 5.56601723e-02 -6.42706832e-04 9.98449564e-01 6.89349530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.87804094199998 meters 0.024057757085482995 Centerline is valid? [True, True] Translation: X:125.37, Y:77.65, Z:6.90 [[ 3.69546260e-01 -9.28972362e-01 -2.11166392e-02 1.25374163e+02] [ 9.27588601e-01 3.70148107e-01 -5.06928625e-02 7.76498475e+01] [ 5.49085523e-02 -8.54196073e-04 9.98491022e-01 6.89542201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90804094199999 meters 0.024061920371806014 Centerline is valid? [True, True] Translation: X:125.39, Y:77.68, Z:6.90 [[ 3.66975420e-01 -9.29994417e-01 -2.09624791e-02 1.25385231e+02] [ 9.28630496e-01 3.67572322e-01 -5.03586138e-02 7.76758437e+01] [ 5.45384568e-02 -9.86023917e-04 9.98511184e-01 6.89778160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.938040942 meters 0.025810407905829506 Centerline is valid? [True, True] Translation: X:125.40, Y:77.70, Z:6.90 [[ 3.64322761e-01 -9.31040977e-01 -2.07755716e-02 1.25399271e+02] [ 9.29701072e-01 3.64912930e-01 -4.99446778e-02 7.76993623e+01] [ 5.40818163e-02 -1.11908824e-03 9.98535881e-01 6.89733613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.968040942 meters 0.025068174965995012 Centerline is valid? [True, True] Translation: X:125.41, Y:77.73, Z:6.90 [[ 3.59348318e-01 -9.32986750e-01 -2.01124449e-02 1.25406214e+02] [ 9.31732606e-01 3.59908167e-01 -4.83783312e-02 7.77271707e+01] [ 5.23749752e-02 -1.35474872e-03 9.98626570e-01 6.89928926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.998040942 meters 0.026321597421276415 Centerline is valid? [True, True] Translation: X:125.42, Y:77.75, Z:6.90 [[ 3.56913481e-01 -9.33923986e-01 -1.99688780e-02 1.25418390e+02] [ 9.32687394e-01 3.57468643e-01 -4.80665711e-02 7.77513390e+01] [ 5.20287714e-02 -1.46911360e-03 9.98644506e-01 6.89982983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.028040942 meters 0.027016463380965826 Centerline is valid? [True, True] Translation: X:125.43, Y:77.78, Z:6.90 [[ 3.53359278e-01 -9.35286731e-01 -1.93894592e-02 1.25429875e+02] [ 9.34122007e-01 3.53887165e-01 -4.66899306e-02 7.77774477e+01] [ 5.05301533e-02 -1.61380038e-03 9.98721232e-01 6.90084558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.058040942 meters 0.02696788718565387 Centerline is valid? [True, True] Translation: X:125.44, Y:77.80, Z:6.90 [[ 3.51728877e-01 -9.35904707e-01 -1.92139520e-02 1.25440358e+02] [ 9.34760199e-01 3.52249306e-01 -4.63011513e-02 7.78033767e+01] [ 5.01015667e-02 -1.67498568e-03 9.98742723e-01 6.90288395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.088040942 meters 0.027477685666296197 Centerline is valid? [True, True] Translation: X:125.45, Y:77.83, Z:6.90 [[ 3.50153143e-01 -9.36499223e-01 -1.90258232e-02 1.25451758e+02] [ 9.35376215e-01 3.50665382e-01 -4.58816532e-02 7.78296540e+01] [ 4.96398302e-02 -1.73069742e-03 9.98765684e-01 6.90440860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.118040942 meters 0.03305036202209868 Centerline is valid? [True, True] Translation: X:125.47, Y:77.85, Z:6.90 [[ 3.48713315e-01 -9.37039990e-01 -1.88436115e-02 1.25470572e+02] [ 9.35937576e-01 3.49217545e-01 -4.54748257e-02 7.78521183e+01] [ 4.91922499e-02 -1.77876690e-03 9.98787744e-01 6.90365106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.148040942 meters 0.02827813971886471 Centerline is valid? [True, True] Translation: X:125.47, Y:77.88, Z:6.91 [[ 3.48148145e-01 -9.37252525e-01 -1.87236388e-02 1.25472177e+02] [ 9.36163279e-01 3.48646676e-01 -4.52085285e-02 7.78817229e+01] [ 4.88997419e-02 -1.78911773e-03 9.98802090e-01 6.90556115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.178040942 meters 0.028278561226934642 Centerline is valid? [True, True] Translation: X:125.48, Y:77.91, Z:6.91 [[ 3.49978790e-01 -9.36575588e-01 -1.84665941e-02 1.25480063e+02] [ 9.35513503e-01 3.50461718e-01 -4.46214183e-02 7.79074740e+01] [ 4.82631654e-02 -1.65919809e-03 9.98833276e-01 6.90656923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.208040942 meters 0.028247966706299574 Centerline is valid? [True, True] Translation: X:125.49, Y:77.93, Z:6.91 [[ 3.52034514e-01 -9.35810111e-01 -1.81971676e-02 1.25489482e+02] [ 9.34776823e-01 3.52501225e-01 -4.39906635e-02 7.79332268e+01] [ 4.75814315e-02 -1.52405867e-03 9.98866200e-01 6.90757014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.238040942 meters 0.026785434933538802 Centerline is valid? [True, True] Translation: X:125.50, Y:77.96, Z:6.91 [[ 3.53465918e-01 -9.35277153e-01 -1.78463596e-02 1.25496003e+02] [ 9.34281724e-01 3.53913323e-01 -4.31627143e-02 7.79611993e+01] [ 4.66851650e-02 -1.41697920e-03 9.98908648e-01 6.90921813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26804094199997 meters 0.025616827777919057 Centerline is valid? [True, True] Translation: X:125.50, Y:77.99, Z:6.91 [[ 3.57397405e-01 -9.33787667e-01 -1.75410373e-02 1.25502041e+02] [ 9.32822777e-01 3.57825627e-01 -4.24557036e-02 7.79896307e+01] [ 4.59212451e-02 -1.18912081e-03 9.98944355e-01 6.91062418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.29804094199997 meters 0.02494722767079816 Centerline is valid? [True, True] Translation: X:125.51, Y:78.02, Z:6.91 [[ 3.58553086e-01 -9.33349318e-01 -1.72839805e-02 1.25509873e+02] [ 9.32410617e-01 3.58967728e-01 -4.18642058e-02 7.80168917e+01] [ 4.52783191e-02 -1.10522676e-03 9.98973800e-01 6.91159972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32804094199997 meters 0.024682980284628862 Centerline is valid? [True, True] Translation: X:125.52, Y:78.04, Z:6.91 [[ 3.60971275e-01 -9.32427516e-01 -1.66932819e-02 1.25519010e+02] [ 9.31549576e-01 3.61355830e-01 -4.04641945e-02 7.80426921e+01] [ 4.37621431e-02 -9.44207803e-04 9.99041532e-01 6.91346509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.35804094199997 meters 0.024339455147824332 Centerline is valid? [True, True] Translation: X:125.53, Y:78.07, Z:6.92 [[ 3.61679875e-01 -9.32153103e-01 -1.66811207e-02 1.25528666e+02] [ 9.31275291e-01 3.62063221e-01 -4.04543814e-02 7.80690592e+01] [ 4.37492975e-02 -9.03179910e-04 9.99042133e-01 6.91541803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38804094199998 meters 0.024523044508734188 Centerline is valid? [True, True] Translation: X:125.54, Y:78.09, Z:6.92 [[ 3.62408830e-01 -9.31874716e-01 -1.64119780e-02 1.25539504e+02] [ 9.31023393e-01 3.62779272e-01 -3.98326641e-02 7.80942120e+01] [ 4.30729780e-02 -8.44226281e-04 9.99071572e-01 6.91760505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.41804094199998 meters 0.024288151815660748 Centerline is valid? [True, True] Translation: X:125.55, Y:78.12, Z:6.92 [[ 3.63190178e-01 -9.31579922e-01 -1.58664411e-02 1.25547611e+02] [ 9.30782695e-01 3.63535768e-01 -3.85398419e-02 7.81209125e+01] [ 4.16709617e-02 -7.70916803e-04 9.99131091e-01 6.91905676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44804094199998 meters 0.02418828769503006 Centerline is valid? [True, True] Translation: X:125.56, Y:78.15, Z:6.92 [[ 3.63405948e-01 -9.31497735e-01 -1.57507937e-02 1.25556639e+02] [ 9.30710761e-01 3.63746361e-01 -3.82892147e-02 7.81470850e+01] [ 4.13956107e-02 -7.44904829e-04 9.99142557e-01 6.91965526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.47804094199998 meters 0.02389369061610846 Centerline is valid? [True, True] Translation: X:125.57, Y:78.17, Z:6.92 [[ 3.62324037e-01 -9.31914961e-01 -1.59936964e-02 1.25565193e+02] [ 9.31102588e-01 3.62675994e-01 -3.89113639e-02 7.81742131e+01] [ 4.20626119e-02 -7.93249664e-04 9.99114662e-01 6.91956334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50804094199998 meters 0.024282866438626923 Centerline is valid? [True, True] Translation: X:125.58, Y:78.20, Z:6.92 [[ 3.61114470e-01 -9.32382938e-01 -1.60746853e-02 1.25576964e+02] [ 9.31561402e-01 3.61471092e-01 -3.91408350e-02 7.81992126e+01] [ 4.23047808e-02 -8.40234454e-04 9.99104399e-01 6.92076122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.53804094199998 meters 0.02499028067002767 Centerline is valid? [True, True] Translation: X:125.59, Y:78.22, Z:6.92 [[ 3.58383319e-01 -9.33436491e-01 -1.60534917e-02 1.25589757e+02] [ 9.32617579e-01 3.58741412e-01 -3.91030836e-02 7.82232938e+01] [ 4.22592974e-02 -9.57875639e-04 9.99106218e-01 6.92207843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56804094199998 meters 0.02536122025706213 Centerline is valid? [True, True] Translation: X:125.60, Y:78.25, Z:6.92 [[ 3.56461575e-01 -9.34172447e-01 -1.60307791e-02 1.25601464e+02] [ 9.33355325e-01 3.56820366e-01 -3.90776634e-02 7.82496471e+01] [ 4.22253848e-02 -1.03272762e-03 9.99107577e-01 6.92367914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.59804094199998 meters 0.02551806268576862 Centerline is valid? [True, True] Translation: X:125.61, Y:78.28, Z:6.92 [[ 3.54492579e-01 -9.34922903e-01 -1.59429281e-02 1.25611814e+02] [ 9.34114256e-01 3.54849185e-01 -3.88923337e-02 7.82758305e+01] [ 4.20186686e-02 -1.10547275e-03 9.99116214e-01 6.92488138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62804094199998 meters 0.026432630537071657 Centerline is valid? [True, True] Translation: X:125.62, Y:78.30, Z:6.93 [[ 3.51375412e-01 -9.36097110e-01 -1.60474637e-02 1.25623546e+02] [ 9.35277745e-01 3.51739472e-01 -3.91775804e-02 7.83006369e+01] [ 4.23185462e-02 -1.24279724e-03 9.99103396e-01 6.92584919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.65804094199999 meters 0.02618601166481189 Centerline is valid? [True, True] Translation: X:125.63, Y:78.33, Z:6.93 [[ 3.49809554e-01 -9.36683627e-01 -1.60330786e-02 1.25633772e+02] [ 9.35865551e-01 3.50174354e-01 -3.91611163e-02 7.83276378e+01] [ 4.22959494e-02 -1.30587334e-03 9.99104273e-01 6.92693882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.688040942 meters 0.027036921802508898 Centerline is valid? [True, True] Translation: X:125.65, Y:78.35, Z:6.93 [[ 3.47617086e-01 -9.37497033e-01 -1.61763640e-02 1.25645607e+02] [ 9.36663806e-01 3.47990425e-01 -3.95421076e-02 7.83520320e+01] [ 4.26998283e-02 -1.40630249e-03 9.99086957e-01 6.92832039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.718040942 meters 0.027331306422562263 Centerline is valid? [True, True] Translation: X:125.66, Y:78.38, Z:6.93 [[ 3.46694669e-01 -9.37838327e-01 -1.61888640e-02 1.25656368e+02] [ 9.37003620e-01 3.47069424e-01 -3.95857544e-02 7.83781522e+01] [ 4.27436974e-02 -1.44485415e-03 9.99085026e-01 6.92961152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.748040942 meters 0.027404355347206814 Centerline is valid? [True, True] Translation: X:125.67, Y:78.40, Z:6.93 [[ 3.45800861e-01 -9.38170186e-01 -1.60769117e-02 1.25665771e+02] [ 9.37346093e-01 3.46171280e-01 -3.93414168e-02 7.84046416e+01] [ 4.24743094e-02 -1.46533455e-03 9.99096485e-01 6.93089839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.778040942 meters 0.026941637032440697 Centerline is valid? [True, True] Translation: X:125.67, Y:78.43, Z:6.93 [[ 3.45504866e-01 -9.38281705e-01 -1.59320148e-02 1.25674421e+02] [ 9.37471303e-01 3.45868938e-01 -3.90158039e-02 7.84314317e+01] [ 4.21182041e-02 -1.45565662e-03 9.99111574e-01 6.93222046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.808040942 meters 0.026941637032440697 Centerline is valid? [True, True] Translation: X:125.68, Y:78.46, Z:6.93 [[ 3.45239516e-01 -9.38379560e-01 -1.59209893e-02 1.25684756e+02] [ 9.37569056e-01 3.45603359e-01 -3.90203025e-02 7.84569881e+01] [ 4.21182017e-02 -1.45567662e-03 9.99111574e-01 6.93344438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.838040942 meters 0.02721292798470056 Centerline is valid? [True, True] Translation: X:125.69, Y:78.48, Z:6.93 [[ 3.45339256e-01 -9.38339542e-01 -1.61152653e-02 1.25694201e+02] [ 9.37507703e-01 3.45711990e-01 -3.95288108e-02 7.84822197e+01] [ 4.26626867e-02 -1.45733524e-03 9.99088470e-01 6.93445312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.868040942 meters 0.026996802590909103 Centerline is valid? [True, True] Translation: X:125.70, Y:78.51, Z:6.94 [[ 3.45191371e-01 -9.38400073e-01 -1.57550227e-02 1.25701759e+02] [ 9.37603759e-01 3.45547803e-01 -3.86769663e-02 7.85090869e+01] [ 4.17385814e-02 -1.42101346e-03 9.99127555e-01 6.93629865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.898040942 meters 0.02713514976912949 Centerline is valid? [True, True] Translation: X:125.71, Y:78.54, Z:6.94 [[ 3.45084282e-01 -9.38440765e-01 -1.56770174e-02 1.25711519e+02] [ 9.37651083e-01 3.45437328e-01 -3.85162122e-02 7.85355501e+01] [ 4.15606106e-02 -1.40823296e-03 9.99134992e-01 6.93813651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.928040942 meters 0.02709496233367146 Centerline is valid? [True, True] Translation: X:125.72, Y:78.56, Z:6.94 [[ 3.45959211e-01 -9.38115446e-01 -1.58629731e-02 1.25719621e+02] [ 9.37305223e-01 3.46319969e-01 -3.90050885e-02 7.85620958e+01] [ 4.20849403e-02 -1.37427791e-03 9.99113091e-01 6.93897741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.958040942 meters 0.027174693835779116 Centerline is valid? [True, True] Translation: X:125.73, Y:78.59, Z:6.94 [[ 3.46542025e-01 -9.37898216e-01 -1.59863046e-02 1.25728741e+02] [ 9.37074209e-01 3.46907930e-01 -3.93295686e-02 7.85888461e+01] [ 4.24329080e-02 -1.35100542e-03 9.99098405e-01 6.93990852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98804094199997 meters 0.02612467837970123 Centerline is valid? [True, True] Translation: X:125.74, Y:78.62, Z:6.94 [[ 3.47639462e-01 -9.37490452e-01 -1.60766062e-02 1.25735952e+02] [ 9.36655340e-01 3.48008576e-01 -3.95828787e-02 7.86167656e+01] [ 4.27033677e-02 -1.29766836e-03 9.99086952e-01 6.94043926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.01804094199997 meters 0.026620170930382714 Centerline is valid? [True, True] Translation: X:125.74, Y:78.64, Z:6.94 [[ 3.50033622e-01 -9.36594546e-01 -1.63438221e-02 1.25744018e+02] [ 9.35729071e-01 3.50412935e-01 -4.02725865e-02 7.86430654e+01] [ 4.34461716e-02 -1.19663014e-03 9.99055053e-01 6.94158171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04804094199997 meters 0.02495293854078679 Centerline is valid? [True, True] Translation: X:125.75, Y:78.67, Z:6.94 [[ 3.51462731e-01 -9.36056482e-01 -1.64988358e-02 1.25749224e+02] [ 9.35173061e-01 3.51847946e-01 -4.06739246e-02 7.86713049e+01] [ 4.38781723e-02 -1.13389812e-03 9.99036246e-01 6.94288554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.07804094199997 meters 0.024093668637529476 Centerline is valid? [True, True] Translation: X:125.75, Y:78.70, Z:6.94 [[ 3.54770960e-01 -9.34804731e-01 -1.66637801e-02 1.25754232e+02] [ 9.33900731e-01 3.55160755e-01 -4.11128044e-02 7.86995826e+01] [ 4.43507648e-02 -9.76687318e-04 9.99015543e-01 6.94320565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10804094199997 meters 0.02432790678009445 Centerline is valid? [True, True] Translation: X:125.76, Y:78.73, Z:6.94 [[ 3.56181848e-01 -9.34267013e-01 -1.67224295e-02 1.25762485e+02] [ 9.33354530e-01 3.56573046e-01 -4.12914577e-02 7.87252880e+01] [ 4.45400144e-02 -9.00687577e-04 9.99007195e-01 6.94385075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.13804094199998 meters 0.024637551115212788 Centerline is valid? [True, True] Translation: X:125.77, Y:78.75, Z:6.95 [[ 3.57255930e-01 -9.33854594e-01 -1.68462891e-02 1.25772503e+02] [ 9.32926980e-01 3.57651898e-01 -4.16217575e-02 7.87500415e+01] [ 4.48937767e-02 -8.46737914e-04 9.98991407e-01 6.94507677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.16804094199998 meters 0.0237350794530607 Centerline is valid? [True, True] Translation: X:125.78, Y:78.78, Z:6.95 [[ 3.58312063e-01 -9.33451177e-01 -1.67739292e-02 1.25776972e+02] [ 9.32529556e-01 3.58703624e-01 -4.14769462e-02 7.87780952e+01] [ 4.47335735e-02 -7.80494636e-04 9.98998648e-01 6.94655482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.19804094199998 meters 0.024356588733853494 Centerline is valid? [True, True] Translation: X:125.79, Y:78.80, Z:6.95 [[ 3.58333252e-01 -9.33442649e-01 -1.67958743e-02 1.25787935e+02] [ 9.32517101e-01 3.58725843e-01 -4.15647252e-02 7.88029975e+01] [ 4.48234013e-02 -7.68416838e-04 9.98994631e-01 6.94757429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22804094199998 meters 0.023884987969398537 Centerline is valid? [True, True] Translation: X:125.79, Y:78.83, Z:6.95 [[ 3.57393082e-01 -9.33800027e-01 -1.69615410e-02 1.25794819e+02] [ 9.32855381e-01 3.57794423e-01 -4.19998599e-02 7.88309191e+01] [ 4.52882151e-02 -8.12205416e-04 9.98973632e-01 6.94854851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.25804094199998 meters 0.024023663613675413 Centerline is valid? [True, True] Translation: X:125.80, Y:78.86, Z:6.95 [[ 3.56949569e-01 -9.33969055e-01 -1.69943780e-02 1.25804418e+02] [ 9.33019401e-01 3.57352944e-01 -4.21149788e-02 7.88568066e+01] [ 4.54070780e-02 -8.23160831e-04 9.98968228e-01 6.94955945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28804094199998 meters 0.024481190920096103 Centerline is valid? [True, True] Translation: X:125.81, Y:78.88, Z:6.95 [[ 3.55361833e-01 -9.34573523e-01 -1.70381416e-02 1.25813751e+02] [ 9.33618133e-01 3.55768938e-01 -4.22568954e-02 7.88822840e+01] [ 4.55538172e-02 -8.90630171e-04 9.98961489e-01 6.95007909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.31804094199998 meters 0.025814372297089362 Centerline is valid? [True, True] Translation: X:125.83, Y:78.91, Z:6.95 [[ 3.54106955e-01 -9.35050845e-01 -1.69758986e-02 1.25826600e+02] [ 9.34102020e-01 3.54512385e-01 -4.21234397e-02 7.89069689e+01] [ 4.54057242e-02 -9.41018190e-04 9.98968185e-01 6.95135758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34804094199998 meters 0.02440100053202988 Centerline is valid? [True, True] Translation: X:125.83, Y:78.93, Z:6.95 [[ 3.53070070e-01 -9.35441643e-01 -1.70428583e-02 1.25833032e+02] [ 9.34484399e-01 3.53479793e-01 -4.23195507e-02 7.89345749e+01] [ 4.56117760e-02 -9.84518485e-04 9.98958756e-01 6.95301109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.37804094199998 meters 0.02466678739219174 Centerline is valid? [True, True] Translation: X:125.84, Y:78.96, Z:6.95 [[ 3.52082497e-01 -9.35810453e-01 -1.72252790e-02 1.25842753e+02] [ 9.34831415e-01 3.52502103e-01 -4.28076193e-02 7.89605280e+01] [ 4.61317647e-02 -1.03091839e-03 9.98934831e-01 6.95379653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40804094199999 meters 0.024457685413613612 Centerline is valid? [True, True] Translation: X:125.85, Y:78.99, Z:6.95 [[ 3.52015492e-01 -9.35833389e-01 -1.73482592e-02 1.25851160e+02] [ 9.34838706e-01 3.52441215e-01 -4.31483923e-02 7.89869995e+01] [ 4.64939477e-02 -1.02892170e-03 9.98918042e-01 6.95434987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.438040942 meters 0.024322053544877483 Centerline is valid? [True, True] Translation: X:125.86, Y:79.01, Z:6.96 [[ 3.52661652e-01 -9.35589544e-01 -1.73771390e-02 1.25860198e+02] [ 9.34589605e-01 3.53088139e-01 -4.32554841e-02 7.90138733e+01] [ 4.66050403e-02 -9.85943017e-04 9.98912908e-01 6.95522599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.468040942 meters 0.02409306072119477 Centerline is valid? [True, True] Translation: X:125.87, Y:79.04, Z:6.96 [[ 3.53608428e-01 -9.35233494e-01 -1.73029289e-02 1.25868540e+02] [ 9.34240068e-01 3.54030309e-01 -4.31049437e-02 7.90405848e+01] [ 4.64389484e-02 -9.22818102e-04 9.98920704e-01 6.95584622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.498040942 meters 0.023974442673299498 Centerline is valid? [True, True] Translation: X:125.88, Y:79.07, Z:6.96 [[ 3.54565349e-01 -9.34866141e-01 -1.75701863e-02 1.25876250e+02] [ 9.33839614e-01 3.54999341e-01 -4.38068980e-02 7.90671544e+01] [ 4.71909903e-02 -8.75327876e-04 9.98885501e-01 6.95628026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.528040942 meters 0.024093921012625752 Centerline is valid? [True, True] Translation: X:125.89, Y:79.09, Z:6.96 [[ 3.54581168e-01 -9.34857880e-01 -1.76901032e-02 1.25886162e+02] [ 9.33815560e-01 3.55021115e-01 -4.41418969e-02 7.90923914e+01] [ 4.75467603e-02 -8.67408321e-04 9.98868637e-01 6.95702009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.558040942 meters 0.023632878021284404 Centerline is valid? [True, True] Translation: X:125.89, Y:79.12, Z:6.96 [[ 3.53386699e-01 -9.35308168e-01 -1.77896679e-02 1.25894244e+02] [ 9.34252841e-01 3.53832991e-01 -4.44279559e-02 7.91200514e+01] [ 4.78484014e-02 -9.19799064e-04 9.98854186e-01 6.95835633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.588040942 meters 0.023796963116153456 Centerline is valid? [True, True] Translation: X:125.91, Y:79.15, Z:6.96 [[ 3.52244960e-01 -9.35740489e-01 -1.76981867e-02 1.25905008e+02] [ 9.34695002e-01 3.52687981e-01 -4.42316782e-02 7.91462766e+01] [ 4.76313099e-02 -9.62020958e-04 9.98864522e-01 6.95933516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.618040942 meters 0.024027724564493622 Centerline is valid? [True, True] Translation: X:125.92, Y:79.17, Z:6.96 [[ 3.50700013e-01 -9.36319032e-01 -1.77812039e-02 1.25916199e+02] [ 9.35262753e-01 3.51148976e-01 -4.44744909e-02 7.91727056e+01] [ 4.78861638e-02 -1.03289316e-03 9.98852266e-01 6.96010757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.648040942 meters 0.02427521189606929 Centerline is valid? [True, True] Translation: X:125.93, Y:79.20, Z:6.96 [[ 3.47981576e-01 -9.37332599e-01 -1.77882340e-02 1.25927223e+02] [ 9.36275130e-01 3.48434000e-01 -4.45267072e-02 7.91992756e+01] [ 4.79343597e-02 -1.16020739e-03 9.98849814e-01 6.96132986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.678040942 meters 0.02459559926159614 Centerline is valid? [True, True] Translation: X:125.94, Y:79.22, Z:6.96 [[ 3.47114369e-01 -9.37645207e-01 -1.82504761e-02 1.25937251e+02] [ 9.36530776e-01 3.47591671e-01 -4.57179938e-02 7.92249190e+01] [ 4.92109713e-02 -1.22276001e-03 9.98787658e-01 6.96206169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.708040942 meters 0.024427371786135903 Centerline is valid? [True, True] Translation: X:125.95, Y:79.25, Z:6.96 [[ 3.47504284e-01 -9.37498958e-01 -1.83432613e-02 1.25946676e+02] [ 9.36371252e-01 3.47986023e-01 -4.59848429e-02 7.92513870e+01] [ 4.94939409e-02 -1.19617259e-03 9.98773708e-01 6.96287923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.73804094199997 meters 0.025140100430503864 Centerline is valid? [True, True] Translation: X:125.96, Y:79.28, Z:6.96 [[ 3.48266759e-01 -9.37214872e-01 -1.83996846e-02 1.25956236e+02] [ 9.36077967e-01 3.48750583e-01 -4.61635065e-02 7.92781848e+01] [ 4.96820256e-02 -1.14632463e-03 9.98764428e-01 6.96314769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76804094199997 meters 0.023524870121742498 Centerline is valid? [True, True] Translation: X:125.96, Y:79.31, Z:6.97 [[ 3.50663586e-01 -9.36319050e-01 -1.84847336e-02 1.25963655e+02] [ 9.35168488e-01 3.51148992e-01 -4.64142719e-02 7.93062739e+01] [ 4.99494626e-02 -1.01054532e-03 9.98751235e-01 6.96509754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.79804094199997 meters 0.024112659524287303 Centerline is valid? [True, True] Translation: X:125.97, Y:79.33, Z:6.97 [[ 3.51875557e-01 -9.35865893e-01 -1.84016849e-02 1.25972150e+02] [ 9.34723358e-01 3.52355169e-01 -4.62393717e-02 7.93336544e+01] [ 4.97577797e-02 -9.29980022e-04 9.98760882e-01 6.96613195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82804094199997 meters 0.025087359418215865 Centerline is valid? [True, True] Translation: X:125.98, Y:79.36, Z:6.97 [[ 3.53533579e-01 -9.35239788e-01 -1.84539405e-02 1.25982130e+02] [ 9.34088222e-01 3.54013907e-01 -4.64041778e-02 7.93591722e+01] [ 4.99319850e-02 -8.32173445e-04 9.98752274e-01 6.96681928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.85804094199997 meters 0.02297924158590969 Centerline is valid? [True, True] Translation: X:125.99, Y:79.39, Z:6.97 [[ 3.54337415e-01 -9.34935751e-01 -1.84428171e-02 1.25991543e+02] [ 9.33783718e-01 3.54816199e-01 -4.64050938e-02 7.93851156e+01] [ 4.99295915e-02 -7.78541335e-04 9.98752437e-01 6.96935365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88804094199998 meters 0.02231933817060416 Centerline is valid? [True, True] Translation: X:126.00, Y:79.41, Z:6.97 [[ 3.54578432e-01 -9.34840978e-01 -1.86140181e-02 1.25999265e+02] [ 9.33665423e-01 3.55065867e-01 -4.68733242e-02 7.94120787e+01] [ 5.04283067e-02 -7.58995312e-04 9.98727395e-01 6.97114720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.91804094199998 meters 0.02353859411705689 Centerline is valid? [True, True] Translation: X:126.01, Y:79.44, Z:6.97 [[ 3.55366426e-01 -9.34543913e-01 -1.85034426e-02 1.26009050e+02] [ 9.33379974e-01 3.55847138e-01 -4.66330156e-02 7.94371595e+01] [ 5.01649980e-02 -6.98934636e-04 9.98740699e-01 6.97132583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94804094199998 meters 0.022253054625824158 Centerline is valid? [True, True] Translation: X:126.02, Y:79.46, Z:6.97 [[ 3.57269618e-01 -9.33820884e-01 -1.83569540e-02 1.26017786e+02] [ 9.32672762e-01 3.57740437e-01 -4.62957846e-02 7.94629946e+01] [ 4.97989952e-02 -5.80953677e-04 9.98759091e-01 6.97384309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.97804094199998 meters 0.02180470611645336 Centerline is valid? [True, True] Translation: X:126.03, Y:79.49, Z:6.98 [[ 3.58036763e-01 -9.33528676e-01 -1.82725892e-02 1.26026115e+02] [ 9.32388896e-01 3.58502351e-01 -4.61195312e-02 7.94902522e+01] [ 4.96046711e-02 -5.24671650e-04 9.98768793e-01 6.97596588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00804094199998 meters 0.021707683768658573 Centerline is valid? [True, True] Translation: X:126.04, Y:79.52, Z:6.98 [[ 3.59575989e-01 -9.32935786e-01 -1.83283005e-02 1.26036190e+02] [ 9.31786365e-01 3.60042544e-01 -4.62983394e-02 7.95160256e+01] [ 4.97923457e-02 -4.30289306e-04 9.98759499e-01 6.97672692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.03804094199998 meters 0.021351627977124425 Centerline is valid? [True, True] Translation: X:126.04, Y:79.54, Z:6.98 [[ 3.60887260e-01 -9.32426947e-01 -1.84492286e-02 1.26044619e+02] [ 9.31259722e-01 3.61358364e-01 -4.66418663e-02 7.95430824e+01] [ 5.01569161e-02 -3.48568190e-04 9.98741289e-01 6.97831322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06804094199998 meters 0.021121630196336078 Centerline is valid? [True, True] Translation: X:126.05, Y:79.57, Z:6.98 [[ 3.63637668e-01 -9.31354868e-01 -1.85945266e-02 1.26052933e+02] [ 9.30165776e-01 3.64112723e-01 -4.70484339e-02 7.95692907e+01] [ 5.05892916e-02 -1.87409439e-04 9.98719524e-01 6.97860225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.09804094199998 meters 0.02082548314503318 Centerline is valid? [True, True] Translation: X:126.06, Y:79.60, Z:6.98 [[ 3.65721487e-01 -9.30535584e-01 -1.87435527e-02 1.26063093e+02] [ 9.29324184e-01 3.66201479e-01 -4.74661759e-02 7.95955042e+01] [ 5.10328825e-02 -5.94363954e-05 9.98696972e-01 6.98006763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12804094199998 meters 0.020736895616969977 Centerline is valid? [True, True] Translation: X:126.07, Y:79.62, Z:6.98 [[ 3.66149081e-01 -9.30369927e-01 -1.86185438e-02 1.26073706e+02] [ 9.29172506e-01 3.66622147e-01 -4.71874520e-02 7.96215616e+01] [ 5.07277568e-02 -2.21968395e-05 9.98712518e-01 6.98156052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.15804094199999 meters 0.020649031392076415 Centerline is valid? [True, True] Translation: X:126.08, Y:79.65, Z:6.98 [[ 3.66528837e-01 -9.30218990e-01 -1.86880251e-02 1.26084060e+02] [ 9.29010436e-01 3.67004946e-01 -4.74023196e-02 7.96466862e+01] [ 5.09531355e-02 1.29467718e-05 9.98701045e-01 6.98219469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.188040942 meters 0.0204408050032765 Centerline is valid? [True, True] Translation: X:126.10, Y:79.67, Z:6.98 [[ 3.66697321e-01 -9.30145493e-01 -1.90377536e-02 1.26095668e+02] [ 9.28888976e-01 3.67191177e-01 -4.83312638e-02 7.96715957e+01] [ 5.19456023e-02 3.89854836e-05 9.98649915e-01 6.98257721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.218040942 meters 0.020375876603336153 Centerline is valid? [True, True] Translation: X:126.11, Y:79.70, Z:6.98 [[ 3.66388958e-01 -9.30263792e-01 -1.91939628e-02 1.26107363e+02] [ 9.28984555e-01 3.66891367e-01 -4.87690556e-02 7.96968557e+01] [ 5.24101859e-02 3.75484419e-05 9.98625641e-01 6.98482792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.248040942 meters 0.020199661221585806 Centerline is valid? [True, True] Translation: X:126.12, Y:79.72, Z:6.98 [[ 3.65994871e-01 -9.30412004e-01 -1.95257906e-02 1.26120486e+02] [ 9.29086235e-01 3.66515349e-01 -4.96514468e-02 7.97202393e+01] [ 5.33528041e-02 3.10315809e-05 9.98575724e-01 6.98490466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.278040942 meters 0.020134270665177888 Centerline is valid? [True, True] Translation: X:126.13, Y:79.75, Z:6.99 [[ 3.65489413e-01 -9.30609887e-01 -1.95634009e-02 1.26132366e+02] [ 9.29277706e-01 3.66012619e-01 -4.97765866e-02 7.97457507e+01] [ 5.34830352e-02 1.29831202e-05 9.98568758e-01 6.98748097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.308040942 meters 0.020108447452454523 Centerline is valid? [True, True] Translation: X:126.15, Y:79.77, Z:6.99 [[ 3.64604646e-01 -9.30955644e-01 -1.96224342e-02 1.26145511e+02] [ 9.29613686e-01 3.65132288e-01 -4.99680535e-02 7.97698434e+01] [ 5.36828257e-02 -2.26989220e-05 9.98558037e-01 6.98800092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.338040942 meters 0.019888613430511636 Centerline is valid? [True, True] Translation: X:126.16, Y:79.80, Z:6.99 [[ 3.63743587e-01 -9.31292886e-01 -1.96000657e-02 1.26156961e+02] [ 9.29952417e-01 3.64271268e-01 -4.99494331e-02 7.97951433e+01] [ 5.36572925e-02 -5.83424840e-05 9.98559408e-01 6.99085355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.368040942 meters 0.019808487039819744 Centerline is valid? [True, True] Translation: X:126.17, Y:79.82, Z:6.99 [[ 3.63013571e-01 -9.31573085e-01 -1.98175561e-02 1.26168114e+02] [ 9.30200904e-01 3.63554096e-01 -5.05440184e-02 7.98197585e+01] [ 5.42902008e-02 -8.61440318e-05 9.98525196e-01 6.99172004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.398040942 meters 0.01975264074660972 Centerline is valid? [True, True] Translation: X:126.18, Y:79.84, Z:6.99 [[ 3.61137942e-01 -9.32291826e-01 -2.02814815e-02 1.26182675e+02] [ 9.30853832e-01 3.61706950e-01 -5.17612470e-02 7.98449202e+01] [ 5.55925403e-02 -1.86144547e-04 9.98453522e-01 6.99325818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.428040942 meters 0.019763767619473568 Centerline is valid? [True, True] Translation: X:126.20, Y:79.87, Z:6.99 [[ 3.59980907e-01 -9.32735174e-01 -2.04655971e-02 1.26195489e+02] [ 9.31269390e-01 3.60562111e-01 -5.22712914e-02 7.98691806e+01] [ 5.61343909e-02 -2.42317201e-04 9.98423193e-01 6.99408877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.458040942 meters 0.019776243455340053 Centerline is valid? [True, True] Translation: X:126.21, Y:79.89, Z:7.00 [[ 3.57861353e-01 -9.33543284e-01 -2.07891492e-02 1.26210921e+02] [ 9.32030132e-01 3.58464511e-01 -5.31321742e-02 7.98930150e+01] [ 5.70533567e-02 -3.62161739e-04 9.98371065e-01 6.99622954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48804094199997 meters 0.019810114292569354 Centerline is valid? [True, True] Translation: X:126.22, Y:79.92, Z:7.00 [[ 3.56908869e-01 -9.33906447e-01 -2.08520587e-02 1.26222667e+02] [ 9.32382333e-01 3.57517250e-01 -5.33348030e-02 7.99169494e+01] [ 5.72646871e-02 -4.06426931e-04 9.98358949e-01 6.99725386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.51804094199997 meters 0.019833841446557202 Centerline is valid? [True, True] Translation: X:126.24, Y:79.94, Z:7.00 [[ 3.55765746e-01 -9.34333985e-01 -2.12306160e-02 1.26236489e+02] [ 9.32751958e-01 3.56398355e-01 -5.43506855e-02 7.99419988e+01] [ 5.83482491e-02 -4.66786423e-04 9.98296180e-01 6.99786213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54804094199997 meters 0.01964930255193533 Centerline is valid? [True, True] Translation: X:126.25, Y:79.97, Z:7.00 [[ 3.55138899e-01 -9.34574051e-01 -2.11590438e-02 1.26248286e+02] [ 9.33000579e-01 3.55768329e-01 -5.42108542e-02 7.99677337e+01] [ 5.81917753e-02 -4.89017048e-04 9.98305303e-01 6.99975664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.57804094199997 meters 0.019720796839104313 Centerline is valid? [True, True] Translation: X:126.26, Y:79.99, Z:7.00 [[ 3.55226258e-01 -9.34542084e-01 -2.11044739e-02 1.26260251e+02] [ 9.32974211e-01 3.55852322e-01 -5.41132770e-02 7.99916985e+01] [ 5.80812107e-02 -4.67472956e-04 9.98311752e-01 7.00063844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60804094199997 meters 0.019438508505779505 Centerline is valid? [True, True] Translation: X:126.27, Y:80.02, Z:7.00 [[ 3.54940580e-01 -9.34651586e-01 -2.10617349e-02 1.26274004e+02] [ 9.33088261e-01 3.55564606e-01 -5.40380264e-02 8.00163017e+01] [ 5.79955346e-02 -4.72169141e-04 9.98316731e-01 7.00290584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.63804094199998 meters 0.019378029707566923 Centerline is valid? [True, True] Translation: X:126.29, Y:80.04, Z:7.00 [[ 3.54687536e-01 -9.34746436e-01 -2.11151898e-02 1.26285948e+02] [ 9.33172653e-01 3.55315179e-01 -5.42210642e-02 8.00416441e+01] [ 5.81854940e-02 -4.72581981e-04 9.98305677e-01 7.00454506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66804094199998 meters 0.019309454103217726 Centerline is valid? [True, True] Translation: X:126.30, Y:80.07, Z:7.00 [[ 3.55097114e-01 -9.34584235e-01 -2.14090754e-02 1.26300159e+02] [ 9.32963262e-01 3.55741646e-01 -5.50221060e-02 8.00650718e+01] [ 5.90388925e-02 -4.35689853e-04 9.98255588e-01 7.00499580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.69804094199998 meters 0.01923115663065481 Centerline is valid? [True, True] Translation: X:126.31, Y:80.09, Z:7.01 [[ 3.54960005e-01 -9.34632968e-01 -2.15548302e-02 1.26312403e+02] [ 9.32987290e-01 3.55613596e-01 -5.54408492e-02 8.00899391e+01] [ 5.94820361e-02 -4.31098535e-04 9.98229283e-01 7.00596454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72804094199998 meters 0.01923115663065481 Centerline is valid? [True, True] Translation: X:126.32, Y:80.12, Z:7.01 [[ 3.54694850e-01 -9.34733990e-01 -2.15390645e-02 1.26322299e+02] [ 9.33088126e-01 3.55347973e-01 -5.54469742e-02 8.01156515e+01] [ 5.94820344e-02 -4.31089108e-04 9.98229283e-01 7.00718790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.75804094199998 meters 0.019133953562264185 Centerline is valid? [True, True] Translation: X:126.34, Y:80.14, Z:7.01 [[ 3.54684887e-01 -9.34744706e-01 -2.12359540e-02 1.26336390e+02] [ 9.33142193e-01 3.55319808e-01 -5.47127230e-02 8.01387053e+01] [ 5.86879832e-02 -4.10388715e-04 9.98276291e-01 7.00883312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78804094199998 meters 0.01902588712333188 Centerline is valid? [True, True] Translation: X:126.35, Y:80.16, Z:7.01 [[ 3.54477048e-01 -9.34828506e-01 -2.10163619e-02 1.26348534e+02] [ 9.33256413e-01 3.55099285e-01 -5.41937725e-02 8.01635352e+01] [ 5.81247785e-02 -4.03205998e-04 9.98309244e-01 7.01164503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.81804094199998 meters 0.018908832221281886 Centerline is valid? [True, True] Translation: X:126.36, Y:80.19, Z:7.01 [[ 3.53906966e-01 -9.35052231e-01 -2.06684327e-02 1.26364015e+02] [ 9.33529578e-01 3.54509733e-01 -5.33420656e-02 8.01860530e+01] [ 5.72047781e-02 -4.16464703e-04 9.98362379e-01 7.01399011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84804094199998 meters 0.018946781560064956 Centerline is valid? [True, True] Translation: X:126.38, Y:80.21, Z:7.02 [[ 3.52918446e-01 -9.35432253e-01 -2.03732594e-02 1.26377430e+02] [ 9.33950841e-01 3.53505718e-01 -5.26263562e-02 8.02104984e+01] [ 5.64304547e-02 -4.54810919e-04 9.98406429e-01 7.01604767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.87804094199998 meters 0.01880530378525332 Centerline is valid? [True, True] Translation: X:126.39, Y:80.24, Z:7.02 [[ 3.51669073e-01 -9.35905548e-01 -2.02402495e-02 1.26390838e+02] [ 9.34441738e-01 3.52250682e-01 -5.23268080e-02 8.02351955e+01] [ 5.61025916e-02 -5.11613851e-04 9.98424878e-01 7.01840282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90804094199999 meters 0.0193022302401633 Centerline is valid? [True, True] Translation: X:126.41, Y:80.26, Z:7.02 [[ 3.49691529e-01 -9.36648751e-01 -2.01234025e-02 1.26408017e+02] [ 9.35200590e-01 3.50269529e-01 -5.20683472e-02 8.02576960e+01] [ 5.58183670e-02 -6.11557932e-04 9.98440752e-01 7.01927837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.938040942 meters 0.019241698534096796 Centerline is valid? [True, True] Translation: X:126.42, Y:80.28, Z:7.02 [[ 3.48387031e-01 -9.37136276e-01 -2.00518695e-02 1.26420780e+02] [ 9.35696945e-01 3.48962961e-01 -5.19237893e-02 8.02831891e+01] [ 5.56570263e-02 -6.72898271e-04 9.98449720e-01 7.02143362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.968040942 meters 0.01930003042470548 Centerline is valid? [True, True] Translation: X:126.44, Y:80.31, Z:7.02 [[ 3.47075459e-01 -9.37623688e-01 -2.00111458e-02 1.26436874e+02] [ 9.36188563e-01 3.47651092e-01 -5.18622567e-02 8.03068219e+01] [ 5.55841770e-02 -7.34089299e-04 9.98453735e-01 7.02222802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.998040942 meters 0.01928710205430368 Centerline is valid? [True, True] Translation: X:126.45, Y:80.33, Z:7.02 [[ 3.47155333e-01 -9.37595770e-01 -1.99335745e-02 1.26449392e+02] [ 9.36169423e-01 3.47726423e-01 -5.17024778e-02 8.03310247e+01] [ 5.54074550e-02 -7.12412024e-04 9.98463573e-01 7.02310057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.028040942 meters 0.01918372338766003 Centerline is valid? [True, True] Translation: X:126.46, Y:80.36, Z:7.02 [[ 3.47677016e-01 -9.37399705e-01 -2.00620551e-02 1.26463806e+02] [ 9.35952642e-01 3.48254705e-01 -5.20702612e-02 8.03557671e+01] [ 5.57973526e-02 -6.73500395e-04 9.98441887e-01 7.02391593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.058040942 meters 0.019063497130867305 Centerline is valid? [True, True] Translation: X:126.48, Y:80.38, Z:7.03 [[ 3.47891764e-01 -9.37322033e-01 -1.99681592e-02 1.26475542e+02] [ 9.35885976e-01 3.48463763e-01 -5.18695178e-02 8.03810573e+01] [ 5.55766218e-02 -6.42942078e-04 9.98454218e-01 7.02531143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.088040942 meters 0.018858035099470923 Centerline is valid? [True, True] Translation: X:126.49, Y:80.41, Z:7.03 [[ 3.48981797e-01 -9.36924212e-01 -1.96144505e-02 1.26485592e+02] [ 9.35535708e-01 3.49532136e-01 -5.09924065e-02 8.04068811e+01] [ 5.46319011e-02 -5.54597185e-04 9.98506408e-01 7.02721283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.118040942 meters 0.018455194989681165 Centerline is valid? [True, True] Translation: X:126.49, Y:80.43, Z:7.03 [[ 3.51974872e-01 -9.35811905e-01 -1.92293717e-02 1.26493444e+02] [ 9.34473569e-01 3.52499574e-01 -5.00319804e-02 8.04335629e+01] [ 5.35988682e-02 -3.59339752e-04 9.98562483e-01 7.02850380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.148040942 meters 0.018209313211038997 Centerline is valid? [True, True] Translation: X:126.50, Y:80.46, Z:7.03 [[ 3.53140875e-01 -9.35372050e-01 -1.92523047e-02 1.26502033e+02] [ 9.34027689e-01 3.53665168e-01 -5.01320694e-02 8.04597952e+01] [ 5.37010061e-02 -2.78502788e-04 9.98557021e-01 7.03007770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.178040942 meters 0.01812977958688806 Centerline is valid? [True, True] Translation: X:126.51, Y:80.49, Z:7.03 [[ 3.54772202e-01 -9.34749461e-01 -1.94969067e-02 1.26510888e+02] [ 9.33367350e-01 3.55307495e-01 -5.08131227e-02 8.04856825e+01] [ 5.44249361e-02 -1.70692680e-04 9.98517850e-01 7.03071834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.208040942 meters 0.018171408471617002 Centerline is valid? [True, True] Translation: X:126.52, Y:80.51, Z:7.03 [[ 3.54648551e-01 -9.34794188e-01 -1.96018287e-02 1.26521029e+02] [ 9.33394697e-01 3.55189808e-01 -5.11325731e-02 8.05111983e+01] [ 5.47608019e-02 -1.62150002e-04 9.98499488e-01 7.03086418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.23804094199997 meters 0.018205233841661297 Centerline is valid? [True, True] Translation: X:126.53, Y:80.54, Z:7.03 [[ 3.53815586e-01 -9.35105662e-01 -1.97972919e-02 1.26531567e+02] [ 9.33676050e-01 3.54368965e-01 -5.16882006e-02 8.05366611e+01] [ 5.53494748e-02 -1.96166305e-04 9.98467024e-01 7.03337183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26804094199997 meters 0.018471968337209804 Centerline is valid? [True, True] Translation: X:126.54, Y:80.56, Z:7.03 [[ 3.52579517e-01 -9.35570848e-01 -1.98714049e-02 1.26541664e+02] [ 9.34128746e-01 3.53138958e-01 -5.19265122e-02 8.05615099e+01] [ 5.55982982e-02 -2.54225945e-04 9.98453186e-01 7.03270165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.29804094199997 meters 0.01851631374460745 Centerline is valid? [True, True] Translation: X:126.55, Y:80.59, Z:7.03 [[ 3.51009891e-01 -9.36162306e-01 -1.98038872e-02 1.26551358e+02] [ 9.34728400e-01 3.51567957e-01 -5.17956602e-02 8.05879508e+01] [ 5.54515569e-02 -3.30466755e-04 9.98461324e-01 7.03423518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32804094199997 meters 0.019238735359626804 Centerline is valid? [True, True] Translation: X:126.56, Y:80.61, Z:7.03 [[ 3.47574416e-01 -9.37442781e-01 -1.98256762e-02 1.26562090e+02] [ 9.36005586e-01 3.48138997e-01 -5.18920150e-02 8.06135716e+01] [ 5.55478858e-02 -5.20606880e-04 9.98455889e-01 7.03408589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.35804094199997 meters 0.01953547177825336 Centerline is valid? [True, True] Translation: X:126.57, Y:80.64, Z:7.04 [[ 3.45598955e-01 -9.38176959e-01 -1.96304666e-02 1.26572280e+02] [ 9.36767497e-01 3.46155466e-01 -5.14106000e-02 8.06390368e+01] [ 5.50274337e-02 -6.21733403e-04 9.98484649e-01 7.03574134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38804094199998 meters 0.020612500314879722 Centerline is valid? [True, True] Translation: X:126.58, Y:80.66, Z:7.04 [[ 3.41680367e-01 -9.39612775e-01 -1.95540359e-02 1.26584646e+02] [ 9.38214168e-01 3.42238425e-01 -5.12546166e-02 8.06630554e+01] [ 5.48516349e-02 -8.33177304e-04 9.98494168e-01 7.03812330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.41804094199998 meters 0.019687524794037146 Centerline is valid? [True, True] Translation: X:126.59, Y:80.69, Z:7.04 [[ 3.39510634e-01 -9.40402586e-01 -1.93779614e-02 1.26593062e+02] [ 9.39028099e-01 3.40061901e-01 -5.08343581e-02 8.06901561e+01] [ 5.43944683e-02 -9.37645143e-04 9.98519085e-01 7.04222274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44804094199998 meters 0.01986168242032256 Centerline is valid? [True, True] Translation: X:126.60, Y:80.72, Z:7.04 [[ 3.37878573e-01 -9.40994783e-01 -1.91543500e-02 1.26603816e+02] [ 9.39650636e-01 3.38419569e-01 -5.02879379e-02 8.07161185e+01] [ 5.38028941e-02 -1.00718051e-03 9.98551067e-01 7.04465178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.47804094199998 meters 0.020258460131220537 Centerline is valid? [True, True] Translation: X:126.61, Y:80.74, Z:7.05 [[ 3.35508267e-01 -9.41853513e-01 -1.86054514e-02 1.26614539e+02] [ 9.40584627e-01 3.36021954e-01 -4.88856376e-02 8.07422461e+01] [ 5.22949496e-02 -1.09846600e-03 9.98631079e-01 7.04738480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50804094199998 meters 0.020599880731566215 Centerline is valid? [True, True] Translation: X:126.62, Y:80.77, Z:7.05 [[ 3.34787919e-01 -9.42113497e-01 -1.84176150e-02 1.26623227e+02] [ 9.40868479e-01 3.35292287e-01 -4.84312747e-02 8.07676952e+01] [ 5.18030418e-02 -1.11434773e-03 9.98656699e-01 7.04833215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.53804094199998 meters 0.0205288027754651 Centerline is valid? [True, True] Translation: X:126.63, Y:80.79, Z:7.05 [[ 3.35152948e-01 -9.41988654e-01 -1.81625184e-02 1.26631721e+02] [ 9.40775571e-01 3.35643024e-01 -4.78025713e-02 8.07929919e+01] [ 5.11256024e-02 -1.06568092e-03 9.98691663e-01 7.04916749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56804094199998 meters 0.020332189711590665 Centerline is valid? [True, True] Translation: X:126.64, Y:80.82, Z:7.05 [[ 3.35776135e-01 -9.41769083e-01 -1.80383607e-02 1.26640831e+02] [ 9.40570171e-01 3.36258787e-01 -4.75161249e-02 8.08196773e+01] [ 5.08147747e-02 -1.01156321e-03 9.98707583e-01 7.05033330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.59804094199998 meters 0.019217659302725416 Centerline is valid? [True, True] Translation: X:126.65, Y:80.85, Z:7.05 [[ 3.37436089e-01 -9.41176553e-01 -1.79883759e-02 1.26648780e+02] [ 9.39981454e-01 3.37914005e-01 -4.74235361e-02 8.08468807e+01] [ 5.07124444e-02 -9.06327156e-04 9.98712885e-01 7.05307508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62804094199998 meters 0.019508520442108452 Centerline is valid? [True, True] Translation: X:126.66, Y:80.87, Z:7.05 [[ 3.38046439e-01 -9.40957066e-01 -1.80112638e-02 1.26659154e+02] [ 9.39756571e-01 3.38524828e-01 -4.75239741e-02 8.08721313e+01] [ 5.08152792e-02 -8.60893334e-04 9.98707698e-01 7.05434121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.65804094199999 meters 0.018795487620596775 Centerline is valid? [True, True] Translation: X:126.67, Y:80.90, Z:7.06 [[ 3.39400870e-01 -9.40474186e-01 -1.77582349e-02 1.26666616e+02] [ 9.39304550e-01 3.39864270e-01 -4.68960669e-02 8.08998403e+01] [ 5.01399298e-02 -7.63824899e-04 9.98741911e-01 7.05514586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.688040942 meters 0.0187374361778061 Centerline is valid? [True, True] Translation: X:126.68, Y:80.93, Z:7.06 [[ 3.40218999e-01 -9.40178862e-01 -1.77409180e-02 1.26675876e+02] [ 9.39009747e-01 3.40680500e-01 -4.68774255e-02 8.09256050e+01] [ 5.01171493e-02 -7.10304155e-04 9.98743094e-01 7.05619517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.718040942 meters 0.018575801104849247 Centerline is valid? [True, True] Translation: X:126.69, Y:80.95, Z:7.06 [[ 3.41113043e-01 -9.39858902e-01 -1.75252813e-02 1.26685468e+02] [ 9.38715609e-01 3.41562340e-01 -4.63483859e-02 8.09521339e+01] [ 4.95469192e-02 -6.41216220e-04 9.98771591e-01 7.05730066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.748040942 meters 0.018498176709786922 Centerline is valid? [True, True] Translation: X:126.70, Y:80.98, Z:7.06 [[ 3.41302208e-01 -9.39789709e-01 -1.75529500e-02 1.26695660e+02] [ 9.38640739e-01 3.41752718e-01 -4.64611903e-02 8.09784265e+01] [ 4.96625169e-02 -6.18607136e-04 9.98765864e-01 7.05850765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.778040942 meters 0.018302333949495875 Centerline is valid? [True, True] Translation: X:126.71, Y:81.00, Z:7.06 [[ 3.40906893e-01 -9.39934597e-01 -1.74769297e-02 1.26705697e+02] [ 9.38793799e-01 3.41354016e-01 -4.62994378e-02 8.10049310e+01] [ 4.94842635e-02 -6.23435726e-04 9.98774709e-01 7.05984828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.808040942 meters 0.018544771781208422 Centerline is valid? [True, True] Translation: X:126.72, Y:81.03, Z:7.06 [[ 3.39874292e-01 -9.40310026e-01 -1.73931021e-02 1.26716999e+02] [ 9.39178647e-01 3.40318406e-01 -4.61178019e-02 8.10292203e+01] [ 4.92842243e-02 -6.60974826e-04 9.98784576e-01 7.06126836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.838040942 meters 0.018824655011265536 Centerline is valid? [True, True] Translation: X:126.73, Y:81.05, Z:7.06 [[ 3.38824798e-01 -9.40689950e-01 -1.73255321e-02 1.26727764e+02] [ 9.39565764e-01 3.39266753e-01 -4.59809196e-02 8.10543003e+01] [ 4.91317660e-02 -6.99000950e-04 9.98792061e-01 7.06233556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.868040942 meters 0.01905134574421187 Centerline is valid? [True, True] Translation: X:126.74, Y:81.08, Z:7.06 [[ 3.38033767e-01 -9.40973883e-01 -1.73586637e-02 1.26739118e+02] [ 9.39843699e-01 3.38478391e-01 -4.61107355e-02 8.10804780e+01] [ 4.92645304e-02 -7.27445112e-04 9.98785501e-01 7.06331937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.898040942 meters 0.01885545764018371 Centerline is valid? [True, True] Translation: X:126.75, Y:81.11, Z:7.07 [[ 3.37953881e-01 -9.41005882e-01 -1.71786026e-02 1.26749171e+02] [ 9.39897204e-01 3.38389456e-01 -4.56708002e-02 8.11061659e+01] [ 4.87895497e-02 -7.11496413e-04 9.98808827e-01 7.06509444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.928040942 meters 0.018625660126455983 Centerline is valid? [True, True] Translation: X:126.76, Y:81.13, Z:7.07 [[ 3.38420343e-01 -9.40845182e-01 -1.67933158e-02 1.26759876e+02] [ 9.39783721e-01 3.38836108e-01 -4.46838812e-02 8.11324273e+01] [ 4.77307961e-02 -6.60150435e-04 9.98860018e-01 7.06734968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.958040942 meters 0.01868580663304008 Centerline is valid? [True, True] Translation: X:126.77, Y:81.16, Z:7.07 [[ 3.38433195e-01 -9.40837245e-01 -1.69779461e-02 1.26770145e+02] [ 9.39750380e-01 3.38858159e-01 -4.52147264e-02 8.11578534e+01] [ 4.82928142e-02 -6.52867030e-04 9.98833008e-01 7.06835596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98804094199997 meters 0.018605623251757155 Centerline is valid? [True, True] Translation: X:126.78, Y:81.18, Z:7.07 [[ 3.38420432e-01 -9.40842955e-01 -1.69158435e-02 1.26781197e+02] [ 9.39762078e-01 3.38842335e-01 -4.50900091e-02 8.11838306e+01] [ 4.81544213e-02 -6.37487878e-04 9.98839700e-01 7.06927562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.01804094199997 meters 0.018563290131718643 Centerline is valid? [True, True] Translation: X:126.79, Y:81.21, Z:7.07 [[ 3.37803980e-01 -9.41063971e-01 -1.69432433e-02 1.26791688e+02] [ 9.39978018e-01 3.38227986e-01 -4.52012655e-02 8.12093969e+01] [ 4.82679615e-02 -6.57108877e-04 9.98834207e-01 7.07100977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04804094199997 meters 0.01869863545963872 Centerline is valid? [True, True] Translation: X:126.80, Y:81.23, Z:7.07 [[ 3.37184872e-01 -9.41288627e-01 -1.67953061e-02 1.26802276e+02] [ 9.40220031e-01 3.37602237e-01 -4.48444352e-02 8.12349649e+01] [ 4.78816898e-02 -6.70418113e-04 9.98852789e-01 7.07259397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.07804094199997 meters 0.01862768441047585 Centerline is valid? [True, True] Translation: X:126.81, Y:81.26, Z:7.07 [[ 3.36302848e-01 -9.41613970e-01 -1.62334724e-02 1.26812257e+02] [ 9.40614427e-01 3.36693730e-01 -4.33800794e-02 8.12609184e+01] [ 4.63129971e-02 -6.80594121e-04 9.98926746e-01 7.07460298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10804094199997 meters 0.018451966860127133 Centerline is valid? [True, True] Translation: X:126.82, Y:81.29, Z:7.08 [[ 3.35950570e-01 -9.41740734e-01 -1.61742276e-02 1.26821486e+02] [ 9.40746907e-01 3.36339002e-01 -4.32589077e-02 8.12869460e+01] [ 4.61786990e-02 -6.82999867e-04 9.98932961e-01 7.07610320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.13804094199998 meters 0.0185680952404772 Centerline is valid? [True, True] Translation: X:126.83, Y:81.31, Z:7.08 [[ 3.36083452e-01 -9.41692603e-01 -1.62158982e-02 1.26831716e+02] [ 9.40691802e-01 3.36473773e-01 -4.34089239e-02 8.13125257e+01] [ 4.63340870e-02 -6.65141509e-04 9.98925778e-01 7.07744715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16804094199998 meters 0.018618442850797428 Centerline is valid? [True, True] Translation: X:126.84, Y:81.34, Z:7.08 [[ 3.36072089e-01 -9.41694530e-01 -1.63389958e-02 1.26841459e+02] [ 9.40676547e-01 3.36468395e-01 -4.37795942e-02 8.13376904e+01] [ 4.67245601e-02 -6.56610496e-04 9.98907596e-01 7.07840479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.19804094199998 meters 0.01849737284878598 Centerline is valid? [True, True] Translation: X:126.85, Y:81.36, Z:7.08 [[ 3.36419335e-01 -9.41573361e-01 -1.61752258e-02 1.26851151e+02] [ 9.40573728e-01 3.36807396e-01 -4.33801693e-02 8.13639728e+01] [ 4.62935475e-02 -6.20064759e-04 9.98927687e-01 7.07981845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22804094199998 meters 0.01849469113585161 Centerline is valid? [True, True] Translation: X:126.86, Y:81.39, Z:7.08 [[ 3.37199841e-01 -9.41297101e-01 -1.60011109e-02 1.26860345e+02] [ 9.40316893e-01 3.37578807e-01 -4.29498612e-02 8.13906802e+01] [ 4.58302158e-02 -5.63428506e-04 9.98949085e-01 7.08195214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.25804094199998 meters 0.018289603612196125 Centerline is valid? [True, True] Translation: X:126.87, Y:81.42, Z:7.08 [[ 3.37641666e-01 -9.41143127e-01 -1.57391301e-02 1.26868925e+02] [ 9.40192979e-01 3.38007903e-01 -4.22826083e-02 8.14175238e+01] [ 4.51139366e-02 -5.21449310e-04 9.98981712e-01 7.08422871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28804094199998 meters 0.01835726318572399 Centerline is valid? [True, True] Translation: X:126.88, Y:81.44, Z:7.09 [[ 3.37872196e-01 -9.41061878e-01 -1.56499488e-02 1.26878280e+02] [ 9.40120736e-01 3.38234085e-01 -4.20797430e-02 8.14430301e+01] [ 4.48929880e-02 -4.95266254e-04 9.98991679e-01 7.08611120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.31804094199998 meters 0.01837545476565287 Centerline is valid? [True, True] Translation: X:126.89, Y:81.47, Z:7.09 [[ 3.37942566e-01 -9.41041954e-01 -1.53252273e-02 1.26887686e+02] [ 9.40138324e-01 3.38289545e-01 -4.12324660e-02 8.14697531e+01] [ 4.39858446e-02 -4.73628158e-04 9.99032042e-01 7.08818924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34804094199998 meters 0.01829870729312528 Centerline is valid? [True, True] Translation: X:126.90, Y:81.50, Z:7.09 [[ 3.37545632e-01 -9.41186081e-01 -1.52219617e-02 1.26896269e+02] [ 9.40293200e-01 3.37888345e-01 -4.09898145e-02 8.14964486e+01] [ 4.37223663e-02 -4.77174207e-04 9.99043606e-01 7.09052361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.37804094199998 meters 0.0185435723159906 Centerline is valid? [True, True] Translation: X:126.91, Y:81.52, Z:7.09 [[ 3.36703776e-01 -9.41489912e-01 -1.50769074e-02 1.26905684e+02] [ 9.40612729e-01 3.37040793e-01 -4.06349408e-02 8.15214982e+01] [ 4.33389197e-02 -4.99593018e-04 9.99060303e-01 7.09198245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40804094199999 meters 0.019051895421079806 Centerline is valid? [True, True] Translation: X:126.92, Y:81.55, Z:7.09 [[ 3.33578408e-01 -9.42604163e-01 -1.49277387e-02 1.26916000e+02] [ 9.41743751e-01 3.33911667e-01 -4.02704186e-02 8.15480111e+01] [ 4.29436103e-02 -6.24762467e-04 9.99077302e-01 7.09366220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.438040942 meters 0.019405412509191387 Centerline is valid? [True, True] Translation: X:126.93, Y:81.57, Z:7.09 [[ 3.31633718e-01 -9.43289798e-01 -1.49477082e-02 1.26926340e+02] [ 9.42426332e-01 3.31969671e-01 -4.03577238e-02 8.15744636e+01] [ 4.30312149e-02 -7.03131809e-04 9.99073481e-01 7.09490769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.468040942 meters 0.019808917473355503 Centerline is valid? [True, True] Translation: X:126.94, Y:81.60, Z:7.10 [[ 3.29459116e-01 -9.44048838e-01 -1.51156270e-02 1.26936521e+02] [ 9.43165156e-01 3.29804717e-01 -4.08452921e-02 8.16005163e+01] [ 4.35451556e-02 -7.99678854e-04 9.99051140e-01 7.09620011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.498040942 meters 0.02073712835367927 Centerline is valid? [True, True] Translation: X:126.95, Y:81.63, Z:7.10 [[ 3.26029304e-01 -9.45237442e-01 -1.52010375e-02 1.26946669e+02] [ 9.44343583e-01 3.26382095e-01 -4.11086962e-02 8.16267227e+01] [ 4.38188253e-02 -9.52362625e-04 9.99039040e-01 7.09829703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.528040942 meters 0.021029555993295847 Centerline is valid? [True, True] Translation: X:126.96, Y:81.65, Z:7.10 [[ 3.24052504e-01 -9.45919206e-01 -1.50609092e-02 1.26956064e+02] [ 9.45041074e-01 3.24400690e-01 -4.07622515e-02 8.16531811e+01] [ 4.34435659e-02 -1.02406811e-03 9.99055358e-01 7.09993645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.558040942 meters 0.02245688904877201 Centerline is valid? [True, True] Translation: X:126.97, Y:81.68, Z:7.10 [[ 3.21141306e-01 -9.46912215e-01 -1.50172481e-02 1.26965407e+02] [ 9.46038801e-01 3.21490199e-01 -4.06772415e-02 8.16785946e+01] [ 4.33456750e-02 -1.14375692e-03 9.99059480e-01 7.10211354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.588040942 meters 0.02264183868522753 Centerline is valid? [True, True] Translation: X:126.97, Y:81.71, Z:7.10 [[ 3.20144828e-01 -9.47249846e-01 -1.50006345e-02 1.26974046e+02] [ 9.46377659e-01 3.20493895e-01 -4.06569735e-02 8.17050452e+01] [ 4.33199237e-02 -1.18014555e-03 9.99060554e-01 7.10372689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.618040942 meters 0.02264183868522753 Centerline is valid? [True, True] Translation: X:126.98, Y:81.73, Z:7.10 [[ 3.19886869e-01 -9.47337146e-01 -1.49907394e-02 1.26983491e+02] [ 9.46464885e-01 3.20235750e-01 -4.06606216e-02 8.17309449e+01] [ 4.33198879e-02 -1.18140954e-03 9.99060555e-01 7.10495101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.648040942 meters 0.022220548412478284 Centerline is valid? [True, True] Translation: X:126.99, Y:81.76, Z:7.11 [[ 3.18999946e-01 -9.47631724e-01 -1.52692743e-02 1.26988572e+02] [ 9.46725498e-01 3.19362797e-01 -4.14515937e-02 8.17586076e+01] [ 4.41572833e-02 -1.23275517e-03 9.99023831e-01 7.10571026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.678040942 meters 0.02214516614736325 Centerline is valid? [True, True] Translation: X:127.00, Y:81.79, Z:7.11 [[ 3.19055584e-01 -9.47612613e-01 -1.52927778e-02 1.26996213e+02] [ 9.46701984e-01 3.19419544e-01 -4.15512644e-02 8.17862549e+01] [ 4.42593144e-02 -1.22054016e-03 9.99019331e-01 7.10611696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.708040942 meters 0.021473344224443705 Centerline is valid? [True, True] Translation: X:127.00, Y:81.81, Z:7.11 [[ 3.18988020e-01 -9.47633213e-01 -1.54252101e-02 1.27002120e+02] [ 9.46705228e-01 3.19358417e-01 -4.19453566e-02 8.18136592e+01] [ 4.46749837e-02 -1.22306081e-03 9.99000826e-01 7.10722898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.73804094199997 meters 0.021108120150819053 Centerline is valid? [True, True] Translation: X:127.01, Y:81.84, Z:7.11 [[ 3.20771550e-01 -9.47032339e-01 -1.53414792e-02 1.27006552e+02] [ 9.46112076e-01 3.21136251e-01 -4.17546184e-02 8.18421779e+01] [ 4.44696791e-02 -1.12106509e-03 9.99010105e-01 7.10783313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76804094199997 meters 0.020926545598737925 Centerline is valid? [True, True] Translation: X:127.01, Y:81.87, Z:7.11 [[ 3.21733056e-01 -9.46707852e-01 -1.52342915e-02 1.27013475e+02] [ 9.45798501e-01 3.22091796e-01 -4.14978464e-02 8.18700770e+01] [ 4.41931774e-02 -1.05734113e-03 9.99022445e-01 7.10912943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.79804094199997 meters 0.020910628634335904 Centerline is valid? [True, True] Translation: X:127.02, Y:81.90, Z:7.11 [[ 3.23762286e-01 -9.46019611e-01 -1.49958907e-02 1.27018462e+02] [ 9.45136265e-01 3.24108033e-01 -4.08830395e-02 8.18976752e+01] [ 4.35364458e-02 -9.36773758e-04 9.99051400e-01 7.11019687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82804094199997 meters 0.020720397617197742 Centerline is valid? [True, True] Translation: X:127.03, Y:81.92, Z:7.11 [[ 3.24457747e-01 -9.45782276e-01 -1.49350860e-02 1.27025167e+02] [ 9.44904850e-01 3.24800073e-01 -4.07398722e-02 8.19246123e+01] [ 4.33819661e-02 -8.93868016e-04 9.99058159e-01 7.11160617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.85804094199997 meters 0.020354718683653895 Centerline is valid? [True, True] Translation: X:127.03, Y:81.95, Z:7.11 [[ 3.26026451e-01 -9.45249677e-01 -1.44845009e-02 1.27029073e+02] [ 9.44422484e-01 3.26347098e-01 -3.95441934e-02 8.19533964e+01] [ 4.21061109e-02 -7.87035281e-04 9.99112834e-01 7.11286208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88804094199998 meters 0.020507992537494416 Centerline is valid? [True, True] Translation: X:127.04, Y:81.98, Z:7.11 [[ 3.26783804e-01 -9.44988760e-01 -1.44425931e-02 1.27036558e+02] [ 9.44164691e-01 3.27101964e-01 -3.94631745e-02 8.19793722e+01] [ 4.20164569e-02 -7.40260158e-04 9.99116645e-01 7.11389114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.91804094199998 meters 0.02007620535579718 Centerline is valid? [True, True] Translation: X:127.04, Y:82.01, Z:7.11 [[ 3.27568953e-01 -9.44715867e-01 -1.45090352e-02 1.27041080e+02] [ 9.43882389e-01 3.27889381e-01 -3.96810871e-02 8.20072380e+01] [ 4.22447112e-02 -6.96530618e-04 9.99107051e-01 7.11410108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94804094199998 meters 0.020123878897542136 Centerline is valid? [True, True] Translation: X:127.05, Y:82.03, Z:7.12 [[ 3.27184878e-01 -9.44851799e-01 -1.43225021e-02 1.27048749e+02] [ 9.44038341e-01 3.27497477e-01 -3.92047525e-02 8.20343187e+01] [ 4.17332643e-02 -6.93788971e-04 9.99128547e-01 7.11523575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.97804094199998 meters 0.020293517946543476 Centerline is valid? [True, True] Translation: X:127.05, Y:82.06, Z:7.12 [[ 3.26790142e-01 -9.44995458e-01 -1.38486935e-02 1.27054981e+02] [ 9.44233791e-01 3.27082747e-01 -3.79397537e-02 8.20610155e+01] [ 4.03825637e-02 -6.78066804e-04 9.99184062e-01 7.11709440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00804094199998 meters 0.020182977944483465 Centerline is valid? [True, True] Translation: X:127.06, Y:82.09, Z:7.12 [[ 3.26230532e-01 -9.45190055e-01 -1.37623036e-02 1.27062420e+02] [ 9.44436633e-01 3.26519968e-01 -3.77380014e-02 8.20877733e+01] [ 4.01632505e-02 -6.86335379e-04 9.99192895e-01 7.11770132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.03804094199998 meters 0.020246424220834128 Centerline is valid? [True, True] Translation: X:127.07, Y:82.11, Z:7.12 [[ 3.25170038e-01 -9.45555490e-01 -1.37572417e-02 1.27070967e+02] [ 9.44801606e-01 3.25460130e-01 -3.77574888e-02 8.21149255e+01] [ 4.01792345e-02 -7.20259968e-04 9.99192229e-01 7.11871536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06804094199998 meters 0.020777982617304975 Centerline is valid? [True, True] Translation: X:127.08, Y:82.14, Z:7.12 [[ 3.22108811e-01 -9.46602970e-01 -1.37379658e-02 1.27080077e+02] [ 9.45850783e-01 3.22400550e-01 -3.77383149e-02 8.21422071e+01] [ 4.01523287e-02 -8.38221996e-04 9.99193218e-01 7.11925607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.09804094199998 meters 0.02107974999456829 Centerline is valid? [True, True] Translation: X:127.09, Y:82.17, Z:7.12 [[ 3.20101990e-01 -9.47284741e-01 -1.36505101e-02 1.27089718e+02] [ 9.46541473e-01 3.20391630e-01 -3.75292316e-02 8.21689874e+01] [ 3.99243776e-02 -9.07592196e-04 9.99202292e-01 7.12007858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12804094199998 meters 0.02236364809819371 Centerline is valid? [True, True] Translation: X:127.10, Y:82.19, Z:7.12 [[ 3.15877198e-01 -9.48698809e-01 -1.38623467e-02 1.27100092e+02] [ 9.47932295e-01 3.16179343e-01 -3.81443000e-02 8.21945046e+01] [ 4.05704397e-02 -1.09165153e-03 9.99176084e-01 7.11947331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.15804094199999 meters 0.023019520141421335 Centerline is valid? [True, True] Translation: X:127.11, Y:82.22, Z:7.12 [[ 3.13764916e-01 -9.49398738e-01 -1.39144806e-02 1.27110104e+02] [ 9.48625715e-01 3.14071097e-01 -3.83222944e-02 8.22211096e+01] [ 4.07532741e-02 -1.17544262e-03 9.99168549e-01 7.12029821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.188040942 meters 0.023019884858391463 Centerline is valid? [True, True] Translation: X:127.12, Y:82.25, Z:7.12 [[ 3.11936702e-01 -9.49995585e-01 -1.42787741e-02 1.27118792e+02] [ 9.49180763e-01 3.12260728e-01 -3.93588171e-02 8.22481981e+01] [ 4.18494028e-02 -1.27567812e-03 9.99123116e-01 7.12011546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.218040942 meters 0.023510061576116723 Centerline is valid? [True, True] Translation: X:127.13, Y:82.28, Z:7.12 [[ 3.09240776e-01 -9.50867805e-01 -1.48512514e-02 1.27127391e+02] [ 9.49985741e-01 3.09593846e-01 -4.09724537e-02 8.22752163e+01] [ 4.35572432e-02 -1.43812368e-03 9.99049898e-01 7.11926462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.248040942 meters 0.024775551092562107 Centerline is valid? [True, True] Translation: X:127.14, Y:82.30, Z:7.12 [[ 3.08422296e-01 -9.51133543e-01 -1.48549986e-02 1.27137059e+02] [ 9.50249833e-01 3.08776353e-01 -4.10172871e-02 8.23009614e+01] [ 4.35997899e-02 -1.46531413e-03 9.99048002e-01 7.11996598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.278040942 meters 0.02464016782580732 Centerline is valid? [True, True] Translation: X:127.15, Y:82.33, Z:7.12 [[ 3.08189702e-01 -9.51211659e-01 -1.46794520e-02 1.27145171e+02] [ 9.50347861e-01 3.08535687e-01 -4.05545557e-02 8.23278723e+01] [ 4.31051010e-02 -1.45208941e-03 9.99069488e-01 7.12156651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.308040942 meters 0.024540087443891974 Centerline is valid? [True, True] Translation: X:127.15, Y:82.36, Z:7.12 [[ 3.08651442e-01 -9.51064958e-01 -1.44821640e-02 1.27153327e+02] [ 9.50222608e-01 3.08987833e-01 -4.00438957e-02 8.23551752e+01] [ 4.25591585e-02 -1.40167355e-03 9.99092965e-01 7.12306463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.338040942 meters 0.02406163629646963 Centerline is valid? [True, True] Translation: X:127.16, Y:82.38, Z:7.12 [[ 3.09177402e-01 -9.50897800e-01 -1.42375281e-02 1.27160252e+02] [ 9.50082100e-01 3.09502124e-01 -3.94010053e-02 8.23819960e+01] [ 4.18728745e-02 -1.34492015e-03 9.99122041e-01 7.12448767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.368040942 meters 0.023263983876788824 Centerline is valid? [True, True] Translation: X:127.17, Y:82.41, Z:7.13 [[ 3.10895658e-01 -9.50336131e-01 -1.43223228e-02 1.27165968e+02] [ 9.49508610e-01 3.11222809e-01 -3.96706669e-02 8.24096805e+01] [ 4.21579016e-02 -1.26573072e-03 9.99110159e-01 7.12506923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.398040942 meters 0.02327964467472947 Centerline is valid? [True, True] Translation: X:127.17, Y:82.44, Z:7.13 [[ 3.11681624e-01 -9.50077131e-01 -1.44225877e-02 1.27173647e+02] [ 9.49236252e-01 3.12012718e-01 -3.99825219e-02 8.24364635e+01] [ 4.24865105e-02 -1.22862579e-03 9.99096285e-01 7.12593066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.428040942 meters 0.02317606531676081 Centerline is valid? [True, True] Translation: X:127.18, Y:82.46, Z:7.13 [[ 3.11571024e-01 -9.50114648e-01 -1.43405767e-02 1.27182114e+02] [ 9.49281932e-01 3.11898503e-01 -3.97886717e-02 8.24628899e+01] [ 4.22766042e-02 -1.21625317e-03 9.99105204e-01 7.12752509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.458040942 meters 0.02394481494495205 Centerline is valid? [True, True] Translation: X:127.19, Y:82.49, Z:7.13 [[ 3.11669594e-01 -9.50081482e-01 -1.43958969e-02 1.27192218e+02] [ 9.49240794e-01 3.11999559e-01 -3.99773753e-02 8.24884303e+01] [ 4.24732774e-02 -1.20544029e-03 9.99096876e-01 7.12917190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48804094199997 meters 0.022410198207914775 Centerline is valid? [True, True] Translation: X:127.20, Y:82.52, Z:7.13 [[ 3.12558816e-01 -9.49792109e-01 -1.42103905e-02 1.27197016e+02] [ 9.48971154e-01 3.12879609e-01 -3.94980901e-02 8.25171062e+01] [ 4.19611157e-02 -1.13977436e-03 9.99118594e-01 7.13032737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.51804094199997 meters 0.02162511746509503 Centerline is valid? [True, True] Translation: X:127.20, Y:82.55, Z:7.13 [[ 3.13618924e-01 -9.49441039e-01 -1.43138006e-02 1.27204287e+02] [ 9.48606253e-01 3.13943509e-01 -3.98202171e-02 8.25450558e+01] [ 4.23006731e-02 -1.08978717e-03 9.99104332e-01 7.13159794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54804094199997 meters 0.021389625391661053 Centerline is valid? [True, True] Translation: X:127.21, Y:82.57, Z:7.13 [[ 3.16384713e-01 -9.48524874e-01 -1.41871910e-02 1.27212097e+02] [ 9.47702491e-01 3.16701224e-01 -3.95009240e-02 8.25712193e+01] [ 4.19607097e-02 -9.47747709e-04 9.99118812e-01 7.13320382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.57804094199997 meters 0.02239850616701219 Centerline is valid? [True, True] Translation: X:127.22, Y:82.60, Z:7.14 [[ 3.18346390e-01 -9.47872003e-01 -1.39370253e-02 1.27223659e+02] [ 9.47076831e-01 3.18650217e-01 -3.88267259e-02 8.25959973e+01] [ 4.12438026e-02 -8.39085736e-04 9.99148760e-01 7.13575526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60804094199997 meters 0.02158644954877677 Centerline is valid? [True, True] Translation: X:127.23, Y:82.62, Z:7.14 [[ 3.20195413e-01 -9.47250617e-01 -1.38262695e-02 1.27230797e+02] [ 9.46466560e-01 3.20492921e-01 -3.85400870e-02 8.26228567e+01] [ 4.09383427e-02 -7.45742702e-04 9.99161396e-01 7.13729022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.63804094199998 meters 0.019636345618194675 Centerline is valid? [True, True] Translation: X:127.23, Y:82.65, Z:7.14 [[ 3.24548459e-01 -9.45767594e-01 -1.38548015e-02 1.27234812e+02] [ 9.44977616e-01 3.24843588e-01 -3.86516180e-02 8.26521718e+01] [ 4.10560912e-02 -5.48154227e-04 9.99156693e-01 7.13722578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66804094199998 meters 0.01922264536354617 Centerline is valid? [True, True] Translation: X:127.24, Y:82.68, Z:7.14 [[ 3.27843354e-01 -9.44630510e-01 -1.38540400e-02 1.27242183e+02] [ 9.43838303e-01 3.28135709e-01 -3.86809250e-02 8.26789443e+01] [ 4.10851872e-02 -3.94689455e-04 9.99155569e-01 7.13780479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.69804094199998 meters 0.019172212033102515 Centerline is valid? [True, True] Translation: X:127.25, Y:82.71, Z:7.14 [[ 3.28448057e-01 -9.44420830e-01 -1.38264184e-02 1.27251087e+02] [ 9.43630644e-01 3.28738751e-01 -3.86269564e-02 8.27060249e+01] [ 4.10253817e-02 -3.60083296e-04 9.99158040e-01 7.13901460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72804094199998 meters 0.01912880222286378 Centerline is valid? [True, True] Translation: X:127.26, Y:82.73, Z:7.14 [[ 3.28429845e-01 -9.44427077e-01 -1.38323145e-02 1.27260385e+02] [ 9.43634792e-01 3.28720814e-01 -3.86782383e-02 8.27321559e+01] [ 4.10757452e-02 -3.49565394e-04 9.99155974e-01 7.14007481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.75804094199998 meters 0.0191331204202286 Centerline is valid? [True, True] Translation: X:127.27, Y:82.76, Z:7.14 [[ 3.27745105e-01 -9.44668135e-01 -1.36110755e-02 1.27272163e+02] [ 9.43899848e-01 3.28027413e-01 -3.80932221e-02 8.27572575e+01] [ 4.04502590e-02 -3.62625039e-04 9.99181488e-01 7.14186313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78804094199998 meters 0.01917212983601895 Centerline is valid? [True, True] Translation: X:127.28, Y:82.78, Z:7.14 [[ 3.26360390e-01 -9.45150061e-01 -1.34260352e-02 1.27283219e+02] [ 9.44401601e-01 3.26636186e-01 -3.76087391e-02 8.27837787e+01] [ 3.99313310e-02 -4.05566355e-04 9.99202344e-01 7.14335310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.81804094199998 meters 0.019510242722241417 Centerline is valid? [True, True] Translation: X:127.30, Y:82.81, Z:7.14 [[ 3.23502520e-01 -9.46137885e-01 -1.30085504e-02 1.27295831e+02] [ 9.45434836e-01 3.23763575e-01 -3.64707857e-02 8.28083450e+01] [ 3.87180869e-02 -5.00345682e-04 9.99250048e-01 7.14498642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84804094199998 meters 0.0198809373048997 Centerline is valid? [True, True] Translation: X:127.31, Y:82.83, Z:7.15 [[ 3.21514243e-01 -9.46817785e-01 -1.28325060e-02 1.27307143e+02] [ 9.46133055e-01 3.21769735e-01 -3.60066609e-02 8.28334720e+01] [ 3.82208590e-02 -5.64603830e-04 9.99269157e-01 7.14608782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.87804094199998 meters 0.020147590759483837 Centerline is valid? [True, True] Translation: X:127.32, Y:82.86, Z:7.15 [[ 3.19629059e-01 -9.47456554e-01 -1.27805469e-02 1.27318470e+02] [ 9.46776773e-01 3.19883857e-01 -3.58895502e-02 8.28592976e+01] [ 3.80920802e-02 -6.28981767e-04 9.99274035e-01 7.14705344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90804094199999 meters 0.020806060791285035 Centerline is valid? [True, True] Translation: X:127.33, Y:82.88, Z:7.15 [[ 3.15979702e-01 -9.48681144e-01 -1.26851928e-02 1.27331943e+02] [ 9.48011301e-01 3.16233313e-01 -3.56519839e-02 8.28849912e+01] [ 3.78338454e-02 -7.60402906e-04 9.99283754e-01 7.14752839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.938040942 meters 0.02125896258476093 Centerline is valid? [True, True] Translation: X:127.34, Y:82.91, Z:7.15 [[ 3.14341014e-01 -9.49224841e-01 -1.27250716e-02 1.27343067e+02] [ 9.48550066e-01 3.14597410e-01 -3.57944528e-02 8.29101056e+01] [ 3.79802584e-02 -8.18702949e-04 9.99278154e-01 7.14852831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.968040942 meters 0.021252681057292003 Centerline is valid? [True, True] Translation: X:127.35, Y:82.94, Z:7.15 [[ 3.12383304e-01 -9.49869760e-01 -1.28105522e-02 1.27353760e+02] [ 9.49185309e-01 3.12644591e-01 -3.60639672e-02 8.29359094e+01] [ 3.82612217e-02 -8.93806704e-04 9.99267372e-01 7.14913838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.998040942 meters 0.021063814068517005 Centerline is valid? [True, True] Translation: X:127.36, Y:82.96, Z:7.15 [[ 3.11920609e-01 -9.50025276e-01 -1.25502234e-02 1.27363123e+02] [ 9.49367441e-01 3.12171732e-01 -3.53591982e-02 8.29625056e+01] [ 3.75099570e-02 -8.85510855e-04 9.99295862e-01 7.14995775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.028040942 meters 0.021483176244753367 Centerline is valid? [True, True] Translation: X:127.37, Y:82.99, Z:7.15 [[ 3.12053547e-01 -9.49980037e-01 -1.26693487e-02 1.27373200e+02] [ 9.49308305e-01 3.12309396e-01 -3.57293112e-02 8.29872780e+01] [ 3.78988891e-02 -8.77659660e-04 9.99281194e-01 7.15107603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.058040942 meters 0.021088065888012365 Centerline is valid? [True, True] Translation: X:127.38, Y:83.01, Z:7.15 [[ 3.12400169e-01 -9.49866532e-01 -1.26374833e-02 1.27381630e+02] [ 9.49197331e-01 3.12654506e-01 -3.56593287e-02 8.30137809e+01] [ 3.78227690e-02 -8.55485096e-04 9.99284097e-01 7.15185806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.088040942 meters 0.02086009257368715 Centerline is valid? [True, True] Translation: X:127.39, Y:83.04, Z:7.15 [[ 3.13846616e-01 -9.49386157e-01 -1.28928611e-02 1.27390538e+02] [ 9.48687906e-01 3.14110298e-01 -3.64139678e-02 8.30401677e+01] [ 3.86206974e-02 -8.02900860e-04 9.99253620e-01 7.15188751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.118040942 meters 0.02067032679788533 Centerline is valid? [True, True] Translation: X:127.40, Y:83.07, Z:7.15 [[ 3.14370151e-01 -9.49209279e-01 -1.31587398e-02 1.27399877e+02] [ 9.48480475e-01 3.14644442e-01 -3.71976392e-02 8.30666382e+01] [ 3.94486686e-02 -7.86980328e-04 9.99221288e-01 7.15281913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.148040942 meters 0.020289415627648053 Centerline is valid? [True, True] Translation: X:127.41, Y:83.09, Z:7.15 [[ 3.14898027e-01 -9.49035184e-01 -1.30940089e-02 1.27408493e+02] [ 9.48312092e-01 3.15169250e-01 -3.70475443e-02 8.30931931e+01] [ 3.92862519e-02 -7.51008340e-04 9.99227715e-01 7.15364429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.178040942 meters 0.02022918180090798 Centerline is valid? [True, True] Translation: X:127.42, Y:83.12, Z:7.16 [[ 3.15690512e-01 -9.48776164e-01 -1.27785379e-02 1.27418510e+02] [ 9.48086095e-01 3.15948274e-01 -3.61862364e-02 8.31185600e+01] [ 3.83699956e-02 -6.91502618e-04 9.99263361e-01 7.15589524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.208040942 meters 0.020141097103701384 Centerline is valid? [True, True] Translation: X:127.43, Y:83.15, Z:7.16 [[ 3.15996161e-01 -9.48675538e-01 -1.26944785e-02 1.27427651e+02] [ 9.47993141e-01 3.16250348e-01 -3.59822454e-02 8.31452219e+01] [ 3.81501093e-02 -6.64027076e-04 9.99271799e-01 7.15725844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.23804094199997 meters 0.019845894665450076 Centerline is valid? [True, True] Translation: X:127.44, Y:83.17, Z:7.16 [[ 3.17372777e-01 -9.48214718e-01 -1.27815996e-02 1.27436215e+02] [ 9.47521279e-01 3.17629480e-01 -3.62621025e-02 8.31717731e+01] [ 3.84440721e-02 -6.02233374e-04 9.99260572e-01 7.15802214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26804094199997 meters 0.019312279266412137 Centerline is valid? [True, True] Translation: X:127.44, Y:83.20, Z:7.16 [[ 3.18244776e-01 -9.47921047e-01 -1.28821941e-02 1.27444627e+02] [ 9.47215125e-01 3.18504904e-01 -3.65804901e-02 8.31990236e+01] [ 3.87784584e-02 -5.60659182e-04 9.99247675e-01 7.15874147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.29804094199997 meters 0.019265535006315993 Centerline is valid? [True, True] Translation: X:127.45, Y:83.23, Z:7.16 [[ 3.18920155e-01 -9.47693213e-01 -1.29425228e-02 1.27454055e+02] [ 9.46979175e-01 3.19182235e-01 -3.67850880e-02 8.32256158e+01] [ 3.89920016e-02 -5.24793610e-04 9.99239385e-01 7.16012768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32804094199997 meters 0.019051851638492403 Centerline is valid? [True, True] Translation: X:127.46, Y:83.25, Z:7.16 [[ 3.20131510e-01 -9.47284137e-01 -1.29838329e-02 1.27463525e+02] [ 9.46563884e-01 3.20394361e-01 -3.69359931e-02 8.32524500e+01] [ 3.91488272e-02 -4.65652083e-04 9.99233282e-01 7.16109104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.35804094199997 meters 0.01903176872843658 Centerline is valid? [True, True] Translation: X:127.47, Y:83.28, Z:7.16 [[ 3.20032480e-01 -9.47318656e-01 -1.29064396e-02 1.27473551e+02] [ 9.46605704e-01 3.20292298e-01 -3.67489545e-02 8.32780053e+01] [ 3.89468034e-02 -4.56450310e-04 9.99241181e-01 7.16256119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38804094199998 meters 0.019042796876137625 Centerline is valid? [True, True] Translation: X:127.48, Y:83.30, Z:7.16 [[ 3.18922954e-01 -9.47693507e-01 -1.28516715e-02 1.27484403e+02] [ 9.46985522e-01 3.19181418e-01 -3.66284500e-02 8.33040886e+01] [ 3.88145589e-02 -4.88693415e-04 9.99246312e-01 7.16459707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.41804094199998 meters 0.01915832603357606 Centerline is valid? [True, True] Translation: X:127.49, Y:83.33, Z:7.17 [[ 3.18213281e-01 -9.47931348e-01 -1.29021968e-02 1.27494591e+02] [ 9.47216669e-01 3.18474332e-01 -3.68060092e-02 8.33294631e+01] [ 3.89985885e-02 -5.09014937e-04 9.99239136e-01 7.16560885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44804094199998 meters 0.019268632927254264 Centerline is valid? [True, True] Translation: X:127.51, Y:83.36, Z:7.17 [[ 3.16715419e-01 -9.48432581e-01 -1.29221559e-02 1.27505976e+02] [ 9.47714696e-01 3.16978430e-01 -3.68989224e-02 8.33551764e+01] [ 3.90921849e-02 -5.60059389e-04 9.99235451e-01 7.16643342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.47804094199998 meters 0.01949342047736895 Centerline is valid? [True, True] Translation: X:127.52, Y:83.38, Z:7.17 [[ 3.15494462e-01 -9.48840037e-01 -1.28774235e-02 1.27516067e+02] [ 9.48126162e-01 3.15756593e-01 -3.68042882e-02 8.33809211e+01] [ 3.89875136e-02 -5.97873057e-04 9.99239519e-01 7.16806799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50804094199998 meters 0.01986865307332751 Centerline is valid? [True, True] Translation: X:127.53, Y:83.41, Z:7.17 [[ 3.14286859e-01 -9.49244178e-01 -1.26198408e-02 1.27527065e+02] [ 9.48557617e-01 3.14539505e-01 -3.61018998e-02 8.34062912e+01] [ 3.82389567e-02 -6.24293458e-04 9.99268429e-01 7.17032421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.53804094199998 meters 0.01986865307332751 Centerline is valid? [True, True] Translation: X:127.54, Y:83.43, Z:7.17 [[ 3.14024707e-01 -9.49331011e-01 -1.26141095e-02 1.27536064e+02] [ 9.48644439e-01 3.14277325e-01 -3.61039022e-02 8.34323298e+01] [ 3.82388825e-02 -6.28787523e-04 9.99268429e-01 7.17154903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56804094199998 meters 0.020027564900291166 Centerline is valid? [True, True] Translation: X:127.55, Y:83.46, Z:7.17 [[ 3.13002493e-01 -9.49669404e-01 -1.25483897e-02 1.27546280e+02] [ 9.48989033e-01 3.13253238e-01 -3.59475271e-02 8.34584700e+01] [ 3.80690903e-02 -6.56618628e-04 9.99274894e-01 7.17275963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.59804094199998 meters 0.020246473141297704 Centerline is valid? [True, True] Translation: X:127.56, Y:83.48, Z:7.17 [[ 3.11999990e-01 -9.50002848e-01 -1.22717168e-02 1.27556536e+02] [ 9.49351266e-01 3.12240511e-01 -3.51857372e-02 8.34847302e+01] [ 3.72582777e-02 -6.72220223e-04 9.99305443e-01 7.17380254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62804094199998 meters 0.020248834054724787 Centerline is valid? [True, True] Translation: X:127.57, Y:83.51, Z:7.17 [[ 3.10652680e-01 -9.50443380e-01 -1.23407794e-02 1.27566173e+02] [ 9.49783661e-01 3.10896871e-01 -3.54137478e-02 8.35107341e+01] [ 3.74954718e-02 -7.19694953e-04 9.99296538e-01 7.17451059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.65804094199999 meters 0.021059947464693137 Centerline is valid? [True, True] Translation: X:127.58, Y:83.54, Z:7.18 [[ 3.10181387e-01 -9.50595865e-01 -1.24502594e-02 1.27576861e+02] [ 9.49923270e-01 3.10430286e-01 -3.57605762e-02 8.35352449e+01] [ 3.78587934e-02 -7.34525958e-04 9.99282829e-01 7.17590616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.688040942 meters 0.021006486570076432 Centerline is valid? [True, True] Translation: X:127.59, Y:83.56, Z:7.18 [[ 3.10454243e-01 -9.50508603e-01 -1.23109309e-02 1.27586198e+02] [ 9.49849630e-01 3.10697439e-01 -3.53946493e-02 8.35611527e+01] [ 3.74678933e-02 -7.05114141e-04 9.99297583e-01 7.17728440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.718040942 meters 0.020845672264303772 Centerline is valid? [True, True] Translation: X:127.60, Y:83.59, Z:7.18 [[ 3.10912350e-01 -9.50356459e-01 -1.24944544e-02 1.27595239e+02] [ 9.49676364e-01 3.11162544e-01 -3.59537843e-02 8.35875224e+01] [ 3.80567173e-02 -6.87212439e-04 9.99275344e-01 7.17844206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.748040942 meters 0.020680391855817475 Centerline is valid? [True, True] Translation: X:127.60, Y:83.61, Z:7.18 [[ 3.12703433e-01 -9.49769464e-01 -1.24309027e-02 1.27603628e+02] [ 9.49094645e-01 3.12949838e-01 -3.58015987e-02 8.36133420e+01] [ 3.78935142e-02 -6.02820315e-04 9.99281601e-01 7.17958110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.778040942 meters 0.02051280241702767 Centerline is valid? [True, True] Translation: X:127.61, Y:83.64, Z:7.18 [[ 3.13454282e-01 -9.49520527e-01 -1.25372374e-02 1.27611794e+02] [ 9.48832729e-01 3.13704393e-01 -3.61387119e-02 8.36394154e+01] [ 3.82474352e-02 -5.67907241e-04 9.99268138e-01 7.18074639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.808040942 meters 0.020285445216191477 Centerline is valid? [True, True] Translation: X:127.62, Y:83.67, Z:7.18 [[ 3.14947624e-01 -9.49025886e-01 -1.25643187e-02 1.27619339e+02] [ 9.48333385e-01 3.15197747e-01 -3.62514853e-02 8.36655361e+01] [ 3.83638429e-02 -4.97843730e-04 9.99263713e-01 7.18151171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.838040942 meters 0.020427920669417506 Centerline is valid? [True, True] Translation: X:127.63, Y:83.69, Z:7.18 [[ 3.15206895e-01 -9.48937931e-01 -1.27049921e-02 1.27627919e+02] [ 9.48228401e-01 3.15462472e-01 -3.66923347e-02 8.36902062e+01] [ 3.88266964e-02 -4.81557407e-04 9.99245844e-01 7.18246658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.868040942 meters 0.02047637968047729 Centerline is valid? [True, True] Translation: X:127.64, Y:83.72, Z:7.18 [[ 3.15019977e-01 -9.48997415e-01 -1.28965367e-02 1.27636875e+02] [ 9.48264873e-01 3.15283479e-01 -3.72834995e-02 8.37155189e+01] [ 3.94480096e-02 -4.84285557e-04 9.99221507e-01 7.18291575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.898040942 meters 0.020913668978308198 Centerline is valid? [True, True] Translation: X:127.65, Y:83.74, Z:7.18 [[ 3.13596693e-01 -9.49465580e-01 -1.31234778e-02 1.27647328e+02] [ 9.48705976e-01 3.13870704e-01 -3.79756913e-02 8.37400484e+01] [ 4.01756870e-02 -5.41270639e-04 9.99192485e-01 7.18336470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.928040942 meters 0.021558365031524085 Centerline is valid? [True, True] Translation: X:127.66, Y:83.77, Z:7.18 [[ 3.11694549e-01 -9.50089826e-01 -1.32601208e-02 1.27658295e+02] [ 9.49313299e-01 3.11975870e-01 -3.84098438e-02 8.37660623e+01] [ 4.06296395e-02 -6.15870025e-04 9.99174085e-01 7.18421807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.958040942 meters 0.021939659650929002 Centerline is valid? [True, True] Translation: X:127.67, Y:83.79, Z:7.19 [[ 3.10669017e-01 -9.50423993e-01 -1.33789358e-02 1.27668116e+02] [ 9.49632492e-01 3.10956274e-01 -3.87856316e-02 8.37907562e+01] [ 4.10230589e-02 -6.55578129e-04 9.99157985e-01 7.18522651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98804094199997 meters 0.02241993452392021 Centerline is valid? [True, True] Translation: X:127.68, Y:83.82, Z:7.19 [[ 3.09347539e-01 -9.50854053e-01 -1.34413746e-02 1.27678560e+02] [ 9.50053964e-01 3.09638620e-01 -3.90050039e-02 8.38172953e+01] [ 4.12500348e-02 -7.03929282e-04 9.99148607e-01 7.18644123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.01804094199997 meters 0.022998055741949817 Centerline is valid? [True, True] Translation: X:127.69, Y:83.84, Z:7.19 [[ 3.07851274e-01 -9.51335600e-01 -1.37175068e-02 1.27688778e+02] [ 9.50501375e-01 3.08155769e-01 -3.98391522e-02 8.38423218e+01] [ 4.21275326e-02 -7.73975328e-04 9.99111942e-01 7.18720040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04804094199997 meters 0.02315516308535834 Centerline is valid? [True, True] Translation: X:127.70, Y:83.87, Z:7.19 [[ 3.07650929e-01 -9.51399029e-01 -1.38127788e-02 1.27697480e+02] [ 9.50551755e-01 3.07959872e-01 -4.01506958e-02 8.38666406e+01] [ 4.24531146e-02 -7.77362289e-04 9.99098158e-01 7.18827497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.07804094199997 meters 0.02123444781692423 Centerline is valid? [True, True] Translation: X:127.70, Y:83.89, Z:7.19 [[ 3.07992459e-01 -9.51289739e-01 -1.37287104e-02 1.27700700e+02] [ 9.50451493e-01 3.08297374e-01 -3.99335575e-02 8.38947274e+01] [ 4.22209089e-02 -7.49238715e-04 9.99108019e-01 7.18921616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10804094199997 meters 0.02300881569625561 Centerline is valid? [True, True] Translation: X:127.71, Y:83.92, Z:7.19 [[ 3.08707762e-01 -9.51058321e-01 -1.36962697e-02 1.27713577e+02] [ 9.50222236e-01 3.09010637e-01 -3.98763999e-02 8.39187078e+01] [ 4.21570750e-02 -7.04345832e-04 9.99110747e-01 7.19112733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.13804094199998 meters 0.02253814890115823 Centerline is valid? [True, True] Translation: X:127.72, Y:83.94, Z:7.19 [[ 3.09486604e-01 -9.50805032e-01 -1.37051805e-02 1.27720855e+02] [ 9.49966503e-01 3.09789206e-01 -3.99285827e-02 8.39443421e+01] [ 4.22100144e-02 -6.62100852e-04 9.99108541e-01 7.19213501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16804094199998 meters 0.02085683398480319 Centerline is valid? [True, True] Translation: X:127.72, Y:83.97, Z:7.19 [[ 3.11521879e-01 -9.50137170e-01 -1.39095919e-02 1.27724439e+02] [ 9.49271009e-01 3.11831744e-01 -4.05649540e-02 8.39729659e+01] [ 4.28797229e-02 -5.67101685e-04 9.99080081e-01 7.19239316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.19804094199998 meters 0.020661812286408884 Centerline is valid? [True, True] Translation: X:127.73, Y:84.00, Z:7.19 [[ 3.12341627e-01 -9.49866913e-01 -1.39841259e-02 1.27733352e+02] [ 9.48989607e-01 3.12654083e-01 -4.08185107e-02 8.40000337e+01] [ 4.31443468e-02 -5.21470103e-04 9.99068713e-01 7.19342893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22804094199998 meters 0.02045912065036653 Centerline is valid? [True, True] Translation: X:127.74, Y:84.03, Z:7.19 [[ 3.14104303e-01 -9.49287184e-01 -1.38682491e-02 1.27741424e+02] [ 9.48422218e-01 3.14410018e-01 -4.05171148e-02 8.40266549e+01] [ 4.28226943e-02 -4.26355474e-04 9.99082597e-01 7.19493705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.25804094199998 meters 0.020319764084521536 Centerline is valid? [True, True] Translation: X:127.75, Y:84.05, Z:7.20 [[ 3.14519276e-01 -9.49151877e-01 -1.37236786e-02 1.27750258e+02] [ 9.48303187e-01 3.14818297e-01 -4.01310936e-02 8.40536479e+01] [ 4.24109679e-02 -3.92205709e-04 9.99100173e-01 7.19631006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28804094199998 meters 0.020155094919466435 Centerline is valid? [True, True] Translation: X:127.76, Y:84.08, Z:7.20 [[ 3.15337973e-01 -9.48885257e-01 -1.33690654e-02 1.27759434e+02] [ 9.48078191e-01 3.15621064e-01 -3.91291028e-02 8.40802220e+01] [ 4.13485874e-02 -3.36027366e-04 9.99144725e-01 7.19789196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.31804094199998 meters 0.020173347201960748 Centerline is valid? [True, True] Translation: X:127.77, Y:84.11, Z:7.20 [[ 3.15516545e-01 -9.48829365e-01 -1.31204799e-02 1.27768804e+02] [ 9.48050532e-01 3.15789075e-01 -3.84376021e-02 8.41057238e+01] [ 4.06140298e-02 -3.11178555e-04 9.99174861e-01 7.19959089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34804094199998 meters 0.020285494029197753 Centerline is valid? [True, True] Translation: X:127.78, Y:84.13, Z:7.20 [[ 3.15493650e-01 -9.48840327e-01 -1.28759463e-02 1.27778194e+02] [ 9.48089321e-01 3.15756146e-01 -3.77451440e-02 8.41308164e+01] [ 3.98797740e-02 -2.99193956e-04 9.99204441e-01 7.20151651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.37804094199998 meters 0.02012485251837122 Centerline is valid? [True, True] Translation: X:127.79, Y:84.16, Z:7.20 [[ 3.15119260e-01 -9.48968845e-01 -1.25691585e-02 1.27787189e+02] [ 9.48251960e-01 3.15369693e-01 -3.68805753e-02 8.41572236e+01] [ 3.89624486e-02 -2.96949552e-04 9.99240631e-01 7.20164315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40804094199999 meters 0.020262303326875945 Centerline is valid? [True, True] Translation: X:127.80, Y:84.18, Z:7.20 [[ 3.14364530e-01 -9.49219788e-01 -1.25194580e-02 1.27797046e+02] [ 9.48507453e-01 3.14613564e-01 -3.67684293e-02 8.41827911e+01] [ 3.88401120e-02 -3.16109228e-04 9.99245388e-01 7.20274196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.438040942 meters 0.020348214134949735 Centerline is valid? [True, True] Translation: X:127.81, Y:84.21, Z:7.20 [[ 3.11986016e-01 -9.50005589e-01 -1.24139461e-02 1.27808843e+02] [ 9.49304443e-01 3.12232639e-01 -3.64945573e-02 8.42087098e+01] [ 3.85460726e-02 -3.98822680e-04 9.99256744e-01 7.20320683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.468040942 meters 0.0204474177159038 Centerline is valid? [True, True] Translation: X:127.82, Y:84.23, Z:7.20 [[ 3.10369913e-01 -9.50537161e-01 -1.22320572e-02 1.27819222e+02] [ 9.49855670e-01 3.10610536e-01 -3.59902951e-02 8.42345642e+01] [ 3.80095187e-02 -4.48384114e-04 9.99277277e-01 7.20457073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.498040942 meters 0.02131455898987166 Centerline is valid? [True, True] Translation: X:127.83, Y:84.26, Z:7.21 [[ 3.08002461e-01 -9.51310257e-01 -1.19698909e-02 1.27832612e+02] [ 9.50657059e-01 3.08234524e-01 -3.52510169e-02 8.42585302e+01] [ 3.72241875e-02 -5.21861314e-04 9.99306804e-01 7.20644822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.528040942 meters 0.0207152007866794 Centerline is valid? [True, True] Translation: X:127.84, Y:84.29, Z:7.21 [[ 3.06588266e-01 -9.51767882e-01 -1.18968228e-02 1.27840455e+02] [ 9.51121942e-01 3.06818480e-01 -3.50638246e-02 8.42853930e+01] [ 3.70227872e-02 -5.65172060e-04 9.99314262e-01 7.20601465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.558040942 meters 0.020721477149815197 Centerline is valid? [True, True] Translation: X:127.85, Y:84.31, Z:7.21 [[ 3.05232757e-01 -9.52204407e-01 -1.18207746e-02 1.27850095e+02] [ 9.51565811e-01 3.05460966e-01 -3.48727122e-02 8.43115727e+01] [ 3.68167355e-02 -6.03950872e-04 9.99321852e-01 7.20644206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.588040942 meters 0.021132403203517097 Centerline is valid? [True, True] Translation: X:127.86, Y:84.34, Z:7.21 [[ 3.03651033e-01 -9.52712143e-01 -1.16457085e-02 1.27861753e+02] [ 9.52091615e-01 3.03873584e-01 -3.43860639e-02 8.43361357e+01] [ 3.62988438e-02 -6.46417611e-04 9.99340771e-01 7.20681007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.618040942 meters 0.021011727813334862 Centerline is valid? [True, True] Translation: X:127.87, Y:84.36, Z:7.21 [[ 3.03371223e-01 -9.52802955e-01 -1.15077924e-02 1.27872020e+02] [ 9.52196365e-01 3.03588726e-01 -3.39995276e-02 8.43621959e+01] [ 3.58884864e-02 -6.43199848e-04 9.99355594e-01 7.20782801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.648040942 meters 0.020813246827893192 Centerline is valid? [True, True] Translation: X:127.88, Y:84.39, Z:7.21 [[ 3.03970263e-01 -9.52612810e-01 -1.14417896e-02 1.27882006e+02] [ 9.52011906e-01 3.04184921e-01 -3.38358569e-02 8.43887172e+01] [ 3.57128906e-02 -6.07625625e-04 9.99361907e-01 7.20856002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.678040942 meters 0.02099355738765653 Centerline is valid? [True, True] Translation: X:127.89, Y:84.41, Z:7.21 [[ 3.04343406e-01 -9.52496048e-01 -1.12414202e-02 1.27891593e+02] [ 9.51914873e-01 3.04550404e-01 -3.32735171e-02 8.44140800e+01] [ 3.51164726e-02 -5.74299506e-04 9.99383061e-01 7.20985544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.708040942 meters 0.020392271138929854 Centerline is valid? [True, True] Translation: X:127.90, Y:84.44, Z:7.21 [[ 3.05015555e-01 -9.52280433e-01 -1.12910760e-02 1.27899937e+02] [ 9.51692765e-01 3.05223989e-01 -3.34544120e-02 8.44411144e+01] [ 3.53042892e-02 -5.41519319e-04 9.99376463e-01 7.20931092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.73804094199997 meters 0.020343373386809898 Centerline is valid? [True, True] Translation: X:127.91, Y:84.47, Z:7.21 [[ 3.05061414e-01 -9.52265835e-01 -1.12832660e-02 1.27909477e+02] [ 9.51677881e-01 3.05269549e-01 -3.34621178e-02 8.44664070e+01] [ 3.53092691e-02 -5.30033694e-04 9.99376293e-01 7.21031137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76804094199997 meters 0.020239897770267076 Centerline is valid? [True, True] Translation: X:127.92, Y:84.49, Z:7.21 [[ 3.04505149e-01 -9.52444552e-01 -1.12245179e-02 1.27920195e+02] [ 9.51861656e-01 3.04711480e-01 -3.33211819e-02 8.44927286e+01] [ 3.51568176e-02 -5.37716707e-04 9.99381663e-01 7.21096267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.79804094199997 meters 0.020403953920933197 Centerline is valid? [True, True] Translation: X:127.93, Y:84.52, Z:7.21 [[ 3.03796053e-01 -9.52670443e-01 -1.12687582e-02 1.27929969e+02] [ 9.52082016e-01 3.04004469e-01 -3.34831035e-02 8.45177431e+01] [ 3.53241159e-02 -5.56747364e-04 9.99375754e-01 7.21158361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82804094199997 meters 0.020342446020941627 Centerline is valid? [True, True] Translation: X:127.94, Y:84.54, Z:7.21 [[ 3.03649529e-01 -9.52716230e-01 -1.13467879e-02 1.27939963e+02] [ 9.52118456e-01 3.03860950e-01 -3.37485977e-02 8.45442401e+01] [ 3.56006825e-02 -5.55740445e-04 9.99365940e-01 7.21252012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.85804094199997 meters 0.020391816013578583 Centerline is valid? [True, True] Translation: X:127.95, Y:84.57, Z:7.21 [[ 3.03274632e-01 -9.52835312e-01 -1.13739458e-02 1.27950521e+02] [ 9.52233673e-01 3.03487320e-01 -3.38596930e-02 8.45694024e+01] [ 3.57145594e-02 -5.61868241e-04 9.99361874e-01 7.21278463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.88804094199998 meters 0.020373132905411078 Centerline is valid? [True, True] Translation: X:127.96, Y:84.60, Z:7.21 [[ 3.02863230e-01 -9.52964460e-01 -1.15152626e-02 1.27960660e+02] [ 9.52346646e-01 3.03081520e-01 -3.43141016e-02 8.45959223e+01] [ 3.61901826e-02 -5.74042059e-04 9.99344756e-01 7.21287174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.91804094199998 meters 0.020433400040515082 Centerline is valid? [True, True] Translation: X:127.97, Y:84.62, Z:7.21 [[ 3.02329881e-01 -9.53133925e-01 -1.15049764e-02 1.27970813e+02] [ 9.52516228e-01 3.02548144e-01 -3.43140690e-02 8.46221374e+01] [ 3.61867125e-02 -5.84508331e-04 9.99344876e-01 7.21373397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94804094199998 meters 0.019633243343855206 Centerline is valid? [True, True] Translation: X:127.98, Y:84.65, Z:7.21 [[ 3.02104711e-01 -9.53203319e-01 -1.16694731e-02 1.27978911e+02] [ 9.52566742e-01 3.02329427e-01 -3.48356127e-02 8.46492129e+01] [ 3.67334468e-02 -5.91949215e-04 9.99324924e-01 7.21366986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.97804094199998 meters 0.019737040090990393 Centerline is valid? [True, True] Translation: X:127.99, Y:84.67, Z:7.21 [[ 3.02225462e-01 -9.53164905e-01 -1.16804927e-02 1.27989213e+02] [ 9.52525878e-01 3.02450542e-01 -3.49016021e-02 8.46741817e+01] [ 3.67997535e-02 -5.77818723e-04 9.99322493e-01 7.21497808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00804094199998 meters 0.019274735069287164 Centerline is valid? [True, True] Translation: X:128.00, Y:84.70, Z:7.22 [[ 3.03080155e-01 -9.52895902e-01 -1.14812578e-02 1.27998025e+02] [ 9.52277058e-01 3.03297088e-01 -3.43406673e-02 8.47011677e+01] [ 3.62053132e-02 -5.25363643e-04 9.99344235e-01 7.21505147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.03804094199998 meters 0.019724465514679133 Centerline is valid? [True, True] Translation: X:128.01, Y:84.73, Z:7.22 [[ 3.04800705e-01 -9.52350204e-01 -1.12079954e-02 1.28008214e+02] [ 9.51759011e-01 3.05006386e-01 -3.35542930e-02 8.47266637e+01] [ 3.53739479e-02 -4.39938460e-04 9.99374049e-01 7.21815018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06804094199998 meters 0.01902377265093717 Centerline is valid? [True, True] Translation: X:128.02, Y:84.75, Z:7.22 [[ 3.05259548e-01 -9.52205479e-01 -1.10151903e-02 1.28015023e+02] [ 9.51633237e-01 3.05457953e-01 -3.30093934e-02 8.47545299e+01] [ 3.47964027e-02 -4.05988672e-04 9.99394339e-01 7.21813583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.09804094199998 meters 0.018649770084860007 Centerline is valid? [True, True] Translation: X:128.02, Y:84.78, Z:7.22 [[ 3.06009091e-01 -9.51966265e-01 -1.08934566e-02 1.28022172e+02] [ 9.51405436e-01 3.06202706e-01 -3.26741340e-02 8.47817528e+01] [ 3.44402792e-02 -3.65511805e-04 9.99406691e-01 7.21849612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12804094199998 meters 0.0185111304514137 Centerline is valid? [True, True] Translation: X:128.03, Y:84.81, Z:7.22 [[ 3.07534826e-01 -9.51473478e-01 -1.09795515e-02 1.28029223e+02] [ 9.50902316e-01 3.07730610e-01 -3.29644926e-02 8.48084215e+01] [ 3.47435846e-02 -3.02751428e-04 9.99396214e-01 7.21904831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.15804094199999 meters 0.01841213456313121 Centerline is valid? [True, True] Translation: X:128.04, Y:84.84, Z:7.22 [[ 3.08027416e-01 -9.51314306e-01 -1.09636441e-02 1.28037392e+02] [ 9.50743543e-01 3.08222347e-01 -3.29499474e-02 8.48357734e+01] [ 3.47249965e-02 -2.74126672e-04 9.99396868e-01 7.21991811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.188040942 meters 0.01817934189093387 Centerline is valid? [True, True] Translation: X:128.04, Y:84.86, Z:7.22 [[ 3.10296928e-01 -9.50576852e-01 -1.09300222e-02 1.28044289e+02] [ 9.50008042e-01 3.10489317e-01 -3.28801438e-02 8.48628225e+01] [ 3.46487587e-02 -1.81001386e-04 9.99399535e-01 7.22032402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.218040942 meters 0.018107629219501382 Centerline is valid? [True, True] Translation: X:128.05, Y:84.89, Z:7.22 [[ 3.11197195e-01 -9.50282353e-01 -1.09432556e-02 1.28052236e+02] [ 9.49710884e-01 3.11389514e-01 -3.29515907e-02 8.48893066e+01] [ 3.47209302e-02 -1.38486323e-04 9.99397037e-01 7.22140023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.248040942 meters 0.018093846317368305 Centerline is valid? [True, True] Translation: X:128.06, Y:84.92, Z:7.22 [[ 3.12033476e-01 -9.50006153e-01 -1.11094132e-02 1.28059698e+02] [ 9.49415784e-01 3.12231163e-01 -3.34868705e-02 8.49153805e+01] [ 3.52814380e-02 -9.84276191e-05 9.99377411e-01 7.22209766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.278040942 meters 0.017990876846104824 Centerline is valid? [True, True] Translation: X:128.07, Y:84.94, Z:7.22 [[ 3.13539944e-01 -9.49510109e-01 -1.11020765e-02 1.28065336e+02] [ 9.48919457e-01 3.13736436e-01 -3.34860097e-02 8.49431125e+01] [ 3.52784306e-02 -3.57747811e-05 9.99377522e-01 7.22124359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.308040942 meters 0.018041402813517366 Centerline is valid? [True, True] Translation: X:128.07, Y:84.97, Z:7.22 [[ 3.14084498e-01 -9.49330519e-01 -1.10676481e-02 1.28072459e+02] [ 9.48742309e-01 3.14279437e-01 -3.34135531e-02 8.49698308e+01] [ 3.51988399e-02 -5.66694099e-06 9.99380329e-01 7.22166778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.338040942 meters 0.018003157497572152 Centerline is valid? [True, True] Translation: X:128.08, Y:85.00, Z:7.22 [[ 3.14104416e-01 -9.49324626e-01 -1.10076946e-02 1.28080034e+02] [ 9.48741566e-01 3.14297238e-01 -3.32669112e-02 8.49961276e+01] [ 3.50407861e-02 5.82628097e-06 9.99385883e-01 7.22291069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.368040942 meters 0.018031539454095215 Centerline is valid? [True, True] Translation: X:128.09, Y:85.02, Z:7.22 [[ 3.13306946e-01 -9.49589853e-01 -1.08567567e-02 1.28089123e+02] [ 9.49022123e-01 3.13494994e-01 -3.28313580e-02 8.50231460e+01] [ 3.45798633e-02 -1.70098242e-05 9.99401938e-01 7.22461176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.398040942 meters 0.017966821907890167 Centerline is valid? [True, True] Translation: X:128.10, Y:85.05, Z:7.23 [[ 3.11535791e-01 -9.50174052e-01 -1.07108715e-02 1.28098446e+02] [ 9.49620812e-01 3.11719853e-01 -3.24198661e-02 8.50492676e+01] [ 3.41433068e-02 -7.13178443e-05 9.99416945e-01 7.22525946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.428040942 meters 0.017966821907890167 Centerline is valid? [True, True] Translation: X:128.11, Y:85.08, Z:7.23 [[ 3.11264741e-01 -9.50262983e-01 -1.07016113e-02 1.28106998e+02] [ 9.49709690e-01 3.11448644e-01 -3.24229221e-02 8.50754621e+01] [ 3.41433050e-02 -7.13115118e-05 9.99416945e-01 7.22648271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.458040942 meters 0.01815611064641562 Centerline is valid? [True, True] Translation: X:128.12, Y:85.10, Z:7.23 [[ 3.09432298e-01 -9.50862900e-01 -1.05545433e-02 1.28116546e+02] [ 9.50324063e-01 3.09612224e-01 -3.20069806e-02 8.51010610e+01] [ 3.37020660e-02 -1.26242938e-04 9.99431916e-01 7.22872839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48804094199997 meters 0.01821787104256123 Centerline is valid? [True, True] Translation: X:128.13, Y:85.13, Z:7.23 [[ 3.05428878e-01 -9.52156358e-01 -1.05579883e-02 1.28128011e+02] [ 9.51616801e-01 3.05611198e-01 -3.20508876e-02 8.51270714e+01] [ 3.37440958e-02 -2.57892438e-04 9.99430473e-01 7.22918074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.51804094199997 meters 0.018473174786226284 Centerline is valid? [True, True] Translation: X:128.14, Y:85.15, Z:7.23 [[ 3.03236118e-01 -9.52856334e-01 -1.06142648e-02 1.28137664e+02] [ 9.52310350e-01 3.03421651e-01 -3.22536733e-02 8.51520444e+01] [ 3.39537147e-02 -3.27595559e-04 9.99423353e-01 7.22992177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54804094199997 meters 0.01865752317090027 Centerline is valid? [True, True] Translation: X:128.15, Y:85.18, Z:7.23 [[ 3.01035753e-01 -9.53550532e-01 -1.09021869e-02 1.28147303e+02] [ 9.52974207e-01 3.01232823e-01 -3.31503654e-02 8.51783267e+01] [ 3.48946451e-02 -4.10057745e-04 9.99390912e-01 7.23028687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.57804094199997 meters 0.019262052214006585 Centerline is valid? [True, True] Translation: X:128.16, Y:85.21, Z:7.23 [[ 2.98420258e-01 -9.54369343e-01 -1.11582655e-02 1.28156884e+02] [ 9.53764985e-01 2.98628364e-01 -3.39625271e-02 8.52054872e+01] [ 3.57449692e-02 -5.07256829e-04 9.99360816e-01 7.22944845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60804094199997 meters 0.01943160602422623 Centerline is valid? [True, True] Translation: X:128.17, Y:85.23, Z:7.23 [[ 2.97479370e-01 -9.54662739e-01 -1.11838784e-02 1.28165540e+02] [ 9.54054702e-01 2.97689047e-01 -3.40713594e-02 8.52318768e+01] [ 3.58559754e-02 -5.34505294e-04 9.99356825e-01 7.23037881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.63804094199998 meters 0.019504617328844728 Centerline is valid? [True, True] Translation: X:128.17, Y:85.26, Z:7.23 [[ 2.96963063e-01 -9.54817842e-01 -1.16544987e-02 1.28173098e+02] [ 9.54156328e-01 2.97191130e-01 -3.55406020e-02 8.52592488e+01] [ 3.73984146e-02 -5.65967683e-04 9.99300274e-01 7.22997575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.66804094199998 meters 0.019512564174277332 Centerline is valid? [True, True] Translation: X:128.18, Y:85.29, Z:7.23 [[ 2.97218301e-01 -9.54735337e-01 -1.19045600e-02 1.28181405e+02] [ 9.54043690e-01 2.97456093e-01 -3.63388273e-02 8.52864245e+01] [ 3.82350464e-02 -5.56905813e-04 9.99268618e-01 7.23072935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.69804094199998 meters 0.019322915327051337 Centerline is valid? [True, True] Translation: X:128.19, Y:85.31, Z:7.23 [[ 2.97985514e-01 -9.54489290e-01 -1.24429990e-02 1.28188055e+02] [ 9.53731902e-01 2.98244707e-01 -3.80204287e-02 8.53137511e+01] [ 4.00011506e-02 -5.37748095e-04 9.99199489e-01 7.23085973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72804094199998 meters 0.01929182978342388 Centerline is valid? [True, True] Translation: X:128.20, Y:85.34, Z:7.23 [[ 2.98430149e-01 -9.54349267e-01 -1.25268922e-02 1.28195730e+02] [ 9.53580008e-01 2.98692509e-01 -3.83138855e-02 8.53399578e+01] [ 4.03065174e-02 -5.11375424e-04 9.99187231e-01 7.23186200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.75804094199998 meters 0.019216743219238937 Centerline is valid? [True, True] Translation: X:128.20, Y:85.37, Z:7.23 [[ 2.99136526e-01 -9.54125860e-01 -1.26957311e-02 1.28202767e+02] [ 9.53333882e-01 2.99405438e-01 -3.88702077e-02 8.53673031e+01] [ 4.08882413e-02 -4.75771765e-04 9.99163613e-01 7.23276808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78804094199998 meters 0.01920114647786132 Centerline is valid? [True, True] Translation: X:128.21, Y:85.39, Z:7.23 [[ 2.99809553e-01 -9.53909915e-01 -1.30424783e-02 1.28208431e+02] [ 9.53072221e-01 3.00092777e-01 -3.99708294e-02 8.53943902e+01] [ 4.20425240e-02 -4.46787241e-04 9.99115722e-01 7.23313278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.81804094199998 meters 0.01907002115937399 Centerline is valid? [True, True] Translation: X:128.22, Y:85.42, Z:7.23 [[ 3.00040445e-01 -9.53834739e-01 -1.32295974e-02 1.28215785e+02] [ 9.52971013e-01 3.00331660e-01 -4.05849987e-02 8.54219350e+01] [ 4.26846486e-02 -4.30281765e-04 9.99088502e-01 7.23393302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84804094199998 meters 0.019105712452593158 Centerline is valid? [True, True] Translation: X:128.22, Y:85.45, Z:7.23 [[ 2.99888256e-01 -9.53876332e-01 -1.36739624e-02 1.28223672e+02] [ 9.52951771e-01 3.00199519e-01 -4.19901377e-02 8.54494129e+01] [ 4.41583155e-02 -4.38277507e-04 9.99024450e-01 7.23450821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.87804094199998 meters 0.019261845461888267 Centerline is valid? [True, True] Translation: X:128.23, Y:85.48, Z:7.24 [[ 2.99350088e-01 -9.54043556e-01 -1.37991782e-02 1.28232331e+02] [ 9.53100298e-01 2.99667626e-01 -4.24162246e-02 8.54761877e+01] [ 4.46020927e-02 -4.54700249e-04 9.99004728e-01 7.23514774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90804094199999 meters 0.019226443247603975 Centerline is valid? [True, True] Translation: X:128.24, Y:85.50, Z:7.24 [[ 2.98964573e-01 -9.54163894e-01 -1.38364640e-02 1.28241050e+02] [ 9.53213802e-01 2.99284231e-01 -4.25722476e-02 8.55021707e+01] [ 4.47619370e-02 -4.61514659e-04 9.98997576e-01 7.23603787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.938040942 meters 0.019360715714860408 Centerline is valid? [True, True] Translation: X:128.25, Y:85.53, Z:7.24 [[ 2.98535119e-01 -9.54291374e-01 -1.43093133e-02 1.28250051e+02] [ 9.53273186e-01 2.98877467e-01 -4.40737094e-02 8.55273510e+01] [ 4.63358920e-02 -4.83134658e-04 9.98925799e-01 7.23659752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.968040942 meters 0.01923661745143073 Centerline is valid? [True, True] Translation: X:128.26, Y:85.55, Z:7.24 [[ 2.98618979e-01 -9.54265871e-01 -1.42602069e-02 1.28258362e+02] [ 9.53252591e-01 2.98958915e-01 -4.39666429e-02 8.55536744e+01] [ 4.62190828e-02 -4.64305139e-04 9.98931219e-01 7.23781313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.998040942 meters 0.019176758267420848 Centerline is valid? [True, True] Translation: X:128.27, Y:85.58, Z:7.24 [[ 2.99086280e-01 -9.54119364e-01 -1.42700992e-02 1.28267585e+02] [ 9.53102534e-01 2.99426208e-01 -4.40398173e-02 8.55787775e+01] [ 4.62920842e-02 -4.29162586e-04 9.98927855e-01 7.23923655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.028040942 meters 0.01917330855832071 Centerline is valid? [True, True] Translation: X:128.28, Y:85.61, Z:7.24 [[ 2.99210107e-01 -9.54080451e-01 -1.42760346e-02 1.28276965e+02] [ 9.53060656e-01 2.99550205e-01 -4.41028506e-02 8.56056979e+01] [ 4.63540567e-02 -4.09908276e-04 9.98924989e-01 7.24092211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.058040942 meters 0.019100214179143066 Centerline is valid? [True, True] Translation: X:128.29, Y:85.63, Z:7.24 [[ 3.00662593e-01 -9.53622363e-01 -1.43664261e-02 1.28286046e+02] [ 9.52587103e-01 3.01005450e-01 -4.44244362e-02 8.56325827e+01] [ 4.66885084e-02 -3.28506059e-04 9.98909443e-01 7.24308945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.088040942 meters 0.019002280551678657 Centerline is valid? [True, True] Translation: X:128.29, Y:85.66, Z:7.24 [[ 3.01613573e-01 -9.53324233e-01 -1.42182768e-02 1.28293837e+02] [ 9.52307998e-01 3.01948399e-01 -4.40072914e-02 8.56593444e+01] [ 4.62464032e-02 -2.66982289e-04 9.98930027e-01 7.24455982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.118040942 meters 0.018817834518572055 Centerline is valid? [True, True] Translation: X:128.30, Y:85.69, Z:7.25 [[ 3.02878470e-01 -9.52919652e-01 -1.44488780e-02 1.28301316e+02] [ 9.51867716e-01 3.03222854e-01 -4.47632865e-02 8.56852917e+01] [ 4.70370454e-02 -1.95584816e-04 9.98893126e-01 7.24550798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.148040942 meters 0.01873627072124526 Centerline is valid? [True, True] Translation: X:128.31, Y:85.71, Z:7.25 [[ 3.05709805e-01 -9.52011038e-01 -1.47138751e-02 1.28307285e+02] [ 9.50917497e-01 3.06063688e-01 -4.56172520e-02 8.57121612e+01] [ 4.79315103e-02 -4.60400584e-05 9.98850624e-01 7.24628573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.178040942 meters 0.01875254049485152 Centerline is valid? [True, True] Translation: X:128.31, Y:85.74, Z:7.25 [[ 3.06657948e-01 -9.51703468e-01 -1.48799281e-02 1.28314243e+02] [ 9.50582493e-01 3.07018744e-01 -4.61780746e-02 8.57391853e+01] [ 4.85162506e-02 1.62744166e-05 9.98822393e-01 7.24725529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.208040942 meters 0.018783790029200675 Centerline is valid? [True, True] Translation: X:128.32, Y:85.77, Z:7.25 [[ 3.07270682e-01 -9.51504691e-01 -1.49516217e-02 1.28319757e+02] [ 9.50370538e-01 3.07634230e-01 -4.64437458e-02 8.57655026e+01] [ 4.87910726e-02 6.12206643e-05 9.98809005e-01 7.24762803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.23804094199997 meters 0.018758983150915266 Centerline is valid? [True, True] Translation: X:128.33, Y:85.79, Z:7.25 [[ 3.06349786e-01 -9.51802707e-01 -1.48800363e-02 1.28327579e+02] [ 9.50677556e-01 3.06710949e-01 -4.62663951e-02 8.57912543e+01] [ 4.86003501e-02 2.75837035e-05 9.98818304e-01 7.24866522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26804094199997 meters 0.018843568361369814 Centerline is valid? [True, True] Translation: X:128.34, Y:85.82, Z:7.25 [[ 3.04759463e-01 -9.52313233e-01 -1.48720138e-02 1.28336032e+02] [ 9.51187641e-01 3.05122116e-01 -4.62878606e-02 8.58162025e+01] [ 4.86183225e-02 -3.94122236e-05 9.98817429e-01 7.24971808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.29804094199997 meters 0.019335068898311283 Centerline is valid? [True, True] Translation: X:128.35, Y:85.84, Z:7.25 [[ 3.00289167e-01 -9.53728493e-01 -1.51122120e-02 1.28347253e+02] [ 9.52566086e-01 3.00669079e-01 -4.70739492e-02 8.58413340e+01] [ 4.94395415e-02 -2.59583631e-04 9.98777084e-01 7.25068660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32804094199997 meters 0.019781978098759413 Centerline is valid? [True, True] Translation: X:128.36, Y:85.87, Z:7.25 [[ 2.97746704e-01 -9.54521927e-01 -1.53229025e-02 1.28357615e+02] [ 9.53325613e-01 2.98140478e-01 -4.77758428e-02 8.58679002e+01] [ 5.01714670e-02 -3.82615707e-04 9.98740546e-01 7.25169998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.35804094199997 meters 0.02018829910359405 Centerline is valid? [True, True] Translation: X:128.37, Y:85.90, Z:7.25 [[ 2.92969486e-01 -9.55990856e-01 -1.58229018e-02 1.28367295e+02] [ 9.54714898e-01 2.93395765e-01 -4.93800465e-02 8.58950302e+01] [ 5.18492453e-02 -6.39513249e-04 9.98654719e-01 7.25339008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.38804094199998 meters 0.020594113657964205 Centerline is valid? [True, True] Translation: X:128.38, Y:85.92, Z:7.25 [[ 2.90601127e-01 -9.56707668e-01 -1.61685550e-02 1.28376636e+02] [ 9.55373946e-01 2.91049556e-01 -5.05052326e-02 8.59216688e+01] [ 5.30245940e-02 -7.70138657e-04 9.98592910e-01 7.25430476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.41804094199998 meters 0.02187183562139339 Centerline is valid? [True, True] Translation: X:128.39, Y:85.95, Z:7.25 [[ 2.86700326e-01 -9.57871413e-01 -1.68902083e-02 1.28386744e+02] [ 9.56415252e-01 2.87195625e-01 -5.28066143e-02 8.59469660e+01] [ 5.54327402e-02 -1.01437936e-03 9.98461908e-01 7.25401935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44804094199998 meters 0.022033847369509703 Centerline is valid? [True, True] Translation: X:128.39, Y:85.97, Z:7.26 [[ 2.85217963e-01 -9.58307653e-01 -1.72381811e-02 1.28394794e+02] [ 9.56789359e-01 2.85736258e-01 -5.39343400e-02 8.59745539e+01] [ 5.66112642e-02 -1.11026560e-03 9.98395679e-01 7.25518567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.47804094199998 meters 0.022240718831683298 Centerline is valid? [True, True] Translation: X:128.40, Y:86.00, Z:7.26 [[ 2.83685055e-01 -9.58757856e-01 -1.74975232e-02 1.28402136e+02] [ 9.57191470e-01 2.84221612e-01 -5.47956597e-02 8.60021075e+01] [ 5.75089435e-02 -1.20377025e-03 9.98344265e-01 7.25659807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50804094199998 meters 0.022666415598633336 Centerline is valid? [True, True] Translation: X:128.41, Y:86.03, Z:7.26 [[ 2.82323525e-01 -9.59156588e-01 -1.76654116e-02 1.28409034e+02] [ 9.57557785e-01 2.82872753e-01 -5.53723227e-02 8.60296921e+01] [ 5.81077917e-02 -1.28274301e-03 9.98309491e-01 7.25913411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.53804094199998 meters 0.02282439203721651 Centerline is valid? [True, True] Translation: X:128.42, Y:86.06, Z:7.26 [[ 2.81741354e-01 -9.59329783e-01 -1.75549892e-02 1.28416446e+02] [ 9.57748314e-01 2.82284766e-01 -5.50770200e-02 8.60566128e+01] [ 5.77925316e-02 -1.29578712e-03 9.98327774e-01 7.26109905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56804094199998 meters 0.02302082248996044 Centerline is valid? [True, True] Translation: X:128.42, Y:86.08, Z:7.26 [[ 2.81600225e-01 -9.59366383e-01 -1.78172890e-02 1.28423711e+02] [ 9.57734063e-01 2.82160298e-01 -5.59556073e-02 8.60827146e+01] [ 5.87092602e-02 -1.30711302e-03 9.98274268e-01 7.26249384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.59804094199998 meters 0.023372412754178912 Centerline is valid? [True, True] Translation: X:128.43, Y:86.11, Z:7.26 [[ 2.81764187e-01 -9.59319308e-01 -1.77597213e-02 1.28430197e+02] [ 9.57694105e-01 2.82320445e-01 -5.58315919e-02 8.61092843e+01] [ 5.85742566e-02 -1.27703733e-03 9.98282237e-01 7.26382846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62804094199998 meters 0.02337329099394291 Centerline is valid? [True, True] Translation: X:128.44, Y:86.14, Z:7.27 [[ 2.81790702e-01 -9.59307175e-01 -1.79929225e-02 1.28437393e+02] [ 9.57635582e-01 2.82361680e-01 -5.66213107e-02 8.61364671e+01] [ 5.93977414e-02 -1.27530400e-03 9.98233581e-01 7.26524321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.65804094199999 meters 0.023688931712962928 Centerline is valid? [True, True] Translation: X:128.44, Y:86.16, Z:7.27 [[ 2.81711723e-01 -9.59327038e-01 -1.81697355e-02 1.28444956e+02] [ 9.57619116e-01 2.82294181e-01 -5.72330638e-02 8.61626684e+01] [ 6.00344362e-02 -1.27646105e-03 9.98195490e-01 7.26677451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.688040942 meters 0.023525551335372933 Centerline is valid? [True, True] Translation: X:128.45, Y:86.19, Z:7.27 [[ 2.81493071e-01 -9.59391900e-01 -1.81337491e-02 1.28452606e+02] [ 9.57687502e-01 2.82073686e-01 -5.71759053e-02 8.61899072e+01] [ 5.99691538e-02 -1.27184369e-03 9.98199420e-01 7.26918929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.718040942 meters 0.023822891432925875 Centerline is valid? [True, True] Translation: X:128.46, Y:86.22, Z:7.27 [[ 2.81793160e-01 -9.59305073e-01 -1.80663105e-02 1.28460644e+02] [ 9.57609929e-01 2.82369005e-01 -5.70172641e-02 8.62162014e+01] [ 5.97983168e-02 -1.23340329e-03 9.98209717e-01 7.27066781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.748040942 meters 0.022385657854806902 Centerline is valid? [True, True] Translation: X:128.46, Y:86.24, Z:7.28 [[ 2.83631182e-01 -9.58760806e-01 -1.81953211e-02 1.28464462e+02] [ 9.57036876e-01 2.84212040e-01 -5.74798634e-02 8.62447201e+01] [ 6.02807695e-02 -1.11051170e-03 9.98180843e-01 7.27502101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.778040942 meters 0.022609442559062397 Centerline is valid? [True, True] Translation: X:128.47, Y:86.27, Z:7.28 [[ 2.84385343e-01 -9.58534794e-01 -1.83309898e-02 1.28471969e+02] [ 9.56781505e-01 2.84973565e-01 -5.79587601e-02 8.62706678e+01] [ 6.07793357e-02 -1.05613015e-03 9.98150668e-01 7.27575208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.808040942 meters 0.022825877300519687 Centerline is valid? [True, True] Translation: X:128.48, Y:86.30, Z:7.28 [[ 2.85510415e-01 -9.58199840e-01 -1.83540219e-02 1.28478284e+02] [ 9.56438659e-01 2.86098097e-01 -5.80772729e-02 8.62970513e+01] [ 6.09006843e-02 -9.72829802e-04 9.98143357e-01 7.27640186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.838040942 meters 0.021907520406708555 Centerline is valid? [True, True] Translation: X:128.48, Y:86.32, Z:7.28 [[ 2.85765504e-01 -9.58123209e-01 -1.83845725e-02 1.28483120e+02] [ 9.56352510e-01 2.86354726e-01 -5.82309896e-02 8.63247340e+01] [ 6.10569718e-02 -9.41723901e-04 9.98133838e-01 7.28001786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.868040942 meters 0.02188478863560645 Centerline is valid? [True, True] Translation: X:128.49, Y:86.35, Z:7.28 [[ 2.85957861e-01 -9.58068341e-01 -1.82525502e-02 1.28490143e+02] [ 9.56319476e-01 2.86538359e-01 -5.78690677e-02 8.63518425e+01] [ 6.06725774e-02 -9.07154380e-04 9.98157310e-01 7.28180563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.898040942 meters 0.021908474137220108 Centerline is valid? [True, True] Translation: X:128.50, Y:86.38, Z:7.28 [[ 2.85606484e-01 -9.58179866e-01 -1.78963921e-02 1.28497020e+02] [ 9.56495576e-01 2.86165233e-01 -5.67950065e-02 8.63775668e+01] [ 5.95411570e-02 -8.96797715e-04 9.98225449e-01 7.28435001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.928040942 meters 0.02192652000309842 Centerline is valid? [True, True] Translation: X:128.50, Y:86.40, Z:7.29 [[ 2.84866635e-01 -9.58403425e-01 -1.77165190e-02 1.28504734e+02] [ 9.56749969e-01 2.85415543e-01 -5.62802360e-02 8.64049456e+01] [ 5.89957408e-02 -9.17917534e-04 9.98257812e-01 7.28660404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.958040942 meters 0.022242379715297925 Centerline is valid? [True, True] Translation: X:128.51, Y:86.43, Z:7.29 [[ 2.84268868e-01 -9.58589028e-01 -1.72709813e-02 1.28513076e+02] [ 9.57015238e-01 2.84791561e-01 -5.49144837e-02 8.64306226e+01] [ 5.75590513e-02 -9.18114182e-04 9.98341681e-01 7.28866684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98804094199997 meters 0.022018928132957295 Centerline is valid? [True, True] Translation: X:128.52, Y:86.46, Z:7.29 [[ 2.83909522e-01 -9.58695976e-01 -1.72455598e-02 1.28520214e+02] [ 9.57124557e-01 2.84431306e-01 -5.48763596e-02 8.64578966e+01] [ 5.75149222e-02 -9.26227778e-04 9.98344217e-01 7.29152046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.01804094199997 meters 0.022425880414521128 Centerline is valid? [True, True] Translation: X:128.53, Y:86.48, Z:7.29 [[ 2.84034892e-01 -9.58662829e-01 -1.70223534e-02 1.28528234e+02] [ 9.57128750e-01 2.84543115e-01 -5.42196674e-02 8.64836814e+01] [ 5.68219732e-02 -8.92306424e-04 9.98383928e-01 7.29246210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04804094199997 meters 0.021748671337082814 Centerline is valid? [True, True] Translation: X:128.53, Y:86.51, Z:7.30 [[ 2.86193538e-01 -9.58024617e-01 -1.67955878e-02 1.28531926e+02] [ 9.56527063e-01 2.86684994e-01 -5.35508324e-02 8.65117285e+01] [ 5.61180587e-02 -7.39532092e-04 9.98423866e-01 7.29523656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.07804094199997 meters 0.021500763581747694 Centerline is valid? [True, True] Translation: X:128.54, Y:86.54, Z:7.30 [[ 2.87625677e-01 -9.57599368e-01 -1.65807037e-02 1.28537434e+02] [ 9.56136434e-01 2.88102497e-01 -5.29156942e-02 8.65391086e+01] [ 5.54489775e-02 -6.33502535e-04 9.98461321e-01 7.29719791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10804094199997 meters 0.021125282115517705 Centerline is valid? [True, True] Translation: X:128.54, Y:86.57, Z:7.30 [[ 2.90180651e-01 -9.56830352e-01 -1.64580270e-02 1.28540407e+02] [ 9.55384905e-01 2.90646621e-01 -5.25759064e-02 8.65677638e+01] [ 5.50896930e-02 -4.67239841e-04 9.98481300e-01 7.29861130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.13804094199998 meters 0.02112113404455505 Centerline is valid? [True, True] Translation: X:128.55, Y:86.59, Z:7.30 [[ 2.91022262e-01 -9.56574385e-01 -1.64769133e-02 1.28547296e+02] [ 9.55122481e-01 2.91488047e-01 -5.26855263e-02 8.65943933e+01] [ 5.52004482e-02 -4.04809273e-04 9.98475211e-01 7.29862310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16804094199998 meters 0.020967681312813465 Centerline is valid? [True, True] Translation: X:128.55, Y:86.62, Z:7.30 [[ 2.91149707e-01 -9.56536110e-01 -1.64474104e-02 1.28554008e+02] [ 9.55087039e-01 2.91613651e-01 -5.26329376e-02 8.66215881e+01] [ 5.51415948e-02 -3.84644136e-04 9.98478471e-01 7.30053222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.19804094199998 meters 0.02120975473820171 Centerline is valid? [True, True] Translation: X:128.56, Y:86.65, Z:7.30 [[ 2.89757685e-01 -9.56964300e-01 -1.61186666e-02 1.28562886e+02] [ 9.55570464e-01 2.90205329e-01 -5.16328892e-02 8.66469823e+01] [ 5.40885546e-02 -4.41495312e-04 9.98536045e-01 7.30175580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22804094199998 meters 0.021244877842238385 Centerline is valid? [True, True] Translation: X:128.57, Y:86.67, Z:7.30 [[ 2.88458535e-01 -9.57360730e-01 -1.58778886e-02 1.28570880e+02] [ 9.56006024e-01 2.88894775e-01 -5.09145537e-02 8.66733427e+01] [ 5.33306333e-02 -4.92619592e-04 9.98576788e-01 7.30368446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.25804094199998 meters 0.021344976310610532 Centerline is valid? [True, True] Translation: X:128.58, Y:86.70, Z:7.30 [[ 2.86358979e-01 -9.57990776e-01 -1.58810894e-02 1.28578243e+02] [ 9.56633828e-01 2.86798395e-01 -5.09745094e-02 8.67002705e+01] [ 5.33877807e-02 -5.95378839e-04 9.98573678e-01 7.30465251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28804094199998 meters 0.02133184600213457 Centerline is valid? [True, True] Translation: X:128.59, Y:86.73, Z:7.31 [[ 2.85713614e-01 -9.58183341e-01 -1.58875687e-02 1.28586004e+02] [ 9.56822946e-01 2.86154334e-01 -5.10445562e-02 8.67272973e+01] [ 5.34563401e-02 -6.17465697e-04 9.98569997e-01 7.30580767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.31804094199998 meters 0.02131804528137156 Centerline is valid? [True, True] Translation: X:128.59, Y:86.75, Z:7.31 [[ 2.84840952e-01 -9.58441475e-01 -1.59865764e-02 1.28593744e+02] [ 9.57061680e-01 2.85288467e-01 -5.14143097e-02 8.67547656e+01] [ 5.38383927e-02 -6.55238732e-04 9.98549447e-01 7.30748015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34804094199998 meters 0.02131804528137156 Centerline is valid? [True, True] Translation: X:128.60, Y:86.78, Z:7.31 [[ 2.84564563e-01 -9.58523815e-01 -1.59719930e-02 1.28601839e+02] [ 9.57143896e-01 2.85011694e-01 -5.14188401e-02 8.67810955e+01] [ 5.38383875e-02 -6.55515797e-04 9.98549447e-01 7.30870358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.37804094199998 meters 0.02143628799738589 Centerline is valid? [True, True] Translation: X:128.61, Y:86.81, Z:7.31 [[ 2.83641838e-01 -9.58795937e-01 -1.60517742e-02 1.28609077e+02] [ 9.57399720e-01 2.84094823e-01 -5.17291813e-02 8.68074223e+01] [ 5.41579547e-02 -6.95404090e-04 9.98532139e-01 7.30937627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40804094199999 meters 0.02140016991068846 Centerline is valid? [True, True] Translation: X:128.62, Y:86.83, Z:7.31 [[ 2.82948209e-01 -9.58997411e-01 -1.62566220e-02 1.28616565e+02] [ 9.57562536e-01 2.83413898e-01 -5.24457044e-02 8.68349253e+01] [ 5.49026474e-02 -7.27314074e-04 9.98491447e-01 7.31006853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.438040942 meters 0.021514086922623098 Centerline is valid? [True, True] Translation: X:128.62, Y:86.86, Z:7.31 [[ 2.81783449e-01 -9.59329884e-01 -1.68600712e-02 1.28623562e+02] [ 9.57783826e-01 2.82286247e-01 -5.44483081e-02 8.68627419e+01] [ 5.69932553e-02 -8.05671416e-04 9.98374238e-01 7.31005898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.468040942 meters 0.021743259151185346 Centerline is valid? [True, True] Translation: X:128.63, Y:86.89, Z:7.31 [[ 2.80930005e-01 -9.59577043e-01 -1.70361870e-02 1.28631791e+02] [ 9.57995919e-01 2.81444803e-01 -5.50694333e-02 8.68891575e+01] [ 5.76381102e-02 -8.49941474e-04 9.98337180e-01 7.31010318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.498040942 meters 0.021824531756414137 Centerline is valid? [True, True] Translation: X:128.64, Y:86.92, Z:7.31 [[ 2.79880901e-01 -9.59880925e-01 -1.71840471e-02 1.28639874e+02] [ 9.58269812e-01 2.80406471e-01 -5.55983711e-02 8.69159603e+01] [ 5.81863339e-02 -9.06031367e-04 9.98305329e-01 7.31093887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.528040942 meters 0.022102590799608975 Centerline is valid? [True, True] Translation: X:128.65, Y:86.94, Z:7.31 [[ 2.77243227e-01 -9.60644159e-01 -1.72914058e-02 1.28647334e+02] [ 9.59011196e-01 2.77779916e-01 -5.59986188e-02 8.69438887e+01] [ 5.85979513e-02 -1.05741397e-03 9.98281104e-01 7.31175640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.558040942 meters 0.022601309579235288 Centerline is valid? [True, True] Translation: X:128.66, Y:86.97, Z:7.31 [[ 2.75910914e-01 -9.61025874e-01 -1.73907053e-02 1.28655915e+02] [ 9.59371757e-01 2.76456129e-01 -5.63723400e-02 8.69700672e+01] [ 5.89830444e-02 -1.13040760e-03 9.98258345e-01 7.31251288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.588040942 meters 0.022650506406395304 Centerline is valid? [True, True] Translation: X:128.66, Y:87.00, Z:7.31 [[ 2.73469904e-01 -9.61725196e-01 -1.72875176e-02 1.28663030e+02] [ 9.60089095e-01 2.74012885e-01 -5.60880462e-02 8.69977993e+01] [ 5.86782898e-02 -1.25916450e-03 9.98276151e-01 7.31481971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.618040942 meters 0.022684701251578118 Centerline is valid? [True, True] Translation: X:128.67, Y:87.02, Z:7.32 [[ 2.72834485e-01 -9.61910541e-01 -1.70133790e-02 1.28670649e+02] [ 9.60323318e-01 2.73361507e-01 -5.52504537e-02 8.70243628e+01] [ 5.77967967e-02 -1.26411552e-03 9.98327568e-01 7.31655922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.648040942 meters 0.022162496909297887 Centerline is valid? [True, True] Translation: X:128.68, Y:87.05, Z:7.32 [[ 2.73270379e-01 -9.61793454e-01 -1.66328657e-02 1.28676548e+02] [ 9.60273293e-01 2.73773482e-01 -5.40673985e-02 8.70519942e+01] [ 5.65553075e-02 -1.19707824e-03 9.98398750e-01 7.31948954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.678040942 meters 0.021991782335295234 Centerline is valid? [True, True] Translation: X:128.68, Y:87.08, Z:7.32 [[ 2.74166090e-01 -9.61538416e-01 -1.66381692e-02 1.28683353e+02] [ 9.60013962e-01 2.74668154e-01 -5.41350040e-02 8.70783251e+01] [ 5.66228613e-02 -1.13089229e-03 9.98394998e-01 7.32090612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.708040942 meters 0.021607357613955023 Centerline is valid? [True, True] Translation: X:128.69, Y:87.11, Z:7.32 [[ 2.77243652e-01 -9.60655534e-01 -1.66403547e-02 1.28686924e+02] [ 9.59126863e-01 2.77740999e-01 -5.41811618e-02 8.71056109e+01] [ 5.66711417e-02 -9.38827998e-04 9.98392458e-01 7.32185847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.73804094199997 meters 0.02136281351064386 Centerline is valid? [True, True] Translation: X:128.69, Y:87.13, Z:7.32 [[ 2.78589652e-01 -9.60269310e-01 -1.64517093e-02 1.28692532e+02] [ 9.58772352e-01 2.79073732e-01 -5.36043769e-02 8.71333628e+01] [ 5.60658779e-02 -8.39819278e-04 9.98426718e-01 7.32292241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76804094199997 meters 0.021017444222692905 Centerline is valid? [True, True] Translation: X:128.70, Y:87.16, Z:7.32 [[ 2.80275538e-01 -9.59781962e-01 -1.62544953e-02 1.28698493e+02] [ 9.58317105e-01 2.80745559e-01 -5.30118635e-02 8.71614490e+01] [ 5.54432077e-02 -7.19032304e-04 9.98461583e-01 7.32455076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.79804094199997 meters 0.020535109175309128 Centerline is valid? [True, True] Translation: X:128.70, Y:87.19, Z:7.33 [[ 2.82193456e-01 -9.59226556e-01 -1.58514411e-02 1.28702466e+02] [ 9.57829980e-01 2.82637714e-01 -5.17460302e-02 8.71893745e+01] [ 5.41163814e-02 -5.80594428e-04 9.98534466e-01 7.32747799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82804094199997 meters 0.020481299260333152 Centerline is valid? [True, True] Translation: X:128.71, Y:87.22, Z:7.33 [[ 2.82392228e-01 -9.59172773e-01 -1.55634319e-02 1.28709708e+02] [ 9.57823764e-01 2.82820248e-01 -5.08561073e-02 8.72158504e+01] [ 5.31814471e-02 -5.45655500e-04 9.98584716e-01 7.32885090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.85804094199997 meters 0.02050709251837688 Centerline is valid? [True, True] Translation: X:128.72, Y:87.24, Z:7.33 [[ 2.82129405e-01 -9.59252232e-01 -1.54322743e-02 1.28716767e+02] [ 9.57923186e-01 2.82550639e-01 -5.04807520e-02 8.72425082e+01] [ 5.27841729e-02 -5.40828836e-04 9.98605797e-01 7.33049793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.88804094199998 meters 0.020684917726000205 Centerline is valid? [True, True] Translation: X:128.72, Y:87.27, Z:7.33 [[ 2.80808829e-01 -9.59644185e-01 -1.51472681e-02 1.28722858e+02] [ 9.58361811e-01 2.81216449e-01 -4.95978577e-02 8.72696603e+01] [ 5.18559567e-02 -5.89046905e-04 9.98654401e-01 7.33196737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.91804094199998 meters 0.02074534507221059 Centerline is valid? [True, True] Translation: X:128.73, Y:87.30, Z:7.33 [[ 2.80143756e-01 -9.59840736e-01 -1.50079441e-02 1.28729752e+02] [ 9.58579560e-01 2.80544820e-01 -4.91917889e-02 8.72964374e+01] [ 5.14266838e-02 -6.05535948e-04 9.98676589e-01 7.33286802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94804094199998 meters 0.0208690283826264 Centerline is valid? [True, True] Translation: X:128.74, Y:87.32, Z:7.33 [[ 2.78628060e-01 -9.60282486e-01 -1.49649680e-02 1.28736041e+02] [ 9.59026576e-01 2.79028845e-01 -4.91012274e-02 8.73239538e+01] [ 5.13267065e-02 -6.70822252e-04 9.98681691e-01 7.33358840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.97804094199998 meters 0.02081253474327363 Centerline is valid? [True, True] Translation: X:128.74, Y:87.35, Z:7.33 [[ 2.78298141e-01 -9.60377616e-01 -1.49992917e-02 1.28743240e+02] [ 9.59113462e-01 2.78701233e-01 -4.92644839e-02 8.73507402e+01] [ 5.14928287e-02 -6.75808321e-04 9.98673136e-01 7.33444896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00804094199998 meters 0.020833590149577867 Centerline is valid? [True, True] Translation: X:128.75, Y:87.38, Z:7.34 [[ 2.77615708e-01 -9.60573919e-01 -1.50752902e-02 1.28751185e+02] [ 9.59294571e-01 2.78023836e-01 -4.95648329e-02 8.73774664e+01] [ 5.18019758e-02 -7.01667837e-04 9.98657130e-01 7.33575348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.03804094199998 meters 0.020726720035455184 Centerline is valid? [True, True] Translation: X:128.76, Y:87.40, Z:7.34 [[ 2.76740274e-01 -9.60823573e-01 -1.52604779e-02 1.28758874e+02] [ 9.59510238e-01 2.77159718e-01 -5.02254335e-02 8.74048549e+01] [ 5.24873702e-02 -7.43184536e-04 9.98621311e-01 7.33673259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06804094199998 meters 0.020905338855585428 Centerline is valid? [True, True] Translation: X:128.77, Y:87.43, Z:7.34 [[ 2.76252229e-01 -9.60962453e-01 -1.53580653e-02 1.28766155e+02] [ 9.59629840e-01 2.76677765e-01 -5.05962894e-02 8.74305447e+01] [ 5.28703696e-02 -7.60719980e-04 9.98601094e-01 7.33760947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.09804094199998 meters 0.0212532782477094 Centerline is valid? [True, True] Translation: X:128.77, Y:87.46, Z:7.34 [[ 2.76233312e-01 -9.60969068e-01 -1.52842080e-02 1.28771428e+02] [ 9.59647185e-01 2.76654823e-01 -5.03923513e-02 8.74581839e+01] [ 5.26539407e-02 -7.47401134e-04 9.98612539e-01 7.33830636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12804094199998 meters 0.02119471450336309 Centerline is valid? [True, True] Translation: X:128.78, Y:87.48, Z:7.34 [[ 2.76454954e-01 -9.60907541e-01 -1.51445274e-02 1.28778544e+02] [ 9.59607004e-01 2.76868538e-01 -4.99821086e-02 8.74843438e+01] [ 5.22212282e-02 -7.14993044e-04 9.98635285e-01 7.33933969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.15804094199999 meters 0.02034428537989037 Centerline is valid? [True, True] Translation: X:128.79, Y:87.51, Z:7.34 [[ 2.76952907e-01 -9.60763806e-01 -1.51656409e-02 1.28785556e+02] [ 9.59456684e-01 2.77367003e-01 -5.01040545e-02 8.75110971e+01] [ 5.23446105e-02 -6.74311977e-04 9.98628854e-01 7.34155548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.188040942 meters 0.02000199929036689 Centerline is valid? [True, True] Translation: X:128.79, Y:87.54, Z:7.34 [[ 2.77452509e-01 -9.60622080e-01 -1.50108041e-02 1.28791415e+02] [ 9.59338809e-01 2.77857563e-01 -4.96409583e-02 8.75382338e+01] [ 5.18570661e-02 -6.27438433e-04 9.98654320e-01 7.34341085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.218040942 meters 0.021326885397064642 Centerline is valid? [True, True] Translation: X:128.80, Y:87.56, Z:7.34 [[ 2.77212288e-01 -9.60692073e-01 -1.49695582e-02 1.28798953e+02] [ 9.59413398e-01 2.77615471e-01 -4.95538232e-02 8.75639111e+01] [ 5.17617461e-02 -6.25065982e-04 9.98659267e-01 7.34302441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.248040942 meters 0.01954971187291762 Centerline is valid? [True, True] Translation: X:128.81, Y:87.59, Z:7.35 [[ 2.77605991e-01 -9.60581293e-01 -1.47815343e-02 1.28806875e+02] [ 9.59331827e-01 2.77998633e-01 -4.89816857e-02 8.75910772e+01] [ 5.11601374e-02 -5.82786937e-04 9.98690293e-01 7.34621694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.278040942 meters 0.019659201648945027 Centerline is valid? [True, True] Translation: X:128.82, Y:87.62, Z:7.35 [[ 2.77570300e-01 -9.60592832e-01 -1.47016759e-02 1.28815283e+02] [ 9.59354383e-01 2.77958788e-01 -4.87655706e-02 8.76165804e+01] [ 5.09303176e-02 -5.68243167e-04 9.98702048e-01 7.34723793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.308040942 meters 0.02072276914388304 Centerline is valid? [True, True] Translation: X:128.82, Y:87.64, Z:7.35 [[ 2.76644806e-01 -9.60855211e-01 -1.49971809e-02 1.28823649e+02] [ 9.59564091e-01 2.77050333e-01 -4.97982758e-02 8.76434420e+01] [ 5.20039067e-02 -6.14321915e-04 9.98646692e-01 7.34746660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.338040942 meters 0.0197539725996845 Centerline is valid? [True, True] Translation: X:128.83, Y:87.67, Z:7.35 [[ 2.76938075e-01 -9.60770837e-01 -1.49900667e-02 1.28832502e+02] [ 9.59478291e-01 2.77342853e-01 -4.98231989e-02 8.76692451e+01] [ 5.20260643e-02 -5.84702775e-04 9.98645556e-01 7.34885607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.368040942 meters 0.019282571064542117 Centerline is valid? [True, True] Translation: X:128.84, Y:87.70, Z:7.35 [[ 2.76790125e-01 -9.60812881e-01 -1.50277763e-02 1.28839551e+02] [ 9.59511230e-01 2.77197170e-01 -4.99992937e-02 8.76959275e+01] [ 5.22056225e-02 -5.80009392e-04 9.98636188e-01 7.35111901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.398040942 meters 0.019682381381024534 Centerline is valid? [True, True] Translation: X:128.85, Y:87.72, Z:7.35 [[ 2.76529498e-01 -9.60889073e-01 -1.49541216e-02 1.28849471e+02] [ 9.59597700e-01 2.76932943e-01 -4.98036087e-02 8.77210569e+01] [ 5.19970323e-02 -5.77773803e-04 9.98647072e-01 7.35201283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.428040942 meters 0.01920651765165816 Centerline is valid? [True, True] Translation: X:128.86, Y:87.75, Z:7.35 [[ 2.76429917e-01 -9.60916906e-01 -1.50067129e-02 1.28856467e+02] [ 9.59613757e-01 2.76836368e-01 -5.00306191e-02 8.77482204e+01] [ 5.22296716e-02 -5.70688285e-04 9.98634936e-01 7.35423757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.458040942 meters 0.019055633054351425 Centerline is valid? [True, True] Translation: X:128.86, Y:87.77, Z:7.35 [[ 2.76981076e-01 -9.60757380e-01 -1.50579222e-02 1.28864398e+02] [ 9.59442466e-01 2.77389578e-01 -5.02511338e-02 8.77745491e+01] [ 5.24560583e-02 -5.28596895e-04 9.98623093e-01 7.35456698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48804094199997 meters 0.019064111986913414 Centerline is valid? [True, True] Translation: X:128.87, Y:87.80, Z:7.36 [[ 2.76876589e-01 -9.60787603e-01 -1.50511366e-02 1.28872207e+02] [ 9.59471328e-01 2.77284893e-01 -5.02778253e-02 8.78004553e+01] [ 5.24797640e-02 -5.20381246e-04 9.98621852e-01 7.35591048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.51804094199997 meters 0.018950032098255645 Centerline is valid? [True, True] Translation: X:128.88, Y:87.83, Z:7.36 [[ 2.76759831e-01 -9.60823767e-01 -1.48890655e-02 1.28880161e+02] [ 9.59533805e-01 2.77159570e-01 -4.97739839e-02 8.78261377e+01] [ 5.19506737e-02 -5.11122327e-04 9.98649521e-01 7.35756017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54804094199997 meters 0.01902687815186693 Centerline is valid? [True, True] Translation: X:128.89, Y:87.85, Z:7.36 [[ 2.75985312e-01 -9.61047324e-01 -1.48373885e-02 1.28888912e+02] [ 9.59763839e-01 2.76383344e-01 -4.96550149e-02 8.78504038e+01] [ 5.18216263e-02 -5.36334192e-04 9.98656213e-01 7.35881925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.57804094199997 meters 0.019129515433430052 Centerline is valid? [True, True] Translation: X:128.90, Y:87.88, Z:7.36 [[ 2.75162354e-01 -9.61283648e-01 -1.48130683e-02 1.28898088e+02] [ 9.60001806e-01 2.75560211e-01 -4.96296610e-02 8.78754323e+01] [ 5.17900738e-02 -5.64357979e-04 9.98657834e-01 7.35992555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60804094199997 meters 0.01910984264454215 Centerline is valid? [True, True] Translation: X:128.91, Y:87.90, Z:7.36 [[ 2.74903814e-01 -9.61358128e-01 -1.47797967e-02 1.28906305e+02] [ 9.60079284e-01 2.75300261e-01 -4.95735300e-02 8.78998666e+01] [ 5.17267979e-02 -5.61824193e-04 9.98661115e-01 7.36106168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.63804094199998 meters 0.019122965915663155 Centerline is valid? [True, True] Translation: X:128.91, Y:87.93, Z:7.36 [[ 2.74589915e-01 -9.61446674e-01 -1.48550423e-02 1.28914929e+02] [ 9.60152016e-01 2.74990860e-01 -4.98811857e-02 8.79254441e+01] [ 5.20431009e-02 -5.66228313e-04 9.98644679e-01 7.36217693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66804094199998 meters 0.01948829870760145 Centerline is valid? [True, True] Translation: X:128.92, Y:87.95, Z:7.36 [[ 2.74414806e-01 -9.61494652e-01 -1.49849578e-02 1.28922772e+02] [ 9.60174527e-01 2.74823060e-01 -5.03702638e-02 8.79528258e+01] [ 5.25489512e-02 -5.65828629e-04 9.98618189e-01 7.36324420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.69804094199998 meters 0.01865233813857286 Centerline is valid? [True, True] Translation: X:128.93, Y:87.98, Z:7.36 [[ 2.76238782e-01 -9.60973343e-01 -1.49120586e-02 1.28932652e+02] [ 9.59662698e-01 2.76640618e-01 -5.01744348e-02 8.79777301e+01] [ 5.23415754e-02 -4.50421625e-04 9.98629139e-01 7.36474627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72804094199998 meters 0.018052320476096 Centerline is valid? [True, True] Translation: X:128.94, Y:88.00, Z:7.37 [[ 2.79250399e-01 -9.60102355e-01 -1.49225538e-02 1.28939142e+02] [ 9.58785930e-01 2.79648697e-01 -5.02607862e-02 8.80030941e+01] [ 5.24285719e-02 -2.72190009e-04 9.98624640e-01 7.36597344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.75804094199998 meters 0.017530143404654544 Centerline is valid? [True, True] Translation: X:128.95, Y:88.03, Z:7.37 [[ 2.81232424e-01 -9.59522651e-01 -1.49868558e-02 1.28945310e+02] [ 9.58191132e-01 2.81631425e-01 -5.05321124e-02 8.80303503e+01] [ 5.27074760e-02 -1.49003879e-04 9.98609984e-01 7.36924888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78804094199998 meters 0.017454623914738034 Centerline is valid? [True, True] Translation: X:128.95, Y:88.06, Z:7.37 [[ 2.83242469e-01 -9.58929764e-01 -1.50801914e-02 1.28952781e+02] [ 9.57577863e-01 2.83643628e-01 -5.09011692e-02 8.80562374e+01] [ 5.30880463e-02 -2.30845716e-05 9.98589835e-01 7.37021557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.81804094199998 meters 0.01743041896777136 Centerline is valid? [True, True] Translation: X:128.96, Y:88.08, Z:7.37 [[ 2.85217055e-01 -9.58346066e-01 -1.49683004e-02 1.28959979e+02] [ 9.57010414e-01 2.85609538e-01 -5.05792462e-02 8.80824385e+01] [ 5.27475109e-02 1.01244300e-04 9.98607876e-01 7.37095540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84804094199998 meters 0.017563957658424834 Centerline is valid? [True, True] Translation: X:128.97, Y:88.11, Z:7.37 [[ 2.89399336e-01 -9.57092071e-01 -1.49261825e-02 1.28967783e+02] [ 9.55759370e-01 2.89783793e-01 -5.04913792e-02 8.81098325e+01] [ 5.26502645e-02 3.46332858e-04 9.98612953e-01 7.37259937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.87804094199998 meters 0.01768865935362726 Centerline is valid? [True, True] Translation: X:128.98, Y:88.14, Z:7.37 [[ 2.91635969e-01 -9.56414587e-01 -1.48189026e-02 1.28975748e+02] [ 9.55097498e-01 2.92011828e-01 -5.01783032e-02 8.81371722e+01] [ 5.23185559e-02 4.80301339e-04 9.98630331e-01 7.37371667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90804094199999 meters 0.017843875571389 Centerline is valid? [True, True] Translation: X:128.98, Y:88.16, Z:7.37 [[ 2.92010244e-01 -9.56301382e-01 -1.47541528e-02 1.28983916e+02] [ 9.54992926e-01 2.92382290e-01 -5.00110794e-02 8.81633876e+01] [ 5.21395174e-02 5.13635902e-04 9.98639678e-01 7.37453599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.938040942 meters 0.017653678554646973 Centerline is valid? [True, True] Translation: X:128.99, Y:88.19, Z:7.38 [[ 2.92111471e-01 -9.56268874e-01 -1.48569741e-02 1.28994103e+02] [ 9.54939156e-01 2.92488547e-01 -5.04148614e-02 8.81895101e+01] [ 5.25556575e-02 5.39253002e-04 9.98617851e-01 7.37651602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.968040942 meters 0.01777190258545374 Centerline is valid? [True, True] Translation: X:129.01, Y:88.21, Z:7.38 [[ 2.91915962e-01 -9.56329968e-01 -1.47669914e-02 1.29007018e+02] [ 9.55013593e-01 2.92288728e-01 -5.01630979e-02 8.82136583e+01] [ 5.22886989e-02 5.40731460e-04 9.98631864e-01 7.37822380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.998040942 meters 0.017613325420553418 Centerline is valid? [True, True] Translation: X:129.02, Y:88.24, Z:7.38 [[ 2.90914127e-01 -9.56635343e-01 -1.47577651e-02 1.29017628e+02] [ 9.55318088e-01 2.91287777e-01 -5.01874739e-02 8.82396174e+01] [ 5.23098679e-02 5.01885244e-04 9.98630776e-01 7.37995357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.028040942 meters 0.017429042786577194 Centerline is valid? [True, True] Translation: X:129.03, Y:88.26, Z:7.38 [[ 2.88876856e-01 -9.57250829e-01 -1.48664949e-02 1.29029968e+02] [ 9.55912066e-01 2.89258852e-01 -5.06106495e-02 8.82648546e+01] [ 5.27473514e-02 4.09183509e-04 9.98607806e-01 7.38006398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.058040942 meters 0.017321124025303128 Centerline is valid? [True, True] Translation: X:129.04, Y:88.29, Z:7.38 [[ 2.87288648e-01 -9.57728271e-01 -1.48926854e-02 1.29039756e+02] [ 9.56382547e-01 2.87674199e-01 -5.07541007e-02 8.82907081e+01] [ 5.28928785e-02 3.37972596e-04 9.98600135e-01 7.38036170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.088040942 meters 0.017174979639895293 Centerline is valid? [True, True] Translation: X:129.05, Y:88.32, Z:7.38 [[ 2.85890593e-01 -9.58144982e-01 -1.49920957e-02 1.29051011e+02] [ 9.56778757e-01 2.86283279e-01 -5.11497205e-02 8.83162792e+01] [ 5.33008343e-02 2.79105214e-04 9.98578461e-01 7.38160333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.118040942 meters 0.016939811540176167 Centerline is valid? [True, True] Translation: X:129.07, Y:88.34, Z:7.38 [[ 2.82146095e-01 -9.59252881e-01 -1.50828029e-02 1.29067223e+02] [ 9.57868675e-01 2.82548938e-01 -5.15140704e-02 8.83412424e+01] [ 5.36766504e-02 8.71493868e-05 9.98558366e-01 7.38274039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.148040942 meters 0.01683331725455249 Centerline is valid? [True, True] Translation: X:129.08, Y:88.37, Z:7.38 [[ 2.80120699e-01 -9.59846228e-01 -1.50868105e-02 1.29079319e+02] [ 9.58459205e-01 2.80526679e-01 -5.15823146e-02 8.83666389e+01] [ 5.37433430e-02 -1.08183977e-05 9.98554782e-01 7.38415371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.178040942 meters 0.016786281074106613 Centerline is valid? [True, True] Translation: X:129.09, Y:88.39, Z:7.39 [[ 2.77217092e-01 -9.60693343e-01 -1.47980991e-02 1.29094312e+02] [ 9.59357346e-01 2.77611735e-01 -5.06478693e-02 8.83918908e+01] [ 5.27651969e-02 -1.56210042e-04 9.98606934e-01 7.38572514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.208040942 meters 0.016767227285505018 Centerline is valid? [True, True] Translation: X:129.10, Y:88.42, Z:7.39 [[ 2.76224837e-01 -9.60978935e-01 -1.48096585e-02 1.29104844e+02] [ 9.59638399e-01 2.76621489e-01 -5.07414494e-02 8.84185186e+01] [ 5.28581338e-02 -1.95868401e-04 9.98602012e-01 7.38698190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.23804094199997 meters 0.016767227285505018 Centerline is valid? [True, True] Translation: X:129.11, Y:88.44, Z:7.39 [[ 2.75950929e-01 -9.61057848e-01 -1.47951644e-02 1.29112473e+02] [ 9.59717199e-01 2.76347198e-01 -5.07456756e-02 8.84449884e+01] [ 5.28581320e-02 -1.95857433e-04 9.98602013e-01 7.38820513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26804094199997 meters 0.016742167908353724 Centerline is valid? [True, True] Translation: X:129.13, Y:88.47, Z:7.39 [[ 2.74639925e-01 -9.61432104e-01 -1.48734795e-02 1.29125054e+02] [ 9.60074859e-01 2.75042259e-01 -5.10687794e-02 8.84707205e+01] [ 5.31899995e-02 -2.54127967e-04 9.98584378e-01 7.38789273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.29804094199997 meters 0.01675936558518194 Centerline is valid? [True, True] Translation: X:129.14, Y:88.50, Z:7.39 [[ 2.73454446e-01 -9.61769712e-01 -1.48891329e-02 1.29135915e+02] [ 9.60407210e-01 2.73859320e-01 -5.11767831e-02 8.84965303e+01] [ 5.32978078e-02 -3.05111700e-04 9.98578615e-01 7.38850887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32804094199997 meters 0.016801638678232384 Centerline is valid? [True, True] Translation: X:129.15, Y:88.52, Z:7.39 [[ 2.72028594e-01 -9.62172465e-01 -1.49863759e-02 1.29147266e+02] [ 9.60789732e-01 2.72440837e-01 -5.15662780e-02 8.85215647e+01] [ 5.36985536e-02 -3.71253957e-04 9.98557123e-01 7.38933768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.35804094199997 meters 0.01672056462493188 Centerline is valid? [True, True] Translation: X:129.16, Y:88.55, Z:7.39 [[ 2.69853212e-01 -9.62785152e-01 -1.49664415e-02 1.29161600e+02] [ 9.61403967e-01 2.70267503e-01 -5.15547111e-02 8.85464856e+01] [ 5.36810531e-02 -4.76591923e-04 9.98558019e-01 7.39078796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.38804094199998 meters 0.016755920401645023 Centerline is valid? [True, True] Translation: X:129.17, Y:88.57, Z:7.39 [[ 2.69254165e-01 -9.62954340e-01 -1.48705717e-02 1.29172324e+02] [ 9.61588135e-01 2.69664045e-01 -5.12792513e-02 8.85724944e+01] [ 5.33896361e-02 -4.92213321e-04 9.98573635e-01 7.39158997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.41804094199998 meters 0.0179257257196809 Centerline is valid? [True, True] Translation: X:129.18, Y:88.60, Z:7.39 [[ 2.68549079e-01 -9.63148249e-01 -1.50612666e-02 1.29184961e+02] [ 9.61743978e-01 2.68970588e-01 -5.19936852e-02 8.85969886e+01] [ 5.41286646e-02 -5.22226175e-04 9.98533833e-01 7.39064640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44804094199998 meters 0.016684449821951837 Centerline is valid? [True, True] Translation: X:129.19, Y:88.62, Z:7.39 [[ 2.69116476e-01 -9.62989403e-01 -1.50908024e-02 1.29194700e+02] [ 9.61576191e-01 2.69538835e-01 -5.21540564e-02 8.86237789e+01] [ 5.42913609e-02 -4.75440491e-04 9.98525023e-01 7.39272507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.47804094199998 meters 0.016523722879800525 Centerline is valid? [True, True] Translation: X:129.20, Y:88.65, Z:7.39 [[ 2.70373686e-01 -9.62641378e-01 -1.48204888e-02 1.29201589e+02] [ 9.61274967e-01 2.70779301e-01 -5.12738442e-02 8.86500528e+01] [ 5.33714057e-02 -3.83466594e-04 9.98574657e-01 7.39351034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50804094199998 meters 0.01613704395733863 Centerline is valid? [True, True] Translation: X:129.21, Y:88.68, Z:7.39 [[ 2.73934207e-01 -9.61636380e-01 -1.46807129e-02 1.29206054e+02] [ 9.60291402e-01 2.74327257e-01 -5.08426891e-02 8.86769620e+01] [ 5.29194992e-02 -1.70210717e-04 9.98598767e-01 7.39382947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.53804094199998 meters 0.015995091621586934 Centerline is valid? [True, True] Translation: X:129.21, Y:88.70, Z:7.39 [[ 2.76133176e-01 -9.61007145e-01 -1.46879793e-02 1.29211700e+02] [ 9.59657741e-01 2.76523537e-01 -5.09092700e-02 8.87047941e+01] [ 5.29857441e-02 -3.76946005e-05 9.98595268e-01 7.39442103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56804094199998 meters 0.015889568892321314 Centerline is valid? [True, True] Translation: X:129.21, Y:88.73, Z:7.40 [[ 2.80018994e-01 -9.59882386e-01 -1.46685909e-02 1.29214616e+02] [ 9.58532158e-01 2.80402867e-01 -5.08953227e-02 8.87325977e+01] [ 5.29666388e-02 1.91340934e-04 9.98596264e-01 7.39532821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.59804094199998 meters 0.0161215598215627 Centerline is valid? [True, True] Translation: X:129.22, Y:88.76, Z:7.40 [[ 2.80915117e-01 -9.59621499e-01 -1.46039692e-02 1.29221263e+02] [ 9.58279902e-01 2.81294355e-01 -5.07258880e-02 8.87595744e+01] [ 5.27856668e-02 2.54978623e-04 9.98605832e-01 7.39651433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62804094199998 meters 0.016101118953689795 Centerline is valid? [True, True] Translation: X:129.23, Y:88.78, Z:7.40 [[ 2.80627886e-01 -9.59709648e-01 -1.43311241e-02 1.29228517e+02] [ 9.58415198e-01 2.80993470e-01 -4.98294978e-02 8.87848628e+01] [ 5.18488021e-02 2.48379465e-04 9.98654915e-01 7.39845015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.65804094199999 meters 0.01604051833270616 Centerline is valid? [True, True] Translation: X:129.24, Y:88.81, Z:7.40 [[ 2.79532549e-01 -9.60029867e-01 -1.42901620e-02 1.29236620e+02] [ 9.58740162e-01 2.79897504e-01 -4.97462514e-02 8.88110625e+01] [ 5.17576678e-02 2.05144205e-04 9.98659653e-01 7.39950499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.688040942 meters 0.01594590072019009 Centerline is valid? [True, True] Translation: X:129.24, Y:88.84, Z:7.40 [[ 2.76079050e-01 -9.61029993e-01 -1.42024660e-02 1.29244981e+02] [ 9.59754605e-01 2.76444119e-01 -4.94949276e-02 8.88356846e+01] [ 5.14922982e-02 3.36305284e-05 9.98673391e-01 7.39972541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.718040942 meters 0.015951510471216592 Centerline is valid? [True, True] Translation: X:129.25, Y:88.86, Z:7.40 [[ 2.74131265e-01 -9.61586705e-01 -1.42498668e-02 1.29253493e+02] [ 9.60301189e-01 2.74501377e-01 -4.97053377e-02 8.88612615e+01] [ 5.17075999e-02 -5.83769006e-05 9.98662266e-01 7.40011521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.748040942 meters 0.016037839063372656 Centerline is valid? [True, True] Translation: X:129.26, Y:88.89, Z:7.40 [[ 2.72006798e-01 -9.62190415e-01 -1.42094227e-02 1.29262666e+02] [ 9.60910157e-01 2.72377645e-01 -4.96194427e-02 8.88873293e+01] [ 5.16136812e-02 -1.57152801e-04 9.98667113e-01 7.40128967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.778040942 meters 0.01645359712284222 Centerline is valid? [True, True] Translation: X:129.27, Y:88.91, Z:7.40 [[ 2.68508670e-01 -9.63170726e-01 -1.43264046e-02 1.29273324e+02] [ 9.61867765e-01 2.68890389e-01 -5.00835496e-02 8.89121132e+01] [ 5.20912414e-02 -3.32239495e-04 9.98642274e-01 7.40161608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.808040942 meters 0.016725669779510437 Centerline is valid? [True, True] Translation: X:129.28, Y:88.94, Z:7.40 [[ 2.67081832e-01 -9.63566766e-01 -1.43660481e-02 1.29282297e+02] [ 9.62254376e-01 2.67467627e-01 -5.02750850e-02 8.89376576e+01] [ 5.22858538e-02 -3.96230891e-04 9.98632081e-01 7.40230793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.838040942 meters 0.017282140505392934 Centerline is valid? [True, True] Translation: X:129.29, Y:88.96, Z:7.40 [[ 2.64256598e-01 -9.64342104e-01 -1.45861870e-02 1.29292910e+02] [ 9.62987477e-01 2.64658292e-01 -5.10989927e-02 8.89627327e+01] [ 5.31372655e-02 -5.43069486e-04 9.98587070e-01 7.40255430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.868040942 meters 0.01737940318805594 Centerline is valid? [True, True] Translation: X:129.30, Y:88.99, Z:7.40 [[ 2.63560871e-01 -9.64532916e-01 -1.45575173e-02 1.29300365e+02] [ 9.63181816e-01 2.63961984e-01 -5.10378296e-02 8.89884834e+01] [ 5.30702978e-02 -5.69961093e-04 9.98590616e-01 7.40333635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.898040942 meters 0.01748956552298102 Centerline is valid? [True, True] Translation: X:129.31, Y:89.01, Z:7.40 [[ 2.63206992e-01 -9.64630771e-01 -1.44759971e-02 1.29305498e+02] [ 9.63292003e-01 2.63604150e-01 -5.08071788e-02 8.90140241e+01] [ 5.28261010e-02 -5.71807560e-04 9.98603563e-01 7.40335192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.928040942 meters 0.01754091648428857 Centerline is valid? [True, True] Translation: X:129.31, Y:89.04, Z:7.40 [[ 2.62875203e-01 -9.64722192e-01 -1.44125115e-02 1.29312303e+02] [ 9.63392301e-01 2.63269377e-01 -5.06409863e-02 8.90404220e+01] [ 5.26488562e-02 -5.72643074e-04 9.98612923e-01 7.40454094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.958040942 meters 0.01759358312699451 Centerline is valid? [True, True] Translation: X:129.32, Y:89.07, Z:7.41 [[ 2.62225023e-01 -9.64901444e-01 -1.42562194e-02 1.29319950e+02] [ 9.63597767e-01 2.62611608e-01 -5.01446594e-02 8.90668212e+01] [ 5.21285029e-02 -5.88076685e-04 9.98640212e-01 7.40636295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98804094199997 meters 0.017896794708065843 Centerline is valid? [True, True] Translation: X:129.33, Y:89.09, Z:7.41 [[ 2.60455303e-01 -9.65387363e-01 -1.37939867e-02 1.29329073e+02] [ 9.64165052e-01 2.60819511e-01 -4.85688709e-02 8.90927794e+01] [ 5.04855151e-02 -6.49659919e-04 9.98724582e-01 7.40942144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.01804094199997 meters 0.018494365399078963 Centerline is valid? [True, True] Translation: X:129.34, Y:89.12, Z:7.41 [[ 2.59285434e-01 -9.65702451e-01 -1.37782165e-02 1.29337304e+02] [ 9.64480723e-01 2.59650324e-01 -4.85658723e-02 8.91170366e+01] [ 5.04777003e-02 -6.96400950e-04 9.98724946e-01 7.41073849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04804094199997 meters 0.019226227547791953 Centerline is valid? [True, True] Translation: X:129.35, Y:89.14, Z:7.41 [[ 2.57715495e-01 -9.66124438e-01 -1.36489516e-02 1.29345587e+02] [ 9.64923214e-01 2.58075566e-01 -4.81683865e-02 8.91418096e+01] [ 5.00591162e-02 -7.56450732e-04 9.98745970e-01 7.41197288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.07804094199997 meters 0.019326342809629714 Centerline is valid? [True, True] Translation: X:129.35, Y:89.17, Z:7.41 [[ 2.57113077e-01 -9.66283976e-01 -1.37165403e-02 1.29351919e+02] [ 9.65068332e-01 2.57477520e-01 -4.84607260e-02 8.91673191e+01] [ 5.03585238e-02 -7.77512329e-04 9.98730902e-01 7.41263280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10804094199997 meters 0.01705512104406959 Centerline is valid? [True, True] Translation: X:129.35, Y:89.20, Z:7.42 [[ 2.57086477e-01 -9.66292225e-01 -1.36337630e-02 1.29353268e+02] [ 9.65088473e-01 2.57446612e-01 -4.82232470e-02 8.91957962e+01] [ 5.01077147e-02 -7.60242788e-04 9.98743530e-01 7.41521981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.13804094199998 meters 0.017012197684477575 Centerline is valid? [True, True] Translation: X:129.36, Y:89.22, Z:7.42 [[ 2.57965107e-01 -9.66056053e-01 -1.37733808e-02 1.29359349e+02] [ 9.64824527e-01 2.58331572e-01 -4.87691567e-02 8.92219833e+01] [ 5.06718382e-02 -7.08154853e-04 9.98715106e-01 7.41570900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16804094199998 meters 0.01698979039011369 Centerline is valid? [True, True] Translation: X:129.37, Y:89.25, Z:7.42 [[ 2.58744768e-01 -9.65848143e-01 -1.37298908e-02 1.29366652e+02] [ 9.64622038e-01 2.59107962e-01 -4.86558147e-02 8.92483751e+01] [ 5.05516523e-02 -6.54717802e-04 9.98721233e-01 7.41684732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.19804094199998 meters 0.016306401206856527 Centerline is valid? [True, True] Translation: X:129.37, Y:89.28, Z:7.42 [[ 2.61821707e-01 -9.65019135e-01 -1.36917235e-02 1.29372572e+02] [ 9.63795977e-01 2.62179024e-01 -4.85744137e-02 8.92757256e+01] [ 5.04649214e-02 -4.78192177e-04 9.98725720e-01 7.41883778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22804094199998 meters 0.0162085260914505 Centerline is valid? [True, True] Translation: X:129.38, Y:89.30, Z:7.42 [[ 2.63320194e-01 -9.64610915e-01 -1.37207164e-02 1.29380003e+02] [ 9.63379348e-01 2.63677138e-01 -4.87298541e-02 8.93021523e+01] [ 5.06231884e-02 -3.86700236e-04 9.98717750e-01 7.42000877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.25804094199998 meters 0.015862485151498486 Centerline is valid? [True, True] Translation: X:129.39, Y:89.33, Z:7.42 [[ 2.66619708e-01 -9.63701192e-01 -1.39263775e-02 1.29387098e+02] [ 9.62428192e-01 2.66983094e-01 -4.95177049e-02 8.93290445e+01] [ 5.14383786e-02 -2.00742319e-04 9.98676150e-01 7.42115694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28804094199998 meters 0.01585562635989804 Centerline is valid? [True, True] Translation: X:129.39, Y:89.36, Z:7.42 [[ 2.68201521e-01 -9.63262434e-01 -1.39077993e-02 1.29394339e+02] [ 9.61989439e-01 2.68561859e-01 -4.95060350e-02 8.93562361e+01] [ 5.14224082e-02 -1.01562188e-04 9.98676988e-01 7.42228222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.31804094199998 meters 0.01594132085881662 Centerline is valid? [True, True] Translation: X:129.40, Y:89.38, Z:7.42 [[ 2.69674436e-01 -9.62851244e-01 -1.38989670e-02 1.29401574e+02] [ 9.61576488e-01 2.70032374e-01 -4.95295301e-02 8.93837594e+01] [ 5.14427407e-02 -8.07181793e-06 9.98675946e-01 7.42344233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34804094199998 meters 0.015981714994238422 Centerline is valid? [True, True] Translation: X:129.41, Y:89.41, Z:7.42 [[ 2.71897347e-01 -9.62227689e-01 -1.37734007e-02 1.29408740e+02] [ 9.60972281e-01 2.72245952e-01 -4.91367212e-02 8.94099400e+01] [ 5.10304663e-02 1.24287905e-04 9.98697089e-01 7.42476541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.37804094199998 meters 0.016223077548444487 Centerline is valid? [True, True] Translation: X:129.42, Y:89.44, Z:7.43 [[ 2.72481096e-01 -9.62064116e-01 -1.36634078e-02 1.29416633e+02] [ 9.60825606e-01 2.72823401e-01 -4.88010988e-02 8.94352973e+01] [ 5.06774834e-02 1.69224778e-04 9.98715056e-01 7.42624176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40804094199999 meters 0.016322454088135773 Centerline is valid? [True, True] Translation: X:129.43, Y:89.46, Z:7.43 [[ 2.72811883e-01 -9.61972818e-01 -1.34897654e-02 1.29427069e+02] [ 9.60762796e-01 2.73145122e-01 -4.82347543e-02 8.94611081e+01] [ 5.00851862e-02 1.98549381e-04 9.98744930e-01 7.42992362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.438040942 meters 0.016391385669581322 Centerline is valid? [True, True] Translation: X:129.44, Y:89.49, Z:7.43 [[ 2.72362737e-01 -9.62100665e-01 -1.34480468e-02 1.29435003e+02] [ 9.60895641e-01 2.72694471e-01 -4.81382695e-02 8.94876460e+01] [ 4.99810691e-02 1.88901274e-04 9.98750147e-01 7.43142338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.468040942 meters 0.01644121755684119 Centerline is valid? [True, True] Translation: X:129.44, Y:89.51, Z:7.43 [[ 2.71511129e-01 -9.62342403e-01 -1.33718606e-02 1.29442787e+02] [ 9.61148691e-01 2.71840164e-01 -4.79178378e-02 8.95146881e+01] [ 4.97483760e-02 1.57879933e-04 9.98761770e-01 7.43270368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.498040942 meters 0.01665942859983001 Centerline is valid? [True, True] Translation: X:129.45, Y:89.54, Z:7.43 [[ 2.69004378e-01 -9.63051141e-01 -1.30055608e-02 1.29450662e+02] [ 9.61920372e-01 2.69318582e-01 -4.66551211e-02 8.95418183e+01] [ 4.84339068e-02 4.01180049e-05 9.98826389e-01 7.43475193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.528040942 meters 0.016773573659637116 Centerline is valid? [True, True] Translation: X:129.46, Y:89.57, Z:7.44 [[ 2.67486705e-01 -9.63475554e-01 -1.28732423e-02 1.29458368e+02] [ 9.62365774e-01 2.67796298e-01 -4.62305018e-02 8.95687986e+01] [ 4.79893650e-02 -2.27232389e-05 9.98847846e-01 7.43622478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.558040942 meters 0.017007469247389873 Centerline is valid? [True, True] Translation: X:129.47, Y:89.60, Z:7.44 [[ 2.64520703e-01 -9.64292497e-01 -1.29914870e-02 1.29467089e+02] [ 9.63160710e-01 2.64839491e-01 -4.67064297e-02 8.95957300e+01] [ 4.84793185e-02 -1.58072236e-04 9.98824174e-01 7.43780144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.588040942 meters 0.017067429802222252 Centerline is valid? [True, True] Translation: X:129.47, Y:89.62, Z:7.44 [[ 2.62605898e-01 -9.64815100e-01 -1.30370931e-02 1.29474814e+02] [ 9.63673494e-01 2.62929201e-01 -4.69215595e-02 8.96224852e+01] [ 4.86984616e-02 -2.41622817e-04 9.98813497e-01 7.43964297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.618040942 meters 0.017407670550594136 Centerline is valid? [True, True] Translation: X:129.48, Y:89.65, Z:7.44 [[ 2.59906846e-01 -9.65544259e-01 -1.31420917e-02 1.29482428e+02] [ 9.64382508e-01 2.60238638e-01 -4.73521800e-02 8.96483100e+01] [ 4.91407056e-02 -3.66847633e-04 9.98791798e-01 7.44114888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.648040942 meters 0.017407280051272477 Centerline is valid? [True, True] Translation: X:129.49, Y:89.68, Z:7.44 [[ 2.58743781e-01 -9.65855575e-01 -1.32160706e-02 1.29488973e+02] [ 9.64678724e-01 2.59080752e-01 -4.76667933e-02 8.96758573e+01] [ 4.94632676e-02 -4.15775767e-04 9.98775857e-01 7.44261439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.678040942 meters 0.017755586935820144 Centerline is valid? [True, True] Translation: X:129.49, Y:89.70, Z:7.44 [[ 2.57184846e-01 -9.66265792e-01 -1.36518645e-02 1.29494630e+02] [ 9.65007711e-01 2.57546446e-01 -4.92944856e-02 8.97040161e+01] [ 5.11475644e-02 -4.96359790e-04 9.98690983e-01 7.44290638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.708040942 meters 0.01769762744060409 Centerline is valid? [True, True] Translation: X:129.50, Y:89.73, Z:7.44 [[ 2.56439006e-01 -9.66462287e-01 -1.37725818e-02 1.29500861e+02] [ 9.65179362e-01 2.56808043e-01 -4.97838094e-02 8.97316450e+01] [ 5.16510841e-02 -5.26501119e-04 9.98665053e-01 7.44335717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.73804094199997 meters 0.01793091305388914 Centerline is valid? [True, True] Translation: X:129.51, Y:89.76, Z:7.44 [[ 2.55520480e-01 -9.66700969e-01 -1.40897661e-02 1.29507322e+02] [ 9.65355475e-01 2.55908009e-01 -5.09892033e-02 8.97575575e+01] [ 5.28969962e-02 -5.72847160e-04 9.98599810e-01 7.44408294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76804094199997 meters 0.018157920176026222 Centerline is valid? [True, True] Translation: X:129.51, Y:89.78, Z:7.44 [[ 2.54174260e-01 -9.67053234e-01 -1.42649153e-02 1.29514181e+02] [ 9.65671424e-01 2.54573435e-01 -5.16823651e-02 8.97832082e+01] [ 5.36110668e-02 -6.38894214e-04 9.98561688e-01 7.44477881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.79804094199997 meters 0.01835509042708875 Centerline is valid? [True, True] Translation: X:129.52, Y:89.81, Z:7.45 [[ 2.53097290e-01 -9.67335245e-01 -1.42928615e-02 1.29521391e+02] [ 9.65945848e-01 2.53499608e-01 -5.18321012e-02 8.98107732e+01] [ 5.37622531e-02 -6.87565926e-04 9.98553528e-01 7.44630642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82804094199997 meters 0.018623041529630225 Centerline is valid? [True, True] Translation: X:129.53, Y:89.84, Z:7.45 [[ 2.51137229e-01 -9.67846277e-01 -1.42715253e-02 1.29527618e+02] [ 9.66458790e-01 2.51541197e-01 -5.18115247e-02 8.98383502e+01] [ 5.37354678e-02 -7.81038339e-04 9.98554901e-01 7.44839478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.85804094199997 meters 0.018644273002054804 Centerline is valid? [True, True] Translation: X:129.53, Y:89.87, Z:7.45 [[ 2.50254788e-01 -9.68074272e-01 -1.43088991e-02 1.29534020e+02] [ 9.66676860e-01 2.50662191e-01 -5.20030184e-02 8.98656881e+01] [ 5.39294842e-02 -8.18077305e-04 9.98544411e-01 7.45012347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88804094199998 meters 0.01887967630405387 Centerline is valid? [True, True] Translation: X:129.54, Y:89.89, Z:7.45 [[ 2.49321525e-01 -9.68314534e-01 -1.43436881e-02 1.29540917e+02] [ 9.66907497e-01 2.49732315e-01 -5.21887316e-02 8.98922712e+01] [ 5.41171897e-02 -8.57245381e-04 9.98534223e-01 7.45177948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.91804094199998 meters 0.018964547107857485 Centerline is valid? [True, True] Translation: X:129.55, Y:89.92, Z:7.46 [[ 2.47599341e-01 -9.68759984e-01 -1.40946738e-02 1.29547992e+02] [ 9.67398954e-01 2.47998471e-01 -5.13422060e-02 8.99197676e+01] [ 5.32337322e-02 -9.22876306e-04 9.98581653e-01 7.45507322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94804094199998 meters 0.019746224081165314 Centerline is valid? [True, True] Translation: X:129.56, Y:89.95, Z:7.46 [[ 2.44854106e-01 -9.69460171e-01 -1.39084173e-02 1.29555933e+02] [ 9.68133060e-01 2.45246576e-01 -5.07197793e-02 8.99463393e+01] [ 5.25817976e-02 -1.04625235e-03 9.98616072e-01 7.45823842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.97804094199998 meters 0.020275002245873842 Centerline is valid? [True, True] Translation: X:129.56, Y:89.97, Z:7.46 [[ 2.43334583e-01 -9.69844367e-01 -1.37907250e-02 1.29563243e+02] [ 9.68537562e-01 2.43722543e-01 -5.03419545e-02 8.99729738e+01] [ 5.21849716e-02 -1.10689666e-03 9.98636823e-01 7.45951279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00804094199998 meters 0.019959894357805215 Centerline is valid? [True, True] Translation: X:129.57, Y:90.00, Z:7.46 [[ 2.42089538e-01 -9.70154999e-01 -1.38539792e-02 1.29569029e+02] [ 9.68834006e-01 2.42482816e-01 -5.06236369e-02 9.00006443e+01] [ 5.24721263e-02 -1.16675327e-03 9.98621707e-01 7.46133087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.03804094199998 meters 0.020751701774744565 Centerline is valid? [True, True] Translation: X:129.58, Y:90.03, Z:7.46 [[ 2.40757984e-01 -9.70485507e-01 -1.39094705e-02 1.29575631e+02] [ 9.69151584e-01 2.41156310e-01 -5.08806558e-02 9.00272618e+01] [ 5.27332957e-02 -1.23046124e-03 9.98607874e-01 7.46126987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06804094199998 meters 0.02027278494680304 Centerline is valid? [True, True] Translation: X:129.58, Y:90.06, Z:7.46 [[ 2.40279444e-01 -9.70602687e-01 -1.40075919e-02 1.29580448e+02] [ 9.69247238e-01 2.40684141e-01 -5.12926478e-02 9.00552821e+01] [ 5.31561870e-02 -1.25225084e-03 9.98585425e-01 7.46271396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.09804094199998 meters 0.020662280798710204 Centerline is valid? [True, True] Translation: X:129.59, Y:90.08, Z:7.46 [[ 2.40452826e-01 -9.70560366e-01 -1.39647802e-02 1.29586089e+02] [ 9.69210030e-01 2.40854885e-01 -5.11941684e-02 9.00821585e+01] [ 5.30505164e-02 -1.22502260e-03 9.98591078e-01 7.46367469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12804094199998 meters 0.020406437708852025 Centerline is valid? [True, True] Translation: X:129.59, Y:90.11, Z:7.47 [[ 2.41238279e-01 -9.70365945e-01 -1.39293242e-02 1.29592025e+02] [ 9.69018972e-01 2.41637284e-01 -5.11239126e-02 9.01095179e+01] [ 5.29747478e-02 -1.16473475e-03 9.98595173e-01 7.46503854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.15804094199999 meters 0.020406437708852025 Centerline is valid? [True, True] Translation: X:129.60, Y:90.14, Z:7.47 [[ 2.40964976e-01 -9.70434055e-01 -1.39149314e-02 1.29599177e+02] [ 9.69086971e-01 2.41363602e-01 -5.11278301e-02 9.01361307e+01] [ 5.29747454e-02 -1.16476238e-03 9.98595173e-01 7.46626206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.188040942 meters 0.02036241426799056 Centerline is valid? [True, True] Translation: X:129.61, Y:90.16, Z:7.47 [[ 2.41600745e-01 -9.70275639e-01 -1.39378825e-02 1.29605078e+02] [ 9.68920805e-01 2.41999865e-01 -5.12692836e-02 9.01632170e+01] [ 5.31183026e-02 -1.11800722e-03 9.98587601e-01 7.46731165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.218040942 meters 0.019874074727030816 Centerline is valid? [True, True] Translation: X:129.61, Y:90.19, Z:7.47 [[ 2.43568406e-01 -9.69778604e-01 -1.42790436e-02 1.29609379e+02] [ 9.68352708e-01 2.43984463e-01 -5.25796063e-02 9.01915889e+01] [ 5.44744420e-02 -1.02041963e-03 9.98514644e-01 7.46808232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.248040942 meters 0.019752191516010528 Centerline is valid? [True, True] Translation: X:129.62, Y:90.22, Z:7.47 [[ 2.44400944e-01 -9.69569375e-01 -1.42620322e-02 1.29615430e+02] [ 9.68144322e-01 2.44814829e-01 -5.25573240e-02 9.02189454e+01] [ 5.44495287e-02 -9.62645896e-04 9.98516060e-01 7.46875051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.278040942 meters 0.019376139788630713 Centerline is valid? [True, True] Translation: X:129.62, Y:90.25, Z:7.47 [[ 2.45583515e-01 -9.69269480e-01 -1.43321987e-02 1.29619902e+02] [ 9.67826618e-01 2.45999777e-01 -5.28748262e-02 9.02465736e+01] [ 5.47756729e-02 -8.85897678e-04 9.98498293e-01 7.47071360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.308040942 meters 0.01936196941132156 Centerline is valid? [True, True] Translation: X:129.63, Y:90.27, Z:7.47 [[ 2.45703017e-01 -9.69239919e-01 -1.42830667e-02 1.29626307e+02] [ 9.67803649e-01 2.46116306e-01 -5.27528222e-02 9.02742057e+01] [ 5.46454367e-02 -8.61676474e-04 9.98505450e-01 7.47173245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.338040942 meters 0.019380286934927264 Centerline is valid? [True, True] Translation: X:129.63, Y:90.30, Z:7.47 [[ 2.45860165e-01 -9.69200596e-01 -1.42472726e-02 1.29632517e+02] [ 9.67768188e-01 2.46271205e-01 -5.26804260e-02 9.03005995e+01] [ 5.45665933e-02 -8.36038954e-04 9.98509784e-01 7.47313573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.368040942 meters 0.01922976341162033 Centerline is valid? [True, True] Translation: X:129.64, Y:90.33, Z:7.48 [[ 2.46319896e-01 -9.69087581e-01 -1.39917439e-02 1.29637789e+02] [ 9.67702727e-01 2.46715726e-01 -5.17955939e-02 9.03285518e+01] [ 5.36464501e-02 -7.81563352e-04 9.98559687e-01 7.47524919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.398040942 meters 0.019070649787300945 Centerline is valid? [True, True] Translation: X:129.64, Y:90.36, Z:7.48 [[ 2.46988422e-01 -9.68920200e-01 -1.37972826e-02 1.29643668e+02] [ 9.67570320e-01 2.47372444e-01 -5.11326692e-02 9.03563093e+01] [ 5.29565436e-02 -7.20663926e-04 9.98596558e-01 7.47687666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.428040942 meters 0.018694299387049834 Centerline is valid? [True, True] Translation: X:129.65, Y:90.38, Z:7.48 [[ 2.49331341e-01 -9.68326682e-01 -1.33161545e-02 1.29648212e+02] [ 9.67065749e-01 2.49686051e-01 -4.94035733e-02 9.03842193e+01] [ 5.11636562e-02 -5.59737756e-04 9.98690126e-01 7.47878829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.458040942 meters 0.01873080549531669 Centerline is valid? [True, True] Translation: X:129.66, Y:90.41, Z:7.48 [[ 2.50555002e-01 -9.68014266e-01 -1.30603074e-02 1.29655264e+02] [ 9.66798348e-01 2.50894712e-01 -4.85056418e-02 9.04103801e+01] [ 5.02309153e-02 -4.73352484e-04 9.98737519e-01 7.47981807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48804094199997 meters 0.018489300230783535 Centerline is valid? [True, True] Translation: X:129.66, Y:90.44, Z:7.48 [[ 2.51859719e-01 -9.67678189e-01 -1.28686963e-02 1.29661220e+02] [ 9.66495232e-01 2.52187965e-01 -4.78351027e-02 9.04379248e+01] [ 4.95343159e-02 -3.89798042e-04 9.98772346e-01 7.48194580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.51804094199997 meters 0.01828303972048534 Centerline is valid? [True, True] Translation: X:129.67, Y:90.47, Z:7.48 [[ 2.56525340e-01 -9.66456551e-01 -1.25094082e-02 1.29665921e+02] [ 9.65334842e-01 2.56830133e-01 -4.65502585e-02 9.04657045e+01] [ 4.82015953e-02 -1.34446696e-04 9.98837619e-01 7.48438974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54804094199997 meters 0.018348262126314564 Centerline is valid? [True, True] Translation: X:129.67, Y:90.49, Z:7.49 [[ 2.61618142e-01 -9.65094991e-01 -1.21493610e-02 1.29669722e+02] [ 9.64033200e-01 2.61900063e-01 -4.52586719e-02 9.04939224e+01] [ 4.68608359e-02 1.28102314e-04 9.98901419e-01 7.48632586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.57804094199997 meters 0.018751651782521517 Centerline is valid? [True, True] Translation: X:129.67, Y:90.52, Z:7.49 [[ 2.64291742e-01 -9.64367673e-01 -1.20360647e-02 1.29673012e+02] [ 9.63322454e-01 2.64565529e-01 -4.48879719e-02 9.05207217e+01] [ 4.64728368e-02 2.68908915e-04 9.98919518e-01 7.48706257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60804094199997 meters 0.01893881983819771 Centerline is valid? [True, True] Translation: X:129.68, Y:90.55, Z:7.49 [[ 2.66950896e-01 -9.63637233e-01 -1.18534075e-02 1.29678120e+02] [ 9.62620366e-01 2.67213623e-01 -4.42595837e-02 9.05490324e+01] [ 4.58175747e-02 4.04804070e-04 9.98949741e-01 7.48838165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.63804094199998 meters 0.019273334623770216 Centerline is valid? [True, True] Translation: X:129.68, Y:90.58, Z:7.49 [[ 2.68957235e-01 -9.63081342e-01 -1.16762492e-02 1.29682855e+02] [ 9.62092023e-01 2.69210092e-01 -4.36447586e-02 9.05772814e+01] [ 4.51768168e-02 5.04947355e-04 9.98978879e-01 7.48910643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66804094199998 meters 0.01993911326567278 Centerline is valid? [True, True] Translation: X:129.69, Y:90.60, Z:7.49 [[ 2.71817243e-01 -9.62281469e-01 -1.13912989e-02 1.29686858e+02] [ 9.61337151e-01 2.72055089e-01 -4.26252323e-02 9.06045906e+01] [ 4.41165320e-02 6.35394292e-04 9.99026190e-01 7.49041264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.69804094199998 meters 0.02016923757351756 Centerline is valid? [True, True] Translation: X:129.69, Y:90.63, Z:7.49 [[ 2.72896598e-01 -9.61977842e-01 -1.12284834e-02 1.29693377e+02] [ 9.61058176e-01 2.73126638e-01 -4.20597374e-02 9.06326514e+01] [ 4.35273333e-02 6.86733425e-04 9.99052000e-01 7.49197781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72804094199998 meters 0.020314958753330423 Centerline is valid? [True, True] Translation: X:129.70, Y:90.66, Z:7.49 [[ 2.72771720e-01 -9.62013965e-01 -1.11678511e-02 1.29700473e+02] [ 9.61102271e-01 2.72999370e-01 -4.18780197e-02 9.06597800e+01] [ 4.33360561e-02 6.89692387e-04 9.99060314e-01 7.49364295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.75804094199998 meters 0.020193269153938882 Centerline is valid? [True, True] Translation: X:129.71, Y:90.69, Z:7.49 [[ 2.71702071e-01 -9.62316113e-01 -1.12108698e-02 1.29708046e+02] [ 9.61395536e-01 2.71932468e-01 -4.20874789e-02 9.06871660e+01] [ 4.35500586e-02 6.57175018e-04 9.99051030e-01 7.49499635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78804094199998 meters 0.020234492058227107 Centerline is valid? [True, True] Translation: X:129.71, Y:90.71, Z:7.50 [[ 2.70779098e-01 -9.62576554e-01 -1.11829133e-02 1.29714772e+02] [ 9.61658685e-01 2.71009196e-01 -4.20308002e-02 9.07136759e+01] [ 4.34885352e-02 6.26916487e-04 9.99053729e-01 7.49619097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.81804094199998 meters 0.019917476514149195 Centerline is valid? [True, True] Translation: X:129.72, Y:90.74, Z:7.50 [[ 2.68337344e-01 -9.63261668e-01 -1.10466858e-02 1.29723460e+02] [ 9.62365151e-01 2.68564126e-01 -4.15526849e-02 9.07401364e+01] [ 4.29928521e-02 5.19191645e-04 9.99075245e-01 7.49783582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84804094199998 meters 0.01958008401305783 Centerline is valid? [True, True] Translation: X:129.73, Y:90.77, Z:7.50 [[ 2.64877266e-01 -9.64221035e-01 -1.08549131e-02 1.29732836e+02] [ 9.63354263e-01 2.65099337e-01 -4.08767043e-02 9.07670808e+01] [ 4.22918084e-02 3.70182875e-04 9.99105233e-01 7.49964180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.87804094199998 meters 0.019436828380335364 Centerline is valid? [True, True] Translation: X:129.74, Y:90.79, Z:7.50 [[ 2.62792173e-01 -9.64792072e-01 -1.07950011e-02 1.29740411e+02] [ 9.63933472e-01 2.63013640e-01 -4.06950383e-02 9.07934168e+01] [ 4.21014829e-02 2.88674611e-04 9.99113298e-01 7.50071444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90804094199999 meters 0.019393845827556704 Centerline is valid? [True, True] Translation: X:129.75, Y:90.82, Z:7.50 [[ 2.60423225e-01 -9.65434398e-01 -1.07780535e-02 1.29748926e+02] [ 9.64577636e-01 2.60646092e-01 -4.06644645e-02 9.08204937e+01] [ 4.20681303e-02 1.93701614e-04 9.99114726e-01 7.50176934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.938040942 meters 0.019163977983583397 Centerline is valid? [True, True] Translation: X:129.76, Y:90.85, Z:7.50 [[ 2.55115955e-01 -9.66850938e-01 -1.07290398e-02 1.29759321e+02] [ 9.66001309e-01 2.55341462e-01 -4.05241646e-02 9.08456632e+01] [ 4.19203953e-02 -2.59055361e-05 9.99120954e-01 7.50298067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.968040942 meters 0.01922761354097038 Centerline is valid? [True, True] Translation: X:129.77, Y:90.87, Z:7.50 [[ 2.52137366e-01 -9.67631516e-01 -1.07702409e-02 1.29767541e+02] [ 9.66774052e-01 2.52367250e-01 -4.07271915e-02 9.08725333e+01] [ 4.21269701e-02 -1.43542609e-04 9.99112255e-01 7.50365317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.998040942 meters 0.019579960897237667 Centerline is valid? [True, True] Translation: X:129.78, Y:90.90, Z:7.50 [[ 2.46361326e-01 -9.69118025e-01 -1.07865897e-02 1.29775827e+02] [ 9.68257373e-01 2.46597052e-01 -4.08356832e-02 9.08994945e+01] [ 4.22345379e-02 -3.83861974e-04 9.99107650e-01 7.50346670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.028040942 meters 0.020342157386801365 Centerline is valid? [True, True] Translation: X:129.79, Y:90.93, Z:7.50 [[ 2.43199084e-01 -9.69917995e-01 -1.06436938e-02 1.29785377e+02] [ 9.69078936e-01 2.43431363e-01 -4.03384035e-02 9.09254176e+01] [ 4.17159524e-02 -5.04316642e-04 9.99129384e-01 7.50469050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.058040942 meters 0.0201527882742807 Centerline is valid? [True, True] Translation: X:129.79, Y:90.95, Z:7.51 [[ 2.39909038e-01 -9.70736684e-01 -1.06744633e-02 1.29791813e+02] [ 9.69891790e-01 2.40145549e-01 -4.04973009e-02 9.09531696e+01] [ 4.18756404e-02 -6.37405818e-04 9.99122627e-01 7.50526175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.088040942 meters 0.021167144382676705 Centerline is valid? [True, True] Translation: X:129.80, Y:90.98, Z:7.51 [[ 2.34732400e-01 -9.72001045e-01 -1.07083571e-02 1.29801169e+02] [ 9.71150183e-01 2.34974980e-01 -4.06703856e-02 9.09790980e+01] [ 4.20478533e-02 -8.52765694e-04 9.99115234e-01 7.50680696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.118040942 meters 0.022005024258149004 Centerline is valid? [True, True] Translation: X:129.81, Y:91.01, Z:7.51 [[ 2.32183730e-01 -9.72614004e-01 -1.06166783e-02 1.29809394e+02] [ 9.71776357e-01 2.32424411e-01 -4.03683581e-02 9.10053942e+01] [ 4.17304056e-02 -9.44161011e-04 9.99128461e-01 7.50822837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.148040942 meters 0.022095857208037462 Centerline is valid? [True, True] Translation: X:129.81, Y:91.03, Z:7.51 [[ 2.28973342e-01 -9.73371771e-01 -1.08905737e-02 1.29814846e+02] [ 9.72489216e-01 2.29229554e-01 -4.14552276e-02 9.10331755e+01] [ 4.28477896e-02 -1.09882346e-03 9.99081007e-01 7.50828353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.178040942 meters 0.022239217173821844 Centerline is valid? [True, True] Translation: X:129.82, Y:91.06, Z:7.51 [[ 2.27666916e-01 -9.73676901e-01 -1.10030773e-02 1.29820809e+02] [ 9.72774362e-01 2.27929709e-01 -4.19295537e-02 9.10608205e+01] [ 4.33337661e-02 -1.15753938e-03 9.99059981e-01 7.50900309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.208040942 meters 0.022751020938631617 Centerline is valid? [True, True] Translation: X:129.83, Y:91.09, Z:7.51 [[ 2.26766474e-01 -9.73884458e-01 -1.12262927e-02 1.29825949e+02] [ 9.72943017e-01 2.27040961e-01 -4.28285921e-02 9.10870373e+01] [ 4.42589285e-02 -1.21045430e-03 9.99019360e-01 7.50955883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.23804094199997 meters 0.022539438018677548 Centerline is valid? [True, True] Translation: X:129.83, Y:91.12, Z:7.51 [[ 2.26446196e-01 -9.73959147e-01 -1.12116398e-02 1.29831311e+02] [ 9.73018644e-01 2.26720321e-01 -4.28090462e-02 9.11150121e+01] [ 4.42361687e-02 -1.21518888e-03 9.99020363e-01 7.51051174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26804094199997 meters 0.023018425474288163 Centerline is valid? [True, True] Translation: X:129.84, Y:91.14, Z:7.51 [[ 2.26236098e-01 -9.74007588e-01 -1.12448899e-02 1.29838277e+02] [ 9.73059316e-01 2.26512116e-01 -4.29863714e-02 9.11415610e+01] [ 4.44161557e-02 -1.21687595e-03 9.99012374e-01 7.51145488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.29804094199997 meters 0.022642625396315043 Centerline is valid? [True, True] Translation: X:129.84, Y:91.17, Z:7.51 [[ 2.25947362e-01 -9.74076278e-01 -1.10992621e-02 1.29842044e+02] [ 9.73150234e-01 2.26216616e-01 -4.24813415e-02 9.11695648e+01] [ 4.38909045e-02 -1.20270245e-03 9.99035606e-01 7.51254922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32804094199997 meters 0.02251550003872471 Centerline is valid? [True, True] Translation: X:129.85, Y:91.20, Z:7.51 [[ 2.26075955e-01 -9.74046752e-01 -1.10719571e-02 1.29847255e+02] [ 9.73123056e-01 2.26343824e-01 -4.24262989e-02 9.11968359e+01] [ 4.38312677e-02 -1.18281071e-03 9.99038248e-01 7.51385539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.35804094199997 meters 0.022475320087311332 Centerline is valid? [True, True] Translation: X:129.85, Y:91.22, Z:7.52 [[ 2.27482833e-01 -9.73723641e-01 -1.06691588e-02 1.29851376e+02] [ 9.72863631e-01 2.27730384e-01 -4.09295494e-02 9.12237900e+01] [ 4.22837615e-02 -1.06886671e-03 9.99105070e-01 7.51610208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38804094199998 meters 0.022069287775177967 Centerline is valid? [True, True] Translation: X:129.86, Y:91.25, Z:7.52 [[ 2.28070920e-01 -9.73587482e-01 -1.05389452e-02 1.29856293e+02] [ 9.72746903e-01 2.28311993e-01 -4.04610589e-02 9.12517030e+01] [ 4.17985481e-02 -1.02373539e-03 9.99125534e-01 7.51809552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.41804094199998 meters 0.02169104274175997 Centerline is valid? [True, True] Translation: X:129.86, Y:91.28, Z:7.52 [[ 2.28507332e-01 -9.73487606e-01 -1.03092284e-02 1.29861283e+02] [ 9.72681331e-01 2.28737697e-01 -3.96244163e-02 9.12797887e+01] [ 4.09319874e-02 -9.73124379e-04 9.99161461e-01 7.51951240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44804094199998 meters 0.022249927836780915 Centerline is valid? [True, True] Translation: X:129.87, Y:91.31, Z:7.52 [[ 2.29633631e-01 -9.73223793e-01 -1.01903771e-02 1.29866992e+02] [ 9.72433893e-01 2.29857847e-01 -3.92134455e-02 9.13065595e+01] [ 4.05057963e-02 -9.04742169e-04 9.99178894e-01 7.52156670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.47804094199998 meters 0.022082434836227217 Centerline is valid? [True, True] Translation: X:129.87, Y:91.33, Z:7.52 [[ 2.30135869e-01 -9.73106151e-01 -1.00945551e-02 1.29872334e+02] [ 9.72329071e-01 2.30355530e-01 -3.88909757e-02 9.13343501e+01] [ 4.01703842e-02 -8.65020871e-04 9.99192470e-01 7.52327235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50804094199998 meters 0.02125751124404373 Centerline is valid? [True, True] Translation: X:129.87, Y:91.36, Z:7.52 [[ 2.31995658e-01 -9.72666439e-01 -9.90017385e-03 1.29873814e+02] [ 9.71916926e-01 2.32205547e-01 -3.81847179e-02 9.13629487e+01] [ 3.94398689e-02 -7.63457780e-04 9.99221654e-01 7.52380781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.53804094199998 meters 0.021126218623674205 Centerline is valid? [True, True] Translation: X:129.88, Y:91.39, Z:7.52 [[ 2.32674353e-01 -9.72503533e-01 -9.97619908e-03 1.29878842e+02] [ 9.71740546e-01 2.32886978e-01 -3.85222836e-02 9.13909201e+01] [ 3.97863838e-02 -7.31129709e-04 9.99207941e-01 7.52474030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56804094199998 meters 0.02103985236409284 Centerline is valid? [True, True] Translation: X:129.88, Y:91.42, Z:7.53 [[ 2.33410129e-01 -9.72326527e-01 -1.00417061e-02 1.29884415e+02] [ 9.71551449e-01 2.33625003e-01 -3.88218923e-02 9.14188253e+01] [ 4.00935494e-02 -6.94611223e-04 9.99195689e-01 7.52612089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.59804094199998 meters 0.020932004172715242 Centerline is valid? [True, True] Translation: X:129.89, Y:91.45, Z:7.53 [[ 2.34483315e-01 -9.72067623e-01 -1.01050480e-02 1.29888983e+02] [ 9.71280601e-01 2.34700070e-01 -3.91135696e-02 9.14467164e+01] [ 4.03926901e-02 -6.43357626e-04 9.99183675e-01 7.52731213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62804094199998 meters 0.021191608567597473 Centerline is valid? [True, True] Translation: X:129.89, Y:91.47, Z:7.53 [[ 2.34647617e-01 -9.72026754e-01 -1.02218214e-02 1.29894670e+02] [ 9.71219438e-01 2.34869303e-01 -3.96132961e-02 9.14732239e+01] [ 4.09059757e-02 -6.32466091e-04 9.99162800e-01 7.52850098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.65804094199999 meters 0.021234204022580947 Centerline is valid? [True, True] Translation: X:129.90, Y:91.50, Z:7.53 [[ 2.34135148e-01 -9.72149365e-01 -1.03123632e-02 1.29901157e+02] [ 9.71325691e-01 2.34361244e-01 -4.00151179e-02 9.15003140e+01] [ 4.13174897e-02 -6.47717745e-04 9.99145858e-01 7.52987691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.688040942 meters 0.02140005775127937 Centerline is valid? [True, True] Translation: X:129.91, Y:91.53, Z:7.53 [[ 2.33244935e-01 -9.72363396e-01 -1.03065744e-02 1.29907927e+02] [ 9.71538902e-01 2.33471563e-01 -4.00398623e-02 9.15277881e+01] [ 4.13395885e-02 -6.74142940e-04 9.99144926e-01 7.53082429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.718040942 meters 0.021536505454265865 Centerline is valid? [True, True] Translation: X:129.91, Y:91.56, Z:7.53 [[ 2.32220027e-01 -9.72605168e-01 -1.06323006e-02 1.29914099e+02] [ 9.71725807e-01 2.32462162e-01 -4.13557590e-02 9.15553166e+01] [ 4.26944325e-02 -7.28045403e-04 9.99087912e-01 7.53211736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.748040942 meters 0.021610575913035727 Centerline is valid? [True, True] Translation: X:129.92, Y:91.58, Z:7.53 [[ 2.31713024e-01 -9.72726340e-01 -1.06086241e-02 1.29921209e+02] [ 9.71848946e-01 2.31954574e-01 -4.13122380e-02 9.15822758e+01] [ 4.26462209e-02 -7.37396515e-04 9.99089964e-01 7.53340475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.778040942 meters 0.021706931277069193 Centerline is valid? [True, True] Translation: X:129.93, Y:91.61, Z:7.54 [[ 2.31309274e-01 -9.72819466e-01 -1.08768698e-02 1.29928510e+02] [ 9.71894992e-01 2.31563611e-01 -4.24077759e-02 9.16091369e+01] [ 4.37737971e-02 -7.61863496e-04 9.99041177e-01 7.53553590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.808040942 meters 0.02141543448499735 Centerline is valid? [True, True] Translation: X:129.94, Y:91.64, Z:7.54 [[ 2.31930959e-01 -9.72670309e-01 -1.09772949e-02 1.29935124e+02] [ 9.71726241e-01 2.32189449e-01 -4.28505720e-02 9.16368915e+01] [ 4.42282911e-02 -7.28551302e-04 9.99021185e-01 7.53708370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.838040942 meters 0.02142621565666781 Centerline is valid? [True, True] Translation: X:129.94, Y:91.66, Z:7.54 [[ 2.32393064e-01 -9.72559087e-01 -1.10582959e-02 1.29941950e+02] [ 9.71598714e-01 2.32654960e-01 -4.32158357e-02 9.16629252e+01] [ 4.46027211e-02 -7.01165598e-04 9.99004557e-01 7.53851810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.868040942 meters 0.021297769239068537 Centerline is valid? [True, True] Translation: X:129.95, Y:91.69, Z:7.54 [[ 2.34763028e-01 -9.71988258e-01 -1.11869189e-02 1.29947877e+02] [ 9.71002249e-01 2.35028685e-01 -4.37738437e-02 9.16894215e+01] [ 4.51769089e-02 -5.86043368e-04 9.98978830e-01 7.53985351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.898040942 meters 0.02109716721754324 Centerline is valid? [True, True] Translation: X:129.95, Y:91.72, Z:7.54 [[ 2.36064289e-01 -9.71671827e-01 -1.12920921e-02 1.29954078e+02] [ 9.70665024e-01 2.36333638e-01 -4.42246929e-02 9.17172249e+01] [ 4.56405893e-02 -5.20968161e-04 9.98957790e-01 7.54128031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.928040942 meters 0.02085593781257776 Centerline is valid? [True, True] Translation: X:129.96, Y:91.74, Z:7.54 [[ 2.38158507e-01 -9.71160121e-01 -1.13377228e-02 1.29960296e+02] [ 9.70142142e-01 2.38427870e-01 -4.44564343e-02 9.17440725e+01] [ 4.58775452e-02 -4.11524655e-04 9.98946986e-01 7.54349533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.958040942 meters 0.02074842891625445 Centerline is valid? [True, True] Translation: X:129.97, Y:91.77, Z:7.55 [[ 2.39230800e-01 -9.70895716e-01 -1.14075596e-02 1.29967755e+02] [ 9.69862326e-01 2.39502371e-01 -4.47848599e-02 9.17704350e+01] [ 4.62135661e-02 -3.49844397e-04 9.98931521e-01 7.54548993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98804094199997 meters 0.020662371012524904 Centerline is valid? [True, True] Translation: X:129.98, Y:91.80, Z:7.55 [[ 2.40175857e-01 -9.70661004e-01 -1.15227310e-02 1.29975083e+02] [ 9.69603655e-01 2.40451927e-01 -4.52948538e-02 9.17978220e+01] [ 4.67366111e-02 -2.93751729e-04 9.98907204e-01 7.54728403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.01804094199997 meters 0.02059020986840276 Centerline is valid? [True, True] Translation: X:129.98, Y:91.82, Z:7.55 [[ 2.42565234e-01 -9.70063393e-01 -1.17949349e-02 1.29982050e+02] [ 9.68952010e-01 2.42851776e-01 -4.64221538e-02 9.18240070e+01] [ 4.78968529e-02 -1.68325288e-04 9.98852273e-01 7.54885670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04804094199997 meters 0.02059020986840276 Centerline is valid? [True, True] Translation: X:129.99, Y:91.85, Z:7.55 [[ 2.42289423e-01 -9.70132488e-01 -1.17809971e-02 1.29988738e+02] [ 9.69021015e-01 2.42575614e-01 -4.64256908e-02 9.18507178e+01] [ 4.78968535e-02 -1.67579915e-04 9.98852273e-01 7.55007969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.07804094199997 meters 0.020905768249984406 Centerline is valid? [True, True] Translation: X:130.00, Y:91.88, Z:7.55 [[ 2.43215343e-01 -9.69897988e-01 -1.20079014e-02 1.29995590e+02] [ 9.68740155e-01 2.43511562e-01 -4.73775358e-02 9.18778078e+01] [ 4.88754395e-02 -1.09592612e-04 9.98804876e-01 7.55050810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10804094199997 meters 0.020605615170281023 Centerline is valid? [True, True] Translation: X:130.00, Y:91.90, Z:7.55 [[ 2.45469131e-01 -9.69325233e-01 -1.23894472e-02 1.30003580e+02] [ 9.68088770e-01 2.45781594e-01 -4.89442759e-02 9.19035886e+01] [ 5.04880197e-02 2.02241506e-05 9.98724666e-01 7.55170628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.13804094199998 meters 0.020490847648956704 Centerline is valid? [True, True] Translation: X:130.01, Y:91.93, Z:7.55 [[ 2.46076021e-01 -9.69169332e-01 -1.25457997e-02 1.30011926e+02] [ 9.67897972e-01 2.46395618e-01 -4.96257608e-02 9.19300140e+01] [ 5.11869956e-02 6.86557027e-05 9.98689084e-01 7.55385928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16804094199998 meters 0.02062224828895966 Centerline is valid? [True, True] Translation: X:130.02, Y:91.96, Z:7.56 [[ 2.46256118e-01 -9.69121273e-01 -1.27232886e-02 1.30021172e+02] [ 9.67810350e-01 2.46584567e-01 -5.03902592e-02 9.19570112e+01] [ 5.19716388e-02 9.51792469e-05 9.98648557e-01 7.55581774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.19804094199998 meters 0.02065601927217806 Centerline is valid? [True, True] Translation: X:130.03, Y:91.98, Z:7.56 [[ 2.44773561e-01 -9.69494746e-01 -1.28779524e-02 1.30033353e+02] [ 9.68148928e-01 2.45112090e-01 -5.10658010e-02 9.19827692e+01] [ 5.26645676e-02 3.17821400e-05 9.98612258e-01 7.55903402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22804094199998 meters 0.020550559303576674 Centerline is valid? [True, True] Translation: X:130.04, Y:92.01, Z:7.56 [[ 2.43578972e-01 -9.69797135e-01 -1.27593364e-02 1.30042511e+02] [ 9.68473195e-01 2.43912927e-01 -5.06572260e-02 9.20090033e+01] [ 5.22393997e-02 -1.80402124e-05 9.98634590e-01 7.56095620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.25804094199998 meters 0.02057157158277314 Centerline is valid? [True, True] Translation: X:130.05, Y:92.03, Z:7.56 [[ 2.41558579e-01 -9.70302689e-01 -1.27335966e-02 1.30054511e+02] [ 9.68981518e-01 2.41893942e-01 -5.06175765e-02 9.20340717e+01] [ 5.21945505e-02 -1.11509906e-04 9.98636929e-01 7.56249579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28804094199998 meters 0.020469496055367138 Centerline is valid? [True, True] Translation: X:130.06, Y:92.06, Z:7.57 [[ 2.40732875e-01 -9.70508717e-01 -1.26693434e-02 1.30063510e+02] [ 9.69197780e-01 2.41065987e-01 -5.04267080e-02 9.20602139e+01] [ 5.19937075e-02 -1.39733051e-04 9.98647403e-01 7.56537827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.31804094199998 meters 0.020470605478858813 Centerline is valid? [True, True] Translation: X:130.07, Y:92.09, Z:7.57 [[ 2.39828592e-01 -9.70734275e-01 -1.25384480e-02 1.30073117e+02] [ 9.69447434e-01 2.40156068e-01 -4.99673407e-02 9.20853856e+01] [ 5.15161946e-02 -1.71769246e-04 9.98672144e-01 7.56752053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34804094199998 meters 0.020600400769142217 Centerline is valid? [True, True] Translation: X:130.09, Y:92.11, Z:7.57 [[ 2.37865709e-01 -9.71216638e-01 -1.25756499e-02 1.30086345e+02] [ 9.69919427e-01 2.38197763e-01 -5.01809842e-02 9.21097546e+01] [ 5.17320984e-02 -2.61031712e-04 9.98660964e-01 7.56968779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.37804094199998 meters 0.020764220353567044 Centerline is valid? [True, True] Translation: X:130.10, Y:92.14, Z:7.57 [[ 2.35006417e-01 -9.71910203e-01 -1.27491782e-02 1.30099233e+02] [ 9.70574499e-01 2.35351641e-01 -5.09386563e-02 9.21356234e+01] [ 5.25083398e-02 -4.03116147e-04 9.98620404e-01 7.57165384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40804094199999 meters 0.02270910838647689 Centerline is valid? [True, True] Translation: X:130.11, Y:92.16, Z:7.57 [[ 2.32880867e-01 -9.72419039e-01 -1.29504292e-02 1.30108508e+02] [ 9.71038533e-01 2.33240111e-01 -5.17997790e-02 9.21616501e+01] [ 5.33916509e-02 -5.12188320e-04 9.98573517e-01 7.57000688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.438040942 meters 0.021824580962282052 Centerline is valid? [True, True] Translation: X:130.12, Y:92.19, Z:7.57 [[ 2.31563527e-01 -9.72734340e-01 -1.28932642e-02 1.30120197e+02] [ 9.71364369e-01 2.31921485e-01 -5.16109150e-02 9.21863893e+01] [ 5.31939343e-02 -5.72851893e-04 9.98584036e-01 7.57239617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.468040942 meters 0.021077532686716485 Centerline is valid? [True, True] Translation: X:130.13, Y:92.21, Z:7.58 [[ 2.29876191e-01 -9.73134064e-01 -1.29240432e-02 1.30131299e+02] [ 9.71755578e-01 2.30238278e-01 -5.17825490e-02 9.22121486e+01] [ 5.33669718e-02 -6.55435949e-04 9.98574753e-01 7.57807374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.498040942 meters 0.02118099297197236 Centerline is valid? [True, True] Translation: X:130.14, Y:92.24, Z:7.58 [[ 2.29693128e-01 -9.73177404e-01 -1.29153584e-02 1.30140748e+02] [ 9.71797406e-01 2.30055030e-01 -5.18120109e-02 9.22381038e+01] [ 5.33935214e-02 -6.50248928e-04 9.98573337e-01 7.57997393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.528040942 meters 0.02088438406354816 Centerline is valid? [True, True] Translation: X:130.15, Y:92.26, Z:7.58 [[ 2.30349772e-01 -9.73021007e-01 -1.30039355e-02 1.30150550e+02] [ 9.71618109e-01 2.30715749e-01 -5.22349874e-02 9.22642540e+01] [ 5.38259528e-02 -6.02541777e-04 9.98550151e-01 7.58259617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.558040942 meters 0.020790198485402506 Centerline is valid? [True, True] Translation: X:130.16, Y:92.29, Z:7.58 [[ 2.31069823e-01 -9.72848841e-01 -1.31098726e-02 1.30158919e+02] [ 9.71419118e-01 2.31440765e-01 -5.27263689e-02 9.22913223e+01] [ 5.43289458e-02 -5.51708117e-04 9.98522940e-01 7.58370178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.588040942 meters 0.020778892247718346 Centerline is valid? [True, True] Translation: X:130.17, Y:92.32, Z:7.58 [[ 2.31621907e-01 -9.72715380e-01 -1.32695920e-02 1.30167179e+02] [ 9.71246631e-01 2.32001139e-01 -5.34364406e-02 9.23171141e+01] [ 5.50570081e-02 -5.10996272e-04 9.98483082e-01 7.58441445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.618040942 meters 0.02051623362852991 Centerline is valid? [True, True] Translation: X:130.18, Y:92.34, Z:7.59 [[ 2.33413228e-01 -9.72283176e-01 -1.35532932e-02 1.30176337e+02] [ 9.70746109e-01 2.33806044e-01 -5.46509380e-02 9.23438964e+01] [ 5.63050294e-02 -4.00554780e-04 9.98413533e-01 7.58546641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.648040942 meters 0.02042265349008469 Centerline is valid? [True, True] Translation: X:130.18, Y:92.37, Z:7.59 [[ 2.33821722e-01 -9.72184109e-01 -1.36183906e-02 1.30184255e+02] [ 9.70628392e-01 2.34217690e-01 -5.49781673e-02 9.23694066e+01] [ 5.66385686e-02 -3.63306839e-04 9.98394682e-01 7.58650304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.678040942 meters 0.022230062364236726 Centerline is valid? [True, True] Translation: X:130.19, Y:92.40, Z:7.59 [[ 2.33940861e-01 -9.72155660e-01 -1.36031950e-02 1.30194843e+02] [ 9.70600325e-01 2.34335775e-01 -5.49704866e-02 9.23957440e+01] [ 5.66275849e-02 -3.43422555e-04 9.98395312e-01 7.58635969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.708040942 meters 0.02040263070609981 Centerline is valid? [True, True] Translation: X:130.20, Y:92.42, Z:7.59 [[ 2.33580249e-01 -9.72241820e-01 -1.36422617e-02 1.30204441e+02] [ 9.70673806e-01 2.33978037e-01 -5.51963810e-02 9.24218126e+01] [ 5.68562195e-02 -3.49401646e-04 9.98382316e-01 7.59025767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.73804094199997 meters 0.020431253887093673 Centerline is valid? [True, True] Translation: X:130.22, Y:92.45, Z:7.59 [[ 2.32650112e-01 -9.72464402e-01 -1.36715618e-02 1.30216372e+02] [ 9.70886076e-01 2.33051144e-01 -5.53840317e-02 9.24469931e+01] [ 5.70451724e-02 -3.88427774e-04 9.98371523e-01 7.59101165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76804094199997 meters 0.0204113478231121 Centerline is valid? [True, True] Translation: X:130.23, Y:92.47, Z:7.59 [[ 2.31999917e-01 -9.72619825e-01 -1.36643792e-02 1.30226012e+02] [ 9.71039375e-01 2.32401611e-01 -5.54258427e-02 9.24736082e+01] [ 5.70838971e-02 -4.09859345e-04 9.98369301e-01 7.59267006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.79804094199997 meters 0.020454984660029294 Centerline is valid? [True, True] Translation: X:130.24, Y:92.50, Z:7.60 [[ 2.31448874e-01 -9.72750998e-01 -1.36716859e-02 1.30237926e+02] [ 9.71165189e-01 2.31851923e-01 -5.55235281e-02 9.24984089e+01] [ 5.71803740e-02 -4.26607334e-04 9.98363773e-01 7.59508253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82804094199997 meters 0.020363366849371147 Centerline is valid? [True, True] Translation: X:130.25, Y:92.53, Z:7.60 [[ 2.31567641e-01 -9.72723649e-01 -1.36062497e-02 1.30246043e+02] [ 9.71148954e-01 2.31966681e-01 -5.53278307e-02 9.25250672e+01] [ 5.69748859e-02 -4.01559948e-04 9.98375531e-01 7.59786745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.85804094199997 meters 0.020280468992911502 Centerline is valid? [True, True] Translation: X:130.25, Y:92.55, Z:7.60 [[ 2.31690827e-01 -9.72694274e-01 -1.36091958e-02 1.30254098e+02] [ 9.71114854e-01 2.32089867e-01 -5.54096894e-02 9.25504571e+01] [ 5.70552440e-02 -3.78175475e-04 9.98370951e-01 7.59912248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88804094199998 meters 0.023210668036023847 Centerline is valid? [True, True] Translation: X:130.26, Y:92.58, Z:7.60 [[ 2.32835168e-01 -9.72418125e-01 -1.38120942e-02 1.30262236e+02] [ 9.70786465e-01 2.33244294e-01 -5.63093051e-02 9.25776951e+01] [ 5.79777811e-02 -2.97807591e-04 9.98317829e-01 7.59735914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.91804094199998 meters 0.020192591977190755 Centerline is valid? [True, True] Translation: X:130.27, Y:92.60, Z:7.60 [[ 2.34033053e-01 -9.72136085e-01 -1.34150149e-02 1.30268169e+02] [ 9.70592811e-01 2.34417128e-01 -5.47558763e-02 9.26047860e+01] [ 5.63748724e-02 -2.05832167e-04 9.98409651e-01 7.60180217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94804094199998 meters 0.02015481329587536 Centerline is valid? [True, True] Translation: X:130.28, Y:92.63, Z:7.60 [[ 2.35210735e-01 -9.71852650e-01 -1.33542512e-02 1.30275413e+02] [ 9.70319071e-01 2.35589497e-01 -5.45755442e-02 9.26314705e+01] [ 5.61855086e-02 -1.21130719e-04 9.98420339e-01 7.60429275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.97804094199998 meters 0.020363956342149554 Centerline is valid? [True, True] Translation: X:130.28, Y:92.66, Z:7.60 [[ 2.35357588e-01 -9.71817450e-01 -1.33285049e-02 1.30282619e+02] [ 9.70285879e-01 2.35734668e-01 -5.45387818e-02 9.26575300e+01] [ 5.61437306e-02 -9.63439856e-05 9.98422692e-01 7.60403995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00804094199998 meters 0.020111524788400358 Centerline is valid? [True, True] Translation: X:130.29, Y:92.69, Z:7.61 [[ 2.35512543e-01 -9.71780671e-01 -1.32728835e-02 1.30288369e+02] [ 9.70257864e-01 2.35886249e-01 -5.43815615e-02 9.26850941e+01] [ 5.59778410e-02 -7.05797323e-05 9.98432009e-01 7.60794236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.03804094199998 meters 0.020292713279915022 Centerline is valid? [True, True] Translation: X:130.30, Y:92.71, Z:7.61 [[ 2.33668825e-01 -9.72225911e-01 -1.32536288e-02 1.30295939e+02] [ 9.70704475e-01 2.34044339e-01 -5.43697587e-02 9.27121510e+01] [ 5.59616250e-02 -1.60839186e-04 9.98432907e-01 7.60893527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06804094199998 meters 0.020453742241830768 Centerline is valid? [True, True] Translation: X:130.30, Y:92.74, Z:7.61 [[ 2.30997529e-01 -9.72864316e-01 -1.32349458e-02 1.30303431e+02] [ 9.71344442e-01 2.31376173e-01 -5.43602870e-02 9.27393261e+01] [ 5.59474346e-02 -2.98599055e-04 9.98433671e-01 7.61039645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.09804094199998 meters 0.020778500581283048 Centerline is valid? [True, True] Translation: X:130.31, Y:92.77, Z:7.61 [[ 2.28842507e-01 -9.73372361e-01 -1.33174290e-02 1.30310934e+02] [ 9.71830357e-01 2.29229317e-01 -5.47693088e-02 9.27657278e+01] [ 5.63636766e-02 -4.08735924e-04 9.98410221e-01 7.61029867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12804094199998 meters 0.020896195382107036 Centerline is valid? [True, True] Translation: X:130.32, Y:92.79, Z:7.61 [[ 2.26426231e-01 -9.73936724e-01 -1.33573920e-02 1.30318240e+02] [ 9.72382346e-01 2.26819251e-01 -5.50054513e-02 9.27931843e+01] [ 5.66015427e-02 -5.33815221e-04 9.98396705e-01 7.61231165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.15804094199999 meters 0.02107925407802733 Centerline is valid? [True, True] Translation: X:130.33, Y:92.82, Z:7.61 [[ 2.23891834e-01 -9.74522938e-01 -1.33225482e-02 1.30325962e+02] [ 9.72974053e-01 2.24286873e-01 -5.49262352e-02 9.28200120e+01] [ 5.65149487e-02 -6.64958157e-04 9.98401532e-01 7.61329313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.188040942 meters 0.02191827134156849 Centerline is valid? [True, True] Translation: X:130.33, Y:92.85, Z:7.61 [[ 2.19086592e-01 -9.75612551e-01 -1.34616371e-02 1.30334189e+02] [ 9.74029492e-01 2.19497766e-01 -5.55632994e-02 9.28460536e+01] [ 5.71630515e-02 -9.38857590e-04 9.98364414e-01 7.61376714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.218040942 meters 0.02232879698932726 Centerline is valid? [True, True] Translation: X:130.34, Y:92.87, Z:7.61 [[ 2.15669734e-01 -9.76372647e-01 -1.35285168e-02 1.30340926e+02] [ 9.74771366e-01 2.16090672e-01 -5.59071140e-02 9.28737739e+01] [ 5.75095631e-02 -1.12973841e-03 9.98344316e-01 7.61498281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.248040942 meters 0.023584856056627548 Centerline is valid? [True, True] Translation: X:130.35, Y:92.90, Z:7.62 [[ 2.15090800e-01 -9.76501185e-01 -1.34678318e-02 1.30347348e+02] [ 9.74910756e-01 2.15508989e-01 -5.57215722e-02 9.29012368e+01] [ 5.73146201e-02 -1.14473653e-03 9.98355510e-01 7.61572321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.278040942 meters 0.022707679590644382 Centerline is valid? [True, True] Translation: X:130.35, Y:92.93, Z:7.62 [[ 2.14635046e-01 -9.76604164e-01 -1.32703782e-02 1.30354016e+02] [ 9.75056470e-01 2.15041868e-01 -5.49715860e-02 9.29280052e+01] [ 5.65391668e-02 -1.14053924e-03 9.98399730e-01 7.61786707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.308040942 meters 0.022921241979624023 Centerline is valid? [True, True] Translation: X:130.36, Y:92.96, Z:7.62 [[ 2.14241346e-01 -9.76691329e-01 -1.32171411e-02 1.30360943e+02] [ 9.75152411e-01 2.14645609e-01 -5.48182195e-02 9.29553821e+01] [ 5.63774809e-02 -1.14439790e-03 9.98408869e-01 7.61889134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.338040942 meters 0.02306851004737302 Centerline is valid? [True, True] Translation: X:130.37, Y:92.98, Z:7.62 [[ 2.14055994e-01 -9.76732832e-01 -1.31531926e-02 1.30367292e+02] [ 9.75205322e-01 2.14456718e-01 -5.46159033e-02 9.29817857e+01] [ 5.61659364e-02 -1.13620198e-03 9.98420801e-01 7.62023894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.368040942 meters 0.022580210397955578 Centerline is valid? [True, True] Translation: X:130.37, Y:93.01, Z:7.62 [[ 2.15341306e-01 -9.76456123e-01 -1.27107152e-02 1.30372020e+02] [ 9.75026583e-01 2.15713712e-01 -5.28276142e-02 9.30095968e+01] [ 5.43257229e-02 -1.01731780e-03 9.98522749e-01 7.62250772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.398040942 meters 0.02210114113504882 Centerline is valid? [True, True] Translation: X:130.38, Y:93.04, Z:7.62 [[ 2.15742021e-01 -9.76367941e-01 -1.26895047e-02 1.30376871e+02] [ 9.74939533e-01 2.16112664e-01 -5.28036266e-02 9.30372657e+01] [ 5.42981308e-02 -9.79538688e-04 9.98524288e-01 7.62469016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.428040942 meters 0.02181741891386634 Centerline is valid? [True, True] Translation: X:130.38, Y:93.07, Z:7.63 [[ 2.16542121e-01 -9.76191553e-01 -1.26317802e-02 1.30382863e+02] [ 9.74772296e-01 2.16908302e-01 -5.26285086e-02 9.30650719e+01] [ 5.41154435e-02 -9.16820459e-04 9.98534265e-01 7.62652741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.458040942 meters 0.021236365745601112 Centerline is valid? [True, True] Translation: X:130.39, Y:93.09, Z:7.63 [[ 2.18494229e-01 -9.75759136e-01 -1.24249840e-02 1.30388293e+02] [ 9.74381921e-01 2.18845828e-01 -5.18302520e-02 9.30927591e+01] [ 5.32929978e-02 -7.82068848e-04 9.98578612e-01 7.63026731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48804094199997 meters 0.021077941497258078 Centerline is valid? [True, True] Translation: X:130.39, Y:93.12, Z:7.63 [[ 2.19230150e-01 -9.75595255e-01 -1.23304055e-02 1.30394425e+02] [ 9.74235329e-01 2.19575444e-01 -5.14990038e-02 9.31186302e+01] [ 5.29496381e-02 -7.22582356e-04 9.98596923e-01 7.63207767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.51804094199997 meters 0.02138432114962872 Centerline is valid? [True, True] Translation: X:130.40, Y:93.14, Z:7.63 [[ 2.20531896e-01 -9.75301900e-01 -1.23241911e-02 1.30401458e+02] [ 9.73939307e-01 2.20875072e-01 -5.15405476e-02 9.31444936e+01] [ 5.29897006e-02 -6.36679406e-04 9.98594856e-01 7.63298372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54804094199997 meters 0.0206930933031493 Centerline is valid? [True, True] Translation: X:130.41, Y:93.17, Z:7.64 [[ 2.20982362e-01 -9.75200021e-01 -1.23172938e-02 1.30405533e+02] [ 9.73835289e-01 2.21324565e-01 -5.15777780e-02 9.31723662e+01] [ 5.30247699e-02 -5.97236155e-04 9.98593019e-01 7.63560469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.57804094199997 meters 0.021139452723986693 Centerline is valid? [True, True] Translation: X:130.41, Y:93.20, Z:7.63 [[ 2.20991090e-01 -9.75195916e-01 -1.24845232e-02 1.30412951e+02] [ 9.73790204e-01 2.21342671e-01 -5.23455832e-02 9.31986687e+01] [ 5.38105567e-02 -5.89398916e-04 9.98550988e-01 7.63469937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60804094199997 meters 0.02111618187541837 Centerline is valid? [True, True] Translation: X:130.42, Y:93.22, Z:7.64 [[ 2.20501552e-01 -9.75306757e-01 -1.24817659e-02 1.30419081e+02] [ 9.73898060e-01 2.20853725e-01 -5.24042131e-02 9.32243670e+01] [ 5.38668277e-02 -6.00757262e-04 9.98547948e-01 7.63603556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.63804094199998 meters 0.020631853514259505 Centerline is valid? [True, True] Translation: X:130.42, Y:93.25, Z:7.64 [[ 2.19746360e-01 -9.75478292e-01 -1.23950903e-02 1.30424180e+02] [ 9.74085653e-01 2.20094782e-01 -5.21097640e-02 9.32520581e+01] [ 5.35600383e-02 -6.22948640e-04 9.98564437e-01 7.63942073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66804094199998 meters 0.020978785343077386 Centerline is valid? [True, True] Translation: X:130.43, Y:93.28, Z:7.64 [[ 2.17474789e-01 -9.75986455e-01 -1.24561575e-02 1.30432427e+02] [ 9.74577394e-01 2.17829972e-01 -5.24309615e-02 9.32787248e+01] [ 5.38852327e-02 -7.37077184e-04 9.98546863e-01 7.64077696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.69804094199998 meters 0.02093887168285958 Centerline is valid? [True, True] Translation: X:130.44, Y:93.31, Z:7.64 [[ 2.16181379e-01 -9.76271989e-01 -1.25942187e-02 1.30439316e+02] [ 9.74828652e-01 2.16546432e-01 -5.30729950e-02 9.33066701e+01] [ 5.45409115e-02 -8.03811937e-04 9.98511213e-01 7.64249547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72804094199998 meters 0.021838505031962725 Centerline is valid? [True, True] Translation: X:130.45, Y:93.33, Z:7.64 [[ 2.13765346e-01 -9.76802496e-01 -1.26988404e-02 1.30449053e+02] [ 9.75332391e-01 2.14140175e-01 -5.35790380e-02 9.33328965e+01] [ 5.50554699e-02 -9.32248828e-04 9.98482862e-01 7.64271254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.75804094199998 meters 0.02169463954377116 Centerline is valid? [True, True] Translation: X:130.45, Y:93.36, Z:7.64 [[ 2.12529990e-01 -9.77072786e-01 -1.26401570e-02 1.30454877e+02] [ 9.75613232e-01 2.12903269e-01 -5.33949475e-02 9.33598140e+01] [ 5.48618809e-02 -9.83876819e-04 9.98493468e-01 7.64494239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78804094199998 meters 0.021507426449074024 Centerline is valid? [True, True] Translation: X:130.46, Y:93.39, Z:7.65 [[ 2.11004542e-01 -9.77406253e-01 -1.24136812e-02 1.30461026e+02] [ 9.75995474e-01 2.11366841e-01 -5.25061222e-02 9.33874127e+01] [ 5.39436528e-02 -1.03666638e-03 9.98543443e-01 7.64720594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.81804094199998 meters 0.02166998996459115 Centerline is valid? [True, True] Translation: X:130.47, Y:93.41, Z:7.65 [[ 2.10422715e-01 -9.77530087e-01 -1.25383888e-02 1.30467971e+02] [ 9.76087235e-01 2.10793256e-01 -5.31028517e-02 9.34137899e+01] [ 5.45526430e-02 -1.06451501e-03 9.98510328e-01 7.64845831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84804094199998 meters 0.022479762385393818 Centerline is valid? [True, True] Translation: X:130.47, Y:93.44, Z:7.65 [[ 2.10768065e-01 -9.77455929e-01 -1.25192092e-02 1.30474617e+02] [ 9.76013537e-01 2.11137039e-01 -5.30916864e-02 9.34415820e+01] [ 5.45380524e-02 -1.02888562e-03 9.98511163e-01 7.64903557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.87804094199998 meters 0.021624476669760865 Centerline is valid? [True, True] Translation: X:130.48, Y:93.47, Z:7.65 [[ 2.11381769e-01 -9.77320405e-01 -1.27504683e-02 1.30480259e+02] [ 9.75820308e-01 2.11763618e-01 -5.41377498e-02 9.34695662e+01] [ 5.56100129e-02 -9.98432548e-04 9.98452067e-01 7.65075825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90804094199999 meters 0.02360802080730332 Centerline is valid? [True, True] Translation: X:130.49, Y:93.49, Z:7.65 [[ 2.12200705e-01 -9.77143659e-01 -1.26936982e-02 1.30491745e+02] [ 9.75652934e-01 2.12577980e-01 -5.39625300e-02 9.34946432e+01] [ 5.54275447e-02 -9.33756940e-04 9.98462275e-01 7.64826168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.938040942 meters 0.023633447643271074 Centerline is valid? [True, True] Translation: X:130.49, Y:93.52, Z:7.65 [[ 2.14652745e-01 -9.76611534e-01 -1.24140951e-02 1.30491244e+02] [ 9.75181231e-01 2.15010065e-01 -5.28416335e-02 9.35237814e+01] [ 5.42749041e-02 -7.63390850e-04 9.98525739e-01 7.65248580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.968040942 meters 0.023633447643271074 Centerline is valid? [True, True] Translation: X:130.50, Y:93.55, Z:7.65 [[ 2.14366860e-01 -9.76674516e-01 -1.23991448e-02 1.30497470e+02] [ 9.75244116e-01 2.14723790e-01 -5.28451417e-02 9.35506390e+01] [ 5.42748946e-02 -7.63945871e-04 9.98525739e-01 7.65370937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.998040942 meters 0.02068642351547755 Centerline is valid? [True, True] Translation: X:130.50, Y:93.58, Z:7.66 [[ 2.14659104e-01 -9.76609057e-01 -1.24987394e-02 1.30503263e+02] [ 9.75151770e-01 2.15021402e-01 -5.33368779e-02 9.35767010e+01] [ 5.47767746e-02 -7.38921394e-04 9.98498352e-01 7.65616874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.028040942 meters 0.020622939063499875 Centerline is valid? [True, True] Translation: X:130.51, Y:93.60, Z:7.66 [[ 2.15027171e-01 -9.76526675e-01 -1.26082849e-02 1.30510204e+02] [ 9.75040448e-01 2.15395325e-01 -5.38607390e-02 9.36031004e+01] [ 5.53122140e-02 -7.12065454e-04 9.98468854e-01 7.65718999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.058040942 meters 0.022050719758207323 Centerline is valid? [True, True] Translation: X:130.52, Y:93.63, Z:7.66 [[ 2.15207862e-01 -9.76490497e-01 -1.23242077e-02 1.30516785e+02] [ 9.75066715e-01 2.15559408e-01 -5.27166343e-02 9.36301666e+01] [ 5.41338914e-02 -6.71890537e-04 9.98533460e-01 7.65747520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.088040942 meters 0.02042500152359546 Centerline is valid? [True, True] Translation: X:130.52, Y:93.66, Z:7.66 [[ 2.15021279e-01 -9.76532552e-01 -1.22484302e-02 1.30522915e+02] [ 9.75122716e-01 2.15368832e-01 -5.24590816e-02 9.36576105e+01] [ 5.38659310e-02 -6.63903710e-04 9.98547956e-01 7.66068212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.118040942 meters 0.02005665196002372 Centerline is valid? [True, True] Translation: X:130.53, Y:93.68, Z:7.66 [[ 2.15006582e-01 -9.76540623e-01 -1.18567079e-02 1.30529242e+02] [ 9.75216284e-01 2.15332333e-01 -5.08447295e-02 9.36845905e+01] [ 5.22050764e-02 -6.30903096e-04 9.98636186e-01 7.66314318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.148040942 meters 0.02018924139731567 Centerline is valid? [True, True] Translation: X:130.54, Y:93.71, Z:7.66 [[ 2.14588359e-01 -9.76634166e-01 -1.17278273e-02 1.30535867e+02] [ 9.75335263e-01 2.14907668e-01 -5.03569110e-02 9.37110093e+01] [ 5.17006798e-02 -6.32556633e-04 9.98662425e-01 7.66407344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.178040942 meters 0.02003490177680325 Centerline is valid? [True, True] Translation: X:130.54, Y:93.74, Z:7.67 [[ 2.13868595e-01 -9.76793771e-01 -1.15824787e-02 1.30541487e+02] [ 9.75523715e-01 2.14181020e-01 -4.97993252e-02 9.37389167e+01] [ 5.11244178e-02 -6.48470898e-04 9.98692081e-01 7.66529045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.208040942 meters 0.019944629965390207 Centerline is valid? [True, True] Translation: X:130.55, Y:93.77, Z:7.67 [[ 2.13435402e-01 -9.76889086e-01 -1.15344339e-02 1.30547200e+02] [ 9.75626464e-01 2.13745842e-01 -4.96560044e-02 9.37667231e+01] [ 5.09738460e-02 -6.54949751e-04 9.98699774e-01 7.66693915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.23804094199997 meters 0.02048212315229485 Centerline is valid? [True, True] Translation: X:130.55, Y:93.79, Z:7.67 [[ 2.13124362e-01 -9.76959028e-01 -1.13605976e-02 1.30553642e+02] [ 9.75731153e-01 2.13425951e-01 -4.89701929e-02 9.37941287e+01] [ 5.02665185e-02 -6.48147919e-04 9.98735629e-01 7.66762817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26804094199997 meters 0.020131030785772604 Centerline is valid? [True, True] Translation: X:130.56, Y:93.82, Z:7.67 [[ 2.11770530e-01 -9.77256445e-01 -1.10942562e-02 1.30560137e+02] [ 9.76083019e-01 2.12059815e-01 -4.78808488e-02 9.38208235e+01] [ 4.91445140e-02 -6.89162320e-04 9.98791441e-01 7.66956510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.29804094199997 meters 0.02008515219579852 Centerline is valid? [True, True] Translation: X:130.57, Y:93.85, Z:7.67 [[ 2.09422064e-01 -9.77763985e-01 -1.09539367e-02 1.30565802e+02] [ 9.76618559e-01 2.09706864e-01 -4.73204016e-02 9.38485132e+01] [ 4.85653002e-02 -7.87881653e-04 9.98819699e-01 7.67075584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32804094199997 meters 0.0203098251956239 Centerline is valid? [True, True] Translation: X:130.57, Y:93.88, Z:7.67 [[ 2.08072981e-01 -9.78052629e-01 -1.08944382e-02 1.30572827e+02] [ 9.76917195e-01 2.08356309e-01 -4.71215703e-02 9.38760172e+01] [ 4.83573006e-02 -8.38238395e-04 9.98829750e-01 7.67156525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.35804094199997 meters 0.02176504467807469 Centerline is valid? [True, True] Translation: X:130.58, Y:93.90, Z:7.67 [[ 2.06903949e-01 -9.78301644e-01 -1.08003965e-02 1.30580256e+02] [ 9.77183159e-01 2.07183796e-01 -4.67755148e-02 9.39019475e+01] [ 4.79982302e-02 -8.75926805e-04 9.98847037e-01 7.67218478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38804094199998 meters 0.020567654603333606 Centerline is valid? [True, True] Translation: X:130.59, Y:93.93, Z:7.67 [[ 2.05881096e-01 -9.78518079e-01 -1.07397966e-02 1.30586824e+02] [ 9.77409371e-01 2.06159028e-01 -4.65765788e-02 9.39294499e+01] [ 4.77901304e-02 -9.07940694e-04 9.98856986e-01 7.67487165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.41804094199998 meters 0.020814918684884335 Centerline is valid? [True, True] Translation: X:130.59, Y:93.96, Z:7.68 [[ 2.05095587e-01 -9.78684110e-01 -1.06401144e-02 1.30593442e+02] [ 9.77593257e-01 2.05369315e-01 -4.62046314e-02 9.39559053e+01] [ 4.74048916e-02 -9.25338072e-04 9.98875328e-01 7.67587130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44804094199998 meters 0.020693867238208274 Centerline is valid? [True, True] Translation: X:130.60, Y:93.98, Z:7.68 [[ 2.04300436e-01 -9.78851304e-01 -1.05573111e-02 1.30598495e+02] [ 9.77774624e-01 2.04570854e-01 -4.59080595e-02 9.39830842e+01] [ 4.70968820e-02 -9.43634325e-04 9.98889880e-01 7.67668598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.47804094199998 meters 0.021010066879139967 Centerline is valid? [True, True] Translation: X:130.61, Y:94.01, Z:7.68 [[ 2.04016209e-01 -9.78911253e-01 -1.04950570e-02 1.30605158e+02] [ 9.77844518e-01 2.04283814e-01 -4.56970742e-02 9.40090055e+01] [ 4.68773504e-02 -9.39590152e-04 9.98900211e-01 7.67760313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50804094199998 meters 0.020946434378772007 Centerline is valid? [True, True] Translation: X:130.61, Y:94.04, Z:7.68 [[ 2.03855503e-01 -9.78946015e-01 -1.03746771e-02 1.30611349e+02] [ 9.77900802e-01 2.04117237e-01 -4.52346729e-02 9.40363273e+01] [ 4.63999532e-02 -9.24067997e-04 9.98922515e-01 7.67853769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.53804094199998 meters 0.0207400540486826 Centerline is valid? [True, True] Translation: X:130.62, Y:94.06, Z:7.68 [[ 2.04678049e-01 -9.78776741e-01 -1.01482982e-02 1.30617048e+02] [ 9.77773911e-01 2.04927698e-01 -4.43036882e-02 9.40637974e+01] [ 4.54430869e-02 -8.54748766e-04 9.98966564e-01 7.68067042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56804094199998 meters 0.020452479107437863 Centerline is valid? [True, True] Translation: X:130.62, Y:94.09, Z:7.68 [[ 2.05308543e-01 -9.78645864e-01 -1.00337040e-02 1.30621984e+02] [ 9.77662873e-01 2.05552001e-01 -4.38597843e-02 9.40913403e+01] [ 4.49856445e-02 -8.04791478e-04 9.98987309e-01 7.68219888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.59804094199998 meters 0.020322386559795003 Centerline is valid? [True, True] Translation: X:130.63, Y:94.12, Z:7.68 [[ 2.07406629e-01 -9.78205169e-01 -9.85587499e-03 1.30626325e+02] [ 9.77253769e-01 2.07639542e-01 -4.31380428e-02 9.41183626e+01] [ 4.42443258e-02 -6.84574936e-04 9.99020506e-01 7.68354526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62804094199998 meters 0.019933008700218895 Centerline is valid? [True, True] Translation: X:130.63, Y:94.15, Z:7.68 [[ 2.08794507e-01 -9.77910299e-01 -9.81328597e-03 1.30630443e+02] [ 9.76965074e-01 2.09024098e-01 -4.29903669e-02 9.41463885e+01] [ 4.40919358e-02 -6.11085166e-04 9.99027291e-01 7.68471951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.65804094199999 meters 0.020006615528944158 Centerline is valid? [True, True] Translation: X:130.64, Y:94.17, Z:7.69 [[ 2.09955973e-01 -9.77662579e-01 -9.71451125e-03 1.30635883e+02] [ 9.76733557e-01 2.10179897e-01 -4.26141865e-02 9.41728998e+01] [ 4.37040904e-02 -5.41386162e-04 9.99044373e-01 7.68568351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.688040942 meters 0.019613282933379463 Centerline is valid? [True, True] Translation: X:130.64, Y:94.20, Z:7.69 [[ 2.11977950e-01 -9.77227168e-01 -9.61300718e-03 1.30638307e+02] [ 9.76315273e-01 2.12195357e-01 -4.22092106e-02 9.42009948e+01] [ 4.32878228e-02 -4.37903781e-04 9.99062547e-01 7.68551858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.718040942 meters 0.019644696993060904 Centerline is valid? [True, True] Translation: X:130.64, Y:94.23, Z:7.69 [[ 2.12659634e-01 -9.77079359e-01 -9.58152266e-03 1.30643776e+02] [ 9.76170882e-01 2.12875010e-01 -4.21264715e-02 9.42288836e+01] [ 4.32005725e-02 -3.94603417e-04 9.99066342e-01 7.68621642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.748040942 meters 0.019810529605555554 Centerline is valid? [True, True] Translation: X:130.65, Y:94.26, Z:7.69 [[ 2.13031183e-01 -9.77000858e-01 -9.32948406e-03 1.30649718e+02] [ 9.76137276e-01 2.13235073e-01 -4.10709301e-02 9.42555701e+01] [ 4.21157071e-02 -3.57468337e-04 9.99112676e-01 7.68764718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.778040942 meters 0.019694221087610497 Centerline is valid? [True, True] Translation: X:130.66, Y:94.28, Z:7.69 [[ 2.12651865e-01 -9.77083439e-01 -9.33474159e-03 1.30655767e+02] [ 9.76216535e-01 2.12856342e-01 -4.11516060e-02 9.42826069e+01] [ 4.21955117e-02 -3.61763303e-04 9.99109307e-01 7.68886547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.808040942 meters 0.019779334233266596 Centerline is valid? [True, True] Translation: X:130.66, Y:94.31, Z:7.69 [[ 2.12220155e-01 -9.77177091e-01 -9.35626264e-03 1.30661797e+02] [ 9.76303985e-01 2.12425980e-01 -4.13004973e-02 9.43087467e+01] [ 4.23454131e-02 -3.69758576e-04 9.99102962e-01 7.68978941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.838040942 meters 0.019880649972415072 Centerline is valid? [True, True] Translation: X:130.67, Y:94.34, Z:7.69 [[ 2.12160485e-01 -9.77188376e-01 -9.52918610e-03 1.30667776e+02] [ 9.76280133e-01 2.12374063e-01 -4.21231490e-02 9.43363041e+01] [ 4.31860035e-02 -3.66287348e-04 9.99066982e-01 7.68907193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.868040942 meters 0.019848996139955204 Centerline is valid? [True, True] Translation: X:130.67, Y:94.36, Z:7.69 [[ 2.11990725e-01 -9.77224530e-01 -9.59953936e-03 1.30673438e+02] [ 9.76300448e-01 2.12207648e-01 -4.24893994e-02 9.43640543e+01] [ 4.35587791e-02 -3.64675978e-04 9.99050799e-01 7.68923661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.898040942 meters 0.01987102318271562 Centerline is valid? [True, True] Translation: X:130.68, Y:94.39, Z:7.69 [[ 2.12626356e-01 -9.77086915e-01 -9.54953774e-03 1.30678842e+02] [ 9.76169957e-01 2.12840449e-01 -4.23220804e-02 9.43914675e+01] [ 4.33848789e-02 -3.23182091e-04 9.99058381e-01 7.68875812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.928040942 meters 0.019873146432822227 Centerline is valid? [True, True] Translation: X:130.69, Y:94.42, Z:7.69 [[ 2.12094282e-01 -9.77202931e-01 -9.51040885e-03 1.30685529e+02] [ 9.76291197e-01 2.12307138e-01 -4.22040126e-02 9.44176650e+01] [ 4.32610125e-02 -3.33698699e-04 9.99063748e-01 7.68988588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.958040942 meters 0.01993146705857401 Centerline is valid? [True, True] Translation: X:130.69, Y:94.44, Z:7.69 [[ 2.11671009e-01 -9.77295329e-01 -9.44585611e-03 1.30691802e+02] [ 9.76393529e-01 2.11881396e-01 -4.19755955e-02 9.44441257e+01] [ 4.30239545e-02 -3.37856155e-04 9.99073984e-01 7.69078243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98804094199997 meters 0.019838849568815223 Centerline is valid? [True, True] Translation: X:130.70, Y:94.47, Z:7.69 [[ 2.11052742e-01 -9.77429255e-01 -9.42289419e-03 1.30696889e+02] [ 9.76529438e-01 2.11262696e-01 -4.19324385e-02 9.44695227e+01] [ 4.29766982e-02 -3.51777456e-04 9.99076013e-01 7.69037970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.01804094199997 meters 0.01984399505338742 Centerline is valid? [True, True] Translation: X:130.70, Y:94.50, Z:7.69 [[ 2.10461342e-01 -9.77557264e-01 -9.37113704e-03 1.30702366e+02] [ 9.76664800e-01 2.10669559e-01 -4.17636954e-02 9.44961322e+01] [ 4.28006171e-02 -3.62816303e-04 9.99083568e-01 7.69079100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04804094199997 meters 0.019794514114166325 Centerline is valid? [True, True] Translation: X:130.71, Y:94.52, Z:7.69 [[ 2.10407880e-01 -9.77569921e-01 -9.25056785e-03 1.30708308e+02] [ 9.76697896e-01 2.10610843e-01 -4.12830849e-02 9.45214822e+01] [ 4.23053719e-02 -3.48723786e-04 9.99104666e-01 7.69046644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.07804094199997 meters 0.019693527940630954 Centerline is valid? [True, True] Translation: X:130.71, Y:94.55, Z:7.69 [[ 2.10451260e-01 -9.77560856e-01 -9.22169420e-03 1.30714251e+02] [ 9.76691709e-01 2.10652940e-01 -4.12146050e-02 9.45478891e+01] [ 4.22323615e-02 -3.33086746e-04 9.99107760e-01 7.69111722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10804094199997 meters 0.019689678914711656 Centerline is valid? [True, True] Translation: X:130.72, Y:94.57, Z:7.69 [[ 2.10393105e-01 -9.77573990e-01 -9.15617168e-03 1.30720185e+02] [ 9.76714833e-01 2.10592001e-01 -4.09773559e-02 9.45741719e+01] [ 4.19866138e-02 -3.21615544e-04 9.99118122e-01 7.69157201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.13804094199998 meters 0.019589483097274166 Centerline is valid? [True, True] Translation: X:130.73, Y:94.60, Z:7.69 [[ 2.10356457e-01 -9.77583029e-01 -9.03228755e-03 1.30725363e+02] [ 9.76744685e-01 2.10550057e-01 -4.04783135e-02 9.45995373e+01] [ 4.14726610e-02 -3.07364255e-04 9.99139592e-01 7.69068759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.16804094199998 meters 0.01955350551533571 Centerline is valid? [True, True] Translation: X:130.73, Y:94.63, Z:7.69 [[ 2.10155290e-01 -9.77626911e-01 -8.96531854e-03 1.30730979e+02] [ 9.76799299e-01 2.10346214e-01 -4.02193829e-02 9.46267094e+01] [ 4.12053719e-02 -3.05000792e-04 9.99150651e-01 7.69096421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.19804094199998 meters 0.01935514665919905 Centerline is valid? [True, True] Translation: X:130.73, Y:94.65, Z:7.69 [[ 2.10439695e-01 -9.77566778e-01 -8.85042577e-03 1.30734551e+02] [ 9.76758005e-01 2.10625540e-01 -3.97577949e-02 9.46532865e+01] [ 4.07300251e-02 -2.78105979e-04 9.99170150e-01 7.68957390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22804094199998 meters 0.019363511869142737 Centerline is valid? [True, True] Translation: X:130.74, Y:94.68, Z:7.69 [[ 2.10598977e-01 -9.77532729e-01 -8.82234927e-03 1.30738751e+02] [ 9.76727457e-01 2.10783525e-01 -3.96708934e-02 9.46784112e+01] [ 4.06392025e-02 -2.62381201e-04 9.99173852e-01 7.68988511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.25804094199998 meters 0.01915019651831417 Centerline is valid? [True, True] Translation: X:130.74, Y:94.70, Z:7.69 [[ 2.10662170e-01 -9.77519161e-01 -8.81702350e-03 1.30742976e+02] [ 9.76712344e-01 2.10846458e-01 -3.97085456e-02 9.47044068e+01] [ 4.06749024e-02 -2.46607284e-04 9.99172403e-01 7.69034224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28804094199998 meters 0.01906266470978939 Centerline is valid? [True, True] Translation: X:130.75, Y:94.73, Z:7.69 [[ 2.11432368e-01 -9.77356854e-01 -8.36268848e-03 1.30746035e+02] [ 9.76628952e-01 2.11597598e-01 -3.77140165e-02 9.47300971e+01] [ 3.86295773e-02 -1.93279852e-04 9.99253581e-01 7.69161150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.31804094199998 meters 0.018917545228840583 Centerline is valid? [True, True] Translation: X:130.75, Y:94.76, Z:7.69 [[ 2.11058883e-01 -9.77439643e-01 -8.11743205e-03 1.30750322e+02] [ 9.76751822e-01 2.11214840e-01 -3.66629189e-02 9.47567297e+01] [ 3.75503124e-02 -1.90681834e-04 9.99294720e-01 7.69164197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34804094199998 meters 0.019250867049162238 Centerline is valid? [True, True] Translation: X:130.76, Y:94.78, Z:7.69 [[ 2.10202646e-01 -9.77626556e-01 -7.82083114e-03 1.30756734e+02] [ 9.76986401e-01 2.10347988e-01 -3.53736781e-02 9.47818412e+01] [ 3.62273432e-02 -2.05204911e-04 9.99343553e-01 7.69239223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.37804094199998 meters 0.018983468835288644 Centerline is valid? [True, True] Translation: X:130.76, Y:94.81, Z:7.69 [[ 2.08993209e-01 -9.77887432e-01 -7.61636648e-03 1.30762273e+02] [ 9.77279299e-01 2.09131811e-01 -3.44826975e-02 9.48083629e+01] [ 3.53130210e-02 -2.36667695e-04 9.99376273e-01 7.69202559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40804094199999 meters 0.0197621690041711 Centerline is valid? [True, True] Translation: X:130.77, Y:94.83, Z:7.69 [[ 2.06370328e-01 -9.78445860e-01 -7.41526331e-03 1.30770692e+02] [ 9.77868203e-01 2.06503270e-01 -3.36181042e-02 9.48338673e+01] [ 3.44247710e-02 -3.13371003e-04 9.99407243e-01 7.69351956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.438040942 meters 0.018846210399702867 Centerline is valid? [True, True] Translation: X:130.77, Y:94.86, Z:7.69 [[ 2.05215047e-01 -9.78689243e-01 -7.35869683e-03 1.30773595e+02] [ 9.78119064e-01 2.05346655e-01 -3.34043131e-02 9.48618520e+01] [ 3.42035257e-02 -3.42613966e-04 9.99414830e-01 7.69024564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.468040942 meters 0.018948142227047417 Centerline is valid? [True, True] Translation: X:130.78, Y:94.89, Z:7.69 [[ 2.03411886e-01 -9.79066654e-01 -7.21743547e-03 1.30779886e+02] [ 9.78516927e-01 2.03539518e-01 -3.28068250e-02 9.48891933e+01] [ 3.35891017e-02 -3.89084626e-04 9.99435651e-01 7.68963013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.498040942 meters 0.01898061707263038 Centerline is valid? [True, True] Translation: X:130.79, Y:94.92, Z:7.69 [[ 2.02366083e-01 -9.79282962e-01 -7.26968629e-03 1.30786109e+02] [ 9.78723999e-01 2.02496182e-01 -3.30851931e-02 9.49151296e+01] [ 3.38718496e-02 -4.19695505e-04 9.99426096e-01 7.69036639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.528040942 meters 0.0188990750946708 Centerline is valid? [True, True] Translation: X:130.79, Y:94.94, Z:7.69 [[ 2.01064321e-01 -9.79551437e-01 -7.21949767e-03 1.30791875e+02] [ 9.78998773e-01 2.01193384e-01 -3.29032535e-02 9.49421779e+01] [ 3.36829444e-02 -4.52209043e-04 9.99432466e-01 7.69041885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.558040942 meters 0.019069925566436316 Centerline is valid? [True, True] Translation: X:130.80, Y:94.97, Z:7.69 [[ 1.98856905e-01 -9.80001374e-01 -7.29640896e-03 1.30798850e+02] [ 9.79435559e-01 1.98990029e-01 -3.33009784e-02 9.49684734e+01] [ 3.40869172e-02 -5.24232879e-04 9.99418735e-01 7.69028745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.588040942 meters 0.01904576926780971 Centerline is valid? [True, True] Translation: X:130.80, Y:95.00, Z:7.69 [[ 1.97548137e-01 -9.80266133e-01 -7.28302629e-03 1.30804936e+02] [ 9.79701214e-01 1.97681548e-01 -3.32796850e-02 9.49956374e+01] [ 3.40626681e-02 -5.60849932e-04 9.99419542e-01 7.69126820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.618040942 meters 0.019101909042131365 Centerline is valid? [True, True] Translation: X:130.81, Y:95.02, Z:7.69 [[ 1.96268491e-01 -9.80522534e-01 -7.36483259e-03 1.30810687e+02] [ 9.79943645e-01 1.96405693e-01 -3.36935578e-02 9.50234911e+01] [ 3.44837877e-02 -6.04137155e-04 9.99405075e-01 7.69164958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.648040942 meters 0.019127230843778733 Centerline is valid? [True, True] Translation: X:130.82, Y:95.05, Z:7.69 [[ 1.95634961e-01 -9.80649338e-01 -7.33743290e-03 1.30816245e+02] [ 9.80073276e-01 1.95771544e-01 -3.36136187e-02 9.50512981e+01] [ 3.43996334e-02 -6.15222916e-04 9.99407968e-01 7.69276188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.678040942 meters 0.019317320910187084 Centerline is valid? [True, True] Translation: X:130.82, Y:95.08, Z:7.69 [[ 1.95170636e-01 -9.80742301e-01 -7.27754531e-03 1.30821710e+02] [ 9.80174007e-01 1.95305298e-01 -3.33879628e-02 9.50772976e+01] [ 3.41663306e-02 -6.16910810e-04 9.99415970e-01 7.69402722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.708040942 meters 0.019308162536300782 Centerline is valid? [True, True] Translation: X:130.83, Y:95.10, Z:7.69 [[ 1.95459697e-01 -9.80684547e-01 -7.30248818e-03 1.30825407e+02] [ 9.80111156e-01 1.95595134e-01 -3.35360377e-02 9.51044172e+01] [ 3.43166051e-02 -6.02306384e-04 9.99410830e-01 7.69408516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.73804094199997 meters 0.018985108619346932 Centerline is valid? [True, True] Translation: X:130.83, Y:95.13, Z:7.69 [[ 1.95736370e-01 -9.80630165e-01 -7.19389112e-03 1.30828727e+02] [ 9.80072725e-01 1.95867670e-01 -3.30652289e-02 9.51320924e+01] [ 3.38338116e-02 -5.78468579e-04 9.99427305e-01 7.69390277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76804094199997 meters 0.018663161987420337 Centerline is valid? [True, True] Translation: X:130.83, Y:95.16, Z:7.69 [[ 1.96459021e-01 -9.80485755e-01 -7.17895320e-03 1.30832570e+02] [ 9.79929035e-01 1.96589392e-01 -3.30408437e-02 9.51602937e+01] [ 3.38073826e-02 -5.43692858e-04 9.99428219e-01 7.69449057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.79804094199997 meters 0.01839558942443765 Centerline is valid? [True, True] Translation: X:130.84, Y:95.19, Z:7.69 [[ 1.97666262e-01 -9.80242148e-01 -7.30616868e-03 1.30836746e+02] [ 9.79663727e-01 1.97800606e-01 -3.36734696e-02 9.51869300e+01] [ 3.44533187e-02 -5.01479585e-04 9.99406182e-01 7.69478370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82804094199997 meters 0.018301774411469764 Centerline is valid? [True, True] Translation: X:130.84, Y:95.21, Z:7.70 [[ 1.97943896e-01 -9.80186731e-01 -7.22402554e-03 1.30841789e+02] [ 9.79619641e-01 1.98075099e-01 -3.33408645e-02 9.52144441e+01] [ 3.41111726e-02 -4.77176684e-04 9.99417931e-01 7.69596370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.85804094199997 meters 0.018301774411469764 Centerline is valid? [True, True] Translation: X:130.85, Y:95.24, Z:7.70 [[ 1.97669452e-01 -9.80242182e-01 -7.21469052e-03 1.30847526e+02] [ 9.79675056e-01 1.97800496e-01 -3.33428840e-02 9.52413989e+01] [ 3.41111707e-02 -4.77182751e-04 9.99417931e-01 7.69718705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88804094199998 meters 0.018072357314196555 Centerline is valid? [True, True] Translation: X:130.85, Y:95.27, Z:7.70 [[ 1.98594892e-01 -9.80056523e-01 -7.02001216e-03 1.30851474e+02] [ 9.79518079e-01 1.98718472e-01 -3.24854119e-02 9.52691251e+01] [ 3.32325459e-02 -4.24791963e-04 9.99447556e-01 7.69875026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.91804094199998 meters 0.018015765740237197 Centerline is valid? [True, True] Translation: X:130.86, Y:95.30, Z:7.70 [[ 1.98811828e-01 -9.80013081e-01 -6.94389135e-03 1.30856031e+02] [ 9.79484791e-01 1.98932645e-01 -3.21768116e-02 9.52965479e+01] [ 3.29150630e-02 -4.04305221e-04 9.99458071e-01 7.69979152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94804094199998 meters 0.018088392038796162 Centerline is valid? [True, True] Translation: X:130.86, Y:95.32, Z:7.70 [[ 1.99204522e-01 -9.79933222e-01 -6.95974857e-03 1.30861095e+02] [ 9.79400989e-01 1.99325695e-01 -3.22950342e-02 9.53233294e+01] [ 3.30342337e-02 -3.83067798e-04 9.99454147e-01 7.70148248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.97804094199998 meters 0.018013798634414442 Centerline is valid? [True, True] Translation: X:130.86, Y:95.35, Z:7.70 [[ 1.98892638e-01 -9.79997407e-01 -6.84111793e-03 1.30864867e+02] [ 9.79481690e-01 1.99009899e-01 -3.17911715e-02 9.53507664e+01] [ 3.25167158e-02 -3.77719777e-04 9.99471120e-01 7.70190698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00804094199998 meters 0.018053012771254578 Centerline is valid? [True, True] Translation: X:130.87, Y:95.38, Z:7.70 [[ 1.99383481e-01 -9.79897062e-01 -6.92641869e-03 1.30869111e+02] [ 9.79366845e-01 1.99503435e-01 -3.22329477e-02 9.53776006e+01] [ 3.29668151e-02 -3.56787494e-04 9.99456383e-01 7.70305608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.03804094199998 meters 0.017857138386018455 Centerline is valid? [True, True] Translation: X:130.87, Y:95.40, Z:7.70 [[ 1.99189480e-01 -9.79936408e-01 -6.94171918e-03 1.30873938e+02] [ 9.79402277e-01 1.99310087e-01 -3.23522517e-02 9.54049455e+01] [ 3.30867039e-02 -3.54507382e-04 9.99452422e-01 7.70326714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06804094199998 meters 0.018032593684907477 Centerline is valid? [True, True] Translation: X:130.88, Y:95.43, Z:7.71 [[ 1.99494667e-01 -9.79874223e-01 -6.95588913e-03 1.30879688e+02] [ 9.79336396e-01 1.99615615e-01 -3.24627456e-02 9.54311825e+01] [ 3.31979117e-02 -3.36010759e-04 9.99448741e-01 7.70575500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.09804094199998 meters 0.01796591309839297 Centerline is valid? [True, True] Translation: X:130.88, Y:95.46, Z:7.71 [[ 1.99227655e-01 -9.79929408e-01 -6.83356094e-03 1.30884679e+02] [ 9.79408840e-01 1.99344544e-01 -3.19386400e-02 9.54587578e+01] [ 3.26598456e-02 -3.29789642e-04 9.99466471e-01 7.70741326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12804094199998 meters 0.017846874314388406 Centerline is valid? [True, True] Translation: X:130.89, Y:95.49, Z:7.71 [[ 1.98805813e-01 -9.80014770e-01 -6.87745194e-03 1.30889692e+02] [ 9.79486083e-01 1.98924451e-01 -3.21881323e-02 9.54862986e+01] [ 3.29129384e-02 -3.37180645e-04 9.99458166e-01 7.70865229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.15804094199999 meters 0.017816774444671248 Centerline is valid? [True, True] Translation: X:130.89, Y:95.51, Z:7.71 [[ 1.97066028e-01 -9.80366719e-01 -6.78794310e-03 1.30893841e+02] [ 9.79850520e-01 1.97182529e-01 -3.18120816e-02 9.55148454e+01] [ 3.25259698e-02 -3.82089009e-04 9.99470818e-01 7.70862582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.188040942 meters 0.018353746131399735 Centerline is valid? [True, True] Translation: X:130.90, Y:95.54, Z:7.71 [[ 1.95540627e-01 -9.80672646e-01 -6.71003560e-03 1.30899786e+02] [ 9.80167027e-01 1.95655273e-01 -3.14899033e-02 9.55415533e+01] [ 3.21941406e-02 -4.19400204e-04 9.99481546e-01 7.71081806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.218040942 meters 0.018567863897840205 Centerline is valid? [True, True] Translation: X:130.90, Y:95.57, Z:7.71 [[ 1.91774755e-01 -9.81416677e-01 -6.61439540e-03 1.30904152e+02] [ 9.80924618e-01 1.91888061e-01 -3.10783754e-02 9.55693295e+01] [ 3.17700594e-02 -5.28175457e-04 9.99495065e-01 7.71161241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.248040942 meters 0.018881008449697572 Centerline is valid? [True, True] Translation: X:130.91, Y:95.60, Z:7.71 [[ 1.90043227e-01 -9.81752949e-01 -6.68725168e-03 1.30910017e+02] [ 9.81248784e-01 1.90159955e-01 -3.14645032e-02 9.55957440e+01] [ 3.21620162e-02 -5.82241865e-04 9.99482499e-01 7.71290476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.278040942 meters 0.019390473061297535 Centerline is valid? [True, True] Translation: X:130.92, Y:95.62, Z:7.72 [[ 1.88575117e-01 -9.82036622e-01 -6.59528323e-03 1.30916516e+02] [ 9.81545198e-01 1.88689413e-01 -3.10697576e-02 9.56225836e+01] [ 3.17561000e-02 -6.14585418e-04 9.99495459e-01 7.71507968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.308040942 meters 0.01925021366068632 Centerline is valid? [True, True] Translation: X:130.92, Y:95.65, Z:7.72 [[ 1.85840704e-01 -9.82557221e-01 -6.67380825e-03 1.30920151e+02] [ 9.82052927e-01 1.85959170e-01 -3.14838827e-02 9.56504342e+01] [ 3.21757721e-02 -7.03046001e-04 9.99481979e-01 7.71610528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.338040942 meters 0.0195070481308307 Centerline is valid? [True, True] Translation: X:130.92, Y:95.68, Z:7.72 [[ 1.84414154e-01 -9.82825437e-01 -6.75130246e-03 1.30924967e+02] [ 9.82308784e-01 1.84536153e-01 -3.18725702e-02 9.56782958e+01] [ 3.25710322e-02 -7.54110634e-04 9.99469139e-01 7.71754544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.368040942 meters 0.02012381906924167 Centerline is valid? [True, True] Translation: X:130.93, Y:95.71, Z:7.72 [[ 1.82304362e-01 -9.83218746e-01 -6.78354034e-03 1.30928323e+02] [ 9.82695803e-01 1.82428687e-01 -3.20738749e-02 9.57061448e+01] [ 3.27731474e-02 -8.18949339e-04 9.99462481e-01 7.71867207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.398040942 meters 0.020645086746313927 Centerline is valid? [True, True] Translation: X:130.93, Y:95.73, Z:7.72 [[ 1.81779696e-01 -9.83314498e-01 -6.98133861e-03 1.30933030e+02] [ 9.82759712e-01 1.81911697e-01 -3.30376103e-02 9.57325967e+01] [ 3.37563484e-02 -8.55411541e-04 9.99429726e-01 7.72038198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.428040942 meters 0.02088088069449116 Centerline is valid? [True, True] Translation: X:130.94, Y:95.76, Z:7.72 [[ 1.81369005e-01 -9.83387274e-01 -7.39949556e-03 1.30936019e+02] [ 9.82762788e-01 1.81517581e-01 -3.50523868e-02 9.57608823e+01] [ 3.58132097e-02 -9.14532360e-04 9.99358083e-01 7.72185767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.458040942 meters 0.021106432635260082 Centerline is valid? [True, True] Translation: X:130.94, Y:95.79, Z:7.72 [[ 1.81850445e-01 -9.83297169e-01 -7.55594295e-03 1.30940683e+02] [ 9.82643929e-01 1.82005099e-01 -3.58476349e-02 9.57874265e+01] [ 3.66240980e-02 -9.05893116e-04 9.99328702e-01 7.72382108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48804094199997 meters 0.021012283697687303 Centerline is valid? [True, True] Translation: X:130.94, Y:95.82, Z:7.73 [[ 1.82356890e-01 -9.83202848e-01 -7.62393754e-03 1.30943999e+02] [ 9.82536435e-01 1.82514027e-01 -3.62047562e-02 9.58152041e+01] [ 3.69880949e-02 -8.88609665e-04 9.99315311e-01 7.72605037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.51804094199997 meters 0.021051953593829824 Centerline is valid? [True, True] Translation: X:130.95, Y:95.84, Z:7.73 [[ 1.83264538e-01 -9.83033464e-01 -7.70186446e-03 1.30947536e+02] [ 9.82351242e-01 1.83424320e-01 -3.66272629e-02 9.58431650e+01] [ 3.74185344e-02 -8.53457718e-04 9.99299317e-01 7.72835395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54804094199997 meters 0.021048266344744073 Centerline is valid? [True, True] Translation: X:130.95, Y:95.87, Z:7.73 [[ 1.86553852e-01 -9.82412125e-01 -8.00479461e-03 1.30948800e+02] [ 9.81672471e-01 1.86724020e-01 -3.81221610e-02 9.58714857e+01] [ 3.89463607e-02 -7.46250508e-04 9.99241024e-01 7.73075076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.57804094199997 meters 0.021181434217188013 Centerline is valid? [True, True] Translation: X:130.95, Y:95.90, Z:7.73 [[ 1.89122963e-01 -9.81916795e-01 -8.48014615e-03 1.30950987e+02] [ 9.81083649e-01 1.89311803e-01 -4.04464442e-02 9.58995612e+01] [ 4.13204346e-02 -6.70381349e-04 9.99145721e-01 7.73238716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60804094199997 meters 0.022264924570156632 Centerline is valid? [True, True] Translation: X:130.96, Y:95.93, Z:7.73 [[ 1.89569261e-01 -9.81830325e-01 -8.52694881e-03 1.30955350e+02] [ 9.80985569e-01 1.89759843e-01 -4.07248737e-02 9.59267550e+01] [ 4.16029884e-02 -6.44629525e-04 9.99134013e-01 7.73244091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.63804094199998 meters 0.02166261296374561 Centerline is valid? [True, True] Translation: X:130.96, Y:95.95, Z:7.74 [[ 1.90637137e-01 -9.81620941e-01 -8.82102017e-03 1.30960248e+02] [ 9.80713872e-01 1.90840142e-01 -4.21941056e-02 9.59537987e+01] [ 4.31020224e-02 -6.07133360e-04 9.99070492e-01 7.73565329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66804094199998 meters 0.02157409970062889 Centerline is valid? [True, True] Translation: X:130.96, Y:95.98, Z:7.74 [[ 1.92427730e-01 -9.81270303e-01 -8.95322589e-03 1.30960866e+02] [ 9.80332789e-01 1.92635191e-01 -4.28871335e-02 9.59823373e+01] [ 4.38085768e-02 -5.24467144e-04 9.99039806e-01 7.73840701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.69804094199998 meters 0.023814933882738226 Centerline is valid? [True, True] Translation: X:130.97, Y:96.01, Z:7.74 [[ 1.92284664e-01 -9.81301427e-01 -8.60913917e-03 1.30965385e+02] [ 9.80432269e-01 1.92476645e-01 -4.12953658e-02 9.60092345e+01] [ 4.21802597e-02 -5.00212314e-04 9.99109892e-01 7.73725875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72804094199998 meters 0.02221718428565641 Centerline is valid? [True, True] Translation: X:130.97, Y:96.04, Z:7.74 [[ 1.93571757e-01 -9.81044098e-01 -9.08035407e-03 1.30969959e+02] [ 9.80073657e-01 1.93784084e-01 -4.36274726e-02 9.60365681e+01] [ 4.45601026e-02 -4.54369310e-04 9.99006602e-01 7.74294013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.75804094199998 meters 0.024693431795524294 Centerline is valid? [True, True] Translation: X:130.98, Y:96.06, Z:7.74 [[ 1.92608191e-01 -9.81237394e-01 -8.67537264e-03 1.30975195e+02] [ 9.80349342e-01 1.92802906e-01 -4.17397514e-02 9.60634389e+01] [ 4.26292420e-02 -4.65477847e-04 9.99090852e-01 7.74083846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78804094199998 meters 0.025404351109489163 Centerline is valid? [True, True] Translation: X:130.98, Y:96.09, Z:7.74 [[ 1.91858573e-01 -9.81383754e-01 -8.73010370e-03 1.30980703e+02] [ 9.80481794e-01 1.92056471e-01 -4.20685656e-02 9.60895514e+01] [ 4.29620798e-02 -4.88492763e-04 9.99076584e-01 7.74221109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.81804094199998 meters 0.025322492489884663 Centerline is valid? [True, True] Translation: X:130.99, Y:96.12, Z:7.75 [[ 1.90355324e-01 -9.81673536e-01 -9.05093576e-03 1.30986078e+02] [ 9.80701270e-01 1.90569552e-01 -4.36836960e-02 9.61158321e+01] [ 4.46079611e-02 -5.60840086e-04 9.99004412e-01 7.74528544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84804094199998 meters 0.026918491902374286 Centerline is valid? [True, True] Translation: X:130.99, Y:96.14, Z:7.74 [[ 1.90057842e-01 -9.81729612e-01 -9.21881613e-03 1.30989957e+02] [ 9.80717875e-01 1.90280433e-01 -4.45623861e-02 9.61436591e+01] [ 4.55023743e-02 -5.71626827e-04 9.98964067e-01 7.74468572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.87804094199998 meters 0.023970842806445958 Centerline is valid? [True, True] Translation: X:130.99, Y:96.17, Z:7.75 [[ 1.91693875e-01 -9.81401819e-01 -1.01944849e-02 1.30994698e+02] [ 9.80160101e-01 1.91964026e-01 -4.93557473e-02 9.61710437e+01] [ 5.03947945e-02 -5.31032922e-04 9.98729234e-01 7.75203683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90804094199999 meters 0.02574613995661489 Centerline is valid? [True, True] Translation: X:131.00, Y:96.20, Z:7.75 [[ 1.91907507e-01 -9.81363296e-01 -9.87879414e-03 1.31000151e+02] [ 9.80193914e-01 1.92160975e-01 -4.78962578e-02 9.61980072e+01] [ 4.89019481e-02 -4.91482478e-04 9.98803463e-01 7.74937977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.938040942 meters 0.026675843747838063 Centerline is valid? [True, True] Translation: X:131.00, Y:96.23, Z:7.75 [[ 1.92677980e-01 -9.81213094e-01 -9.80106925e-03 1.31003858e+02] [ 9.80058340e-01 1.92926605e-01 -4.75917555e-02 9.62257502e+01] [ 4.85885407e-02 -4.35736338e-04 9.98818784e-01 7.74968614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.968040942 meters 0.02619461823186323 Centerline is valid? [True, True] Translation: X:131.01, Y:96.25, Z:7.75 [[ 1.93545677e-01 -9.81036736e-01 -1.03437348e-02 1.31007601e+02] [ 9.79746276e-01 1.93821473e-01 -5.03037968e-02 9.62537024e+01] [ 5.13547105e-02 -3.98153224e-04 9.98680397e-01 7.75163467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.998040942 meters 0.02737296246003425 Centerline is valid? [True, True] Translation: X:131.01, Y:96.28, Z:7.75 [[ 1.91541597e-01 -9.81425839e-01 -1.07302631e-02 1.31011506e+02] [ 9.80033664e-01 1.91841251e-01 -5.22585033e-02 9.62808600e+01] [ 5.33463526e-02 -5.06341900e-04 9.98575941e-01 7.74970045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.028040942 meters 0.028177697628944343 Centerline is valid? [True, True] Translation: X:131.02, Y:96.31, Z:7.75 [[ 1.89818498e-01 -9.81759327e-01 -1.08425857e-02 1.31016659e+02] [ 9.80335490e-01 1.90126981e-01 -5.28588508e-02 9.63090891e+01] [ 5.39561379e-02 -5.95783870e-04 9.98543129e-01 7.74996037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.058040942 meters 0.028215548819216316 Centerline is valid? [True, True] Translation: X:131.02, Y:96.34, Z:7.75 [[ 1.87816626e-01 -9.82142736e-01 -1.09800065e-02 1.31022412e+02] [ 9.80679107e-01 1.88136001e-01 -5.36034883e-02 9.63359677e+01] [ 5.47120111e-02 -7.00236665e-04 9.98501931e-01 7.75139336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.088040942 meters 0.02810599524412961 Centerline is valid? [True, True] Translation: X:131.03, Y:96.36, Z:7.75 [[ 1.86038589e-01 -9.82478939e-01 -1.11704368e-02 1.31028500e+02] [ 9.80960624e-01 1.86371931e-01 -5.46054785e-02 9.63623745e+01] [ 5.57305885e-02 -7.99032466e-04 9.98445523e-01 7.75410993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.118040942 meters 0.02836830574845876 Centerline is valid? [True, True] Translation: X:131.03, Y:96.39, Z:7.76 [[ 1.82817420e-01 -9.83081762e-01 -1.13154592e-02 1.31034597e+02] [ 9.81520718e-01 1.83164645e-01 -5.53876645e-02 9.63902655e+01] [ 5.65231949e-02 -9.80527657e-04 9.98400805e-01 7.75759836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.148040942 meters 0.029168201623654584 Centerline is valid? [True, True] Translation: X:131.04, Y:96.42, Z:7.76 [[ 1.80929935e-01 -9.83431869e-01 -1.12302477e-02 1.31039648e+02] [ 9.81891270e-01 1.81274975e-01 -5.50356061e-02 9.64167167e+01] [ 5.61595318e-02 -1.06929346e-03 9.98421236e-01 7.75863501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.178040942 meters 0.03094841240324229 Centerline is valid? [True, True] Translation: X:131.04, Y:96.44, Z:7.76 [[ 1.77368111e-01 -9.84083176e-01 -1.09934349e-02 1.31043596e+02] [ 9.82605811e-01 1.77704156e-01 -5.39170990e-02 9.64434355e+01] [ 5.50124892e-02 -1.23903901e-03 9.98484898e-01 7.75780708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.208040942 meters 0.030960432851231512 Centerline is valid? [True, True] Translation: X:131.05, Y:96.47, Z:7.76 [[ 1.75777260e-01 -9.84369505e-01 -1.09102272e-02 1.31048891e+02] [ 9.82910616e-01 1.76110697e-01 -5.35886483e-02 9.64704764e+01] [ 5.46724389e-02 -1.30411239e-03 9.98503492e-01 7.76005361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.23804094199997 meters 0.03124352697470028 Centerline is valid? [True, True] Translation: X:131.05, Y:96.50, Z:7.76 [[ 1.74677615e-01 -9.84567523e-01 -1.07015356e-02 1.31053499e+02] [ 9.83160308e-01 1.75000092e-01 -5.26381706e-02 9.64958220e+01] [ 5.36986030e-02 -1.32661489e-03 9.98556308e-01 7.76149412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26804094199997 meters 0.03133174357790903 Centerline is valid? [True, True] Translation: X:131.06, Y:96.52, Z:7.76 [[ 1.73871797e-01 -9.84714255e-01 -1.03167377e-02 1.31056357e+02] [ 9.83403472e-01 1.74172665e-01 -5.08084053e-02 9.65218543e+01] [ 5.18286546e-02 -1.31136692e-03 9.98655131e-01 7.76299685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.29804094199997 meters 0.031233879928222377 Centerline is valid? [True, True] Translation: X:131.06, Y:96.55, Z:7.76 [[ 1.73860790e-01 -9.84718984e-01 -1.00473351e-02 1.31059746e+02] [ 9.83471936e-01 1.74146269e-01 -4.95583221e-02 9.65476530e+01] [ 5.05507265e-02 -1.26502302e-03 9.98720694e-01 7.76416065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32804094199997 meters 0.03126424060054103 Centerline is valid? [True, True] Translation: X:131.06, Y:96.57, Z:7.76 [[ 1.74457536e-01 -9.84617749e-01 -9.61540080e-03 1.31061042e+02] [ 9.83472800e-01 1.74718382e-01 -4.74840876e-02 9.65742511e+01] [ 4.84336628e-02 -1.17252819e-03 9.98825713e-01 7.76475468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.35804094199997 meters 0.030700108463975247 Centerline is valid? [True, True] Translation: X:131.06, Y:96.60, Z:7.77 [[ 1.75231924e-01 -9.84482648e-01 -9.36416872e-03 1.31064117e+02] [ 9.83393149e-01 1.75478549e-01 -4.63162220e-02 9.66003030e+01] [ 4.72407276e-02 -1.09257867e-03 9.98882936e-01 7.76679378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.38804094199998 meters 0.03087444151162605 Centerline is valid? [True, True] Translation: X:131.07, Y:96.63, Z:7.77 [[ 1.76052302e-01 -9.84339573e-01 -9.01064506e-03 1.31067102e+02] [ 9.83327507e-01 1.76279892e-01 -4.46364511e-02 9.66270433e+01] [ 4.55258208e-02 -1.00206519e-03 9.98962660e-01 7.76738500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.41804094199998 meters 0.028822800015895756 Centerline is valid? [True, True] Translation: X:131.07, Y:96.65, Z:7.77 [[ 1.77346859e-01 -9.84110923e-01 -8.58964797e-03 1.31069018e+02] [ 9.83188325e-01 1.77552533e-01 -4.26123797e-02 9.66540969e+01] [ 4.34604221e-02 -8.88069904e-04 9.99054755e-01 7.77304769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44804094199998 meters 0.028906127474171383 Centerline is valid? [True, True] Translation: X:131.07, Y:96.68, Z:7.77 [[ 1.78086663e-01 -9.83980274e-01 -8.24386819e-03 1.31072564e+02] [ 9.83128169e-01 1.78275520e-01 -4.09492620e-02 9.66816080e+01] [ 4.17629459e-02 -8.12261629e-04 9.99127217e-01 7.77348382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.47804094199998 meters 0.02941329576749112 Centerline is valid? [True, True] Translation: X:131.08, Y:96.71, Z:7.77 [[ 1.78754490e-01 -9.83860766e-01 -8.05140568e-03 1.31076300e+02] [ 9.83045504e-01 1.78934128e-01 -4.00514007e-02 9.67090585e+01] [ 4.08456730e-02 -7.55530445e-04 9.99165182e-01 7.77323129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50804094199998 meters 0.028053410848796374 Centerline is valid? [True, True] Translation: X:131.08, Y:96.74, Z:7.77 [[ 1.78887566e-01 -9.83839856e-01 -7.64044623e-03 1.31076217e+02] [ 9.83103622e-01 1.79049278e-01 -3.80608082e-02 9.67377941e+01] [ 3.88137564e-02 -7.02745012e-04 9.99246215e-01 7.77461953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.53804094199998 meters 0.028120158084362395 Centerline is valid? [True, True] Translation: X:131.08, Y:96.76, Z:7.78 [[ 1.78335730e-01 -9.83941252e-01 -7.48205274e-03 1.31083429e+02] [ 9.83233382e-01 1.78491240e-01 -3.73228360e-02 9.67640259e+01] [ 3.80589588e-02 -7.00608833e-04 9.99275250e-01 7.77900173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56804094199998 meters 0.026761683013716432 Centerline is valid? [True, True] Translation: X:131.09, Y:96.79, Z:7.78 [[ 1.76486293e-01 -9.84278259e-01 -6.99262446e-03 1.31085299e+02] [ 9.83658501e-01 1.76623325e-01 -3.49306964e-02 9.67927154e+01] [ 3.56165856e-02 -7.13565402e-04 9.99365273e-01 7.78024732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.59804094199998 meters 0.02660721029672579 Centerline is valid? [True, True] Translation: X:131.09, Y:96.82, Z:7.78 [[ 1.74827394e-01 -9.84576083e-01 -6.73200451e-03 1.31090054e+02] [ 9.84000420e-01 1.74955405e-01 -3.36716584e-02 9.68202784e+01] [ 3.43301101e-02 -7.37566967e-04 9.99410276e-01 7.78085963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62804094199998 meters 0.02657945205628388 Centerline is valid? [True, True] Translation: X:131.10, Y:96.85, Z:7.78 [[ 1.73311303e-01 -9.84844903e-01 -6.61126042e-03 1.31095899e+02] [ 9.84288438e-01 1.73435652e-01 -3.31110927e-02 9.68479847e+01] [ 3.37559192e-02 -7.68860576e-04 9.99429811e-01 7.78159364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.65804094199999 meters 0.02874800663359275 Centerline is valid? [True, True] Translation: X:131.10, Y:96.87, Z:7.78 [[ 1.71558619e-01 -9.85154647e-01 -6.16136235e-03 1.31104801e+02] [ 9.84670332e-01 1.71667513e-01 -3.08966461e-02 9.68739319e+01] [ 3.14956802e-02 -7.66324771e-04 9.99503594e-01 7.78211517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.688040942 meters 0.026770705659985627 Centerline is valid? [True, True] Translation: X:131.11, Y:96.90, Z:7.78 [[ 1.71537721e-01 -9.85161515e-01 -5.62138933e-03 1.31107135e+02] [ 9.84757352e-01 1.71628401e-01 -2.82249868e-02 9.69018969e+01] [ 2.87709608e-02 -6.94054563e-04 9.99585789e-01 7.78430055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.718040942 meters 0.027238472213944105 Centerline is valid? [True, True] Translation: X:131.11, Y:96.93, Z:7.79 [[ 1.71966773e-01 -9.85087885e-01 -5.41184038e-03 1.31113227e+02] [ 9.84712416e-01 1.72050677e-01 -2.72033532e-02 9.69277935e+01] [ 2.77288045e-02 -6.51033540e-04 9.99615271e-01 7.78646128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.748040942 meters 0.02678583126546291 Centerline is valid? [True, True] Translation: X:131.12, Y:96.96, Z:7.79 [[ 1.73030869e-01 -9.84902492e-01 -5.23451151e-03 1.31117302e+02] [ 9.84550053e-01 1.73109009e-01 -2.63527018e-02 9.69559628e+01] [ 2.68609828e-02 -5.93807693e-04 9.99639002e-01 7.78701471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.778040942 meters 0.02678583126546291 Centerline is valid? [True, True] Translation: X:131.12, Y:96.98, Z:7.79 [[ 1.72764088e-01 -9.84949361e-01 -5.22738715e-03 1.31122557e+02] [ 9.84596901e-01 1.72842133e-01 -2.63541143e-02 9.69829974e+01] [ 2.68609808e-02 -5.93824677e-04 9.99639002e-01 7.78823835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.808040942 meters 0.026794380168391474 Centerline is valid? [True, True] Translation: X:131.13, Y:97.01, Z:7.79 [[ 1.73964599e-01 -9.84738427e-01 -5.15256397e-03 1.31127230e+02] [ 9.84395056e-01 1.74040026e-01 -2.60085321e-02 9.70088752e+01] [ 2.65083534e-02 -5.47594649e-04 9.99648442e-01 7.78935629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.838040942 meters 0.026138296604936277 Centerline is valid? [True, True] Translation: X:131.13, Y:97.04, Z:7.79 [[ 1.76877384e-01 -9.84219447e-01 -5.14507195e-03 1.31129662e+02] [ 9.83875556e-01 1.76951602e-01 -2.60196251e-02 9.70365701e+01] [ 2.65194498e-02 -4.59827299e-04 9.99648192e-01 7.78895198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.868040942 meters 0.02482222295280487 Centerline is valid? [True, True] Translation: X:131.13, Y:97.06, Z:7.79 [[ 1.80289116e-01 -9.83601167e-01 -4.95771661e-03 1.31131496e+02] [ 9.83280809e-01 1.80356931e-01 -2.51043389e-02 9.70648847e+01] [ 2.55868156e-02 -3.48788542e-04 9.99672543e-01 7.78762709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.898040942 meters 0.025079473553956153 Centerline is valid? [True, True] Translation: X:131.14, Y:97.09, Z:7.79 [[ 1.81626842e-01 -9.83355431e-01 -4.87706441e-03 1.31137606e+02] [ 9.83044322e-01 1.81692059e-01 -2.47357396e-02 9.70912786e+01] [ 2.52101478e-02 -3.01696202e-04 9.99682128e-01 7.79079344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.928040942 meters 0.024047541237574663 Centerline is valid? [True, True] Translation: X:131.14, Y:97.12, Z:7.79 [[ 1.82417882e-01 -9.83209157e-01 -4.84464206e-03 1.31140439e+02] [ 9.82901686e-01 1.82481994e-01 -2.45885591e-02 9.71196771e+01] [ 2.50597564e-02 -2.76413972e-04 9.99685917e-01 7.78750270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.958040942 meters 0.024040971833075353 Centerline is valid? [True, True] Translation: X:131.15, Y:97.15, Z:7.79 [[ 1.82050747e-01 -9.83278844e-01 -4.49889543e-03 1.31146902e+02] [ 9.83012611e-01 1.82106146e-01 -2.28814121e-02 9.71457958e+01] [ 2.33180849e-02 -2.56892780e-04 9.99728063e-01 7.78951272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98804094199997 meters 0.02397481312232131 Centerline is valid? [True, True] Translation: X:131.15, Y:97.17, Z:7.79 [[ 1.81186308e-01 -9.83438875e-01 -4.41589780e-03 1.31153444e+02] [ 9.83182546e-01 1.81239906e-01 -2.24539114e-02 9.71725830e+01] [ 2.28823863e-02 -2.73292337e-04 9.99738127e-01 7.79042437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.01804094199997 meters 0.02436717717477598 Centerline is valid? [True, True] Translation: X:131.16, Y:97.20, Z:7.79 [[ 1.79063141e-01 -9.83827361e-01 -4.48498117e-03 1.31162974e+02] [ 9.83561923e-01 1.79119016e-01 -2.28543784e-02 9.71977020e+01] [ 2.32881082e-02 -3.18879918e-04 9.99728744e-01 7.79185668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04804094199997 meters 0.02427852934067559 Centerline is valid? [True, True] Translation: X:131.17, Y:97.23, Z:7.79 [[ 1.77463991e-01 -9.84116613e-01 -4.58509449e-03 1.31170035e+02] [ 9.83838926e-01 1.77522844e-01 -2.33796232e-02 9.72253412e+01] [ 2.38222347e-02 -3.61953203e-04 9.99716145e-01 7.79161971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.07804094199997 meters 0.024290689803319186 Centerline is valid? [True, True] Translation: X:131.18, Y:97.25, Z:7.79 [[ 1.76139346e-01 -9.84353466e-01 -4.81500947e-03 1.31176971e+02] [ 9.84046338e-01 1.76204677e-01 -2.45909847e-02 9.72525677e+01] [ 2.50546482e-02 -4.06752465e-04 9.99686000e-01 7.79145150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10804094199997 meters 0.0248028384211549 Centerline is valid? [True, True] Translation: X:131.19, Y:97.28, Z:7.79 [[ 1.73399421e-01 -9.84839773e-01 -4.82315769e-03 1.31186602e+02] [ 9.84530916e-01 1.73465847e-01 -2.46672988e-02 9.72780377e+01] [ 2.51299901e-02 -4.71252520e-04 9.99684081e-01 7.79181324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.13804094199998 meters 0.0251816255024584 Centerline is valid? [True, True] Translation: X:131.20, Y:97.30, Z:7.79 [[ 1.70688431e-01 -9.85314350e-01 -4.59261189e-03 1.31196713e+02] [ 9.85033637e-01 1.70749448e-01 -2.35236081e-02 9.73045094e+01] [ 2.39623346e-02 -5.08669432e-04 9.99712733e-01 7.79311491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16804094199998 meters 0.02567743664189515 Centerline is valid? [True, True] Translation: X:131.20, Y:97.33, Z:7.79 [[ 1.69392143e-01 -9.85538059e-01 -4.58651472e-03 1.31204310e+02] [ 9.85257398e-01 1.69453384e-01 -2.35246977e-02 9.73308767e+01] [ 2.39616853e-02 -5.33998595e-04 9.99712735e-01 7.79494434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.19804094199998 meters 0.025642170549299594 Centerline is valid? [True, True] Translation: X:131.21, Y:97.36, Z:7.80 [[ 1.68241280e-01 -9.85734626e-01 -4.70296189e-03 1.31210990e+02] [ 9.85438700e-01 1.68306035e-01 -2.41587840e-02 9.73573343e+01] [ 2.46056868e-02 -5.69975897e-04 9.99697072e-01 7.79554194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22804094199998 meters 0.025544030136195196 Centerline is valid? [True, True] Translation: X:131.22, Y:97.38, Z:7.80 [[ 1.67349124e-01 -9.85887456e-01 -4.49376433e-03 1.31219691e+02] [ 9.85616445e-01 1.67408512e-01 -2.31217060e-02 9.73843007e+01] [ 2.35476943e-02 -5.59730788e-04 9.99722558e-01 7.79594658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.25804094199998 meters 0.025508611740944917 Centerline is valid? [True, True] Translation: X:131.23, Y:97.41, Z:7.80 [[ 1.67238115e-01 -9.85906562e-01 -4.43432039e-03 1.31226394e+02] [ 9.85642024e-01 1.67295988e-01 -2.28441180e-02 9.74109443e+01] [ 2.32640099e-02 -5.50245281e-04 9.99729205e-01 7.79729733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28804094199998 meters 0.02403758736669006 Centerline is valid? [True, True] Translation: X:131.23, Y:97.44, Z:7.80 [[ 1.68477209e-01 -9.85695771e-01 -4.39054968e-03 1.31231782e+02] [ 9.85435478e-01 1.68533639e-01 -2.26568321e-02 9.74389012e+01] [ 2.30726989e-02 -5.09443575e-04 9.99733660e-01 7.79642777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.31804094199998 meters 0.024951990903231393 Centerline is valid? [True, True] Translation: X:131.24, Y:97.46, Z:7.80 [[ 1.69183017e-01 -9.85574271e-01 -4.52369496e-03 1.31240313e+02] [ 9.85296798e-01 1.69242747e-01 -2.33904305e-02 9.74646954e+01] [ 2.38186091e-02 -4.99918545e-04 9.99716172e-01 7.80055737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34804094199998 meters 0.024918545919838605 Centerline is valid? [True, True] Translation: X:131.25, Y:97.49, Z:7.80 [[ 1.69731103e-01 -9.85480266e-01 -4.47198202e-03 1.31246219e+02] [ 9.85208740e-01 1.69789330e-01 -2.31370085e-02 9.74914882e+01] [ 2.35603601e-02 -4.78765799e-04 9.99722302e-01 7.80183145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.37804094199998 meters 0.024630656153366712 Centerline is valid? [True, True] Translation: X:131.25, Y:97.52, Z:7.80 [[ 1.70924536e-01 -9.85273237e-01 -4.63148922e-03 1.31253305e+02] [ 9.84980659e-01 1.70986661e-01 -2.40138214e-02 9.75176882e+01] [ 2.44520985e-02 -4.57376029e-04 9.99700898e-01 7.80317913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40804094199999 meters 0.024597694388796377 Centerline is valid? [True, True] Translation: X:131.26, Y:97.54, Z:7.80 [[ 1.70593804e-01 -9.85330832e-01 -4.57227863e-03 1.31259799e+02] [ 9.85045384e-01 1.70654453e-01 -2.37202420e-02 9.75438860e+01] [ 2.41525655e-02 -4.57375647e-04 9.99708180e-01 7.80481938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.438040942 meters 0.02498886575002717 Centerline is valid? [True, True] Translation: X:131.27, Y:97.57, Z:7.81 [[ 1.69326495e-01 -9.85549238e-01 -4.60846675e-03 1.31269360e+02] [ 9.85258440e-01 1.69388499e-01 -2.39445891e-02 9.75687203e+01] [ 2.43791928e-02 -4.86077418e-04 9.99702665e-01 7.80771451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.468040942 meters 0.022750012169094638 Centerline is valid? [True, True] Translation: X:131.27, Y:97.60, Z:7.80 [[ 1.68297579e-01 -9.85725512e-01 -4.59777146e-03 1.31271141e+02] [ 9.85435123e-01 1.68359618e-01 -2.39302627e-02 9.75972670e+01] [ 2.43627495e-02 -5.03400210e-04 9.99703057e-01 7.80370954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.498040942 meters 0.023167757828175227 Centerline is valid? [True, True] Translation: X:131.28, Y:97.62, Z:7.81 [[ 1.67274641e-01 -9.85900483e-01 -4.40817050e-03 1.31278982e+02] [ 9.85632805e-01 1.67331964e-01 -2.29779990e-02 9.76232916e+01] [ 2.33916481e-02 -5.01200931e-04 9.99726252e-01 7.80662086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.528040942 meters 0.022889222285089054 Centerline is valid? [True, True] Translation: X:131.29, Y:97.65, Z:7.81 [[ 1.66880098e-01 -9.85967018e-01 -4.48018864e-03 1.31285771e+02] [ 9.85689783e-01 1.66939437e-01 -2.33853939e-02 9.76509465e+01] [ 2.38051472e-02 -5.13519348e-04 9.99716485e-01 7.80802438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.558040942 meters 0.023370130864255087 Centerline is valid? [True, True] Translation: X:131.29, Y:97.68, Z:7.81 [[ 1.67148416e-01 -9.85922139e-01 -4.35223933e-03 1.31292295e+02] [ 9.85659506e-01 1.67204364e-01 -2.27604668e-02 9.76768945e+01] [ 2.31677616e-02 -4.85450090e-04 9.99731474e-01 7.81065470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.588040942 meters 0.02277773485793832 Centerline is valid? [True, True] Translation: X:131.30, Y:97.71, Z:7.81 [[ 1.68515214e-01 -9.85689554e-01 -4.32727780e-03 1.31296859e+02] [ 9.85429163e-01 1.68570176e-01 -2.26596845e-02 9.77051083e+01] [ 2.30648643e-02 -4.45724150e-04 9.99733871e-01 7.81122415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.618040942 meters 0.023131653693326468 Centerline is valid? [True, True] Translation: X:131.30, Y:97.73, Z:7.81 [[ 1.69163019e-01 -9.85578005e-01 -4.45738811e-03 1.31303710e+02] [ 9.85301362e-01 1.69221159e-01 -2.33543685e-02 9.77319823e+01] [ 2.37718363e-02 -4.41175098e-04 9.99717313e-01 7.81410374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.648040942 meters 0.023792725217945253 Centerline is valid? [True, True] Translation: X:131.31, Y:97.76, Z:7.82 [[ 1.69952595e-01 -9.85442461e-01 -4.38995627e-03 1.31310620e+02] [ 9.85173431e-01 1.70008786e-01 -2.30287638e-02 9.77568786e+01] [ 2.34398528e-02 -4.11070105e-04 9.99725164e-01 7.81794809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.678040942 meters 0.022031501991598052 Centerline is valid? [True, True] Translation: X:131.31, Y:97.78, Z:7.82 [[ 1.71309041e-01 -9.85207314e-01 -4.44524560e-03 1.31313203e+02] [ 9.84930257e-01 1.71366295e-01 -2.33662536e-02 9.77849064e+01] [ 2.37823692e-02 -3.75406384e-04 9.99717089e-01 7.81569977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.708040942 meters 0.021791392529959732 Centerline is valid? [True, True] Translation: X:131.32, Y:97.81, Z:7.82 [[ 1.72070178e-01 -9.85074329e-01 -4.51883156e-03 1.31318141e+02] [ 9.84786848e-01 1.72129137e-01 -2.37996706e-02 9.78129904e+01] [ 2.42222671e-02 -3.54872351e-04 9.99706535e-01 7.81621237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.73804094199997 meters 0.021681927243954065 Centerline is valid? [True, True] Translation: X:131.32, Y:97.84, Z:7.82 [[ 1.73598214e-01 -9.84804747e-01 -4.82393116e-03 1.31324041e+02] [ 9.84476314e-01 1.73664904e-01 -2.54340023e-02 9.78400145e+01] [ 2.58852738e-02 -3.33748582e-04 9.99664864e-01 7.81745220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76804094199997 meters 0.021359286954864037 Centerline is valid? [True, True] Translation: X:131.33, Y:97.87, Z:7.82 [[ 1.74133051e-01 -9.84708992e-01 -5.08738513e-03 1.31329036e+02] [ 9.84343100e-01 1.74207031e-01 -2.68434487e-02 9.78679120e+01] [ 2.73192435e-02 -3.33400829e-04 9.99626704e-01 7.81759058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.79804094199997 meters 0.02122846932790763 Centerline is valid? [True, True] Translation: X:131.33, Y:97.90, Z:7.82 [[ 1.74324359e-01 -9.84674816e-01 -5.15024140e-03 1.31333964e+02] [ 9.84298707e-01 1.74400118e-01 -2.72149544e-02 9.78953322e+01] [ 2.76960829e-02 -3.25146474e-04 9.99616337e-01 7.81792749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82804094199997 meters 0.020991730490986776 Centerline is valid? [True, True] Translation: X:131.34, Y:97.92, Z:7.82 [[ 1.74419743e-01 -9.84656588e-01 -5.39978265e-03 1.31340463e+02] [ 9.84241756e-01 1.74502997e-01 -2.85809367e-02 9.79227560e+01] [ 2.90846859e-02 -3.29611911e-04 9.99576897e-01 7.81870192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.85804094199997 meters 0.0209641288152124 Centerline is valid? [True, True] Translation: X:131.35, Y:97.95, Z:7.82 [[ 1.73984649e-01 -9.84733274e-01 -5.45167293e-03 1.31346612e+02] [ 9.84309134e-01 1.74069712e-01 -2.89009375e-02 9.79500113e+01] [ 2.94086860e-02 -3.37812002e-04 9.99567414e-01 7.81983069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.88804094199998 meters 0.02111866754510882 Centerline is valid? [True, True] Translation: X:131.35, Y:97.98, Z:7.82 [[ 1.72902330e-01 -9.84922680e-01 -5.66562227e-03 1.31353616e+02] [ 9.84463217e-01 1.72994721e-01 -3.00832435e-02 9.79762057e+01] [ 3.06097915e-02 -3.76133825e-04 9.99531340e-01 7.82016695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.91804094199998 meters 0.020912918696425215 Centerline is valid? [True, True] Translation: X:131.36, Y:98.00, Z:7.82 [[ 1.72425428e-01 -9.85004935e-01 -5.89483768e-03 1.31359007e+02] [ 9.84505828e-01 1.72525707e-01 -3.13552896e-02 9.80038295e+01] [ 3.19021260e-02 -3.97052839e-04 9.99490919e-01 7.81995977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94804094199998 meters 0.020958553765087973 Centerline is valid? [True, True] Translation: X:131.36, Y:98.03, Z:7.82 [[ 1.72261800e-01 -9.85032617e-01 -6.05103473e-03 1.31364954e+02] [ 9.84505068e-01 1.72367571e-01 -3.22365022e-02 9.80299332e+01] [ 3.27970083e-02 -4.04156468e-04 9.99461952e-01 7.82122965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.97804094199998 meters 0.02063800458874253 Centerline is valid? [True, True] Translation: X:131.37, Y:98.06, Z:7.82 [[ 1.72211027e-01 -9.85040170e-01 -6.26310715e-03 1.31370215e+02] [ 9.84473079e-01 1.72324392e-01 -3.34224551e-02 9.80571607e+01] [ 3.40017470e-02 -4.10145054e-04 9.99421689e-01 7.82088062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00804094199998 meters 0.020543070269317752 Centerline is valid? [True, True] Translation: X:131.38, Y:98.08, Z:7.82 [[ 1.72414810e-01 -9.85003568e-01 -6.41124804e-03 1.31375750e+02] [ 9.84407387e-01 1.72533499e-01 -3.42678933e-02 9.80842871e+01] [ 3.48601522e-02 -4.02987624e-04 9.99392119e-01 7.82168641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.03804094199998 meters 0.02062371934797467 Centerline is valid? [True, True] Translation: X:131.38, Y:98.11, Z:7.82 [[ 1.72816636e-01 -9.84933363e-01 -6.37811874e-03 1.31382203e+02] [ 9.84341486e-01 1.72933882e-01 -3.41425250e-02 9.81109602e+01] [ 3.47311048e-02 -3.77850543e-04 9.99396622e-01 7.82289876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06804094199998 meters 0.02066315973832386 Centerline is valid? [True, True] Translation: X:131.39, Y:98.14, Z:7.82 [[ 1.72997333e-01 -9.84900266e-01 -6.58706785e-03 1.31387739e+02] [ 9.84266620e-01 1.73122292e-01 -3.53255215e-02 9.81370369e+01] [ 3.59324838e-02 -3.72210003e-04 9.99354150e-01 7.82435051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.09804094199998 meters 0.020388080531446404 Centerline is valid? [True, True] Translation: X:131.39, Y:98.16, Z:7.82 [[ 1.73142442e-01 -9.84874059e-01 -6.69203803e-03 1.31392549e+02] [ 9.84218648e-01 1.73271332e-01 -3.59262933e-02 9.81643747e+01] [ 3.65424127e-02 -3.66062469e-04 9.99332036e-01 7.82471829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12804094199998 meters 0.020178310312260198 Centerline is valid? [True, True] Translation: X:131.40, Y:98.19, Z:7.83 [[ 1.73198312e-01 -9.84863355e-01 -6.82028488e-03 1.31397593e+02] [ 9.84180436e-01 1.73332170e-01 -3.66718924e-02 9.81916393e+01] [ 3.72989778e-02 -3.60881091e-04 9.99304086e-01 7.82530423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.15804094199999 meters 0.019943422811728402 Centerline is valid? [True, True] Translation: X:131.40, Y:98.22, Z:7.83 [[ 1.73349429e-01 -9.84835664e-01 -6.97779177e-03 1.31403819e+02] [ 9.84118484e-01 1.73489452e-01 -3.75795062e-02 9.82193860e+01] [ 3.82202112e-02 -3.52587917e-04 9.99269279e-01 7.82641607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.188040942 meters 0.01994954976191607 Centerline is valid? [True, True] Translation: X:131.41, Y:98.25, Z:7.83 [[ 1.72612137e-01 -9.84965138e-01 -6.98045442e-03 1.31409737e+02] [ 9.84245255e-01 1.72752826e-01 -3.76528738e-02 9.82457801e+01] [ 3.82926613e-02 -3.71136129e-04 9.99266498e-01 7.82775516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.218040942 meters 0.019993108209369597 Centerline is valid? [True, True] Translation: X:131.41, Y:98.27, Z:7.83 [[ 1.71812973e-01 -9.85105447e-01 -6.89646575e-03 1.31414951e+02] [ 9.84400556e-01 1.71950892e-01 -3.72617174e-02 9.82732245e+01] [ 3.78925742e-02 -3.86838271e-04 9.99281744e-01 7.82866634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.248040942 meters 0.01997584526123465 Centerline is valid? [True, True] Translation: X:131.42, Y:98.30, Z:7.83 [[ 1.70678191e-01 -9.85302288e-01 -6.95394423e-03 1.31421655e+02] [ 9.84583455e-01 1.70819269e-01 -3.76324065e-02 9.82996049e+01] [ 3.82671639e-02 -4.23707377e-04 9.99267454e-01 7.82965914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.278040942 meters 0.019903989949921094 Centerline is valid? [True, True] Translation: X:131.43, Y:98.33, Z:7.83 [[ 1.69744982e-01 -9.85462984e-01 -7.02488904e-03 1.31427190e+02] [ 9.84727004e-01 1.69889678e-01 -3.80818164e-02 9.83266752e+01] [ 3.87216765e-02 -4.53400690e-04 9.99249932e-01 7.83063393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.308040942 meters 0.020137847445584067 Centerline is valid? [True, True] Translation: X:131.43, Y:98.35, Z:7.83 [[ 1.67529700e-01 -9.85840019e-01 -7.29770514e-03 1.31433364e+02] [ 9.85043451e-01 1.67687669e-01 -3.96263175e-02 9.83544219e+01] [ 4.02889448e-02 -5.49971583e-04 9.99187919e-01 7.83092987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.338040942 meters 0.020408741946764758 Centerline is valid? [True, True] Translation: X:131.44, Y:98.38, Z:7.83 [[ 1.66047240e-01 -9.86091183e-01 -7.24512191e-03 1.31438517e+02] [ 9.85303816e-01 1.66204160e-01 -3.94026410e-02 9.83821561e+01] [ 4.00587663e-02 -5.95946453e-04 9.99197148e-01 7.83227607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.368040942 meters 0.02050956161296101 Centerline is valid? [True, True] Translation: X:131.44, Y:98.41, Z:7.83 [[ 1.65077745e-01 -9.86253834e-01 -7.26038669e-03 1.31444312e+02] [ 9.85460754e-01 1.65236143e-01 -3.95489555e-02 9.84099279e+01] [ 4.02049873e-02 -6.26173735e-04 9.99191256e-01 7.83346201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.398040942 meters 0.02094667731270167 Centerline is valid? [True, True] Translation: X:131.45, Y:98.44, Z:7.84 [[ 1.63525809e-01 -9.86512549e-01 -7.23190707e-03 1.31450178e+02] [ 9.85723395e-01 1.63684248e-01 -3.94570094e-02 9.84362968e+01] [ 4.01085842e-02 -6.76420604e-04 9.99195098e-01 7.83509036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.428040942 meters 0.02111345712864473 Centerline is valid? [True, True] Translation: X:131.46, Y:98.46, Z:7.84 [[ 1.62838472e-01 -9.86626709e-01 -7.16716611e-03 1.31455005e+02] [ 9.85849587e-01 1.62994666e-01 -3.91577756e-02 9.84636158e+01] [ 3.98023171e-02 -6.89355390e-04 9.99207336e-01 7.83619345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.458040942 meters 0.0209658400846653 Centerline is valid? [True, True] Translation: X:131.46, Y:98.49, Z:7.84 [[ 1.63098635e-01 -9.86583664e-01 -7.17694730e-03 1.31457868e+02] [ 9.85801945e-01 1.63255091e-01 -3.92721232e-02 9.84918655e+01] [ 3.99169084e-02 -6.69818932e-04 9.99202778e-01 7.83712278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48804094199997 meters 0.02095467639274792 Centerline is valid? [True, True] Translation: X:131.46, Y:98.52, Z:7.84 [[ 1.63093463e-01 -9.86584789e-01 -7.13979590e-03 1.31462033e+02] [ 9.85808739e-01 1.63248347e-01 -3.91293551e-02 9.85182668e+01] [ 3.97699865e-02 -6.56731178e-04 9.99208645e-01 7.83865826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.51804094199997 meters 0.02114582676218333 Centerline is valid? [True, True] Translation: X:131.47, Y:98.54, Z:7.84 [[ 1.63433140e-01 -9.86529257e-01 -7.04505404e-03 1.31466293e+02] [ 9.85771180e-01 1.63583722e-01 -3.86722946e-02 9.85439963e+01] [ 3.93038062e-02 -6.24476684e-04 9.99227112e-01 7.84016729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54804094199997 meters 0.020685536777353183 Centerline is valid? [True, True] Translation: X:131.47, Y:98.57, Z:7.84 [[ 1.65459659e-01 -9.86192988e-01 -6.81855237e-03 1.31466429e+02] [ 9.85480054e-01 1.65599292e-01 -3.74958435e-02 9.85719034e+01] [ 3.81072854e-02 -5.15497885e-04 9.99273521e-01 7.84183624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.57804094199997 meters 0.02043476135842123 Centerline is valid? [True, True] Translation: X:131.47, Y:98.60, Z:7.84 [[ 1.66367379e-01 -9.86040815e-01 -6.73838491e-03 1.31469423e+02] [ 9.85342050e-01 1.66503138e-01 -3.71180386e-02 9.85980326e+01] [ 3.77218633e-02 -4.64383212e-04 9.99288169e-01 7.84323395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60804094199997 meters 0.0202705931527293 Centerline is valid? [True, True] Translation: X:131.47, Y:98.63, Z:7.84 [[ 1.66898514e-01 -9.85950587e-01 -6.80627294e-03 1.31471663e+02] [ 9.85234924e-01 1.67036669e-01 -3.75618812e-02 9.86253075e+01] [ 3.81710560e-02 -4.36755621e-04 9.99271124e-01 7.84444098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.63804094199998 meters 0.020333739663582977 Centerline is valid? [True, True] Translation: X:131.48, Y:98.65, Z:7.85 [[ 1.66844168e-01 -9.85960261e-01 -6.73697687e-03 1.31475839e+02] [ 9.85256730e-01 1.66979590e-01 -3.72423506e-02 9.86513915e+01] [ 3.78444154e-02 -4.23982779e-04 9.99283554e-01 7.84535930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66804094199998 meters 0.020333739663582977 Centerline is valid? [True, True] Translation: X:131.48, Y:98.68, Z:7.85 [[ 1.66549458e-01 -9.86010168e-01 -6.72508734e-03 1.31480444e+02] [ 9.85306591e-01 1.66684641e-01 -3.72444971e-02 9.86777108e+01] [ 3.78444217e-02 -4.23222064e-04 9.99283554e-01 7.84654518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.69804094199998 meters 0.02039954593422644 Centerline is valid? [True, True] Translation: X:131.49, Y:98.70, Z:7.85 [[ 1.65805917e-01 -9.86135301e-01 -6.75026173e-03 1.31485142e+02] [ 9.85424093e-01 1.65942677e-01 -3.74484297e-02 9.87043189e+01] [ 3.80493750e-02 -4.42699305e-04 9.99275762e-01 7.84768591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72804094199998 meters 0.020851031330593912 Centerline is valid? [True, True] Translation: X:131.49, Y:98.73, Z:7.85 [[ 1.63376453e-01 -9.86541293e-01 -6.66423096e-03 1.31491972e+02] [ 9.85845938e-01 1.63511492e-01 -3.70375254e-02 9.87307265e+01] [ 3.76287265e-02 -5.18845509e-04 9.99291654e-01 7.84862754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.75804094199998 meters 0.021207922113466015 Centerline is valid? [True, True] Translation: X:131.50, Y:98.76, Z:7.85 [[ 1.61554528e-01 -9.86841617e-01 -6.61495975e-03 1.31498326e+02] [ 9.86155243e-01 1.61688867e-01 -3.68041623e-02 9.87573834e+01] [ 3.73894444e-02 -5.77498158e-04 9.99300603e-01 7.84991790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78804094199998 meters 0.022113996837483527 Centerline is valid? [True, True] Translation: X:131.51, Y:98.78, Z:7.85 [[ 1.58675197e-01 -9.87308811e-01 -6.59490950e-03 1.31506039e+02] [ 9.86625498e-01 1.58810739e-01 -3.67324917e-02 9.87829469e+01] [ 3.73136551e-02 -6.78170537e-04 9.99303373e-01 7.85053215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.81804094199998 meters 0.02249151042339571 Centerline is valid? [True, True] Translation: X:131.51, Y:98.81, Z:7.85 [[ 1.57457968e-01 -9.87503693e-01 -6.59130452e-03 1.31511575e+02] [ 9.86819849e-01 1.57594232e-01 -3.67510942e-02 9.88097469e+01] [ 3.73305928e-02 -7.17677518e-04 9.99302713e-01 7.85174080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84804094199998 meters 0.022892132453984224 Centerline is valid? [True, True] Translation: X:131.52, Y:98.84, Z:7.85 [[ 1.56548730e-01 -9.87648537e-01 -6.54693069e-03 1.31516742e+02] [ 9.86971668e-01 1.56683833e-01 -3.65664147e-02 9.88358699e+01] [ 3.71405642e-02 -7.37209324e-04 9.99309779e-01 7.85280717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.87804094199998 meters 0.0214419679341699 Centerline is valid? [True, True] Translation: X:131.52, Y:98.86, Z:7.85 [[ 1.56125875e-01 -9.87716614e-01 -6.37196843e-03 1.31516759e+02] [ 9.87074012e-01 1.56254160e-01 -3.56305042e-02 9.88641798e+01] [ 3.61884875e-02 -7.26760797e-04 9.99344718e-01 7.85216189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90804094199999 meters 0.023147360309859394 Centerline is valid? [True, True] Translation: X:131.53, Y:98.89, Z:7.86 [[ 1.56268608e-01 -9.87694868e-01 -6.24266462e-03 1.31525013e+02] [ 9.87076133e-01 1.56391690e-01 -3.49620692e-02 9.88896224e+01] [ 3.55081572e-02 -6.98511374e-04 9.99369142e-01 7.85551960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.938040942 meters 0.021158916688511904 Centerline is valid? [True, True] Translation: X:131.52, Y:98.92, Z:7.85 [[ 1.57489546e-01 -9.87501859e-01 -6.09270471e-03 1.31523328e+02] [ 9.86910363e-01 1.57606095e-01 -3.41797402e-02 9.89186897e+01] [ 3.47128044e-02 -6.30001656e-04 9.99397130e-01 7.85415551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.968040942 meters 0.020888855125876828 Centerline is valid? [True, True] Translation: X:131.53, Y:98.95, Z:7.86 [[ 1.58210890e-01 -9.87386758e-01 -6.05840517e-03 1.31526525e+02] [ 9.86799910e-01 1.58325737e-01 -3.40426056e-02 9.89467615e+01] [ 3.45724195e-02 -5.92522734e-04 9.99402020e-01 7.85501007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.998040942 meters 0.020939532875715428 Centerline is valid? [True, True] Translation: X:131.53, Y:98.97, Z:7.86 [[ 1.58593539e-01 -9.87325408e-01 -6.05208338e-03 1.31530342e+02] [ 9.86737808e-01 1.58707952e-01 -3.40629580e-02 9.89735460e+01] [ 3.45917377e-02 -5.69654418e-04 9.99401364e-01 7.85636737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.028040942 meters 0.02086417267545885 Centerline is valid? [True, True] Translation: X:131.53, Y:99.00, Z:7.86 [[ 1.58545301e-01 -9.87334206e-01 -5.87813567e-03 1.31534167e+02] [ 9.86777989e-01 1.58653291e-01 -3.31411215e-02 9.90013104e+01] [ 3.36539485e-02 -5.46045812e-04 9.99433396e-01 7.85735953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.058040942 meters 0.020699966097517987 Centerline is valid? [True, True] Translation: X:131.54, Y:99.03, Z:7.86 [[ 1.57682286e-01 -9.87472704e-01 -5.82711907e-03 1.31538083e+02] [ 9.86924454e-01 1.57788917e-01 -3.29056301e-02 9.90292049e+01] [ 3.34128663e-02 -5.62291337e-04 9.99441476e-01 7.85803230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.088040942 meters 0.02121796394190256 Centerline is valid? [True, True] Translation: X:131.54, Y:99.06, Z:7.86 [[ 1.56273271e-01 -9.87697558e-01 -5.67445168e-03 1.31544389e+02] [ 9.87175784e-01 1.56375168e-01 -3.21057258e-02 9.90553499e+01] [ 3.25980903e-02 -5.84414510e-04 9.99468370e-01 7.86005286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.118040942 meters 0.021096143180136435 Centerline is valid? [True, True] Translation: X:131.55, Y:99.08, Z:7.86 [[ 1.55162134e-01 -9.87872915e-01 -5.64048165e-03 1.31548874e+02] [ 9.87357099e-01 1.55263402e-01 -3.19254698e-02 9.90829437e+01] [ 3.24140673e-02 -6.15545572e-04 9.99474337e-01 7.86049451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.148040942 meters 0.02089266053614615 Centerline is valid? [True, True] Translation: X:131.55, Y:99.11, Z:7.86 [[ 1.54583560e-01 -9.87963071e-01 -5.73531092e-03 1.31553989e+02] [ 9.87428034e-01 1.54688608e-01 -3.25163525e-02 9.91109880e+01] [ 3.30121427e-02 -6.36713259e-04 9.99454748e-01 7.86117875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.178040942 meters 0.021133019663525845 Centerline is valid? [True, True] Translation: X:131.56, Y:99.14, Z:7.86 [[ 1.54339215e-01 -9.88001478e-01 -5.69959961e-03 1.31558864e+02] [ 9.87471394e-01 1.54443123e-01 -3.23661679e-02 9.91376037e+01] [ 3.28580857e-02 -6.32822627e-04 9.99459827e-01 7.86187650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.208040942 meters 0.020650428682642167 Centerline is valid? [True, True] Translation: X:131.56, Y:99.17, Z:7.86 [[ 1.54588723e-01 -9.87962854e-01 -5.63250155e-03 1.31561568e+02] [ 9.87443329e-01 1.54690103e-01 -3.20412981e-02 9.91654708e+01] [ 3.25269046e-02 -6.08552729e-04 9.99470675e-01 7.86169850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.23804094199997 meters 0.02063885282301294 Centerline is valid? [True, True] Translation: X:131.57, Y:99.19, Z:7.86 [[ 1.55234748e-01 -9.87861791e-01 -5.59065503e-03 1.31565106e+02] [ 9.87348194e-01 1.55334323e-01 -3.18557868e-02 9.91918906e+01] [ 3.23375352e-02 -5.74798113e-04 9.99476840e-01 7.86288788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26804094199997 meters 0.02069599532850164 Centerline is valid? [True, True] Translation: X:131.57, Y:99.22, Z:7.86 [[ 1.55342941e-01 -9.87845422e-01 -5.47662327e-03 1.31569156e+02] [ 9.87350597e-01 1.55438477e-01 -3.12678440e-02 9.92181234e+01] [ 3.17390745e-02 -5.50108405e-04 9.99496037e-01 7.86370147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.29804094199997 meters 0.020537357765947402 Centerline is valid? [True, True] Translation: X:131.57, Y:99.25, Z:7.87 [[ 1.56165985e-01 -9.87715799e-01 -5.44844878e-03 1.31571186e+02] [ 9.87225158e-01 1.56260146e-01 -3.11328390e-02 9.92464367e+01] [ 3.16017724e-02 -5.16955248e-04 9.99500406e-01 7.86529813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32804094199997 meters 0.020490955931506984 Centerline is valid? [True, True] Translation: X:131.57, Y:99.27, Z:7.87 [[ 1.56356939e-01 -9.87685980e-01 -5.37710685e-03 1.31574752e+02] [ 9.87206571e-01 1.56448582e-01 -3.07738024e-02 9.92734602e+01] [ 3.12360939e-02 -4.96617684e-04 9.99511911e-01 7.86680887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.35804094199997 meters 0.020478879270233296 Centerline is valid? [True, True] Translation: X:131.58, Y:99.30, Z:7.87 [[ 1.56790811e-01 -9.87617208e-01 -5.37510467e-03 1.31578583e+02] [ 9.87136390e-01 1.56882202e-01 -3.08175556e-02 9.93009949e+01] [ 3.12792065e-02 -4.74051903e-04 9.99510573e-01 7.86787897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.38804094199998 meters 0.020127803687491785 Centerline is valid? [True, True] Translation: X:131.58, Y:99.33, Z:7.87 [[ 1.57608587e-01 -9.87486497e-01 -5.47286022e-03 1.31581345e+02] [ 9.86986275e-01 1.57702943e-01 -3.14304594e-02 9.93288575e+01] [ 3.19002404e-02 -4.47927618e-04 9.99490957e-01 7.86799394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.41804094199998 meters 0.020182129139057352 Centerline is valid? [True, True] Translation: X:131.59, Y:99.36, Z:7.87 [[ 1.57886014e-01 -9.87442194e-01 -5.47001116e-03 1.31585417e+02] [ 9.86940641e-01 1.57980156e-01 -3.14712929e-02 9.93556324e+01] [ 3.19402357e-02 -4.29699337e-04 9.99489688e-01 7.86943829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44804094199998 meters 0.020215949130926496 Centerline is valid? [True, True] Translation: X:131.59, Y:99.38, Z:7.87 [[ 1.57037204e-01 -9.87577368e-01 -5.50084273e-03 1.31590229e+02] [ 9.87069156e-01 1.57132862e-01 -3.16819284e-02 9.93827864e+01] [ 3.21527187e-02 -4.54470734e-04 9.99482864e-01 7.87025625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.47804094199998 meters 0.020325867946374403 Centerline is valid? [True, True] Translation: X:131.60, Y:99.41, Z:7.87 [[ 1.55726141e-01 -9.87785061e-01 -5.48105996e-03 1.31595227e+02] [ 9.87279059e-01 1.55821806e-01 -3.16168430e-02 9.94091487e+01] [ 3.20847138e-02 -4.87766764e-04 9.99485034e-01 7.87113352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50804094199998 meters 0.020510543845299982 Centerline is valid? [True, True] Translation: X:131.60, Y:99.44, Z:7.87 [[ 1.54134399e-01 -9.88034900e-01 -5.44276219e-03 1.31600325e+02] [ 9.87534202e-01 1.54229567e-01 -3.14553840e-02 9.94370737e+01] [ 3.19184520e-02 -5.26557113e-04 9.99490338e-01 7.87195642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.53804094199998 meters 0.021046384559913728 Centerline is valid? [True, True] Translation: X:131.61, Y:99.46, Z:7.87 [[ 1.51335013e-01 -9.88467801e-01 -5.39637145e-03 1.31606060e+02] [ 9.87974093e-01 1.51429993e-01 -3.12433840e-02 9.94632630e+01] [ 3.17002515e-02 -6.03257284e-04 9.99497239e-01 7.87303218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56804094199998 meters 0.021586653895355936 Centerline is valid? [True, True] Translation: X:131.61, Y:99.49, Z:7.87 [[ 1.49619856e-01 -9.88728700e-01 -5.42732733e-03 1.31611749e+02] [ 9.88228479e-01 1.49716816e-01 -3.14539189e-02 9.94900691e+01] [ 3.19119545e-02 -6.57308620e-04 9.99490468e-01 7.87451236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.59804094199998 meters 0.022326112231196543 Centerline is valid? [True, True] Translation: X:131.62, Y:99.52, Z:7.87 [[ 1.46344568e-01 -9.89218266e-01 -5.52175376e-03 1.31617300e+02] [ 9.88698945e-01 1.46446690e-01 -3.20587486e-02 9.95173865e+01] [ 3.25217422e-02 -7.67728394e-04 9.99470733e-01 7.87483778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62804094199998 meters 0.022879534119132166 Centerline is valid? [True, True] Translation: X:131.62, Y:99.54, Z:7.88 [[ 1.45395437e-01 -9.89357597e-01 -5.63139627e-03 1.31621810e+02] [ 9.88815678e-01 1.45502217e-01 -3.27514830e-02 9.95427779e+01] [ 3.32223091e-02 -8.06496762e-04 9.99447661e-01 7.87575941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.65804094199999 meters 0.023138138100705426 Centerline is valid? [True, True] Translation: X:131.63, Y:99.57, Z:7.88 [[ 1.44657587e-01 -9.89466347e-01 -5.52553075e-03 1.31625827e+02] [ 9.88943375e-01 1.44760813e-01 -3.21761902e-02 9.95691633e+01] [ 3.26371377e-02 -8.09907010e-04 9.99466939e-01 7.87757850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.688040942 meters 0.022082185478159228 Centerline is valid? [True, True] Translation: X:131.63, Y:99.60, Z:7.88 [[ 1.44980497e-01 -9.89420257e-01 -5.31133385e-03 1.31627141e+02] [ 9.88935476e-01 1.45075756e-01 -3.09781946e-02 9.95977009e+01] [ 3.14209991e-02 -7.61332432e-04 9.99505949e-01 7.87825134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.718040942 meters 0.02311917127793067 Centerline is valid? [True, True] Translation: X:131.63, Y:99.62, Z:7.88 [[ 1.45223157e-01 -9.89385110e-01 -5.22859989e-03 1.31632151e+02] [ 9.88913895e-01 1.45315391e-01 -3.05408846e-02 9.96230657e+01] [ 3.09764925e-02 -7.35391398e-04 9.99519843e-01 7.88143129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.748040942 meters 0.020971921348025155 Centerline is valid? [True, True] Translation: X:131.63, Y:99.65, Z:7.88 [[ 1.46588944e-01 -9.89184216e-01 -5.12524278e-03 1.31628229e+02] [ 9.88729500e-01 1.46676983e-01 -2.99973091e-02 9.96522497e+01] [ 3.04246198e-02 -6.70204862e-04 9.99536839e-01 7.88042884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.778040942 meters 0.02263316856769419 Centerline is valid? [True, True] Translation: X:131.63, Y:99.68, Z:7.88 [[ 1.47372968e-01 -9.89068262e-01 -5.01803238e-03 1.31634554e+02] [ 9.88630889e-01 1.47457047e-01 -2.94174053e-02 9.96785818e+01] [ 2.98357662e-02 -6.25651496e-04 9.99554619e-01 7.88471895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.808040942 meters 0.02117231478726726 Centerline is valid? [True, True] Translation: X:131.63, Y:99.71, Z:7.88 [[ 1.47228436e-01 -9.89090264e-01 -4.92307971e-03 1.31633800e+02] [ 9.88667807e-01 1.47309457e-01 -2.89117983e-02 9.97068874e+01] [ 2.93215945e-02 -6.10651582e-04 9.99569843e-01 7.88403690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.838040942 meters 0.021371436591399017 Centerline is valid? [True, True] Translation: X:131.64, Y:99.74, Z:7.89 [[ 1.46568862e-01 -9.89187882e-01 -4.99036930e-03 1.31637552e+02] [ 9.88752349e-01 1.46652434e-01 -2.93573780e-02 9.97350111e+01] [ 2.97718123e-02 -6.31361883e-04 9.99556522e-01 7.88507467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.868040942 meters 0.021760139323519456 Centerline is valid? [True, True] Translation: X:131.64, Y:99.76, Z:7.89 [[ 1.45332708e-01 -9.89369693e-01 -5.10054295e-03 1.31641474e+02] [ 9.88913234e-01 1.45420614e-01 -3.00576354e-02 9.97631817e+01] [ 3.04798376e-02 -6.75636881e-04 9.99535153e-01 7.88589066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.898040942 meters 0.02245242273474103 Centerline is valid? [True, True] Translation: X:131.64, Y:99.79, Z:7.89 [[ 1.42544071e-01 -9.89775226e-01 -5.11755286e-03 1.31644838e+02] [ 9.89314417e-01 1.42633898e-01 -3.02085393e-02 9.97908700e+01] [ 3.06296003e-02 -7.56820659e-04 9.99530517e-01 7.88679743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.928040942 meters 0.023776053957869043 Centerline is valid? [True, True] Translation: X:131.65, Y:99.82, Z:7.89 [[ 1.40954590e-01 -9.90002435e-01 -5.19444162e-03 1.31649901e+02] [ 9.89526241e-01 1.41047939e-01 -3.07131381e-02 9.98173518e+01] [ 3.11387468e-02 -8.10878498e-04 9.99514743e-01 7.88880617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.958040942 meters 0.02356158870462844 Centerline is valid? [True, True] Translation: X:131.65, Y:99.85, Z:7.89 [[ 1.39317866e-01 -9.90233337e-01 -5.33582024e-03 1.31651327e+02] [ 9.89729143e-01 1.39417247e-01 -3.16078238e-02 9.98451812e+01] [ 3.20430262e-02 -8.77482226e-04 9.99486105e-01 7.88852805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98804094199997 meters 0.024384747034612894 Centerline is valid? [True, True] Translation: X:131.65, Y:99.87, Z:7.89 [[ 1.37509183e-01 -9.90485054e-01 -5.53014452e-03 1.31652167e+02] [ 9.89941819e-01 1.37616976e-01 -3.28140710e-02 9.98724911e+01] [ 3.32628886e-02 -9.62285230e-04 9.99446174e-01 7.88862253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.01804094199997 meters 0.024541324537262234 Centerline is valid? [True, True] Translation: X:131.65, Y:99.90, Z:7.89 [[ 1.36406214e-01 -9.90637496e-01 -5.54036025e-03 1.31653885e+02] [ 9.90090437e-01 1.36515070e-01 -3.29326917e-02 9.99009348e+01] [ 3.33807020e-02 -9.93233900e-04 9.99442216e-01 7.88956427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04804094199997 meters 0.02310138969902642 Centerline is valid? [True, True] Translation: X:131.65, Y:99.93, Z:7.89 [[ 1.36454531e-01 -9.90631377e-01 -5.44389825e-03 1.31649919e+02] [ 9.90101547e-01 1.36559654e-01 -3.24096844e-02 9.99301739e+01] [ 3.28494672e-02 -9.67563776e-04 9.99459842e-01 7.88941788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.07804094199997 meters 0.025124136689607404 Centerline is valid? [True, True] Translation: X:131.66, Y:99.96, Z:7.89 [[ 1.37062994e-01 -9.90547495e-01 -5.42176877e-03 1.31655408e+02] [ 9.90020106e-01 1.37166992e-01 -3.23327287e-02 9.99567115e+01] [ 3.27707912e-02 -9.36039491e-04 9.99462455e-01 7.89311360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10804094199997 meters 0.023297598953515342 Centerline is valid? [True, True] Translation: X:131.65, Y:99.99, Z:7.89 [[ 1.38458010e-01 -9.90354008e-01 -5.32158963e-03 1.31653417e+02] [ 9.89844011e-01 1.38557534e-01 -3.17906182e-02 9.99852432e+01] [ 3.22213125e-02 -8.65877890e-04 9.99480384e-01 7.89391888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.13804094199998 meters 0.021698343924152416 Centerline is valid? [True, True] Translation: X:131.65, Y:100.01, Z:7.90 [[ 1.41921620e-01 -9.89864039e-01 -5.23813887e-03 1.31647421e+02] [ 9.89367989e-01 1.42016355e-01 -3.13422710e-02 1.00014778e+02] [ 3.17684884e-02 -7.34301032e-04 9.99494984e-01 7.89521384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.16804094199998 meters 0.021868033124182163 Centerline is valid? [True, True] Translation: X:131.65, Y:100.04, Z:7.90 [[ 1.43547300e-01 -9.89629237e-01 -5.30526377e-03 1.31647955e+02] [ 9.89118200e-01 1.43643686e-01 -3.18069001e-02 1.00042152e+02] [ 3.22391059e-02 -6.81738306e-04 9.99479952e-01 7.89655360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.19804094199998 meters 0.020921227246216187 Centerline is valid? [True, True] Translation: X:131.64, Y:100.07, Z:7.90 [[ 1.45661625e-01 -9.89319635e-01 -5.41762913e-03 1.31642330e+02] [ 9.88785461e-01 1.45761017e-01 -3.25121165e-02 1.00072375e+02] [ 3.29545544e-02 -6.21105193e-04 9.99456658e-01 7.89520375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22804094199998 meters 0.021093245359014374 Centerline is valid? [True, True] Translation: X:131.64, Y:100.10, Z:7.90 [[ 1.45664018e-01 -9.89319252e-01 -5.42321969e-03 1.31643563e+02] [ 9.88782398e-01 1.45763643e-01 -3.25933914e-02 1.00099325e+02] [ 3.30357779e-02 -6.14699804e-04 9.99453981e-01 7.89542695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.25804094199998 meters 0.020885393207001515 Centerline is valid? [True, True] Translation: X:131.64, Y:100.13, Z:7.90 [[ 1.45361476e-01 -9.89363231e-01 -5.51703455e-03 1.31644057e+02] [ 9.88805539e-01 1.45464787e-01 -3.32204893e-02 1.00127653e+02] [ 3.36696649e-02 -6.26294954e-04 9.99432820e-01 7.89503566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28804094199998 meters 0.02131058215304304 Centerline is valid? [True, True] Translation: X:131.64, Y:100.16, Z:7.89 [[ 1.44212160e-01 -9.89529826e-01 -5.79450923e-03 1.31644188e+02] [ 9.88912258e-01 1.44326884e-01 -3.49613557e-02 1.00155509e+02] [ 3.54316077e-02 -6.88408588e-04 9.99371866e-01 7.89446404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.31804094199998 meters 0.02188547411704421 Centerline is valid? [True, True] Translation: X:131.65, Y:100.18, Z:7.89 [[ 1.42805403e-01 -9.89732751e-01 -5.97488719e-03 1.31646781e+02] [ 9.89074671e-01 1.42928346e-01 -3.60940955e-02 1.00182391e+02] [ 3.65774891e-02 -7.55177728e-04 9.99330534e-01 7.89474850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34804094199998 meters 0.021941132436936045 Centerline is valid? [True, True] Translation: X:131.65, Y:100.21, Z:7.89 [[ 1.41555244e-01 -9.89912016e-01 -6.02613464e-03 1.31648379e+02] [ 9.89240246e-01 1.41681205e-01 -3.64715182e-02 1.00210476e+02] [ 3.69573841e-02 -7.98560245e-04 9.99316523e-01 7.89428040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.37804094199998 meters 0.022202425231147026 Centerline is valid? [True, True] Translation: X:131.65, Y:100.24, Z:7.89 [[ 1.40422852e-01 -9.90072344e-01 -6.17866668e-03 1.31647843e+02] [ 9.89363761e-01 1.40556132e-01 -3.74609380e-02 1.00239288e+02] [ 3.79574882e-02 -8.52577172e-04 9.99278991e-01 7.89422243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40804094199999 meters 0.022282140098213648 Centerline is valid? [True, True] Translation: X:131.65, Y:100.27, Z:7.89 [[ 1.40583221e-01 -9.90049984e-01 -6.11457573e-03 1.31650325e+02] [ 9.89353640e-01 1.40713691e-01 -3.71353136e-02 1.00266378e+02] [ 3.76262211e-02 -8.28875779e-04 9.99291539e-01 7.89492245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.438040942 meters 0.021829679833447517 Centerline is valid? [True, True] Translation: X:131.65, Y:100.30, Z:7.90 [[ 1.41881429e-01 -9.89864564e-01 -6.14852968e-03 1.31649214e+02] [ 9.89157657e-01 1.42012483e-01 -3.74110201e-02 1.00295181e+02] [ 3.79050111e-02 -7.73936234e-04 9.99281047e-01 7.89517662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.468040942 meters 0.021880589844712018 Centerline is valid? [True, True] Translation: X:131.65, Y:100.32, Z:7.90 [[ 1.42581106e-01 -9.89764216e-01 -6.11753271e-03 1.31651076e+02] [ 9.89061997e-01 1.42710393e-01 -3.72841787e-02 1.00322059e+02] [ 3.77755814e-02 -7.34599674e-04 9.99285978e-01 7.89573337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.498040942 meters 0.021625454627745205 Centerline is valid? [True, True] Translation: X:131.65, Y:100.35, Z:7.90 [[ 1.43532043e-01 -9.89626760e-01 -6.11784898e-03 1.31651816e+02] [ 9.88921779e-01 1.43660716e-01 -3.73539006e-02 1.00350092e+02] [ 3.78453142e-02 -6.88592413e-04 9.99283372e-01 7.89641867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.528040942 meters 0.02104390565517576 Centerline is valid? [True, True] Translation: X:131.65, Y:100.38, Z:7.90 [[ 1.45267373e-01 -9.89373718e-01 -6.08575499e-03 1.31650019e+02] [ 9.88673465e-01 1.45393516e-01 -3.72223639e-02 1.00379220e+02] [ 3.77116578e-02 -6.09629444e-04 9.99288476e-01 7.89633833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.558040942 meters 0.021046646524042884 Centerline is valid? [True, True] Translation: X:131.65, Y:100.41, Z:7.90 [[ 1.45246734e-01 -9.89376907e-01 -6.05984870e-03 1.31652611e+02] [ 9.88680267e-01 1.45371858e-01 -3.71261773e-02 1.00405903e+02] [ 3.76127139e-02 -5.98796816e-04 9.99292212e-01 7.89738977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.588040942 meters 0.021046646524042884 Centerline is valid? [True, True] Translation: X:131.66, Y:100.43, Z:7.90 [[ 1.44970185e-01 -9.89417535e-01 -6.04866090e-03 1.31656943e+02] [ 9.88720855e-01 1.45095083e-01 -3.71279996e-02 1.00433076e+02] [ 3.76127249e-02 -5.97984200e-04 9.99292212e-01 7.89861295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.618040942 meters 0.021057931158158124 Centerline is valid? [True, True] Translation: X:131.66, Y:100.46, Z:7.90 [[ 1.45290107e-01 -9.89370488e-01 -6.06810544e-03 1.31659130e+02] [ 9.88666799e-01 1.45415621e-01 -3.73129766e-02 1.00460425e+02] [ 3.77987552e-02 -5.78128008e-04 9.99285204e-01 7.89855380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.648040942 meters 0.020898479548038508 Centerline is valid? [True, True] Translation: X:131.66, Y:100.49, Z:7.90 [[ 1.45070510e-01 -9.89403262e-01 -5.97769269e-03 1.31662549e+02] [ 9.88717909e-01 1.45192503e-01 -3.68243555e-02 1.00488034e+02] [ 3.73020536e-02 -5.68123775e-04 9.99303875e-01 7.89899125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.678040942 meters 0.02076575221198976 Centerline is valid? [True, True] Translation: X:131.67, Y:100.52, Z:7.90 [[ 1.45498911e-01 -9.89340703e-01 -5.91951515e-03 1.31665806e+02] [ 9.88666203e-01 1.45618286e-01 -3.65301883e-02 1.00515536e+02] [ 3.70027918e-02 -5.37321945e-04 9.99315018e-01 7.89979466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.708040942 meters 0.020543862919571138 Centerline is valid? [True, True] Translation: X:131.67, Y:100.54, Z:7.90 [[ 1.47340096e-01 -9.89068412e-01 -5.87985130e-03 1.31667779e+02] [ 9.88400316e-01 1.47456668e-01 -3.63503342e-02 1.00543987e+02] [ 3.68199906e-02 -4.55785148e-04 9.99321810e-01 7.89926954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.73804094199997 meters 0.020562247145142182 Centerline is valid? [True, True] Translation: X:131.67, Y:100.57, Z:7.90 [[ 1.48271552e-01 -9.88929035e-01 -5.90846250e-03 1.31671846e+02] [ 9.88251741e-01 1.48388654e-01 -3.65964994e-02 1.00570412e+02] [ 3.70680897e-02 -4.12828589e-04 9.99312657e-01 7.90016530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76804094199997 meters 0.020234891273617106 Centerline is valid? [True, True] Translation: X:131.68, Y:100.60, Z:7.90 [[ 1.50519286e-01 -9.88590354e-01 -5.74942867e-03 1.31675079e+02] [ 9.87947097e-01 1.50628727e-01 -3.56583761e-02 1.00598804e+02] [ 3.61175558e-02 -3.12858060e-04 9.99347499e-01 7.90059935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.79804094199997 meters 0.020165994949951128 Centerline is valid? [True, True] Translation: X:131.68, Y:100.63, Z:7.90 [[ 1.51551392e-01 -9.88432747e-01 -5.73407815e-03 1.31679172e+02] [ 9.87791612e-01 1.51659590e-01 -3.55963370e-02 1.00626199e+02] [ 3.60542131e-02 -2.69399899e-04 9.99349799e-01 7.90177595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82804094199997 meters 0.020114660850117733 Centerline is valid? [True, True] Translation: X:131.68, Y:100.65, Z:7.90 [[ 1.51985608e-01 -9.88365799e-01 -5.78112006e-03 1.31683882e+02] [ 9.87711766e-01 1.52095319e-01 -3.59510937e-02 1.00652349e+02] [ 3.64121128e-02 -2.46031461e-04 9.99336829e-01 7.90260174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.85804094199997 meters 0.020002663576666267 Centerline is valid? [True, True] Translation: X:131.69, Y:100.68, Z:7.90 [[ 1.53453119e-01 -9.88139338e-01 -5.72611430e-03 1.31689358e+02] [ 9.87495128e-01 1.53559812e-01 -3.56757081e-02 1.00680354e+02] [ 3.61318717e-02 -1.79961270e-04 9.99347015e-01 7.90335753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88804094199998 meters 0.020041560966540906 Centerline is valid? [True, True] Translation: X:131.69, Y:100.71, Z:7.90 [[ 1.53683956e-01 -9.88104018e-01 -5.62950140e-03 1.31693653e+02] [ 9.87479493e-01 1.53786943e-01 -3.51258873e-02 1.00706159e+02] [ 3.55737742e-02 -1.60731864e-04 9.99367040e-01 7.90447156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.91804094199998 meters 0.019933903603313843 Centerline is valid? [True, True] Translation: X:131.70, Y:100.73, Z:7.91 [[ 1.54168502e-01 -9.88028899e-01 -5.56495509e-03 1.31699305e+02] [ 9.87416092e-01 1.54268851e-01 -3.47934169e-02 1.00731820e+02] [ 3.52354006e-02 -1.30877260e-04 9.99379032e-01 7.90558720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94804094199998 meters 0.019877219634983987 Centerline is valid? [True, True] Translation: X:131.70, Y:100.76, Z:7.91 [[ 1.53995558e-01 -9.88055729e-01 -5.58962299e-03 1.31704999e+02] [ 9.87434924e-01 1.54096917e-01 -3.50201545e-02 1.00758310e+02] [ 3.54632079e-02 -1.26440726e-04 9.99370975e-01 7.90664403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.97804094199998 meters 0.019949936878843978 Centerline is valid? [True, True] Translation: X:131.71, Y:100.78, Z:7.91 [[ 1.53339747e-01 -9.88157899e-01 -5.55782498e-03 1.31711759e+02] [ 9.87541864e-01 1.53440373e-01 -3.48872196e-02 1.00784939e+02] [ 3.53268763e-02 -1.38987417e-04 9.99375801e-01 7.90748163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00804094199998 meters 0.020054690786406596 Centerline is valid? [True, True] Translation: X:131.72, Y:100.81, Z:7.91 [[ 1.50427642e-01 -9.88605133e-01 -5.60486527e-03 1.31722429e+02] [ 9.87976518e-01 1.50531840e-01 -3.52500330e-02 1.00809948e+02] [ 3.56920742e-02 -2.34895917e-04 9.99362807e-01 7.90813871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.03804094199998 meters 0.020172342072526855 Centerline is valid? [True, True] Translation: X:131.73, Y:100.84, Z:7.91 [[ 1.48201112e-01 -9.88941229e-01 -5.62809180e-03 1.31730295e+02] [ 9.88305011e-01 1.48307625e-01 -3.54690446e-02 1.00835822e+02] [ 3.59114895e-02 -3.05719467e-04 9.99354928e-01 7.90935222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06804094199998 meters 0.020431733906542845 Centerline is valid? [True, True] Translation: X:131.74, Y:100.86, Z:7.91 [[ 1.46387521e-01 -9.89211528e-01 -5.58980999e-03 1.31737594e+02] [ 9.88581801e-01 1.46493765e-01 -3.52930530e-02 1.00861483e+02] [ 3.57311672e-02 -3.59521872e-04 9.99361373e-01 7.91105583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.09804094199998 meters 0.020754026866141324 Centerline is valid? [True, True] Translation: X:131.74, Y:100.89, Z:7.91 [[ 1.44150011e-01 -9.89539501e-01 -5.68782174e-03 1.31744942e+02] [ 9.88885081e-01 1.44261518e-01 -3.59848785e-02 1.00886585e+02] [ 3.64289925e-02 -4.37381444e-04 9.99336148e-01 7.91139149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12804094199998 meters 0.020723203115159888 Centerline is valid? [True, True] Translation: X:131.75, Y:100.91, Z:7.91 [[ 1.43755503e-01 -9.89597028e-01 -5.66373843e-03 1.31750069e+02] [ 9.88945599e-01 1.43866359e-01 -3.59036692e-02 1.00913669e+02] [ 3.63449857e-02 -4.39779175e-04 9.99339206e-01 7.91253211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.15804094199999 meters 0.020655806982909322 Centerline is valid? [True, True] Translation: X:131.76, Y:100.94, Z:7.92 [[ 1.44506450e-01 -9.89488646e-01 -5.48676721e-03 1.31756659e+02] [ 9.88874898e-01 1.44610050e-01 -3.48478104e-02 1.00939543e+02] [ 3.52749544e-02 -3.89992981e-04 9.99377569e-01 7.91558120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.188040942 meters 0.01987269107281822 Centerline is valid? [True, True] Translation: X:131.76, Y:100.97, Z:7.92 [[ 1.45128220e-01 -9.89398119e-01 -5.40010697e-03 1.31760092e+02] [ 9.88801993e-01 1.45228217e-01 -3.43421438e-02 1.00967184e+02] [ 3.47623004e-02 -3.55622343e-04 9.99395545e-01 7.91564270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.218040942 meters 0.019823725652828948 Centerline is valid? [True, True] Translation: X:131.77, Y:100.99, Z:7.92 [[ 1.45719466e-01 -9.89311151e-01 -5.41150599e-03 1.31765579e+02] [ 9.88710265e-01 1.45819548e-01 -3.44771190e-02 1.00993932e+02] [ 3.48977016e-02 -3.26424140e-04 9.99390836e-01 7.91743235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.248040942 meters 0.01954119629767705 Centerline is valid? [True, True] Translation: X:131.77, Y:101.02, Z:7.92 [[ 1.47577067e-01 -9.89035661e-01 -5.42872025e-03 1.31770581e+02] [ 9.88428384e-01 1.47676668e-01 -3.46544530e-02 1.01021938e+02] [ 3.50761851e-02 -2.51698665e-04 9.99384610e-01 7.91836989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.278040942 meters 0.019494131112377057 Centerline is valid? [True, True] Translation: X:131.77, Y:101.05, Z:7.92 [[ 1.49091757e-01 -9.88807770e-01 -5.55349619e-03 1.31774920e+02] [ 9.88169690e-01 1.49195028e-01 -3.55177204e-02 1.01049074e+02] [ 3.59487519e-02 -1.92397270e-04 9.99353616e-01 7.91919040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.308040942 meters 0.019339086814269154 Centerline is valid? [True, True] Translation: X:131.78, Y:101.08, Z:7.92 [[ 1.50943399e-01 -9.88526607e-01 -5.58900339e-03 1.31778933e+02] [ 9.87877498e-01 1.51046793e-01 -3.58178108e-02 1.01075746e+02] [ 3.62510600e-02 -1.14788576e-04 9.99342708e-01 7.92081417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.338040942 meters 0.01932215092595622 Centerline is valid? [True, True] Translation: X:131.78, Y:101.10, Z:7.92 [[ 1.54539265e-01 -9.87970548e-01 -5.64028808e-03 1.31784770e+02] [ 9.87307427e-01 1.54642156e-01 -3.61918195e-02 1.01103294e+02] [ 3.66286780e-02 2.43588555e-05 9.99328945e-01 7.92143705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.368040942 meters 0.0192384396359343 Centerline is valid? [True, True] Translation: X:131.79, Y:101.13, Z:7.92 [[ 1.55410706e-01 -9.87833127e-01 -5.76419000e-03 1.31790749e+02] [ 9.87137912e-01 1.55517551e-01 -3.70544649e-02 1.01130878e+02] [ 3.75000607e-02 6.86100562e-05 9.99296623e-01 7.92226909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.398040942 meters 0.019230761680839148 Centerline is valid? [True, True] Translation: X:131.80, Y:101.16, Z:7.92 [[ 1.54857736e-01 -9.87920271e-01 -5.71132467e-03 1.31799421e+02] [ 9.87235297e-01 1.54963009e-01 -3.67822446e-02 1.01157012e+02] [ 3.72229691e-02 5.75938013e-05 9.99306983e-01 7.92359073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.428040942 meters 0.01925330926880394 Centerline is valid? [True, True] Translation: X:131.81, Y:101.18, Z:7.93 [[ 1.53499970e-01 -9.88132229e-01 -5.69708023e-03 1.31806612e+02] [ 9.87448079e-01 1.53605655e-01 -3.67640442e-02 1.01184276e+02] [ 3.72028407e-02 1.77087598e-05 9.99307735e-01 7.92550150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.458040942 meters 0.019225818844540287 Centerline is valid? [True, True] Translation: X:131.81, Y:101.21, Z:7.93 [[ 1.51921368e-01 -9.88376651e-01 -5.61196725e-03 1.31813412e+02] [ 9.87710511e-01 1.52024982e-01 -3.62815422e-02 1.01211641e+02] [ 3.67129884e-02 -3.10575352e-05 9.99325851e-01 7.92711793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48804094199997 meters 0.019247867587474685 Centerline is valid? [True, True] Translation: X:131.82, Y:101.24, Z:7.93 [[ 1.49530958e-01 -9.88741412e-01 -5.55984080e-03 1.31822206e+02] [ 9.88085194e-01 1.49634246e-01 -3.60172355e-02 1.01237907e+02] [ 3.64436749e-02 -1.07904642e-04 9.99335703e-01 7.92891355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.51804094199997 meters 0.019208724657754125 Centerline is valid? [True, True] Translation: X:131.83, Y:101.27, Z:7.93 [[ 1.48617456e-01 -9.88878825e-01 -5.61446373e-03 1.31829244e+02] [ 9.88207961e-01 1.48723407e-01 -3.64194271e-02 1.01265429e+02] [ 3.68494025e-02 -1.35695154e-04 9.99320821e-01 7.93069467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54804094199997 meters 0.0192301177402479 Centerline is valid? [True, True] Translation: X:131.84, Y:101.29, Z:7.93 [[ 1.47234284e-01 -9.89085078e-01 -5.72480977e-03 1.31838814e+02] [ 9.88385089e-01 1.47345428e-01 -3.72053842e-02 1.01292364e+02] [ 3.76428148e-02 -1.80408536e-04 9.99291242e-01 7.93197504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.57804094199997 meters 0.01930690951515361 Centerline is valid? [True, True] Translation: X:131.85, Y:101.32, Z:7.93 [[ 1.46542982e-01 -9.89187093e-01 -5.83522558e-03 1.31845152e+02] [ 9.88457043e-01 1.46658977e-01 -3.79976082e-02 1.01319138e+02] [ 3.84425318e-02 -1.99587010e-04 9.99260793e-01 7.93337802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60804094199997 meters 0.01939555607865054 Centerline is valid? [True, True] Translation: X:131.85, Y:101.35, Z:7.93 [[ 1.45664502e-01 -9.89316276e-01 -5.92950594e-03 1.31851440e+02] [ 9.88559359e-01 1.45784963e-01 -3.86928754e-02 1.01346878e+02] [ 3.91439242e-02 -2.25490173e-04 9.99233557e-01 7.93401012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.63804094199998 meters 0.01943143781433617 Centerline is valid? [True, True] Translation: X:131.86, Y:101.37, Z:7.93 [[ 1.45170429e-01 -9.89387817e-01 -6.10688946e-03 1.31858017e+02] [ 9.88581722e-01 1.45298623e-01 -3.99310474e-02 1.01373372e+02] [ 4.03946144e-02 -2.40352004e-04 9.99183776e-01 7.93469110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66804094199998 meters 0.019345677190132672 Centerline is valid? [True, True] Translation: X:131.87, Y:101.40, Z:7.93 [[ 1.44696923e-01 -9.89454494e-01 -6.52716990e-03 1.31866655e+02] [ 9.88530923e-01 1.44843819e-01 -4.27420448e-02 1.01400527e+02] [ 4.32367286e-02 -2.67666908e-04 9.99064820e-01 7.93401810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.69804094199998 meters 0.019328284325808576 Centerline is valid? [True, True] Translation: X:131.87, Y:101.43, Z:7.93 [[ 1.44631391e-01 -9.89462430e-01 -6.77199762e-03 1.31874473e+02] [ 9.88464339e-01 1.44789598e-01 -4.44322341e-02 1.01427112e+02] [ 4.49445411e-02 -2.67582345e-04 9.98989448e-01 7.93403057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72804094199998 meters 0.019251752542788506 Centerline is valid? [True, True] Translation: X:131.88, Y:101.45, Z:7.93 [[ 1.44567589e-01 -9.89471448e-01 -6.81652153e-03 1.31880708e+02] [ 9.88457348e-01 1.44727964e-01 -4.47871336e-02 1.01454546e+02] [ 4.53021313e-02 -2.63072870e-04 9.98973297e-01 7.93499626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.75804094199998 meters 0.01934240384995135 Centerline is valid? [True, True] Translation: X:131.89, Y:101.48, Z:7.94 [[ 1.43898451e-01 -9.89568505e-01 -6.88547393e-03 1.31887502e+02] [ 9.88529886e-01 1.44062811e-01 -4.53273679e-02 1.01480425e+02] [ 4.58464765e-02 -2.83958709e-04 9.98948457e-01 7.93660688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78804094199998 meters 0.019456950200379523 Centerline is valid? [True, True] Translation: X:131.89, Y:101.51, Z:7.94 [[ 1.43146736e-01 -9.89677433e-01 -6.89859364e-03 1.31894646e+02] [ 9.88630765e-01 1.43312542e-01 -4.55052362e-02 1.01506391e+02] [ 4.60241603e-02 -3.06235899e-04 9.98940280e-01 7.93771040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.81804094199998 meters 0.019469407773452546 Centerline is valid? [True, True] Translation: X:131.91, Y:101.53, Z:7.94 [[ 1.41766789e-01 -9.89875165e-01 -7.02392387e-03 1.31905078e+02] [ 9.88785946e-01 1.41940219e-01 -4.64255064e-02 1.01532645e+02] [ 4.69524331e-02 -3.63562222e-04 9.98897060e-01 7.93996077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84804094199998 meters 0.019343906800835652 Centerline is valid? [True, True] Translation: X:131.91, Y:101.56, Z:7.94 [[ 1.41073461e-01 -9.89973062e-01 -7.18434690e-03 1.31914839e+02] [ 9.88829160e-01 1.41255735e-01 -4.75784650e-02 1.01559268e+02] [ 4.81162289e-02 -3.92032978e-04 9.98841667e-01 7.94138257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.87804094199998 meters 0.01940125858261512 Centerline is valid? [True, True] Translation: X:131.92, Y:101.59, Z:7.94 [[ 1.40525299e-01 -9.90050436e-01 -7.26455749e-03 1.31921489e+02] [ 9.88876407e-01 1.40712349e-01 -4.82025596e-02 1.01586626e+02] [ 4.87451781e-02 -4.10070413e-04 9.98811163e-01 7.94206537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90804094199999 meters 0.019560479090419962 Centerline is valid? [True, True] Translation: X:131.93, Y:101.61, Z:7.94 [[ 1.39435332e-01 -9.90203872e-01 -7.35389800e-03 1.31928615e+02] [ 9.88996301e-01 1.39628378e-01 -4.88900106e-02 1.01613335e+02] [ 4.94378906e-02 -4.55983043e-04 9.98777096e-01 7.94332082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.938040942 meters 0.01946782409715986 Centerline is valid? [True, True] Translation: X:131.94, Y:101.64, Z:7.95 [[ 1.38211630e-01 -9.90375767e-01 -7.30655847e-03 1.31935072e+02] [ 9.89179162e-01 1.38403721e-01 -4.86723299e-02 1.01640990e+02] [ 4.92151509e-02 -5.00413331e-04 9.98788075e-01 7.94546164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.968040942 meters 0.02012273805636285 Centerline is valid? [True, True] Translation: X:131.95, Y:101.67, Z:7.95 [[ 1.34427368e-01 -9.90897101e-01 -7.22624898e-03 1.31947089e+02] [ 9.89722867e-01 1.34619794e-01 -4.82302514e-02 1.01667254e+02] [ 4.87640124e-02 -6.68518115e-04 9.98810104e-01 7.94819654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.998040942 meters 0.02045186992965901 Centerline is valid? [True, True] Translation: X:131.95, Y:101.69, Z:7.95 [[ 1.32625642e-01 -9.91140593e-01 -7.12489698e-03 1.31954680e+02] [ 9.89995452e-01 1.32814847e-01 -4.76363428e-02 1.01693916e+02] [ 4.81606051e-02 -7.35815079e-04 9.98839334e-01 7.95028661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.028040942 meters 0.021445347474855787 Centerline is valid? [True, True] Translation: X:131.96, Y:101.72, Z:7.95 [[ 1.29205434e-01 -9.91592690e-01 -7.06349621e-03 1.31962583e+02] [ 9.90464695e-01 1.29395335e-01 -4.72920155e-02 1.01720384e+02] [ 4.78084003e-02 -8.85758226e-04 9.98856132e-01 7.95268245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.058040942 meters 0.020769219729290328 Centerline is valid? [True, True] Translation: X:131.96, Y:101.75, Z:7.95 [[ 1.27775692e-01 -9.91778389e-01 -6.99993995e-03 1.31964174e+02] [ 9.90666545e-01 1.27963875e-01 -4.69578871e-02 1.01748447e+02] [ 4.74675570e-02 -9.34529786e-04 9.98872343e-01 7.95460718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.088040942 meters 0.021173867060214676 Centerline is valid? [True, True] Translation: X:131.97, Y:101.77, Z:7.96 [[ 1.26850020e-01 -9.91898016e-01 -6.88467782e-03 1.31967797e+02] [ 9.90818670e-01 1.27033145e-01 -4.62703204e-02 1.01774835e+02] [ 4.67700213e-02 -9.52076247e-04 9.98905230e-01 7.95651418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.118040942 meters 0.021349361617527467 Centerline is valid? [True, True] Translation: X:131.97, Y:101.80, Z:7.96 [[ 1.25788305e-01 -9.92034418e-01 -6.70944956e-03 1.31969349e+02] [ 9.91005366e-01 1.25963416e-01 -4.51838828e-02 1.01803119e+02] [ 4.56691120e-02 -9.65496468e-04 9.98956155e-01 7.95957339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.148040942 meters 0.02135453988137326 Centerline is valid? [True, True] Translation: X:131.97, Y:101.83, Z:7.96 [[ 1.24928223e-01 -9.92143915e-01 -6.58720943e-03 1.31972099e+02] [ 9.91148384e-01 1.25097957e-01 -4.44452608e-02 1.01831470e+02] [ 4.49201415e-02 -9.76434514e-04 9.98990104e-01 7.96163931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.178040942 meters 0.02174417634868416 Centerline is valid? [True, True] Translation: X:131.98, Y:101.86, Z:7.96 [[ 1.23418737e-01 -9.92333115e-01 -6.54256609e-03 1.31975895e+02] [ 9.91347457e-01 1.23587761e-01 -4.42298978e-02 1.01859886e+02] [ 4.46993733e-02 -1.02715816e-03 9.98999955e-01 7.96399132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.208040942 meters 0.02191697139800336 Centerline is valid? [True, True] Translation: X:131.98, Y:101.89, Z:7.97 [[ 1.22793055e-01 -9.92410483e-01 -6.58016859e-03 1.31980062e+02] [ 9.91409820e-01 1.22964744e-01 -4.45672512e-02 1.01887129e+02] [ 4.50381360e-02 -1.05109483e-03 9.98984715e-01 7.96543842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.23804094199997 meters 0.022312544487077965 Centerline is valid? [True, True] Translation: X:131.98, Y:101.91, Z:7.97 [[ 1.22004342e-01 -9.92507456e-01 -6.62490638e-03 1.31984093e+02] [ 9.91489246e-01 1.22179275e-01 -4.49588578e-02 1.01913713e+02] [ 4.54314279e-02 -1.08334757e-03 9.98966872e-01 7.96670195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26804094199997 meters 0.02182454681390091 Centerline is valid? [True, True] Translation: X:131.98, Y:101.94, Z:7.97 [[ 1.21132046e-01 -9.92613030e-01 -6.81179736e-03 1.31984262e+02] [ 9.91532095e-01 1.21318043e-01 -4.63253296e-02 1.01942007e+02] [ 4.68095197e-02 -1.14263374e-03 9.98903180e-01 7.96704065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.29804094199997 meters 0.02235337094114289 Centerline is valid? [True, True] Translation: X:131.99, Y:101.97, Z:7.97 [[ 1.20165812e-01 -9.92730195e-01 -6.85110734e-03 1.31987962e+02] [ 9.91632511e-01 1.20355137e-01 -4.66862335e-02 1.01968950e+02] [ 4.71713997e-02 -1.18369160e-03 9.98886109e-01 7.96787225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32804094199997 meters 0.02236971825214216 Centerline is valid? [True, True] Translation: X:131.99, Y:102.00, Z:7.97 [[ 1.19309248e-01 -9.92833921e-01 -6.79037380e-03 1.31990364e+02] [ 9.91751931e-01 1.19496262e-01 -4.63546291e-02 1.01996878e+02] [ 4.68338724e-02 -1.20383040e-03 9.98901967e-01 7.96928185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.35804094199997 meters 0.02235572149245921 Centerline is valid? [True, True] Translation: X:131.99, Y:102.03, Z:7.97 [[ 1.17696171e-01 -9.93027325e-01 -6.65906190e-03 1.31991304e+02] [ 9.91983046e-01 1.17877825e-01 -4.55461941e-02 1.02025752e+02] [ 4.60135710e-02 -1.24506387e-03 9.98940039e-01 7.97157744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.38804094199998 meters 0.02247080474135278 Centerline is valid? [True, True] Translation: X:131.99, Y:102.05, Z:7.97 [[ 1.16695513e-01 -9.93145121e-01 -6.70263163e-03 1.31994651e+02] [ 9.92083270e-01 1.16880730e-01 -4.59312568e-02 1.02053505e+02] [ 4.63998121e-02 -1.28959712e-03 9.98922116e-01 7.97341330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.41804094199998 meters 0.022687820226436985 Centerline is valid? [True, True] Translation: X:132.00, Y:102.08, Z:7.98 [[ 1.15909270e-01 -9.93237744e-01 -6.62010168e-03 1.31997642e+02] [ 9.92198093e-01 1.16090887e-01 -4.54516226e-02 1.02081620e+02] [ 4.59128006e-02 -1.30018788e-03 9.98944605e-01 7.97621314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44804094199998 meters 0.023152514128627115 Centerline is valid? [True, True] Translation: X:132.00, Y:102.11, Z:7.98 [[ 1.15446730e-01 -9.93292308e-01 -6.51481820e-03 1.32001255e+02] [ 9.92281566e-01 1.15623202e-01 -4.48170701e-02 1.02108458e+02] [ 4.52697152e-02 -1.29054981e-03 9.98973967e-01 7.97878028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.47804094199998 meters 0.023152514128627115 Centerline is valid? [True, True] Translation: X:132.01, Y:102.14, Z:7.98 [[ 1.15169686e-01 -9.93324557e-01 -6.50138230e-03 1.32005121e+02] [ 9.92313758e-01 1.15345834e-01 -4.48190192e-02 1.02135733e+02] [ 4.52697397e-02 -1.28961875e-03 9.98973967e-01 7.98000364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50804094199998 meters 0.02280928496342467 Centerline is valid? [True, True] Translation: X:132.01, Y:102.16, Z:7.98 [[ 1.15896002e-01 -9.93241216e-01 -6.32486767e-03 1.32005459e+02] [ 9.92280771e-01 1.16062121e-01 -4.36858672e-02 1.02164480e+02] [ 4.41246814e-02 -1.21302721e-03 9.99025296e-01 7.98278169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.53804094199998 meters 0.02231485881009573 Centerline is valid? [True, True] Translation: X:132.01, Y:102.19, Z:7.98 [[ 1.16767408e-01 -9.93139802e-01 -6.22148610e-03 1.32006433e+02] [ 9.92206965e-01 1.16927417e-01 -4.30501745e-02 1.02192655e+02] [ 4.34823041e-02 -1.14614454e-03 9.99053540e-01 7.98467919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56804094199998 meters 0.021922226237751925 Centerline is valid? [True, True] Translation: X:132.01, Y:102.22, Z:7.99 [[ 1.17424271e-01 -9.93063061e-01 -6.10719296e-03 1.32007541e+02] [ 9.92160528e-01 1.17577953e-01 -4.23427757e-02 1.02220999e+02] [ 4.27671177e-02 -1.08724623e-03 9.99084477e-01 7.98678225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.59804094199998 meters 0.0225521994961098 Centerline is valid? [True, True] Translation: X:132.01, Y:102.25, Z:7.99 [[ 1.18077941e-01 -9.92985989e-01 -6.03537847e-03 1.32011138e+02] [ 9.92100912e-01 1.18227539e-01 -4.19288585e-02 1.02247721e+02] [ 4.23483170e-02 -1.03683119e-03 9.99102370e-01 7.98851180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62804094199998 meters 0.02261352646451058 Centerline is valid? [True, True] Translation: X:132.01, Y:102.27, Z:7.99 [[ 1.18079426e-01 -9.92987176e-01 -5.80670396e-03 1.32011705e+02] [ 9.92164666e-01 1.18217984e-01 -4.04200894e-02 1.02274460e+02] [ 4.08230872e-02 -9.88425531e-04 9.99165901e-01 7.99209540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.65804094199999 meters 0.022786167686248113 Centerline is valid? [True, True] Translation: X:132.01, Y:102.30, Z:7.99 [[ 1.18048693e-01 -9.92992023e-01 -5.59898946e-03 1.32014248e+02] [ 9.92223923e-01 1.18177624e-01 -3.90606817e-02 1.02300820e+02] [ 3.94486206e-02 -9.44388869e-04 9.99221154e-01 7.99435744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.688040942 meters 0.02169518990560726 Centerline is valid? [True, True] Translation: X:132.01, Y:102.33, Z:8.00 [[ 1.17567652e-01 -9.93050124e-01 -5.41278930e-03 1.32012279e+02] [ 9.92329107e-01 1.17688579e-01 -3.78463021e-02 1.02329628e+02] [ 3.82202985e-02 -9.21767486e-04 9.99268912e-01 7.99614766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.718040942 meters 0.02215135765726051 Centerline is valid? [True, True] Translation: X:132.02, Y:102.36, Z:8.00 [[ 1.17389478e-01 -9.93071794e-01 -5.30300260e-03 1.32015536e+02] [ 9.92376808e-01 1.17505745e-01 -3.71573741e-02 1.02356310e+02] [ 3.75230735e-02 -9.00692043e-04 9.99295356e-01 7.99774005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.748040942 meters 0.02336333749423065 Centerline is valid? [True, True] Translation: X:132.02, Y:102.38, Z:8.00 [[ 1.17301535e-01 -9.93083169e-01 -5.11564825e-03 1.32020035e+02] [ 9.92434758e-01 1.17409831e-01 -3.58912556e-02 1.02382696e+02] [ 3.62436292e-02 -8.66847772e-04 9.99342608e-01 8.00069980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.778040942 meters 0.023143647853459563 Centerline is valid? [True, True] Translation: X:132.02, Y:102.41, Z:8.00 [[ 1.18673617e-01 -9.92920030e-01 -5.13679511e-03 1.32018177e+02] [ 9.92263208e-01 1.18781972e-01 -3.61188329e-02 1.02410738e+02] [ 3.64732713e-02 -8.10700243e-04 9.99334300e-01 8.00180712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.808040942 meters 0.021533348591760457 Centerline is valid? [True, True] Translation: X:132.02, Y:102.44, Z:8.00 [[ 1.19295427e-01 -9.92845035e-01 -5.22852712e-03 1.32015678e+02] [ 9.92161874e-01 1.19407314e-01 -3.68335293e-02 1.02439445e+02] [ 3.71943111e-02 -7.93473675e-04 9.99307737e-01 8.00096592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.838040942 meters 0.02140539195635805 Centerline is valid? [True, True] Translation: X:132.02, Y:102.47, Z:8.00 [[ 1.19870609e-01 -9.92775662e-01 -5.24614499e-03 1.32016800e+02] [ 9.92084989e-01 1.19982912e-01 -3.70334352e-02 1.02467690e+02] [ 3.73953409e-02 -7.65401258e-04 9.99300257e-01 8.00165958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.868040942 meters 0.021632511196788266 Centerline is valid? [True, True] Translation: X:132.02, Y:102.50, Z:8.00 [[ 1.20412776e-01 -9.92709374e-01 -5.37239173e-03 1.32015563e+02] [ 9.91981774e-01 1.20530215e-01 -3.80082500e-02 1.02495508e+02] [ 3.83786815e-02 -7.52635792e-04 9.99262984e-01 8.00172815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.898040942 meters 0.021381680779391538 Centerline is valid? [True, True] Translation: X:132.02, Y:102.52, Z:8.00 [[ 1.19627014e-01 -9.92804009e-01 -5.43847346e-03 1.32016223e+02] [ 9.92056324e-01 1.19747993e-01 -3.85313819e-02 1.02524109e+02] [ 3.89053567e-02 -7.85877826e-04 9.99242591e-01 8.00135005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.928040942 meters 0.022739472806467854 Centerline is valid? [True, True] Translation: X:132.02, Y:102.55, Z:8.00 [[ 1.16591806e-01 -9.93164379e-01 -5.55588456e-03 1.32019608e+02] [ 9.92381087e-01 1.16720526e-01 -3.94473986e-02 1.02551680e+02] [ 3.98262369e-02 -9.14311305e-04 9.99206202e-01 8.00158686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.958040942 meters 0.02325640804596941 Centerline is valid? [True, True] Translation: X:132.02, Y:102.58, Z:8.00 [[ 1.15050006e-01 -9.93344174e-01 -5.55405526e-03 1.32022851e+02] [ 9.92558557e-01 1.15179930e-01 -3.95106894e-02 1.02578329e+02] [ 3.98874288e-02 -9.67020019e-04 9.99203712e-01 8.00286041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98804094199997 meters 0.02425933256410132 Centerline is valid? [True, True] Translation: X:132.03, Y:102.61, Z:8.00 [[ 1.12286214e-01 -9.93661227e-01 -5.40120632e-03 1.32025533e+02] [ 9.92915591e-01 1.12411235e-01 -3.85012064e-02 1.02605320e+02] [ 3.88643122e-02 -1.03978727e-03 9.99243956e-01 8.00469090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.01804094199997 meters 0.024812744076841142 Centerline is valid? [True, True] Translation: X:132.03, Y:102.63, Z:8.01 [[ 1.11047873e-01 -9.93801074e-01 -5.27206086e-03 1.32028791e+02] [ 9.93087921e-01 1.11167954e-01 -3.76572432e-02 1.02633303e+02] [ 3.80098930e-02 -1.05386321e-03 9.99276807e-01 8.00640842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04804094199997 meters 0.02405292543532118 Centerline is valid? [True, True] Translation: X:132.03, Y:102.66, Z:8.01 [[ 1.09452347e-01 -9.93978385e-01 -5.21096683e-03 1.32028872e+02] [ 9.93279170e-01 1.09570859e-01 -3.72923263e-02 1.02662102e+02] [ 3.76387364e-02 -1.09421215e-03 9.99290813e-01 8.00707389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.07804094199997 meters 0.02506782484205975 Centerline is valid? [True, True] Translation: X:132.03, Y:102.69, Z:8.01 [[ 1.07784926e-01 -9.94162033e-01 -4.92554897e-03 1.32030550e+02] [ 9.93535285e-01 1.07891929e-01 -3.53124456e-02 1.02689824e+02] [ 3.56377197e-02 -1.08755738e-03 9.99364183e-01 8.00955563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10804094199997 meters 0.024918135330198356 Centerline is valid? [True, True] Translation: X:132.03, Y:102.72, Z:8.01 [[ 1.07886709e-01 -9.94151496e-01 -4.82300589e-03 1.32032209e+02] [ 9.93548308e-01 1.07989311e-01 -3.46419898e-02 1.02717684e+02] [ 3.49602191e-02 -1.05447908e-03 9.99388148e-01 8.01103670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.13804094199998 meters 0.024984045804311048 Centerline is valid? [True, True] Translation: X:132.03, Y:102.74, Z:8.01 [[ 1.09177395e-01 -9.94010437e-01 -4.85265902e-03 1.32031859e+02] [ 9.93397165e-01 1.09280542e-01 -3.49261546e-02 1.02744762e+02] [ 3.52472634e-02 -1.00747114e-03 9.99378114e-01 8.01249746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16804094199998 meters 0.023992571027287565 Centerline is valid? [True, True] Translation: X:132.03, Y:102.77, Z:8.01 [[ 1.10418687e-01 -9.93873409e-01 -4.83330137e-03 1.32031814e+02] [ 9.93262247e-01 1.10520325e-01 -3.48621067e-02 1.02773803e+02] [ 3.51826989e-02 -9.51307742e-04 9.99380444e-01 8.01302920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.19804094199998 meters 0.023902995439552065 Centerline is valid? [True, True] Translation: X:132.03, Y:102.80, Z:8.01 [[ 1.11456527e-01 -9.93757248e-01 -4.89649087e-03 1.32034012e+02] [ 9.93128632e-01 1.11560217e-01 -3.53530468e-02 1.02800716e+02] [ 3.56786000e-02 -9.22517460e-04 9.99362890e-01 8.01434211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22804094199998 meters 0.02384650799510906 Centerline is valid? [True, True] Translation: X:132.03, Y:102.83, Z:8.02 [[ 1.13355274e-01 -9.93543943e-01 -4.58425216e-03 1.32034314e+02] [ 9.92990635e-01 1.13445163e-01 -3.31631340e-02 1.02826960e+02] [ 3.34690922e-02 -7.92903306e-04 9.99439438e-01 8.01680189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.25804094199998 meters 0.023830137009488727 Centerline is valid? [True, True] Translation: X:132.04, Y:102.85, Z:8.02 [[ 1.13977049e-01 -9.93473277e-01 -4.48100791e-03 1.32036540e+02] [ 9.92942746e-01 1.14062646e-01 -3.24717744e-02 1.02853211e+02] [ 3.27709557e-02 -7.48347282e-04 9.99462608e-01 8.01841496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28804094199998 meters 0.02347232765105807 Centerline is valid? [True, True] Translation: X:132.04, Y:102.88, Z:8.02 [[ 1.15076872e-01 -9.93347445e-01 -4.26235458e-03 1.32036845e+02] [ 9.92865991e-01 1.15153818e-01 -3.09309135e-02 1.02880410e+02] [ 3.12159703e-02 -6.72514140e-04 9.99512437e-01 8.02039380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.31804094199998 meters 0.02291936364870836 Centerline is valid? [True, True] Translation: X:132.04, Y:102.91, Z:8.02 [[ 1.15752251e-01 -9.93269495e-01 -4.13837057e-03 1.32038557e+02] [ 9.92813547e-01 1.15824520e-01 -3.00988587e-02 1.02908056e+02] [ 3.03756030e-02 -6.24619722e-04 9.99538360e-01 8.02192388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34804094199998 meters 0.02276136012609677 Centerline is valid? [True, True] Translation: X:132.04, Y:102.94, Z:8.02 [[ 1.16516541e-01 -9.93180691e-01 -4.00129675e-03 1.32041053e+02] [ 9.92752747e-01 1.16583807e-01 -2.91581773e-02 1.02936217e+02] [ 2.94258251e-02 -5.74888383e-04 9.99566801e-01 8.02362474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.37804094199998 meters 0.022523158129413353 Centerline is valid? [True, True] Translation: X:132.04, Y:102.96, Z:8.02 [[ 1.17148080e-01 -9.93106463e-01 -3.98501100e-03 1.32043450e+02] [ 9.92680235e-01 1.17214563e-01 -2.90980524e-02 1.02964207e+02] [ 2.93645652e-02 -5.47060683e-04 9.99568618e-01 8.02426905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40804094199999 meters 0.022329897906208034 Centerline is valid? [True, True] Translation: X:132.05, Y:102.99, Z:8.03 [[ 1.18412171e-01 -9.92957054e-01 -3.85303055e-03 1.32045523e+02] [ 9.92556850e-01 1.18473845e-01 -2.81930410e-02 1.02990782e+02] [ 2.84509623e-02 -4.85952666e-04 9.99595071e-01 8.02562007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.438040942 meters 0.02236562679509596 Centerline is valid? [True, True] Translation: X:132.05, Y:103.02, Z:8.03 [[ 1.18681294e-01 -9.92925402e-01 -3.72793002e-03 1.32048434e+02] [ 9.92549766e-01 1.18738944e-01 -2.73134699e-02 1.03016911e+02] [ 2.75628885e-02 -4.58558107e-04 9.99619966e-01 8.02769015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.468040942 meters 0.021983139488368903 Centerline is valid? [True, True] Translation: X:132.05, Y:103.04, Z:8.03 [[ 1.18602184e-01 -9.92936004e-01 -3.40793472e-03 1.32051495e+02] [ 9.92620666e-01 1.18650412e-01 -2.50258505e-02 1.03044899e+02] [ 2.52534208e-02 -4.14665901e-04 9.99680996e-01 8.02919111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.498040942 meters 0.022340845160247112 Centerline is valid? [True, True] Translation: X:132.06, Y:103.07, Z:8.03 [[ 1.18268834e-01 -9.92976286e-01 -3.25245938e-03 1.32055833e+02] [ 9.92688053e-01 1.18312875e-01 -2.39268352e-02 1.03071133e+02] [ 2.41435878e-02 -3.98878673e-04 9.99708422e-01 8.03177333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.528040942 meters 0.02233110036309852 Centerline is valid? [True, True] Translation: X:132.06, Y:103.10, Z:8.03 [[ 1.17760568e-01 -9.93037172e-01 -3.10234235e-03 1.32059595e+02] [ 9.92773853e-01 1.17800791e-01 -2.28702755e-02 1.03098479e+02] [ 2.30764921e-02 -3.86707740e-04 9.99733628e-01 8.03309478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.558040942 meters 0.022226529914111167 Centerline is valid? [True, True] Translation: X:132.06, Y:103.13, Z:8.04 [[ 1.17808982e-01 -9.93032036e-01 -2.90148029e-03 1.32063564e+02] [ 9.92800893e-01 1.17844168e-01 -2.14275400e-02 1.03125753e+02] [ 2.16201563e-02 -3.56235552e-04 9.99766194e-01 8.03518017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.588040942 meters 0.022439877409070167 Centerline is valid? [True, True] Translation: X:132.07, Y:103.15, Z:8.04 [[ 1.18375995e-01 -9.92965236e-01 -2.67637914e-03 1.32067328e+02] [ 9.92767595e-01 1.18405837e-01 -1.98131528e-02 1.03151959e+02] [ 1.99906709e-02 -3.11620802e-04 9.99800118e-01 8.03800819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.618040942 meters 0.021669468219353956 Centerline is valid? [True, True] Translation: X:132.07, Y:103.18, Z:8.04 [[ 1.19430727e-01 -9.92839830e-01 -2.31810731e-03 1.32069711e+02] [ 9.92691510e-01 1.19452957e-01 -1.71626383e-02 1.03180483e+02] [ 1.73166556e-02 -2.51419083e-04 9.99850024e-01 8.03865702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.648040942 meters 0.022346135256377173 Centerline is valid? [True, True] Translation: X:132.07, Y:103.21, Z:8.04 [[ 1.19503303e-01 -9.92831324e-01 -2.21862908e-03 1.32074665e+02] [ 9.92695094e-01 1.19523661e-01 -1.64482166e-02 1.03207116e+02] [ 1.65954833e-02 -2.36806005e-04 9.99862257e-01 8.04266901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.678040942 meters 0.022366934165724783 Centerline is valid? [True, True] Translation: X:132.08, Y:103.23, Z:8.04 [[ 1.19564752e-01 -9.92824117e-01 -2.13160767e-03 1.32079078e+02] [ 9.92697876e-01 1.19583544e-01 -1.58335952e-02 1.03234016e+02] [ 1.59748804e-02 -2.22902521e-04 9.99872369e-01 8.04445978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.708040942 meters 0.022159283009020987 Centerline is valid? [True, True] Translation: X:132.08, Y:103.26, Z:8.05 [[ 1.20045761e-01 -9.92766646e-01 -1.84435361e-03 1.32083372e+02] [ 9.92671804e-01 1.20059788e-01 -1.37236195e-02 1.03261650e+02] [ 1.38457844e-02 -1.83375473e-04 9.99904126e-01 8.04543854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.73804094199997 meters 0.022080906358828714 Centerline is valid? [True, True] Translation: X:132.09, Y:103.29, Z:8.05 [[ 1.20187046e-01 -9.92749776e-01 -1.71960368e-03 1.32087025e+02] [ 9.92667030e-01 1.20199232e-01 -1.28183933e-02 1.03289773e+02] [ 1.29321521e-02 -1.66389058e-04 9.99916362e-01 8.04665483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76804094199997 meters 0.021842901171663466 Centerline is valid? [True, True] Translation: X:132.09, Y:103.32, Z:8.05 [[ 1.20506047e-01 -9.92711427e-01 -1.52169878e-03 1.32090802e+02] [ 9.92646489e-01 1.20515570e-01 -1.13553619e-02 1.03317805e+02] [ 1.14559859e-02 -1.42119173e-04 9.99934368e-01 8.04741751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.79804094199997 meters 0.021999489023727947 Centerline is valid? [True, True] Translation: X:132.10, Y:103.35, Z:8.05 [[ 1.21263425e-01 -9.92619570e-01 -1.25362778e-03 1.32095317e+02] [ 9.92575454e-01 1.21269855e-01 -9.35895485e-03 1.03345857e+02] [ 9.44190900e-03 -1.09421244e-04 9.99955418e-01 8.04990327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82804094199997 meters 0.02236649952504986 Centerline is valid? [True, True] Translation: X:132.10, Y:103.37, Z:8.05 [[ 1.21152900e-01 -9.92633220e-01 -1.12489954e-03 1.32100153e+02] [ 9.92597611e-01 1.21158082e-01 -8.40846984e-03 1.03372849e+02] [ 8.48281717e-03 -9.78620898e-05 9.99964015e-01 8.05261259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.85804094199997 meters 0.02232821997079157 Centerline is valid? [True, True] Translation: X:132.11, Y:103.40, Z:8.05 [[ 1.20344511e-01 -9.92731927e-01 -7.20424227e-04 1.32106851e+02] [ 9.92717489e-01 1.20346647e-01 -5.35459330e-03 1.03400072e+02] [ 5.40237637e-03 -7.07818155e-05 9.99985405e-01 8.05461871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.88804094199998 meters 0.022813221983188893 Centerline is valid? [True, True] Translation: X:132.11, Y:103.43, Z:8.06 [[ 1.19357285e-01 -9.92851234e-01 -5.15056827e-04 1.32112439e+02] [ 9.92843918e-01 1.19358383e-01 -3.81184759e-03 1.03426723e+02] [ 3.84607394e-03 -5.63992574e-05 9.99992602e-01 8.05747891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.91804094199998 meters 0.022739844434318333 Centerline is valid? [True, True] Translation: X:132.12, Y:103.45, Z:8.06 [[ 1.18394837e-01 -9.92966541e-01 -3.33002686e-04 1.32117499e+02] [ 9.92963544e-01 1.18395298e-01 -2.44011253e-03 1.03454891e+02] [ 2.46237605e-03 -4.17628026e-05 9.99996967e-01 8.05827708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94804094199998 meters 0.022793074339116995 Centerline is valid? [True, True] Translation: X:132.12, Y:103.48, Z:8.06 [[ 1.16936317e-01 -9.93139414e-01 -5.25887514e-05 1.32124465e+02] [ 9.93139366e-01 1.16936328e-01 -3.07964031e-04 1.03482563e+02] [ 3.12000753e-04 -1.62157796e-05 9.99999951e-01 8.05898473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.97804094199998 meters 0.024785369159794495 Centerline is valid? [True, True] Translation: X:132.13, Y:103.51, Z:8.07 [[ 1.15866273e-01 -9.93264821e-01 4.63137783e-05 1.32132062e+02] [ 9.93264722e-01 1.15866282e-01 4.44047072e-04 1.03509285e+02] [-4.46422540e-04 -5.44823694e-06 9.99999900e-01 8.06583070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00804094199998 meters 0.023554612912705362 Centerline is valid? [True, True] Translation: X:132.14, Y:103.54, Z:8.06 [[ 1.14657474e-01 -9.93405067e-01 1.91486934e-04 1.32137109e+02] [ 9.93403850e-01 1.14657633e-01 1.55503385e-03 1.03537812e+02] [-1.56673394e-03 1.19276048e-05 9.99998773e-01 8.06301355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.03804094199998 meters 0.023627542006998258 Centerline is valid? [True, True] Translation: X:132.15, Y:103.56, Z:8.07 [[ 1.12279396e-01 -9.93676419e-01 7.15188629e-04 1.32146046e+02] [ 9.93660737e-01 1.12281642e-01 5.58321670e-03 1.03564441e+02] [-5.62821333e-03 8.37746627e-05 9.99984158e-01 8.06504837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06804094199998 meters 0.02495255969099556 Centerline is valid? [True, True] Translation: X:132.15, Y:103.59, Z:8.07 [[ 1.10563631e-01 -9.93868599e-01 9.44282365e-04 1.32152857e+02] [ 9.93841399e-01 1.10567592e-01 7.35398835e-03 1.03591095e+02] [-7.41330512e-03 1.25383253e-04 9.99972513e-01 8.07034747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.09804094199998 meters 0.024614281790406825 Centerline is valid? [True, True] Translation: X:132.16, Y:103.62, Z:8.07 [[ 1.09219124e-01 -9.94017027e-01 1.15462297e-03 1.32157573e+02] [ 9.93976805e-01 1.09225093e-01 8.94373329e-03 1.03618812e+02] [-9.01633698e-03 1.70841732e-04 9.99959337e-01 8.07017215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12804094199998 meters 0.025549180065999873 Centerline is valid? [True, True] Translation: X:132.16, Y:103.64, Z:8.07 [[ 1.07097543e-01 -9.94247318e-01 1.54521331e-03 1.32164868e+02] [ 9.94174917e-01 1.07108396e-01 1.20010576e-02 1.03644773e+02] [-1.20975246e-02 2.50928536e-04 9.99926791e-01 8.07336831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.15804094199999 meters 0.025769697511585997 Centerline is valid? [True, True] Translation: X:132.17, Y:103.67, Z:8.08 [[ 1.06923765e-01 -9.94265672e-01 1.75580665e-03 1.32169812e+02] [ 9.94172514e-01 1.06937787e-01 1.36133203e-02 1.03672481e+02] [-1.37230191e-02 2.89987245e-04 9.99905793e-01 8.07537852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.188040942 meters 0.025878308449055455 Centerline is valid? [True, True] Translation: X:132.17, Y:103.70, Z:8.08 [[ 1.06945208e-01 -9.94263116e-01 1.89180722e-03 1.32173621e+02] [ 9.94154066e-01 1.06961503e-01 1.47285394e-02 1.03700262e+02] [-1.48463940e-02 3.05601124e-04 9.99889740e-01 8.07663663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.218040942 meters 0.027373487738024678 Centerline is valid? [True, True] Translation: X:132.18, Y:103.73, Z:8.08 [[ 1.06875232e-01 -9.94269777e-01 2.30100288e-03 1.32177763e+02] [ 9.94108667e-01 1.06899345e-01 1.79022117e-02 1.03726807e+02] [-1.80456038e-02 3.74143867e-04 9.99837095e-01 8.08123387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.248040942 meters 0.02647336998096992 Centerline is valid? [True, True] Translation: X:132.18, Y:103.75, Z:8.08 [[ 1.05940803e-01 -9.94369271e-01 2.50966309e-03 1.32180878e+02] [ 9.94176353e-01 1.05969695e-01 1.95909100e-02 1.03754606e+02] [-1.97465471e-02 4.19570959e-04 9.99804930e-01 8.08010340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.278040942 meters 0.027349780399723835 Centerline is valid? [True, True] Translation: X:132.19, Y:103.78, Z:8.08 [[ 1.03308043e-01 -9.94645255e-01 2.87493062e-03 1.32185668e+02] [ 9.94391328e-01 1.03346646e-01 2.24801687e-02 1.03782085e+02] [-2.26569076e-02 5.36423838e-04 9.99743155e-01 8.08284297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.308040942 meters 0.02778540960204155 Centerline is valid? [True, True] Translation: X:132.19, Y:103.81, Z:8.08 [[ 1.01704040e-01 -9.94809837e-01 3.11082257e-03 1.32189169e+02] [ 9.94511438e-01 1.01749746e-01 2.43718900e-02 1.03809629e+02] [-2.45619213e-02 6.15028942e-04 9.99698121e-01 8.08461709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.338040942 meters 0.028605682759724072 Centerline is valid? [True, True] Translation: X:132.19, Y:103.84, Z:8.09 [[ 9.98873943e-02 -9.94993298e-01 3.29315388e-03 1.32192687e+02] [ 9.94657879e-01 9.99392540e-02 2.58427733e-02 1.03837573e+02] [-2.60425016e-02 6.94194171e-04 9.99660596e-01 8.08697755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.368040942 meters 0.028403203198957328 Centerline is valid? [True, True] Translation: X:132.19, Y:103.87, Z:8.09 [[ 9.93018529e-02 -9.95050830e-01 3.60387932e-03 1.32193551e+02] [ 9.94647301e-01 9.93642459e-02 2.83459505e-02 1.03865812e+02] [-2.85637583e-02 7.69783438e-04 9.99591676e-01 8.08808696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.398040942 meters 0.028403203198957328 Centerline is valid? [True, True] Translation: X:132.20, Y:103.89, Z:8.09 [[ 9.90166340e-02 -9.95079281e-01 3.59601073e-03 1.32196966e+02] [ 9.94675735e-01 9.90789187e-02 2.83469515e-02 1.03893211e+02] [-2.85637529e-02 7.70044892e-04 9.99591676e-01 8.08931380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.428040942 meters 0.0289780258493568 Centerline is valid? [True, True] Translation: X:132.20, Y:103.92, Z:8.09 [[ 9.92440515e-02 -9.95055951e-01 3.77786509e-03 1.32199546e+02] [ 9.94610622e-01 9.93126900e-02 2.97775276e-02 1.03920321e+02] [-3.00054960e-02 8.02262262e-04 9.99549412e-01 8.09276988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.458040942 meters 0.027773521747375497 Centerline is valid? [True, True] Translation: X:132.20, Y:103.95, Z:8.09 [[ 1.00895533e-01 -9.94888939e-01 4.01140058e-03 1.32197169e+02] [ 9.94383571e-01 1.00972162e-01 3.17164970e-02 1.03949532e+02] [-3.19594319e-02 7.88817973e-04 9.99488856e-01 8.09146199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48804094199997 meters 0.029058179104026825 Centerline is valid? [True, True] Translation: X:132.20, Y:103.98, Z:8.10 [[ 1.02401127e-01 -9.94734860e-01 4.07025577e-03 1.32199169e+02] [ 9.94213374e-01 1.02479258e-01 3.22144065e-02 1.03976358e+02] [-3.24619100e-02 7.47911192e-04 9.99472693e-01 8.09629171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.51804094199997 meters 0.02856298605827154 Centerline is valid? [True, True] Translation: X:132.20, Y:104.00, Z:8.10 [[ 1.03914566e-01 -9.94577691e-01 4.12065736e-03 1.32200174e+02] [ 9.94039789e-01 1.03993901e-01 3.27134070e-02 1.04004557e+02] [-3.29645481e-02 6.96697862e-04 9.99456279e-01 8.09623602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54804094199997 meters 0.028846858333580347 Centerline is valid? [True, True] Translation: X:132.20, Y:104.03, Z:8.10 [[ 1.06533034e-01 -9.94300047e-01 4.25792689e-03 1.32200199e+02] [ 9.93723320e-01 1.06616269e-01 3.38664174e-02 1.04033376e+02] [-3.41273447e-02 6.23309053e-04 9.99417298e-01 8.09852836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.57804094199997 meters 0.028076488603450245 Centerline is valid? [True, True] Translation: X:132.20, Y:104.06, Z:8.10 [[ 1.07433509e-01 -9.94203200e-01 4.24718813e-03 1.32201703e+02] [ 9.93626385e-01 1.07515855e-01 3.38666173e-02 1.04061333e+02] [-3.41269394e-02 5.81708648e-04 9.99417337e-01 8.09749070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60804094199997 meters 0.02863537023642593 Centerline is valid? [True, True] Translation: X:132.20, Y:104.09, Z:8.10 [[ 1.09259097e-01 -9.94004202e-01 4.25386492e-03 1.32203851e+02] [ 9.93422594e-01 1.09340682e-01 3.40024262e-02 1.04088098e+02] [-3.42636750e-02 5.10811148e-04 9.99412697e-01 8.09954801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.63804094199998 meters 0.029476932670294487 Centerline is valid? [True, True] Translation: X:132.21, Y:104.11, Z:8.10 [[ 1.10085393e-01 -9.93912993e-01 4.26256799e-03 1.32207184e+02] [ 9.93325981e-01 1.10166868e-01 3.41578133e-02 1.04114452e+02] [-3.44194882e-02 4.73843218e-04 9.99407362e-01 8.10251439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66804094199998 meters 0.029785139055972933 Centerline is valid? [True, True] Translation: X:132.21, Y:104.14, Z:8.10 [[ 1.10832927e-01 -9.93830045e-01 4.23131535e-03 1.32210913e+02] [ 9.93249133e-01 1.10912807e-01 3.39780554e-02 1.04142451e+02] [-3.42377194e-02 4.36862983e-04 9.99413622e-01 8.10460114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.69804094199998 meters 0.027741109270140524 Centerline is valid? [True, True] Translation: X:132.21, Y:104.17, Z:8.10 [[ 1.11231176e-01 -9.93786079e-01 4.10545817e-03 1.32212967e+02] [ 9.93236830e-01 1.11306186e-01 3.30383607e-02 1.04171158e+02] [-3.32900258e-02 4.02796535e-04 9.99445652e-01 8.09972790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72804094199998 meters 0.03126974864831252 Centerline is valid? [True, True] Translation: X:132.22, Y:104.20, Z:8.11 [[ 1.11956827e-01 -9.93705771e-01 3.80914253e-03 1.32215509e+02] [ 9.93229979e-01 1.12021089e-01 3.07487363e-02 1.04198026e+02] [-3.09819010e-02 3.40823614e-04 9.99519888e-01 8.10756857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.75804094199998 meters 0.031641257628409164 Centerline is valid? [True, True] Translation: X:132.22, Y:104.23, Z:8.11 [[ 1.11717051e-01 -9.93733179e-01 3.69712330e-03 1.32218860e+02] [ 9.93283248e-01 1.11777718e-01 2.99020397e-02 1.04225531e+02] [-3.01279050e-02 3.31722936e-04 9.99545997e-01 8.10805906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78804094199998 meters 0.030331255026807134 Centerline is valid? [True, True] Translation: X:132.22, Y:104.25, Z:8.10 [[ 1.10155230e-01 -9.93908274e-01 3.48838662e-03 1.32222481e+02] [ 9.93505611e-01 1.10209897e-01 2.82909770e-02 1.04253335e+02] [-2.85030908e-02 3.49332610e-04 9.99593643e-01 8.10267062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.81804094199998 meters 0.030436234201857225 Centerline is valid? [True, True] Translation: X:132.23, Y:104.28, Z:8.10 [[ 1.09341136e-01 -9.93999172e-01 3.18766413e-03 1.32225605e+02] [ 9.93661334e-01 1.09387082e-01 2.59156086e-02 1.04281619e+02] [-2.61087828e-02 3.33816512e-04 9.99659052e-01 8.10250876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84804094199998 meters 0.03071008063616335 Centerline is valid? [True, True] Translation: X:132.23, Y:104.31, Z:8.10 [[ 1.08354892e-01 -9.94107833e-01 2.97217478e-03 1.32228120e+02] [ 9.93813174e-01 1.08395142e-01 2.42047221e-02 1.04308613e+02] [-2.43842731e-02 3.31086406e-04 9.99702605e-01 8.10192387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.87804094199998 meters 0.02917387982703882 Centerline is valid? [True, True] Translation: X:132.23, Y:104.34, Z:8.09 [[ 1.05301681e-01 -9.94437747e-01 2.26352989e-03 1.32229323e+02] [ 9.94266361e-01 1.05325561e-01 1.84642937e-02 1.04336823e+02] [-1.85999982e-02 3.06230454e-04 9.99826958e-01 8.09386675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90804094199999 meters 0.02964506181271119 Centerline is valid? [True, True] Translation: X:132.23, Y:104.36, Z:8.09 [[ 1.03636161e-01 -9.94613456e-01 1.90218212e-03 1.32231814e+02] [ 9.94491661e-01 1.03653243e-01 1.55673427e-02 1.04363391e+02] [-1.56806559e-02 2.78364616e-04 9.99877012e-01 8.09421988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.938040942 meters 0.028832013399169874 Centerline is valid? [True, True] Translation: X:132.23, Y:104.39, Z:8.09 [[ 1.02455420e-01 -9.94736472e-01 1.49622782e-03 1.32233062e+02] [ 9.94660185e-01 1.02466096e-01 1.23213789e-02 1.04391089e+02] [-1.24098376e-02 2.25846189e-04 9.99922969e-01 8.09127611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.968040942 meters 0.029174623181117774 Centerline is valid? [True, True] Translation: X:132.23, Y:104.42, Z:8.09 [[ 1.02831450e-01 -9.94698310e-01 9.82701390e-04 1.32232807e+02] [ 9.94664914e-01 1.02836051e-01 8.15196436e-03 1.04418211e+02] [-8.20980230e-03 1.39180281e-04 9.99966289e-01 8.09108273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.998040942 meters 0.029812256133462597 Centerline is valid? [True, True] Translation: X:132.23, Y:104.45, Z:8.09 [[ 1.04080513e-01 -9.94568522e-01 8.37786415e-04 1.32233807e+02] [ 9.94544143e-01 1.04083829e-01 6.96444369e-03 1.04445382e+02] [-7.01381649e-03 1.08352697e-04 9.99975397e-01 8.09357976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.028040942 meters 0.029544454714800515 Centerline is valid? [True, True] Translation: X:132.23, Y:104.47, Z:8.09 [[ 1.05583215e-01 -9.94410312e-01 5.61431309e-04 1.32233312e+02] [ 9.94399111e-01 1.05584691e-01 4.72033666e-03 1.04473477e+02] [-4.75323001e-03 5.98984715e-05 9.99988702e-01 8.09396581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.058040942 meters 0.02872979337165384 Centerline is valid? [True, True] Translation: X:132.23, Y:104.50, Z:8.09 [[ 1.06893251e-01 -9.94270483e-01 -1.97227301e-04 1.32228626e+02] [ 9.94269326e-01 1.06893427e-01 -1.51756716e-03 1.04501488e+02] [ 1.52995454e-03 -3.38793684e-05 9.99998829e-01 8.09017347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.088040942 meters 0.02778611534055985 Centerline is valid? [True, True] Translation: X:132.23, Y:104.53, Z:8.09 [[ 1.06034068e-01 -9.94362368e-01 -5.07669528e-04 1.32228447e+02] [ 9.94353962e-01 1.06035259e-01 -4.08920846e-03 1.04530016e+02] [ 4.11998588e-03 -7.12077998e-05 9.99991510e-01 8.08636250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.118040942 meters 0.028121164922030022 Centerline is valid? [True, True] Translation: X:132.23, Y:104.56, Z:8.09 [[ 1.04978644e-01 -9.94474069e-01 -9.00540327e-04 1.32230572e+02] [ 9.94446921e-01 1.04982434e-01 -7.34908934e-03 1.04556893e+02] [ 7.40301969e-03 -1.24042119e-04 9.99972590e-01 8.08752413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.148040942 meters 0.027257132522408682 Centerline is valid? [True, True] Translation: X:132.23, Y:104.59, Z:8.08 [[ 1.03469999e-01 -9.94631922e-01 -1.13994461e-03 1.32229189e+02] [ 9.94587912e-01 1.03476146e-01 -9.35799685e-03 1.04585553e+02] [ 9.42571947e-03 -1.65503203e-04 9.99955563e-01 8.08394720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.178040942 meters 0.02757932006525387 Centerline is valid? [True, True] Translation: X:132.23, Y:104.61, Z:8.09 [[ 1.02458002e-01 -9.94736702e-01 -1.11893403e-03 1.32232145e+02] [ 9.94694125e-01 1.02463970e-01 -9.20497188e-03 1.04613745e+02] [ 9.27117379e-03 -1.69874082e-04 9.99957007e-01 8.08622197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.208040942 meters 0.027595423233964033 Centerline is valid? [True, True] Translation: X:132.24, Y:104.64, Z:8.09 [[ 1.01433602e-01 -9.94841475e-01 -1.28989649e-03 1.32236284e+02] [ 9.94784469e-01 1.01441601e-01 -1.06518894e-02 1.04640691e+02] [ 1.07277906e-02 -2.02709483e-04 9.99942435e-01 8.09008183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.23804094199997 meters 0.028669738471898645 Centerline is valid? [True, True] Translation: X:132.24, Y:104.67, Z:8.10 [[ 1.00759481e-01 -9.94910050e-01 -1.23232756e-03 1.32239233e+02] [ 9.94857872e-01 1.00766820e-01 -1.01913090e-02 1.04666925e+02] [ 1.02636135e-02 -1.99119778e-04 9.99947308e-01 8.09523333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26804094199997 meters 0.027912944325597353 Centerline is valid? [True, True] Translation: X:132.24, Y:104.69, Z:8.10 [[ 1.00877717e-01 -9.94898008e-01 -1.28066947e-03 1.32238047e+02] [ 9.94841383e-01 1.00885641e-01 -1.06165224e-02 1.04694873e+02] [ 1.06915582e-02 -2.03092444e-04 9.99942823e-01 8.09517660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.29804094199997 meters 0.028378168901088813 Centerline is valid? [True, True] Translation: X:132.24, Y:104.72, Z:8.10 [[ 1.01445191e-01 -9.94840538e-01 -1.08542265e-03 1.32237917e+02] [ 9.94799578e-01 1.01450865e-01 -9.02889113e-03 1.04721520e+02] [ 9.09242397e-03 -1.63840412e-04 9.99958650e-01 8.09841233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32804094199997 meters 0.029067326124304762 Centerline is valid? [True, True] Translation: X:132.24, Y:104.75, Z:8.11 [[ 1.03340822e-01 -9.94645675e-01 -8.09982881e-04 1.32235706e+02] [ 9.94623048e-01 1.03343935e-01 -6.70989410e-03 1.04748575e+02] [ 6.75767396e-03 -1.12221670e-04 9.99977160e-01 8.10505861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.35804094199997 meters 0.02844892201363883 Centerline is valid? [True, True] Translation: X:132.24, Y:104.78, Z:8.11 [[ 1.04433504e-01 -9.94531618e-01 -7.09428072e-04 1.32235453e+02] [ 9.94514290e-01 1.04435872e-01 -5.87164178e-03 1.04775676e+02] [ 5.91362315e-03 -9.23402313e-05 9.99982510e-01 8.10626191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38804094199998 meters 0.02851297950748828 Centerline is valid? [True, True] Translation: X:132.24, Y:104.80, Z:8.11 [[ 1.05241293e-01 -9.94446529e-01 -6.08832198e-04 1.32236258e+02] [ 9.94433725e-01 1.05243027e-01 -5.04702980e-03 1.04803590e+02] [ 5.08307661e-03 -7.42873303e-05 9.99987078e-01 8.10860060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.41804094199998 meters 0.02780327684176118 Centerline is valid? [True, True] Translation: X:132.23, Y:104.83, Z:8.11 [[ 1.06089708e-01 -9.94356219e-01 -8.27327630e-04 1.32234758e+02] [ 9.94332011e-01 1.06092899e-01 -6.93889020e-03 1.04832226e+02] [ 6.98750220e-03 -8.64935086e-05 9.99975583e-01 8.11012096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44804094199998 meters 0.02790053780625264 Centerline is valid? [True, True] Translation: X:132.24, Y:104.86, Z:8.11 [[ 1.05593919e-01 -9.94408933e-01 -8.93722478e-04 1.32236087e+02] [ 9.94380866e-01 1.05597654e-01 -7.47190462e-03 1.04859264e+02] [ 7.52450369e-03 -9.97128410e-05 9.99971686e-01 8.11155989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.47804094199998 meters 0.026179490749004657 Centerline is valid? [True, True] Translation: X:132.24, Y:104.89, Z:8.11 [[ 1.04571127e-01 -9.94516957e-01 -9.49749732e-04 1.32235927e+02] [ 9.94485027e-01 1.04575381e-01 -7.96997455e-03 1.04887358e+02] [ 8.02559527e-03 -1.11082671e-04 9.99967788e-01 8.10547062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50804094199998 meters 0.025815201729643737 Centerline is valid? [True, True] Translation: X:132.24, Y:104.92, Z:8.11 [[ 1.03597783e-01 -9.94618351e-01 -1.35450887e-03 1.32237374e+02] [ 9.94552491e-01 1.03606512e-01 -1.14469643e-02 1.04915801e+02] [ 1.15256967e-02 -1.61250050e-04 9.99933564e-01 8.10630571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.53804094199998 meters 0.027508544064831976 Centerline is valid? [True, True] Translation: X:132.24, Y:104.94, Z:8.11 [[ 1.03521521e-01 -9.94626022e-01 -1.53969675e-03 1.32241861e+02] [ 9.94540353e-01 1.03532815e-01 -1.30553818e-02 1.04942872e+02] [ 1.31446316e-02 -1.79777565e-04 9.99913589e-01 8.11400403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56804094199998 meters 0.025632957625848614 Centerline is valid? [True, True] Translation: X:132.24, Y:104.97, Z:8.11 [[ 1.03471093e-01 -9.94631002e-01 -1.70400730e-03 1.32240656e+02] [ 9.94525416e-01 1.03484940e-01 -1.44935711e-02 1.04971918e+02] [ 1.45920942e-02 -1.95012922e-04 9.99893511e-01 8.10851767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.59804094199998 meters 0.025299334089548976 Centerline is valid? [True, True] Translation: X:132.24, Y:105.00, Z:8.11 [[ 1.02245431e-01 -9.94757064e-01 -2.06279021e-03 1.32241161e+02] [ 9.94600774e-01 1.02265935e-01 -1.76345805e-02 1.05000852e+02] [ 1.77530766e-02 -2.48597454e-04 9.99842371e-01 8.10847465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62804094199998 meters 0.024917624286224464 Centerline is valid? [True, True] Translation: X:132.24, Y:105.03, Z:8.11 [[ 1.01187178e-01 -9.94864406e-01 -2.44323896e-03 1.32243408e+02] [ 9.94644759e-01 1.01216182e-01 -2.09066472e-02 1.05028904e+02] [ 2.10465745e-02 -3.14670186e-04 9.99778447e-01 8.10806600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.65804094199999 meters 0.025202164608997726 Centerline is valid? [True, True] Translation: X:132.25, Y:105.06, Z:8.11 [[ 1.00078294e-01 -9.94976385e-01 -2.51562484e-03 1.32245110e+02] [ 9.94742484e-01 1.00109318e-01 -2.15757831e-02 1.05055724e+02] [ 2.17192322e-02 -3.43131333e-04 9.99764051e-01 8.10866931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.688040942 meters 0.024528566126936737 Centerline is valid? [True, True] Translation: X:132.24, Y:105.08, Z:8.11 [[ 9.90380513e-02 -9.95079092e-01 -3.01081031e-03 1.32243209e+02] [ 9.94741624e-01 9.90828805e-02 -2.59168750e-02 1.05084245e+02] [ 2.60876602e-02 -4.28221541e-04 9.99659567e-01 8.10656414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.718040942 meters 0.024693376965273385 Centerline is valid? [True, True] Translation: X:132.25, Y:105.11, Z:8.11 [[ 9.88170532e-02 -9.95100185e-01 -3.28812305e-03 1.32245062e+02] [ 9.94694987e-01 9.88706532e-02 -2.83985301e-02 1.05111535e+02] [ 2.85844814e-02 -4.64420461e-04 9.99591272e-01 8.10833100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.748040942 meters 0.024265997477938075 Centerline is valid? [True, True] Translation: X:132.24, Y:105.14, Z:8.11 [[ 1.00368297e-01 -9.94944309e-01 -3.46810954e-03 1.32241089e+02] [ 9.94492106e-01 1.00427241e-01 -2.99969949e-02 1.05141040e+02] [ 3.01936320e-02 -4.38260265e-04 9.99543972e-01 8.10778582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.778040942 meters 0.02399456274320613 Centerline is valid? [True, True] Translation: X:132.24, Y:105.17, Z:8.11 [[ 1.00905132e-01 -9.94889613e-01 -3.57937141e-03 1.32241299e+02] [ 9.94405716e-01 1.00967688e-01 -3.10289861e-02 1.05169624e+02] [ 3.12318168e-02 -4.28363448e-04 9.99512076e-01 8.10846688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.808040942 meters 0.024177375131898597 Centerline is valid? [True, True] Translation: X:132.24, Y:105.20, Z:8.11 [[ 1.01073894e-01 -9.94872805e-01 -3.48844661e-03 1.32242345e+02] [ 9.94410999e-01 1.01133264e-01 -3.03121889e-02 1.05196203e+02] [ 3.05095704e-02 -4.05178705e-04 9.99534393e-01 8.11013982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.838040942 meters 0.024111023033793057 Centerline is valid? [True, True] Translation: X:132.24, Y:105.22, Z:8.11 [[ 1.00650392e-01 -9.94915279e-01 -3.61759168e-03 1.32240614e+02] [ 9.94415791e-01 1.00714488e-01 -3.15250184e-02 1.05224360e+02] [ 3.17290664e-02 -4.24384842e-04 9.99496416e-01 8.11023951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.868040942 meters 0.023394034596088627 Centerline is valid? [True, True] Translation: X:132.24, Y:105.25, Z:8.11 [[ 1.00151628e-01 -9.94964829e-01 -3.82630280e-03 1.32239703e+02] [ 9.94403102e-01 1.00223653e-01 -3.34318590e-02 1.05252997e+02] [ 3.36470099e-02 -4.56632276e-04 9.99433675e-01 8.10887406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.898040942 meters 0.023506409158073206 Centerline is valid? [True, True] Translation: X:132.24, Y:105.28, Z:8.11 [[ 1.00265967e-01 -9.94952967e-01 -3.91537069e-03 1.32239995e+02] [ 9.94361560e-01 1.00341358e-01 -3.43030673e-02 1.05279976e+02] [ 3.45228122e-02 -4.53863901e-04 9.99403807e-01 8.10927008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.928040942 meters 0.023573184901244968 Centerline is valid? [True, True] Translation: X:132.24, Y:105.31, Z:8.11 [[ 9.88163779e-02 -9.95097061e-01 -4.14282087e-03 1.32237457e+02] [ 9.94432040e-01 9.89017890e-02 -3.63779285e-02 1.05308144e+02] [ 3.66093021e-02 -5.25018681e-04 9.99329517e-01 8.10705604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.958040942 meters 0.0235667057917306 Centerline is valid? [True, True] Translation: X:132.24, Y:105.34, Z:8.11 [[ 9.63615544e-02 -9.95336911e-01 -4.34567989e-03 1.32236955e+02] [ 9.94601368e-01 9.64574038e-02 -3.82634120e-02 1.05337134e+02] [ 3.85041593e-02 -6.35097308e-04 9.99258238e-01 8.10627087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98804094199997 meters 0.02552452364089032 Centerline is valid? [True, True] Translation: X:132.23, Y:105.36, Z:8.10 [[ 8.87758064e-02 -9.96041592e-01 -4.47257530e-03 1.32234502e+02] [ 9.95259468e-01 8.88833570e-02 -3.94758172e-02 1.05364373e+02] [ 3.97170933e-02 -9.46875411e-04 9.99210516e-01 8.10455946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.01804094199997 meters 0.0260079841369078 Centerline is valid? [True, True] Translation: X:132.24, Y:105.39, Z:8.11 [[ 8.50314821e-02 -9.96368877e-01 -4.32530027e-03 1.32236528e+02] [ 9.95635488e-01 8.51348806e-02 -3.82364543e-02 1.05392737e+02] [ 3.84658470e-02 -1.05512006e-03 9.99259358e-01 8.10554350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04804094199997 meters 0.02784838460774838 Centerline is valid? [True, True] Translation: X:132.24, Y:105.42, Z:8.11 [[ 8.15639883e-02 -9.96659644e-01 -4.10734042e-03 1.32241961e+02] [ 9.95995399e-01 8.16596314e-02 -3.63987485e-02 1.05419390e+02] [ 3.66125676e-02 -1.12206507e-03 9.99328905e-01 8.10873492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.07804094199997 meters 0.027948163300951775 Centerline is valid? [True, True] Translation: X:132.24, Y:105.45, Z:8.11 [[ 7.69478290e-02 -9.97027798e-01 -3.82118192e-03 1.32237448e+02] [ 9.96451983e-01 7.70333193e-02 -3.39015234e-02 1.05447879e+02] [ 3.40951195e-02 -1.19897568e-03 9.99417873e-01 8.11210581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10804094199997 meters 0.02828316061034134 Centerline is valid? [True, True] Translation: X:132.24, Y:105.48, Z:8.11 [[ 7.59001102e-02 -9.97108475e-01 -3.72327435e-03 1.32235198e+02] [ 9.96558900e-01 7.59819583e-02 -3.31225205e-02 1.05477229e+02] [ 3.33096476e-02 -1.19645923e-03 9.99444364e-01 8.11406703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.13804094199998 meters 0.029382760397779692 Centerline is valid? [True, True] Translation: X:132.23, Y:105.50, Z:8.12 [[ 7.57895492e-02 -9.97117289e-01 -3.61340754e-03 1.32234104e+02] [ 9.96597426e-01 7.58667774e-02 -3.22149420e-02 1.05504909e+02] [ 3.23962132e-02 -1.15955673e-03 9.99474432e-01 8.11689488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16804094199998 meters 0.05302625022765007 Centerline is valid? [True, True] Translation: X:132.08, Y:105.55, Z:8.14 [[ 5.21231791e-02 -9.98639248e-01 -1.68119239e-03 1.32077952e+02] [ 9.98527133e-01 5.21425637e-02 -1.49906132e-02 1.05549575e+02] [ 1.50578764e-02 -8.97357806e-04 9.99886221e-01 8.13531621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 2972.21 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%| | 0/6639 [00:00