+ python -m lidar_slam --no-model /working/ff8c623c-376f-4e6e-9c31-7f1dda13867f Lidar SLAM 0.0.12 ===================================================== The recording path: /working/ff8c623c-376f-4e6e-9c31-7f1dda13867f 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 0.01538475 Adjusted end_distance from 9.223372036854776e+18 to 193.81538475 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.01538475 meters 0.35032471484196415 Centerline is valid? [0, False] SLAMing on 0.04538475 meters 0.36684230407562873 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999036e-01 -8.97269822e-04 -1.06007524e-03 3.68187010e-03] [ 8.97064248e-04 9.99999579e-01 -1.94383142e-04 5.26487867e-04] [ 1.06024921e-03 1.93431999e-04 9.99999419e-01 -5.14151367e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.07538475 meters 0.3543544885435116 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.00 [[ 9.99996956e-01 -1.39801888e-03 -2.03324279e-03 6.86776838e-03] [ 1.39849263e-03 9.99998995e-01 2.31600454e-04 2.54851109e-04] [ 2.03291696e-03 -2.34443224e-04 9.99997906e-01 -8.50626805e-06] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.10538475 meters 0.34432493744441284 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:0.00 [[ 9.99994398e-01 -1.77596602e-03 -2.83706456e-03 9.22089760e-03] [ 1.77824181e-03 9.99998099e-01 7.99840367e-04 -1.29500669e-04] [ 2.83563868e-03 -8.04880874e-04 9.99995656e-01 1.18436611e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.13538475 meters 0.35606252439176134 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:0.00 [[ 9.99991828e-01 -2.00212711e-03 -3.51203961e-03 1.07643298e-02] [ 2.00694320e-03 9.99997050e-01 1.36832271e-03 -9.67554071e-04] [ 3.50928970e-03 -1.37535999e-03 9.99992897e-01 2.52496956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.16538475 meters 0.34609599665323443 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:0.00 [[ 9.99989500e-01 -2.16676845e-03 -4.03793965e-03 1.18096646e-02] [ 2.17365364e-03 9.99996190e-01 1.70151915e-03 -8.64032563e-04] [ 4.03423747e-03 -1.71027836e-03 9.99990400e-01 3.90429633e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.19538475 meters 0.34430620245443616 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:0.01 [[ 0.99998743 -0.00210636 -0.00455033 0.01210116] [ 0.00211248 0.99999687 0.00134081 0.00170445] [ 0.0045475 -0.00135041 0.99998875 0.00564241] [ 0. 0. 0. 1. ]] SLAMing on 0.22538475 meters 0.3461694381333846 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:0.01 [[ 0.99998456 -0.00231169 -0.00505297 0.01337219] [ 0.00232036 0.99999585 0.00170944 0.00149282] [ 0.005049 -0.00172114 0.99998577 0.00666771] [ 0. 0. 0. 1. ]] SLAMing on 0.25538475 meters 0.34533799569176094 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:0.01 [[ 9.99978304e-01 -2.69777391e-03 -6.00938073e-03 1.61745296e-02] [ 2.71559384e-03 9.99991934e-01 2.95916749e-03 -9.88799552e-04] [ 6.00134910e-03 -2.97542232e-03 9.99977565e-01 8.48596702e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.28538475 meters 0.34451309907014654 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:0.01 [[ 0.99997031 -0.00326064 -0.00698166 0.02019695] [ 0.0032855 0.99998829 0.00355289 -0.00258923] [ 0.00697 -0.00357572 0.99996932 0.00778422] [ 0. 0. 0. 1. ]] SLAMing on 0.31538475 meters 0.34577654799599217 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:0.01 [[ 0.99995733 -0.00405045 -0.00830283 0.02431123] [ 0.00408754 0.99998172 0.00445445 -0.00481418] [ 0.00828463 -0.0044882 0.99995561 0.00868425] [ 0. 0. 0. 1. ]] SLAMing on 0.34538474999999996 meters 0.33270124601060574 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:0.01 [[ 0.99991522 -0.00851209 -0.00985342 0.0301546 ] [ 0.00854391 0.9999584 0.00319257 -0.01254077] [ 0.00982583 -0.00327649 0.99994636 0.0098456 ] [ 0. 0. 0. 1. ]] SLAMing on 0.37538475 meters 0.3322970105008793 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:0.01 [[ 0.99989123 -0.00943629 -0.01133542 0.03452478] [ 0.00948347 0.99994656 0.0041154 -0.0145254 ] [ 0.01129598 -0.00422246 0.99992728 0.01114185] [ 0. 0. 0. 1. ]] SLAMing on 0.40538475 meters 0.33858141662891655 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:0.01 [[ 0.9998104 -0.01478113 -0.0126762 0.03965147] [ 0.0148026 0.99988915 0.00160154 -0.0187267 ] [ 0.01265112 -0.00178888 0.99991837 0.01256506] [ 0. 0. 0. 1. ]] SLAMing on 0.43538475 meters 0.34674404438395523 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:0.01 [[ 0.99997895 -0.00344936 -0.00549478 0.0369532 ] [ 0.00342819 0.99998669 -0.00385677 -0.0235438 ] [ 0.00550801 0.00383785 0.99997747 0.01038256] [ 0. 0. 0. 1. ]] SLAMing on 0.46538474999999996 meters 0.3356141794241498 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.03, Z:0.01 [[ 0.99997401 -0.00106895 -0.00713055 0.04307612] [ 0.0010793 0.99999837 0.0014476 -0.02531967] [ 0.00712899 -0.00145526 0.99997353 0.0115316 ] [ 0. 0. 0. 1. ]] SLAMing on 0.49538475 meters 0.3372137279183942 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.03, Z:0.01 [[ 0.99996395 -0.00207971 -0.00823284 0.04748348] [ 0.00209122 0.99999685 0.00138938 -0.02541107] [ 0.00822993 -0.00140654 0.99996514 0.01054417] [ 0. 0. 0. 1. ]] SLAMing on 0.52538475 meters 0.3434157197315714 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.03, Z:0.01 [[ 9.99951970e-01 6.76675802e-05 -9.80066331e-03 5.29704466e-02] [-6.61293192e-06 9.99980596e-01 6.22954294e-03 -2.54796606e-02] [ 9.80089468e-03 -6.22917892e-03 9.99932568e-01 1.26839873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.55538475 meters 0.340902942805924 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.02, Z:0.01 [[ 9.99942186e-01 -7.68182655e-04 -1.07254318e-02 5.57640923e-02] [ 8.32984705e-04 9.99981420e-01 6.03874658e-03 -2.41735673e-02] [ 1.07205936e-02 -6.04733157e-03 9.99924246e-01 1.33237495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5853847499999999 meters 0.3398102945709612 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.02, Z:0.01 [[ 0.9999255 -0.00226157 -0.01199477 0.06014703] [ 0.00232294 0.99998428 0.00510419 -0.02016483] [ 0.01198304 -0.00513167 0.99991503 0.01342806] [ 0. 0. 0. 1. ]] SLAMing on 0.6153847499999999 meters 0.3405660440956075 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.02, Z:0.01 [[ 0.99991279 -0.00312585 -0.01283096 0.06279387] [ 0.00318583 0.99998408 0.00465663 -0.01827406] [ 0.0128162 -0.0046971 0.99990684 0.0136985 ] [ 0. 0. 0. 1. ]] SLAMing on 0.64538475 meters 0.32279181379912586 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.02, Z:0.01 [[ 9.99977627e-01 -2.14515675e-04 -6.68569541e-03 8.18124496e-02] [ 2.25567238e-04 9.99998610e-01 1.65230614e-03 -1.60772398e-02] [ 6.68533167e-03 -1.65377724e-03 9.99976285e-01 1.36082503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6753847499999999 meters 0.32279181379912586 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.02, Z:0.01 [[ 9.99977627e-01 -2.14515675e-04 -6.68569541e-03 8.18124496e-02] [ 2.25567238e-04 9.99998610e-01 1.65230614e-03 -1.60772398e-02] [ 6.68533167e-03 -1.65377724e-03 9.99976285e-01 1.36082503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7053847499999999 meters 0.329731533058418 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:0.02 [[ 0.99996884 0.00283558 -0.00736675 0.08362657] [-0.00279788 0.99998297 0.00512158 -0.01149717] [ 0.00738115 -0.00510081 0.99995975 0.01543447] [ 0. 0. 0. 1. ]] SLAMing on 0.7353847499999999 meters 0.32644530829359847 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.01, Z:0.02 [[ 0.99996488 0.00178068 -0.00818976 0.086205 ] [-0.00174769 0.99999034 0.00403392 -0.00737158] [ 0.00819687 -0.00401947 0.99995833 0.01554544] [ 0. 0. 0. 1. ]] SLAMing on 0.76538475 meters 0.33243810718962585 Centerline is valid? [False, False] Translation: X:0.09, Y:0.00, Z:0.01 [[ 0.99994707 0.00427434 -0.00935896 0.09030359] [-0.00422121 0.9999749 0.00568976 0.00171984] [ 0.00938304 -0.00564995 0.99994002 0.01456677] [ 0. 0. 0. 1. ]] SLAMing on 0.79538475 meters 0.320952866164382 Centerline is valid? [False, False] Translation: X:0.09, Y:0.01, Z:0.01 [[ 0.9999436 0.00291234 -0.0102132 0.0938649 ] [-0.00287351 0.9999886 0.00381441 0.00737313] [ 0.01022419 -0.00378485 0.99994057 0.01279444] [ 0. 0. 0. 1. ]] SLAMing on 0.8253847499999999 meters 0.3113195882307215 Centerline is valid? [False, False] Translation: X:0.10, Y:0.02, Z:0.01 [[ 0.99992358 0.00579389 -0.01092076 0.09677928] [-0.00573771 0.99997018 0.00516934 0.01685747] [ 0.01095038 -0.00510629 0.999927 0.01086432] [ 0. 0. 0. 1. ]] SLAMing on 0.8553847499999999 meters 0.3097197635205688 Centerline is valid? [False, False] Translation: X:0.10, Y:0.02, Z:0.01 [[ 0.99992025 0.00477263 -0.01169257 0.09959675] [-0.00472893 0.99998174 0.00376251 0.02141785] [ 0.01171031 -0.00370692 0.99992456 0.00995198] [ 0. 0. 0. 1. ]] SLAMing on 0.8853847499999999 meters 0.3175450052430765 Centerline is valid? [False, False] Translation: X:0.10, Y:0.03, Z:0.01 [[ 0.99989229 0.0073772 -0.01268768 0.10258769] [-0.00729876 0.99995404 0.00621735 0.0286618 ] [ 0.01273296 -0.00612408 0.99990018 0.01073872] [ 0. 0. 0. 1. ]] SLAMing on 0.9153847499999999 meters 0.3152728760962298 Centerline is valid? [False, False] Translation: X:0.13, Y:0.04, Z:0.01 [[ 0.99991484 -0.00190965 -0.01290958 0.12774568] [ 0.00202086 0.99996092 0.00860704 0.03554697] [ 0.01289264 -0.0086324 0.99987962 0.00990928] [ 0. 0. 0. 1. ]] SLAMing on 0.9453847499999999 meters 0.3077171506089926 Centerline is valid? [False, False] Translation: X:0.13, Y:0.04, Z:0.01 [[ 9.99899449e-01 2.03513312e-04 -1.41792450e-02 1.31962350e-01] [-4.25609903e-05 9.99935579e-01 1.13506389e-02 4.17759292e-02] [ 1.41806416e-02 -1.13488941e-02 9.99835042e-01 1.05777025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9753847499999999 meters 0.3069137621744517 Centerline is valid? [False, False] Translation: X:0.16, Y:0.04, Z:0.01 [[ 0.99994462 0.00440738 -0.0095569 0.15826139] [-0.00429458 0.99992125 0.01179205 0.04378532] [ 0.00960812 -0.01175036 0.9998848 0.00898647] [ 0. 0. 0. 1. ]] SLAMing on 1.00538475 meters 0.31075166354213013 Centerline is valid? [False, False] Translation: X:0.16, Y:0.05, Z:0.01 [[ 9.99952255e-01 1.42176964e-04 -9.77079593e-03 1.58864308e-01] [-7.78535366e-05 9.99978327e-01 6.58329821e-03 4.73195951e-02] [ 9.77152016e-03 -6.58222319e-03 9.99930593e-01 8.29973842e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.03538475 meters 0.31215518527876174 Centerline is valid? [False, False] Translation: X:0.18, Y:0.05, Z:0.01 [[ 0.99998985 0.00157085 -0.00422361 0.18113538] [-0.00155609 0.99999267 0.00349761 0.0497003 ] [ 0.00422908 -0.00349101 0.99998496 0.00750768] [ 0. 0. 0. 1. ]] SLAMing on 1.06538475 meters 0.3155034744562247 Centerline is valid? [False, False] Translation: X:0.18, Y:0.05, Z:0.01 [[ 9.99988074e-01 9.37398397e-04 -4.79300977e-03 1.82774872e-01] [-9.22757485e-04 9.99994905e-01 3.05593810e-03 5.18710559e-02] [ 4.79584998e-03 -3.05147887e-03 9.99983844e-01 8.03033614e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.09538475 meters 0.3099466320058045 Centerline is valid? [False, False] Translation: X:0.18, Y:0.06, Z:0.01 [[ 9.99986382e-01 6.35693485e-04 -5.17983897e-03 1.83389329e-01] [-6.25131911e-04 9.99997723e-01 2.04034139e-03 5.67616384e-02] [ 5.18112421e-03 -2.03707552e-03 9.99984503e-01 8.78429128e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1253847499999998 meters 0.31022358303437714 Centerline is valid? [False, False] Translation: X:0.18, Y:0.06, Z:0.01 [[ 9.99984904e-01 7.65084470e-05 -5.49411061e-03 1.84426090e-01] [-7.13859660e-05 9.99999563e-01 9.32548597e-04 6.05914633e-02] [ 5.49417956e-03 -9.32142317e-04 9.99984472e-01 8.57927900e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1553847499999998 meters 0.31941021026848915 Centerline is valid? [False, False] Translation: X:0.19, Y:0.07, Z:0.01 [[ 0.99997562 0.00372142 -0.00590828 0.18563376] [-0.00370474 0.99998913 0.00283212 0.06843025] [ 0.00591876 -0.00281017 0.99997854 0.00779036] [ 0. 0. 0. 1. ]] SLAMing on 1.1853847499999999 meters 0.3103622235148635 Centerline is valid? [False, False] Translation: X:0.19, Y:0.07, Z:0.01 [[ 0.99995304 0.00741293 -0.00624268 0.18715612] [-0.00738183 0.9999603 0.00499007 0.07488156] [ 0.00627943 -0.00494376 0.99996806 0.00609904] [ 0. 0. 0. 1. ]] SLAMing on 1.21538475 meters 0.31315391976371215 Centerline is valid? [False, False] Translation: X:0.19, Y:0.08, Z:0.01 [[ 0.99995552 0.00690267 -0.0064275 0.18831701] [-0.00687753 0.99996864 0.003926 0.07799437] [ 0.0064544 -0.00388162 0.99997164 0.0050296 ] [ 0. 0. 0. 1. ]] SLAMing on 1.24538475 meters 0.3111823911912049 Centerline is valid? [False, False] Translation: X:0.19, Y:0.08, Z:0.00 [[ 0.99995553 0.00684388 -0.00648808 0.18836906] [-0.00682762 0.9999735 0.00252447 0.08243795] [ 0.00650518 -0.00248006 0.99997577 0.0044989 ] [ 0. 0. 0. 1. ]] SLAMing on 1.27538475 meters 0.31359672389145793 Centerline is valid? [False, False] Translation: X:0.19, Y:0.08, Z:0.00 [[ 0.99995673 0.00639783 -0.00675341 0.18938826] [-0.00638521 0.99997783 0.00188815 0.08452465] [ 0.00676534 -0.00184495 0.99997541 0.00421872] [ 0. 0. 0. 1. ]] SLAMing on 1.30538475 meters 0.31465225521489054 Centerline is valid? [False, False] Translation: X:0.19, Y:0.09, Z:0.00 [[ 0.99995713 0.0057068 -0.00729233 0.19172781] [-0.00569877 0.99998313 0.00112101 0.0867091 ] [ 0.0072986 -0.00107941 0.99997278 0.00307316] [ 0. 0. 0. 1. ]] SLAMing on 1.3353847499999998 meters 0.30830914011418775 Centerline is valid? [False, False] Translation: X:0.19, Y:0.09, Z:0.00 [[ 9.99956526e-01 5.30587973e-03 -7.66767824e-03 1.93406782e-01] [-5.29923860e-03 9.99985566e-01 8.86177382e-04 8.72615772e-02] [ 7.67226952e-03 -8.45506000e-04 9.99970210e-01 2.37672165e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3653847499999998 meters 0.31295684881556846 Centerline is valid? [False, False] Translation: X:0.19, Y:0.09, Z:0.00 [[ 9.99955796e-01 5.38046183e-03 -7.71086655e-03 1.93893347e-01] [-5.37510879e-03 9.99985299e-01 7.14776010e-04 8.75100784e-02] [ 7.71459902e-03 -6.73297667e-04 9.99970015e-01 1.63063146e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3953847499999998 meters 0.31240191591832284 Centerline is valid? [False, False] Translation: X:0.20, Y:0.09, Z:0.00 [[ 9.99954544e-01 5.15842202e-03 -8.01880821e-03 1.95127144e-01] [-5.15287067e-03 9.99986470e-01 7.12798431e-04 8.74381489e-02] [ 8.02237663e-03 -6.71446148e-04 9.99967595e-01 1.26753732e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4253847499999999 meters 0.31600868283086325 Centerline is valid? [False, False] Translation: X:0.20, Y:0.09, Z:0.00 [[ 9.99952866e-01 5.46997277e-03 -8.02156186e-03 1.95306886e-01] [-5.46501411e-03 9.99984862e-01 6.39955624e-04 8.72795753e-02] [ 8.02494097e-03 -5.96087511e-04 9.99967622e-01 6.40110643e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.45538475 meters 0.3201084512719014 Centerline is valid? [False, False] Translation: X:0.19, Y:0.09, Z:0.00 [[ 9.99951420e-01 6.46369290e-03 -7.44168302e-03 1.92600060e-01] [-6.45824151e-03 9.99978859e-01 7.56344837e-04 8.69441613e-02] [ 7.44641448e-03 -7.08247907e-04 9.99972024e-01 1.68641386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.48538475 meters 0.32147964889373687 Centerline is valid? [False, False] Translation: X:0.19, Y:0.09, Z:0.00 [[ 9.99950050e-01 6.74056928e-03 -7.37978813e-03 1.91766502e-01] [-6.73386444e-03 9.99976892e-01 9.33012668e-04 8.69004046e-02] [ 7.38590664e-03 -8.83271572e-04 9.99972334e-01 2.71294347e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.51538475 meters 0.4092246138472627 Centerline is valid? [False, False] Translation: X:0.19, Y:0.09, Z:0.00 [[ 9.99948910e-01 7.13813877e-03 -7.15707140e-03 1.90445906e-01] [-7.13156241e-03 9.99974125e-01 9.43963230e-04 8.72529440e-02] [ 7.16362435e-03 -8.92873902e-04 9.99973942e-01 3.60973506e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.54538475 meters 0.41238194904043707 Centerline is valid? [False, False] Translation: X:0.17, Y:0.09, Z:-0.00 [[ 9.99981249e-01 6.12125657e-03 1.76219845e-04 1.71597385e-01] [-6.12129241e-03 9.99981244e-01 2.03590492e-04 9.18359165e-02] [-1.74970310e-04 -2.04665368e-04 9.99999964e-01 -7.64135618e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.57538475 meters 0.41315565491209366 Centerline is valid? [False, False] Translation: X:0.17, Y:0.09, Z:-0.00 [[ 9.99979175e-01 6.44385126e-03 3.54896453e-04 1.70717659e-01] [-6.44390559e-03 9.99979226e-01 1.52147577e-04 9.20861524e-02] [-3.53908664e-04 -1.54431328e-04 9.99999925e-01 -3.75210561e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6053847499999998 meters 0.41806927807331085 Centerline is valid? [False, False] Translation: X:0.17, Y:0.09, Z:-0.00 [[ 9.99975158e-01 7.02464029e-03 5.81935632e-04 1.69995817e-01] [-7.02455175e-03 9.99975316e-01 -1.54037675e-04 9.23283070e-02] [-5.83003326e-04 1.49946012e-04 9.99999819e-01 -8.89305295e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6353847499999998 meters 0.4178230301960844 Centerline is valid? [False, False] Translation: X:0.17, Y:0.09, Z:-0.00 [[ 9.99973862e-01 7.20024459e-03 6.56929816e-04 1.69842476e-01] [-7.20010587e-03 9.99974056e-01 -2.13288855e-04 9.22027635e-02] [-6.58448505e-04 2.08553316e-04 9.99999761e-01 -1.14680901e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6653847499999999 meters 0.42034605994361 Centerline is valid? [False, False] Translation: X:0.17, Y:0.09, Z:-0.00 [[ 9.99966500e-01 8.11522949e-03 1.06844402e-03 1.68212518e-01] [-8.11562091e-03 9.99967002e-01 3.62519525e-04 8.99996667e-02] [-1.06546683e-03 -3.71178467e-04 9.99999364e-01 -8.39625724e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6953847499999999 meters 0.41049891094352065 Centerline is valid? [False, False] Translation: X:0.17, Y:0.09, Z:-0.00 [[ 9.99987526e-01 4.79130466e-03 1.41118693e-03 1.66845427e-01] [-4.78703341e-03 9.99983998e-01 -3.01469122e-03 8.63598386e-02] [-1.42560865e-03 3.00789822e-03 9.99994460e-01 -7.95720955e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.72538475 meters 0.42082916878127813 Centerline is valid? [False, False] Translation: X:0.17, Y:0.08, Z:-0.00 [[ 9.99986177e-01 5.11627409e-03 1.21186936e-03 1.67081788e-01] [-5.11406682e-03 9.99985271e-01 -1.81752798e-03 8.25780965e-02] [-1.22115048e-03 1.81130527e-03 9.99997614e-01 -2.43650613e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.75538475 meters 0.415654972467306 Centerline is valid? [False, False] Translation: X:0.17, Y:0.07, Z:-0.00 [[ 0.99999774 0.00170151 0.00127324 0.16732404] [-0.00169626 0.99999009 -0.00411647 0.0746907 ] [-0.00128024 0.0041143 0.99999072 -0.00134994] [ 0. 0. 0. 1. ]] SLAMing on 1.78538475 meters 0.41298895846699 Centerline is valid? [False, False] Translation: X:0.17, Y:0.07, Z:-0.00 [[ 0.99999666 -0.00213414 0.00145638 0.16748028] [ 0.00214518 0.99996867 -0.00761952 0.07079438] [-0.00144007 0.00762262 0.99996991 -0.00247443] [ 0. 0. 0. 1. ]] SLAMing on 1.8153847499999998 meters 0.4205168284341107 Centerline is valid? [False, False] Translation: X:0.17, Y:0.06, Z:0.00 [[ 0.99990654 -0.00633739 -0.01211378 0.1657616 ] [ 0.00624879 0.99995355 -0.00733797 0.05738441] [ 0.01215972 0.00726159 0.9998997 0.00498038] [ 0. 0. 0. 1. ]] SLAMing on 1.8453847499999998 meters 0.4129123336566903 Centerline is valid? [False, False] Translation: X:0.17, Y:0.05, Z:0.01 [[ 0.99990422 -0.00608635 -0.01243019 0.16642446] [ 0.00601642 0.99996591 -0.00565528 0.05216896] [ 0.01246418 0.00557995 0.99990675 0.00556469] [ 0. 0. 0. 1. ]] SLAMing on 1.8753847499999998 meters 0.4012228188396886 Centerline is valid? [False, False] Translation: X:0.15, Y:0.04, Z:0.00 [[ 0.99987791 -0.01419136 -0.00654007 0.15443554] [ 0.01416388 0.99989074 -0.00422944 0.04439207] [ 0.00659937 0.00413629 0.99996967 0.00167947] [ 0. 0. 0. 1. ]] SLAMing on 1.9053847499999998 meters 0.4026604240649966 Centerline is valid? [False, False] Translation: X:0.15, Y:0.04, Z:0.00 [[ 0.99988607 -0.01349882 -0.00675481 0.15371011] [ 0.0134876 0.99990759 -0.00170324 0.03803737] [ 0.00677718 0.00161194 0.99997574 0.00431033] [ 0. 0. 0. 1. ]] SLAMing on 1.9353847499999999 meters 0.41128337395956827 Centerline is valid? [False, False] Translation: X:0.15, Y:0.03, Z:0.01 [[ 0.99983018 -0.01744821 -0.00593054 0.1492534 ] [ 0.01743618 0.99984583 -0.00207489 0.02722826] [ 0.00596583 0.00197114 0.99998026 0.01116218] [ 0. 0. 0. 1. ]] SLAMing on 1.96538475 meters 0.3974086904283685 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:0.02 [[ 9.99835397e-01 -1.74361660e-02 -5.01593266e-03 1.44004359e-01] [ 1.74347721e-02 9.99847951e-01 -3.21482657e-04 2.11853056e-02] [ 5.02077542e-03 2.33978097e-04 9.99987368e-01 1.70101247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.99538475 meters 0.3956837361783475 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:0.02 [[ 0.99977257 -0.02103326 -0.00352216 0.13690569] [ 0.02102685 0.9997772 -0.00184729 0.01275736] [ 0.00356023 0.00177281 0.99999209 0.02422829] [ 0. 0. 0. 1. ]] SLAMing on 2.0253847499999997 meters 0.3931142258029903 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:0.03 [[ 9.99785288e-01 -2.04082402e-02 -3.58899284e-03 1.35959954e-01] [ 2.04079014e-02 9.99791729e-01 -1.30993688e-04 8.83827844e-03] [ 3.59091871e-03 5.77217505e-05 9.99993551e-01 2.64071634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.05538475 meters 0.3862315177087061 Centerline is valid? [False, False] Translation: X:0.13, Y:0.00, Z:0.03 [[ 9.99797375e-01 -1.99876254e-02 -2.38809223e-03 1.29658437e-01] [ 1.99897747e-02 9.99799798e-01 8.79536328e-04 3.31142578e-03] [ 2.37003428e-03 -9.27095538e-04 9.99996762e-01 3.14663807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.08538475 meters 0.37951989684369114 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.00, Z:0.03 [[ 9.99921069e-01 -1.11282258e-02 -5.83244597e-03 1.35690422e-01] [ 1.11006129e-02 9.99927125e-01 -4.74554570e-03 -8.49171285e-04] [ 5.88483044e-03 4.68042740e-03 9.99971731e-01 3.23881260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.11538475 meters 0.3744308374088585 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.00, Z:0.03 [[ 0.99992377 -0.01095307 -0.00569972 0.13543457] [ 0.01092576 0.99992878 -0.0048016 -0.00108629] [ 0.00575191 0.00473896 0.99997223 0.03202468] [ 0. 0. 0. 1. ]] SLAMing on 2.14538475 meters 0.36547336660050356 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.00, Z:0.03 [[ 9.99928475e-01 -1.06880771e-02 -5.36751269e-03 1.35042070e-01] [ 1.06590372e-02 9.99928555e-01 -5.41008050e-03 -6.75653365e-04] [ 5.42495257e-03 5.35248103e-03 9.99970960e-01 3.06288961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.17538475 meters 0.36179643389295507 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.00, Z:0.03 [[ 9.99929461e-01 -1.06279748e-02 -5.30271252e-03 1.35070667e-01] [ 1.05987917e-02 9.99928697e-01 -5.50151569e-03 -9.06935709e-04] [ 5.36080439e-03 5.44492528e-03 9.99970807e-01 3.01578969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.20538475 meters 0.35794382058171625 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.00, Z:0.03 [[ 0.99988487 -0.01445014 -0.00463115 0.13410212] [ 0.01440224 0.9998441 -0.01021487 -0.00101097] [ 0.00477804 0.01014699 0.9999371 0.02874035] [ 0. 0. 0. 1. ]] SLAMing on 2.2353847499999997 meters 0.35756991963421314 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.00, Z:0.03 [[ 0.99993816 -0.00991431 -0.00503772 0.13405494] [ 0.00989209 0.99994132 -0.00441646 -0.00402578] [ 0.00508121 0.00436635 0.99997756 0.0307298 ] [ 0. 0. 0. 1. ]] SLAMing on 2.26538475 meters 0.35326133448753033 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:0.03 [[ 0.9998949 -0.01379513 -0.00445872 0.13328496] [ 0.01375625 0.99986808 -0.00863593 -0.00513415] [ 0.00457726 0.00857368 0.99995277 0.0297199 ] [ 0. 0. 0. 1. ]] SLAMing on 2.2953847499999998 meters 0.3512918419322158 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:0.03 [[ 0.99989704 -0.0136267 -0.0044963 0.13326206] [ 0.0135907 0.9998761 -0.0079422 -0.00708204] [ 0.00460397 0.00788027 0.99995835 0.03007802] [ 0. 0. 0. 1. ]] SLAMing on 2.32538475 meters 0.3407223011118925 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:0.03 [[ 0.99983713 -0.01755488 -0.00418727 0.13273321] [ 0.01750624 0.99978195 -0.01138312 -0.00983781] [ 0.00438618 0.01130796 0.99992644 0.03009103] [ 0. 0. 0. 1. ]] SLAMing on 2.35538475 meters 0.33153539223533957 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.02, Z:0.04 [[ 0.99988136 -0.01505912 -0.00323919 0.12850745] [ 0.01504328 0.99987503 -0.00485958 -0.01508497] [ 0.00331196 0.00481028 0.99998295 0.03938432] [ 0. 0. 0. 1. ]] SLAMing on 2.38538475 meters 0.32514056706197275 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.02, Z:0.04 [[ 0.99988805 -0.014647 -0.00305746 0.1273098 ] [ 0.01463403 0.999884 -0.00422251 -0.01516099] [ 0.00311895 0.00417729 0.99998641 0.04102262] [ 0. 0. 0. 1. ]] SLAMing on 2.41538475 meters 0.3138601300992329 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:0.04 [[ 0.99982872 -0.01837497 -0.00221032 0.12527336] [ 0.01835459 0.99979181 -0.00891334 -0.01264558] [ 0.00237364 0.00887124 0.99995783 0.04157661] [ 0. 0. 0. 1. ]] SLAMing on 2.4453847499999997 meters 0.3107087877939557 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.01, Z:0.04 [[ 0.99983159 -0.01824227 -0.00200246 0.12468831] [ 0.01822375 0.99979427 -0.00890605 -0.01204219] [ 0.00216452 0.00886806 0.99995834 0.04188142] [ 0. 0. 0. 1. ]] SLAMing on 2.47538475 meters 0.27397015761957316 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:0.04 [[ 0.99989161 -0.0144579 -0.0027806 0.1257492 ] [ 0.01444793 0.99988924 -0.00357218 -0.01263577] [ 0.00283194 0.00353162 0.99998975 0.04395063] [ 0. 0. 0. 1. ]] SLAMing on 2.5053847499999997 meters 0.26820820095868486 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:0.04 [[ 0.99988978 -0.01458393 -0.00278085 0.12591755] [ 0.01457366 0.99988703 -0.00368017 -0.01234898] [ 0.00283421 0.00363923 0.99998936 0.04378351] [ 0. 0. 0. 1. ]] SLAMing on 2.53538475 meters 0.25436862067746246 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:0.04 [[ 0.99988488 -0.01489291 -0.00290339 0.12630836] [ 0.01488142 0.9998815 -0.00394199 -0.01137417] [ 0.00296175 0.00389833 0.99998802 0.04381696] [ 0. 0. 0. 1. ]] SLAMing on 2.5653847499999998 meters 0.24519487559583872 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:0.05 [[ 9.99932139e-01 -1.09949091e-02 -3.85100704e-03 1.27373357e-01] [ 1.09984452e-02 9.99939112e-01 8.98241113e-04 -1.13846057e-02] [ 3.84089648e-03 -9.40535247e-04 9.99992181e-01 4.56052494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.59538475 meters 0.24519487559583872 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:0.05 [[ 9.99932139e-01 -1.09949091e-02 -3.85100704e-03 1.27373357e-01] [ 1.09984452e-02 9.99939112e-01 8.98241113e-04 -1.13846057e-02] [ 3.84089648e-03 -9.40535247e-04 9.99992181e-01 4.56052494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.62538475 meters 0.23456772840907375 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:0.05 [[ 0.99996795 -0.00672243 -0.00434871 0.12770045] [ 0.00674726 0.99996086 0.00572247 -0.01182839] [ 0.00431008 -0.00575163 0.99997417 0.04687274] [ 0. 0. 0. 1. ]] SLAMing on 2.6553847499999996 meters 0.215735659261637 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:0.04 [[ 0.99996493 -0.007248 -0.00419494 0.1283253 ] [ 0.00726516 0.99996524 0.00409069 -0.00834755] [ 0.00416515 -0.00412103 0.99998283 0.04495194] [ 0. 0. 0. 1. ]] SLAMing on 2.68538475 meters 0.21307955367822892 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:0.04 [[ 0.99996095 -0.0077541 -0.00423968 0.12917456] [ 0.00776741 0.99996493 0.00313212 -0.00679925] [ 0.00421525 -0.00316493 0.99998611 0.04355758] [ 0. 0. 0. 1. ]] SLAMing on 2.7153847499999997 meters 0.1896387629567585 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.00, Z:0.04 [[ 0.99995348 -0.00853803 -0.00448884 0.130674 ] [ 0.00854693 0.99996154 0.00196553 -0.00480507] [ 0.00447188 -0.00200381 0.99998799 0.04181889] [ 0. 0. 0. 1. ]] SLAMing on 2.74538475 meters 0.17843089489342417 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.00, Z:0.04 [[ 0.99995194 -0.00867584 -0.00456547 0.13090497] [ 0.00868384 0.99996079 0.00173513 -0.00416847] [ 0.00455024 -0.00177469 0.99998807 0.04169431] [ 0. 0. 0. 1. ]] SLAMing on 2.7753847499999997 meters 0.15390761883715554 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.00, Z:0.04 [[ 0.99995517 -0.00834342 -0.00447756 0.12991322] [ 0.00835299 0.99996286 0.00212121 -0.00327159] [ 0.0044597 -0.00215851 0.99998773 0.04327662] [ 0. 0. 0. 1. ]] SLAMing on 2.80538475 meters 0.14274558638002166 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.00, Z:0.04 [[ 0.99995625 -0.00818466 -0.00452895 0.12948634] [ 0.0081959 0.99996336 0.00246995 -0.00304853] [ 0.00450857 -0.00250697 0.99998669 0.04433684] [ 0. 0. 0. 1. ]] SLAMing on 2.83538475 meters 0.13859004237992942 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.00, Z:0.05 [[ 0.99995331 -0.00831607 -0.00492176 0.12960286] [ 0.00833065 0.99996095 0.0029487 -0.00265267] [ 0.00489704 -0.00298957 0.99998354 0.0459118 ] [ 0. 0. 0. 1. ]] SLAMing on 2.86538475 meters 0.13034917673676405 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.00, Z:0.05 [[ 9.99948000e-01 -8.71170569e-03 -5.30129562e-03 1.29884273e-01] [ 8.72674478e-03 9.99957944e-01 2.82038217e-03 -3.27562355e-04] [ 5.27650233e-03 -2.86649856e-03 9.99981971e-01 4.71971557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.89538475 meters 0.1332986122520024 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.00, Z:0.05 [[ 9.99967369e-01 -4.91756789e-03 -6.40929063e-03 1.31230639e-01] [ 4.96650411e-03 9.99958468e-01 7.64178087e-03 -6.35068319e-04] [ 6.37144546e-03 -7.67336328e-03 9.99950261e-01 4.88622914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9253847499999996 meters 0.08621687203225553 Centerline is valid? [False, True] Translation: X:0.13, Y:0.00, Z:0.05 [[ 0.99996522 -0.0052958 -0.00644279 0.13119695] [ 0.00533829 0.999964 0.00659604 0.00367464] [ 0.00640762 -0.00663021 0.99995749 0.04919891] [ 0. 0. 0. 1. ]] SLAMing on 2.95538475 meters 0.08554960498595185 Centerline is valid? [True, True] Translation: X:0.16, Y:0.01, Z:0.04 [[ 9.99959628e-01 -4.11829538e-03 -7.98634645e-03 1.61177001e-01] [ 4.12445960e-03 9.99991209e-01 7.55529161e-04 7.87741859e-03] [ 7.98316475e-03 -7.88438022e-04 9.99967823e-01 4.33557859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9853847499999997 meters 0.0850719263508347 Centerline is valid? [True, True] Translation: X:0.19, Y:0.01, Z:0.04 [[ 9.99998679e-01 1.85150041e-04 -1.61496023e-03 1.91183852e-01] [-1.84902770e-04 9.99999971e-01 1.53260643e-04 1.29280748e-02] [ 1.61498856e-03 -1.52961830e-04 9.99998684e-01 4.38905548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.01538475 meters 0.07883973655420869 Centerline is valid? [True, True] Translation: X:0.22, Y:0.02, Z:0.05 [[ 9.99995439e-01 3.01936258e-03 -7.32253335e-05 2.22478096e-01] [-3.01936209e-03 9.99995442e-01 6.90850325e-06 2.34865112e-02] [ 7.32458590e-05 -6.68737794e-06 9.99999997e-01 4.57671681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0453847499999998 meters 0.08203816498015476 Centerline is valid? [True, True] Translation: X:0.25, Y:0.02, Z:0.04 [[ 9.99982642e-01 5.86411583e-03 -5.71878688e-04 2.52373005e-01] [-5.86408583e-03 9.99982805e-01 5.41313674e-05 2.07754226e-02] [ 5.72186287e-04 -5.07768821e-05 9.99999835e-01 4.38781825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.07538475 meters 0.07232232163222405 Centerline is valid? [True, True] Translation: X:0.28, Y:0.04, Z:0.05 [[ 9.99963813e-01 8.23808683e-03 -2.12299346e-03 2.84859839e-01] [-8.23767664e-03 9.99966049e-01 2.01885297e-04 3.79544009e-02] [ 2.12458453e-03 -1.84389458e-04 9.99997726e-01 4.64808216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.10538475 meters 0.07878982117296364 Centerline is valid? [True, True] Translation: X:0.31, Y:0.03, Z:0.04 [[ 9.99933496e-01 1.10610619e-02 -3.26449397e-03 3.14101684e-01] [-1.10601082e-02 9.99938787e-01 3.10049977e-04 3.18821931e-02] [ 3.26772362e-03 -2.73923701e-04 9.99994623e-01 4.06949966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.13538475 meters 0.0744603834001597 Centerline is valid? [True, True] Translation: X:0.35, Y:0.04, Z:0.04 [[ 9.99913130e-01 1.25053586e-02 -4.16524705e-03 3.46832702e-01] [-1.25038002e-02 9.99921744e-01 3.99981972e-04 4.00066431e-02] [ 4.16992301e-03 -3.47865808e-04 9.99991245e-01 4.01895403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.16538475 meters 0.0754317121166706 Centerline is valid? [True, True] Translation: X:0.38, Y:0.04, Z:0.04 [[ 9.99894711e-01 1.38855063e-02 -4.21429878e-03 3.77642790e-01] [-1.38839348e-02 9.99903533e-01 4.01911594e-04 4.03757544e-02] [ 4.21947298e-03 -3.43358228e-04 9.99991039e-01 3.94236267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1953847499999997 meters 0.0754331663052595 Centerline is valid? [True, True] Translation: X:0.41, Y:0.04, Z:0.04 [[ 9.99882324e-01 1.48979307e-02 -3.65930686e-03 4.09781536e-01] [-1.48967389e-02 9.99888975e-01 3.52736218e-04 3.91449868e-02] [ 3.66415563e-03 -2.98182971e-04 9.99993243e-01 3.98742543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.22538475 meters 0.07399090540881445 Centerline is valid? [True, True] Translation: X:0.44, Y:0.04, Z:0.04 [[ 9.99837328e-01 1.79491513e-02 -1.77366488e-03 4.40938323e-01] [-1.79488789e-02 9.99838892e-01 1.69394190e-04 4.33379440e-02] [ 1.77641961e-03 -1.37531338e-04 9.99998413e-01 4.05967292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2553847499999997 meters 0.0685241874862812 Centerline is valid? [True, True] Translation: X:0.47, Y:0.06, Z:0.04 [[ 9.99769916e-01 2.14289803e-02 -9.56127397e-04 4.72858655e-01] [-2.14289027e-02 9.99770371e-01 9.13438442e-05 5.64457839e-02] [ 9.57865248e-04 -7.08340665e-05 9.99999539e-01 4.20253736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.28538475 meters 0.06677367422289943 Centerline is valid? [True, True] Translation: X:0.51, Y:0.06, Z:0.04 [[ 9.99749909e-01 2.23452677e-02 8.99453416e-04 5.05135750e-01] [-2.23452024e-02 9.99750311e-01 -8.25769289e-05 5.90506357e-02] [-9.01074037e-04 6.24578084e-05 9.99999592e-01 4.28393129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3153847499999998 meters 0.07036699806138763 Centerline is valid? [True, True] Translation: X:0.54, Y:0.05, Z:0.04 [[ 9.99748872e-01 2.20788647e-02 3.83634080e-03 5.36888499e-01] [-2.20776273e-02 9.99756193e-01 -3.64610623e-04 5.18911291e-02] [-3.84345566e-03 2.79821756e-04 9.99992575e-01 4.41186596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.34538475 meters 0.06758865946941645 Centerline is valid? [True, True] Translation: X:0.57, Y:0.06, Z:0.04 [[ 9.99769317e-01 2.07294707e-02 5.62152914e-03 5.69903025e-01] [-2.07267646e-02 9.99785032e-01 -5.39215120e-04 5.59147851e-02] [-5.63149834e-03 4.22574621e-04 9.99984054e-01 4.44108933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.37538475 meters 0.06658077127777459 Centerline is valid? [True, True] Translation: X:0.60, Y:0.06, Z:0.05 [[ 9.99824671e-01 1.70836107e-02 7.66662707e-03 6.01056605e-01] [-1.70784606e-02 9.99853881e-01 -7.36724642e-04 5.90632229e-02] [-7.67809275e-03 6.05661284e-04 9.99970340e-01 4.58270244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4053847499999996 meters 0.06532605513047338 Centerline is valid? [True, True] Translation: X:0.63, Y:0.06, Z:0.05 [[ 9.99824791e-01 1.62816529e-02 9.23549538e-03 6.33660846e-01] [-1.62741561e-02 9.99867174e-01 -8.86323794e-04 6.11973528e-02] [-9.24869949e-03 7.35868610e-04 9.99956959e-01 4.62382788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.43538475 meters 0.06863733140316283 Centerline is valid? [True, True] Translation: X:0.66, Y:0.06, Z:0.05 [[ 9.99842520e-01 1.37678588e-02 1.11973809e-02 6.63950543e-01] [-1.37566318e-02 9.99904791e-01 -1.07904829e-03 5.75473400e-02] [-1.12111710e-02 9.24840113e-04 9.99936725e-01 4.53093515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4653847499999997 meters 0.06957280016776105 Centerline is valid? [True, True] Translation: X:0.69, Y:0.06, Z:0.05 [[ 9.99834677e-01 1.37379007e-02 1.19117118e-02 6.94944852e-01] [-1.37251956e-02 9.99905146e-01 -1.14770510e-03 5.50122834e-02] [-1.19263490e-02 9.84024784e-04 9.99928394e-01 4.54359917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.49538475 meters 0.06785666806888054 Centerline is valid? [True, True] Translation: X:0.73, Y:0.06, Z:0.05 [[ 9.99846584e-01 1.41697078e-02 1.02970252e-02 7.27139246e-01] [-1.41602168e-02 9.99899245e-01 -9.94044010e-04 5.90430886e-02] [-1.03100730e-02 8.48083398e-04 9.99946490e-01 4.55879208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5253847499999997 meters 0.06742336274288296 Centerline is valid? [True, True] Translation: X:0.76, Y:0.06, Z:0.04 [[ 9.99857349e-01 1.49319589e-02 7.89413064e-03 7.59723947e-01] [-1.49263948e-02 9.99888304e-01 -7.63285414e-04 5.92732961e-02] [-7.90464625e-03 6.45345620e-04 9.99968550e-01 4.42639046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.55538475 meters 0.06611610074208438 Centerline is valid? [True, True] Translation: X:0.79, Y:0.07, Z:0.04 [[ 9.99866007e-01 1.56776983e-02 4.70930189e-03 7.92554309e-01] [-1.56757278e-02 9.99877025e-01 -4.55055692e-04 6.74140056e-02] [-4.71585698e-03 3.81172983e-04 9.99988808e-01 3.86600293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.58538475 meters 0.06683617427543112 Centerline is valid? [True, True] Translation: X:0.82, Y:0.07, Z:0.04 [[ 9.99872443e-01 1.58162735e-02 2.22351885e-03 8.23240909e-01] [-1.58158371e-02 9.99874899e-01 -2.13734274e-04 6.67541053e-02] [-2.22662117e-03 1.78540199e-04 9.99997505e-01 3.52047865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6153847499999996 meters 0.06921466971921776 Centerline is valid? [True, True] Translation: X:0.85, Y:0.06, Z:0.03 [[ 9.99903358e-01 1.39021919e-02 -6.70932967e-05 8.52721940e-01] [-1.39021915e-02 9.99903360e-01 6.55279069e-06 6.20927256e-02] [ 6.71779110e-05 -5.61941355e-06 9.99999998e-01 3.31466119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.64538475 meters 0.06977071295451445 Centerline is valid? [True, True] Translation: X:0.88, Y:0.06, Z:0.03 [[ 9.99924880e-01 1.22371217e-02 -6.98063979e-04 8.83933274e-01] [-1.22370767e-02 9.99925122e-01 6.87169786e-05 5.85441809e-02] [ 6.98852607e-04 -6.01695541e-05 9.99999754e-01 3.32942372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6753847499999996 meters 0.0691916082661273 Centerline is valid? [True, True] Translation: X:0.91, Y:0.06, Z:0.03 [[ 9.99979202e-01 6.43240709e-03 4.68812649e-04 9.14435128e-01] [-6.43238631e-03 9.99979311e-01 -4.58190265e-05 6.03204705e-02] [-4.69097676e-04 4.28024895e-05 9.99999889e-01 3.49754615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.70538475 meters 0.06866503108070243 Centerline is valid? [True, True] Translation: X:0.95, Y:0.06, Z:0.04 [[ 9.99993662e-01 2.04739490e-03 2.91273410e-03 9.46395887e-01] [-2.04657551e-03 9.99997865e-01 -2.84267802e-04 6.44121475e-02] [-2.91330989e-03 2.78304870e-04 9.99995718e-01 3.50140168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7353847499999997 meters 0.06929606249187502 Centerline is valid? [True, True] Translation: X:0.98, Y:0.06, Z:0.04 [[ 9.99984066e-01 2.72823062e-04 5.63848320e-03 9.77766358e-01] [-2.69721967e-04 9.99999812e-01 -5.50740552e-04 6.43053162e-02] [-5.63863240e-03 5.49210953e-04 9.99983952e-01 3.53608806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.76538475 meters 0.06746140724022243 Centerline is valid? [True, True] Translation: X:1.01, Y:0.07, Z:0.04 [[ 9.99959850e-01 -3.59733328e-04 8.95372968e-03 1.01035334e+00] [ 3.67573936e-04 9.99999550e-01 -8.74050386e-04 7.07591469e-02] [-8.95341123e-03 8.77306450e-04 9.99959533e-01 3.84958253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7953847499999998 meters 0.07057987154196702 Centerline is valid? [True, True] Translation: X:1.04, Y:0.06, Z:0.04 [[ 9.99947660e-01 -2.06775900e-04 1.02291474e-02 1.04082919e+00] [ 2.17044295e-04 9.99999474e-01 -1.00273684e-03 6.46415333e-02] [-1.02289346e-02 1.00490453e-03 9.99947178e-01 3.92557842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.82538475 meters 0.06718946585212668 Centerline is valid? [True, True] Translation: X:1.07, Y:0.08, Z:0.04 [[ 9.99950118e-01 1.77417784e-03 9.82920445e-03 1.07290847e+00] [-1.76478378e-03 9.99997978e-01 -9.64320384e-04 7.86717046e-02] [-9.83089545e-03 9.46925861e-04 9.99951227e-01 3.80019049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.85538475 meters 0.06666018639165297 Centerline is valid? [True, True] Translation: X:1.10, Y:0.08, Z:0.04 [[ 9.99953588e-01 3.95902594e-03 8.78341758e-03 1.10430004e+00] [-3.95160899e-03 9.99991821e-01 -8.61619971e-04 8.33378519e-02] [-8.78675692e-03 8.26871349e-04 9.99961054e-01 3.56227440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8853847499999996 meters 0.06513992863247375 Centerline is valid? [True, True] Translation: X:1.14, Y:0.09, Z:0.03 [[ 9.99936296e-01 8.06528944e-03 7.89652443e-03 1.13582056e+00] [-8.05941971e-03 9.99967222e-01 -7.74869840e-04 9.44826343e-02] [-7.90251515e-03 7.11179073e-04 9.99968522e-01 3.31506842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.91538475 meters 0.06573582415989498 Centerline is valid? [True, True] Translation: X:1.17, Y:0.09, Z:0.03 [[ 9.99905759e-01 1.08251101e-02 8.44332178e-03 1.16549160e+00] [-1.08184970e-02 9.99941135e-01 -8.28518361e-04 9.27458262e-02] [-8.45179357e-03 7.37096230e-04 9.99964011e-01 3.30082478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9453847499999997 meters 0.06279025175386733 Centerline is valid? [True, True] Translation: X:1.20, Y:0.10, Z:0.03 [[ 9.99863171e-01 1.48715187e-02 7.24410654e-03 1.19766707e+00] [-1.48667563e-02 9.99889231e-01 -7.10832324e-04 1.03222828e-01] [-7.25387528e-03 6.03038695e-04 9.99973508e-01 3.34846023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.97538475 meters 0.0625583994948632 Centerline is valid? [True, True] Translation: X:1.23, Y:0.10, Z:0.03 [[ 9.99835559e-01 1.74359660e-02 4.98410726e-03 1.22990131e+00] [-1.74337460e-02 9.99847901e-01 -4.88537105e-04 1.04599115e-01] [-4.99186730e-03 4.01565110e-04 9.99987460e-01 3.16295761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.00538475 meters 0.0619825650548871 Centerline is valid? [True, True] Translation: X:1.26, Y:0.11, Z:0.03 [[ 9.99763139e-01 2.17613019e-02 3.33719473e-04 1.26141151e+00] [-2.17612922e-02 9.99763195e-01 -3.25034461e-05 1.12886453e-01] [-3.34347764e-04 2.52335804e-05 9.99999944e-01 2.72923728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0353847499999995 meters 0.06129697222247557 Centerline is valid? [True, True] Translation: X:1.29, Y:0.12, Z:0.03 [[ 9.99703166e-01 2.43403145e-02 -1.06269071e-03 1.29330316e+00] [-2.43402166e-02 9.99703728e-01 1.04996888e-04 1.15792706e-01] [ 1.06493152e-03 -7.90995995e-05 9.99999430e-01 2.62578319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.06538475 meters 0.06043400626364549 Centerline is valid? [True, True] Translation: X:1.32, Y:0.12, Z:0.03 [[ 9.99425057e-01 3.37563186e-02 -3.17275460e-03 1.32362291e+00] [-3.37554993e-02 9.99430072e-01 3.11464862e-04 1.20262861e-01] [ 3.18146026e-03 -2.04187872e-04 9.99994918e-01 2.61589770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.09538475 meters 0.05910284158737207 Centerline is valid? [True, True] Translation: X:1.35, Y:0.13, Z:0.03 [[ 9.99014554e-01 4.41530451e-02 -4.51989769e-03 1.35410250e+00] [-4.41514878e-02 9.99024749e-01 4.43798876e-04 1.25978353e-01] [ 4.53508473e-03 -2.43801328e-04 9.99989687e-01 2.66038468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.125384749999999 meters 0.05773973680450008 Centerline is valid? [True, True] Translation: X:1.39, Y:0.13, Z:0.03 [[ 9.98778316e-01 4.93235043e-02 -3.01106616e-03 1.38567421e+00] [-4.93228354e-02 9.98782844e-01 2.96033067e-04 1.30065870e-01] [ 3.02200261e-03 -1.47157087e-04 9.99995423e-01 2.55928862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.15538475 meters 0.0567695533600891 Centerline is valid? [True, True] Translation: X:1.42, Y:0.13, Z:0.02 [[ 9.98317802e-01 5.77510271e-02 -5.13667561e-03 1.41689127e+00] [-5.77491935e-02 9.98330995e-01 5.04678025e-04 1.34913329e-01] [ 5.15724815e-03 -2.07190183e-04 9.99986680e-01 2.47661159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.18538475 meters 0.05625250102490858 Centerline is valid? [True, True] Translation: X:1.45, Y:0.13, Z:0.02 [[ 9.98140471e-01 6.07060791e-02 -5.51115757e-03 1.44941286e+00] [-6.07039819e-02 9.98155663e-01 5.47177686e-04 1.34838656e-01] [ 5.53421015e-03 -2.11610984e-04 9.99984664e-01 2.44459541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.21538475 meters 0.05559816550110002 Centerline is valid? [True, True] Translation: X:1.48, Y:0.13, Z:0.03 [[ 9.98016376e-01 6.27805042e-02 -4.68200691e-03 1.48117857e+00] [-6.27790033e-02 9.98027344e-01 4.66987795e-04 1.33726123e-01] [ 4.70208865e-03 -1.72129740e-04 9.99988930e-01 2.54336603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2453847499999995 meters 0.05561370327197224 Centerline is valid? [True, True] Translation: X:1.51, Y:0.13, Z:0.03 [[ 9.97984932e-01 6.33720948e-02 -3.17059012e-03 1.51201535e+00] [-6.33714035e-02 9.97989962e-01 3.18142680e-04 1.28067226e-01] [ 3.18437848e-03 -1.16576856e-04 9.99994923e-01 2.53202139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.27538475 meters 0.05591658042979579 Centerline is valid? [True, True] Translation: X:1.54, Y:0.12, Z:0.03 [[ 9.98093894e-01 6.17038439e-02 -1.10191095e-03 1.54292707e+00] [-6.17037583e-02 9.98094501e-01 1.11593276e-04 1.21125782e-01] [ 1.10669699e-03 -4.33885207e-05 9.99999387e-01 2.56467723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.30538475 meters 0.0558592619927693 Centerline is valid? [True, True] Translation: X:1.57, Y:0.12, Z:0.02 [[ 9.98098712e-01 6.16145806e-02 -1.61392314e-03 1.57463048e+00] [-6.16143947e-02 9.98100015e-01 1.64719471e-04 1.16984305e-01] [ 1.62100583e-03 -6.49653941e-05 9.99998684e-01 2.45123439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.33538475 meters 0.056204101683520635 Centerline is valid? [True, True] Translation: X:1.61, Y:0.11, Z:0.02 [[ 9.98052199e-01 6.22563080e-02 -3.99506339e-03 1.60649883e+00] [-6.22551929e-02 9.98060183e-01 4.02980420e-04 1.12763701e-01] [ 4.01240177e-03 -1.53482052e-04 9.99991939e-01 2.27495897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.36538475 meters 0.056069895699601274 Centerline is valid? [True, True] Translation: X:1.64, Y:0.11, Z:0.02 [[ 9.97991129e-01 6.32080733e-02 -4.29489521e-03 1.63711625e+00] [-6.32067910e-02 9.98000357e-01 4.33759236e-04 1.08365889e-01] [ 4.31372404e-03 -1.61421325e-04 9.99990683e-01 2.13951521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.39538475 meters 0.055690586157618634 Centerline is valid? [True, True] Translation: X:1.67, Y:0.10, Z:0.02 [[ 9.97793831e-01 6.61513588e-02 -5.60962557e-03 1.66866953e+00] [-6.61492132e-02 9.97809581e-01 5.67353824e-04 1.03068407e-01] [ 5.63486936e-03 -1.95029828e-04 9.99984105e-01 2.15790380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.42538475 meters 0.055676803766731425 Centerline is valid? [True, True] Translation: X:1.70, Y:0.10, Z:0.02 [[ 9.97646390e-01 6.83993287e-02 -4.81784840e-03 1.69935677e+00] [-6.83977648e-02 9.97658011e-01 4.88816462e-04 9.77649920e-02] [ 4.83999977e-03 -1.58135917e-04 9.99988275e-01 2.08453918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4553847499999994 meters 0.054745578868388586 Centerline is valid? [True, True] Translation: X:1.73, Y:0.09, Z:0.02 [[ 9.97233397e-01 7.41258102e-02 -5.56030089e-03 1.73088127e+00] [-7.41238304e-02 9.97248887e-01 5.61588315e-04 9.46060253e-02] [ 5.58663206e-03 -1.47883822e-04 9.99984384e-01 1.92409363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.48538475 meters 0.054745578868388586 Centerline is valid? [True, True] Translation: X:1.76, Y:0.09, Z:0.02 [[ 9.97209242e-01 7.44500909e-02 -5.55978680e-03 1.76308787e+00] [-7.44480877e-02 9.97224729e-01 5.66679271e-04 9.12444798e-02] [ 5.58654621e-03 -1.51182311e-04 9.99984384e-01 1.87899006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.51538475 meters 0.05459697895799339 Centerline is valid? [True, True] Translation: X:1.79, Y:0.09, Z:0.02 [[ 9.96906799e-01 7.83802284e-02 -5.77702743e-03 1.79472784e+00] [-7.83781262e-02 9.96923528e-01 5.89747247e-04 8.78293450e-02] [ 5.80547910e-03 -1.35130455e-04 9.99983139e-01 1.76950619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.54538475 meters 0.05417775481514744 Centerline is valid? [True, True] Translation: X:1.82, Y:0.08, Z:0.02 [[ 9.96530204e-01 8.30607213e-02 -5.33571949e-03 1.82472503e+00] [-8.30590105e-02 9.96544483e-01 5.41804128e-04 7.99096416e-02] [ 5.36228447e-03 -9.67445964e-05 9.99985618e-01 1.50509142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.57538475 meters 0.05397925944431503 Centerline is valid? [True, True] Translation: X:1.86, Y:0.07, Z:0.01 [[ 9.96461174e-01 8.38261118e-02 -6.18960387e-03 1.85511529e+00] [-8.38237912e-02 9.96480391e-01 6.33850875e-04 6.73524218e-02] [ 6.22095214e-03 -1.12771725e-04 9.99980643e-01 1.40279891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.60538475 meters 0.053902246638658086 Centerline is valid? [True, True] Translation: X:1.89, Y:0.06, Z:0.01 [[ 9.96567412e-01 8.26001393e-02 -5.53273519e-03 1.88672095e+00] [-8.25982570e-02 9.96582764e-01 5.68232079e-04 5.81603292e-02] [ 5.56076458e-03 -1.09287289e-04 9.99984533e-01 1.39865071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.63538475 meters 0.054060995499091186 Centerline is valid? [True, True] Translation: X:1.92, Y:0.04, Z:0.01 [[ 9.96922272e-01 7.83208029e-02 -3.44013780e-03 1.91730303e+00] [-7.83200416e-02 9.96928204e-01 3.55682099e-04 4.35996223e-02] [ 3.45742771e-03 -8.51556711e-05 9.99994019e-01 1.46303077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.665384749999999 meters 0.05422919645023228 Centerline is valid? [True, True] Translation: X:1.95, Y:0.03, Z:0.01 [[ 9.97082825e-01 7.62582058e-02 -3.24425266e-03 1.94875129e+00] [-7.62575142e-02 9.97088100e-01 3.36526524e-04 3.43508286e-02] [ 3.26046862e-03 -8.81461743e-05 9.99994681e-01 1.37355344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.69538475 meters 0.05477639199080911 Centerline is valid? [True, True] Translation: X:1.98, Y:0.02, Z:0.02 [[ 9.97573922e-01 6.96148887e-02 1.93202696e-04 1.97728412e+00] [-6.96148864e-02 9.97573941e-01 -1.90494813e-05 1.65739281e-02] [-1.94060102e-04 5.55348209e-06 9.99999981e-01 1.55594955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.72538475 meters 0.05413748430284743 Centerline is valid? [True, True] Translation: X:2.01, Y:0.01, Z:0.02 [[ 9.97701865e-01 6.77485101e-02 1.06229776e-03 2.00852963e+00] [-6.77484363e-02 9.97702430e-01 -1.05356120e-04 1.03802916e-02] [-1.06699478e-03 3.31449849e-05 9.99999430e-01 1.73135854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.75538475 meters 0.054321148414552774 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.00, Z:0.02 [[ 9.97973607e-01 6.36276674e-02 -4.46559237e-04 2.03826736e+00] [-6.36276531e-02 9.97973707e-01 4.62500125e-05 -1.11492960e-04] [ 4.48597157e-04 -1.77427756e-05 9.99999899e-01 1.51849282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7853847499999995 meters 0.054847898558813925 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.01, Z:0.01 [[ 9.97980901e-01 6.34818161e-02 -2.04463096e-03 2.06893845e+00] [-6.34815129e-02 9.97982992e-01 2.12928422e-04 -8.46536455e-03] [ 2.05402401e-03 -8.27022317e-05 9.99997887e-01 1.29323932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.81538475 meters 0.05492140341581267 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.02, Z:0.01 [[ 9.97979633e-01 6.35102551e-02 -1.76041394e-03 2.10098672e+00] [-6.35100248e-02 9.97981183e-01 1.86481667e-04 -1.70910912e-02] [ 1.76870348e-03 -7.43009724e-05 9.99998433e-01 1.16188500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.84538475 meters 0.05484968975615753 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.02, Z:0.01 [[ 9.97896209e-01 6.48109723e-02 -1.64118104e-03 2.13187932e+00] [-6.48107741e-02 9.97897557e-01 1.73706497e-04 -2.25552933e-02] [ 1.64898863e-03 -6.69748413e-05 9.99998638e-01 1.19121855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.875384749999999 meters 0.05405428765461592 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.03, Z:0.01 [[ 9.97634440e-01 6.86514764e-02 -3.53535118e-03 2.16274850e+00] [-6.86506057e-02 9.97640697e-01 3.67184049e-04 -2.66161056e-02] [ 3.55221794e-03 -1.23611454e-04 9.99993683e-01 1.24788431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.90538475 meters 0.054166816624852274 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.03, Z:0.01 [[ 9.97529892e-01 7.00383259e-02 -5.36174984e-03 2.19387275e+00] [-7.00363167e-02 9.97544284e-01 5.61795306e-04 -3.13496983e-02] [ 5.38793011e-03 -1.84890401e-04 9.99985468e-01 1.12486609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.93538475 meters 0.05374751932743342 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.04, Z:0.01 [[ 9.97460789e-01 7.06900708e-02 -8.65384342e-03 2.22544307e+00] [-7.06848645e-02 9.97498285e-01 9.06381407e-04 -3.74784810e-02] [ 8.69626614e-03 -2.92384163e-04 9.99962144e-01 1.25241090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.96538475 meters 0.05378566279947907 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.04, Z:0.01 [[ 9.97537440e-01 6.96340311e-02 -8.37603990e-03 2.25673775e+00] [-6.96290953e-02 9.97572561e-01 8.79813766e-04 -4.40255181e-02] [ 8.41697256e-03 -2.94431091e-04 9.99964533e-01 1.28059076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9953847499999995 meters 0.054675885708797986 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.06, Z:0.01 [[ 9.97848498e-01 6.48685924e-02 -9.51008060e-03 2.28525147e+00] [-6.48620559e-02 9.97893744e-01 9.94466601e-04 -5.69489673e-02] [ 9.55455959e-03 -3.75483623e-04 9.99954284e-01 1.21599207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.02538475 meters 0.05551739655633719 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.07, Z:0.01 [[ 9.98327781e-01 5.71165502e-02 -8.90737144e-03 2.31449025e+00] [-5.71105054e-02 9.98367428e-01 9.31723487e-04 -6.97609556e-02] [ 8.94604635e-03 -4.21460957e-04 9.99959895e-01 1.36157319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.05538475 meters 0.05653352897381519 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.08, Z:0.01 [[ 9.98602662e-01 5.19525210e-02 -9.67771628e-03 2.34483145e+00] [-5.19451388e-02 9.98649426e-01 1.01277967e-03 -7.89577534e-02] [ 9.71726227e-03 -5.08654160e-04 9.99952657e-01 1.22747162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.085384749999999 meters 0.057725877770432296 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.09, Z:0.01 [[ 9.99094923e-01 4.13789228e-02 -9.85497419e-03 2.37461268e+00] [-4.13707564e-02 9.99143332e-01 1.03117288e-03 -9.13869409e-02] [ 9.88920057e-03 -6.22531848e-04 9.99950907e-01 1.35498680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.11538475 meters 0.06042916522939965 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.10, Z:0.01 [[ 9.99312366e-01 3.57546826e-02 -9.81823055e-03 2.40314565e+00] [-3.57463024e-02 9.99360368e-01 1.02775408e-03 -1.03483921e-01] [ 9.84869752e-03 -6.76081925e-04 9.99951272e-01 1.25984638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.14538475 meters 0.06013644092864752 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.11, Z:0.01 [[ 9.99618981e-01 2.57984940e-02 -9.81477472e-03 2.43330949e+00] [-2.57896424e-02 9.99666864e-01 1.02738161e-03 -1.09619115e-01] [ 9.83800996e-03 -7.73870627e-04 9.99951306e-01 1.49399584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.17538475 meters 0.061191306242744034 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.11, Z:0.01 [[ 9.99716221e-01 2.14814783e-02 -1.02967404e-02 2.46335918e+00] [-2.14715096e-02 9.99768880e-01 1.07772340e-03 -1.14827058e-01] [ 1.03175117e-02 -8.56331006e-04 9.99946406e-01 1.40431340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2053847499999994 meters 0.06084958566035098 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.11, Z:0.01 [[ 9.99798553e-01 1.78795699e-02 -9.12001808e-03 2.49436487e+00] [-1.78716001e-02 9.99839834e-01 9.54631939e-04 -1.14322129e-01] [ 9.13562577e-03 -7.91450315e-04 9.99957956e-01 1.33321327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.23538475 meters 0.061617678976549344 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.11, Z:0.01 [[ 9.99760458e-01 1.96383685e-02 -9.66239956e-03 2.52478966e+00] [-1.96295001e-02 9.99806811e-01 1.01180801e-03 -1.13172670e-01] [ 9.68040315e-03 -8.21897565e-04 9.99952806e-01 1.14714925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.26538475 meters 0.06132515764747683 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.11, Z:0.01 [[ 9.99689543e-01 2.27287784e-02 -1.02088361e-02 2.55627236e+00] [-2.27190367e-02 9.99741318e-01 1.06920656e-03 -1.11584175e-01] [ 1.02304970e-02 -8.36939696e-04 9.99947317e-01 1.07672930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.295384749999999 meters 0.06285831905193681 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.11, Z:0.01 [[ 9.99383288e-01 3.32365775e-02 -1.13302135e-02 2.58656208e+00] [-3.32252492e-02 9.99447185e-01 1.18664583e-03 -1.08721401e-01] [ 1.13633900e-02 -8.09464842e-04 9.99935107e-01 6.40886123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.32538475 meters 0.05795718471341674 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.10, Z:0.01 [[ 9.99127431e-01 4.02660230e-02 -1.10915989e-02 2.61871461e+00] [-4.02555947e-02 9.99188739e-01 1.16194273e-03 -9.57641896e-02] [ 1.11293875e-02 -7.14429945e-04 9.99937811e-01 7.79843535e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.35538475 meters 0.05594708735579614 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.08, Z:0.01 [[ 9.98470201e-01 5.44992011e-02 -9.33248128e-03 2.64959864e+00] [-5.44924387e-02 9.98513705e-01 9.77553517e-04 -8.29602357e-02] [ 9.37188634e-03 -4.67508392e-04 9.99955974e-01 6.62995020e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.38538475 meters 0.05438636902484615 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.08, Z:0.01 [[ 9.98031393e-01 6.19984342e-02 -9.46221496e-03 2.68061777e+00] [-6.19918188e-02 9.98076165e-01 9.91119193e-04 -7.68552721e-02] [ 9.50545906e-03 -4.02588153e-04 9.99954741e-01 6.98558485e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.415384749999999 meters 0.054030553681804615 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.07, Z:0.00 [[ 9.97408304e-01 7.13856007e-02 -8.98729808e-03 2.71082265e+00] [-7.13800172e-02 9.97448749e-01 9.40906524e-04 -6.98782457e-02] [ 9.03153641e-03 -2.96954488e-04 9.99959171e-01 4.07253148e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.44538475 meters 0.05327906827748225 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.07, Z:0.00 [[ 9.97206948e-01 7.42707250e-02 -7.88435221e-03 2.74285422e+00] [-7.42665059e-02 9.97238087e-01 8.26958930e-04 -6.82433571e-02] [ 7.92399515e-03 -2.39105900e-04 9.99968576e-01 4.07533646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.47538475 meters 0.05322757004923424 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.07, Z:0.00 [[ 9.96919373e-01 7.78670060e-02 -9.40710485e-03 2.77474957e+00] [-7.78611086e-02 9.96963722e-01 9.92084192e-04 -6.78275696e-02] [ 9.45579289e-03 -2.56580338e-04 9.99955260e-01 2.35867272e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.50538475 meters 0.0532435398801442 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.07, Z:0.00 [[ 9.96800379e-01 7.92493674e-02 -1.04183192e-02 2.80701840e+00] [-7.92421734e-02 9.96854785e-01 1.10216542e-03 -7.05035064e-02] [ 1.04728972e-02 -2.73068656e-04 9.99945120e-01 7.93936540e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5353847499999995 meters 0.05338279394050304 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.07, Z:-0.00 [[ 9.96748613e-01 7.98061224e-02 -1.10989084e-02 2.83993652e+00] [-7.97979553e-02 9.96810363e-01 1.17746212e-03 -7.39046474e-02] [ 1.11574756e-02 -2.87963535e-04 9.99937712e-01 -2.84425630e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.56538475 meters 0.05362096768437076 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.08, Z:-0.00 [[ 9.96750367e-01 7.99056110e-02 -1.01882116e-02 2.87084588e+00] [-7.98987128e-02 9.96802399e-01 1.08296017e-03 -7.91319874e-02] [ 1.02421684e-02 -2.65415953e-04 9.99947512e-01 -2.28943791e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.59538475 meters 0.053799301576150795 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.09, Z:-0.00 [[ 9.96834589e-01 7.88569779e-02 -1.01182198e-02 2.90264698e+00] [-7.88500889e-02 9.96885901e-01 1.07859607e-03 -8.51019186e-02] [ 1.01717655e-02 -2.77359339e-04 9.99948228e-01 -2.27060789e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.625384749999999 meters 0.05399305233592655 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.09, Z:-0.00 [[ 9.96887672e-01 7.81634286e-02 -1.02688073e-02 2.93399079e+00] [-7.81562678e-02 9.96940517e-01 1.09740940e-03 -9.05506514e-02] [ 1.03231673e-02 -2.91422253e-04 9.99946672e-01 -2.58491031e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.65538475 meters 0.05441540345177448 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.10, Z:-0.00 [[ 9.97080432e-01 7.58049258e-02 -9.17739789e-03 2.96440075e+00] [-7.57990840e-02 9.97122626e-01 9.83201652e-04 -9.91795427e-02] [ 9.22552262e-03 -2.84692774e-04 9.99957403e-01 -2.10298563e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.68538475 meters 0.05433928396915444 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.10, Z:-0.00 [[ 9.97209995e-01 7.42802980e-02 -7.39342417e-03 2.99595717e+00] [-7.42764415e-02 9.97237373e-01 7.95211751e-04 -1.02905058e-01] [ 7.43206747e-03 -2.43835869e-04 9.99972352e-01 -3.99885011e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.71538475 meters 0.05461769009685399 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.11, Z:-0.00 [[ 9.97159494e-01 7.50836637e-02 -5.94873768e-03 3.02688191e+00] [-7.50811673e-02 9.97177219e-01 6.42199728e-04 -1.09489306e-01] [ 5.98016441e-03 -1.93737387e-04 9.99982100e-01 -2.08415919e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7453847499999995 meters 0.05435025632443736 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.11, Z:-0.00 [[ 9.97019050e-01 7.70393688e-02 -4.23668609e-03 3.05920508e+00] [-7.70381242e-02 9.97028043e-01 4.56419101e-04 -1.12979705e-01] [ 4.25925708e-03 -1.28672190e-04 9.99990921e-01 -6.09031193e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.77538475 meters 0.05431973739961392 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.12, Z:-0.00 [[ 9.96896520e-01 7.86776871e-02 -2.67409097e-03 3.09031007e+00] [-7.86771873e-02 9.96900103e-01 2.91751228e-04 -1.18015542e-01] [ 2.68875588e-03 -8.04558277e-05 9.99996382e-01 -1.73079306e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.80538475 meters 0.05413310233644439 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.12, Z:-0.00 [[ 9.96638175e-01 8.18933203e-02 -2.41493858e-03 3.12264043e+00] [-8.18929265e-02 9.96641099e-01 2.61630497e-04 -1.23389120e-01] [ 2.42825283e-03 -6.29845533e-05 9.99997050e-01 -2.26098562e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.835384749999999 meters 0.05396168051166728 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.13, Z:-0.00 [[ 9.96482463e-01 8.37829947e-02 -1.76360598e-03 3.15381427e+00] [-8.37827818e-02 9.96484023e-01 1.94371338e-04 -1.30781157e-01] [ 1.77369019e-03 -4.59278151e-05 9.99998426e-01 -2.77646041e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.86538475 meters 0.05412776467467895 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.14, Z:-0.00 [[ 9.96438427e-01 8.43120546e-02 -1.39203798e-03 3.18425063e+00] [-8.43119213e-02 9.96439399e-01 1.54274172e-04 -1.37517501e-01] [ 1.40008866e-03 -3.63593164e-05 9.99999019e-01 -3.37308389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.89538475 meters 0.054456740254793634 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.15, Z:-0.00 [[ 9.96564335e-01 8.28106064e-02 -1.38889088e-03 3.21551321e+00] [-8.28104714e-02 9.96565302e-01 1.54556430e-04 -1.49937805e-01] [ 1.39691937e-03 -3.90107173e-05 9.99999024e-01 -3.88689322e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.92538475 meters 0.05481827721736059 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.16, Z:-0.00 [[ 9.96704446e-01 8.10942930e-02 -1.99059160e-03 3.24682189e+00] [-8.10940143e-02 9.96706432e-01 2.20459749e-04 -1.58756961e-01] [ 2.00191348e-03 -5.83081483e-05 9.99997994e-01 -4.22662645e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9553847499999994 meters 0.05509212868831056 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.17, Z:-0.01 [[ 9.96856179e-01 7.91921439e-02 -2.52241777e-03 3.27777925e+00] [-7.91916912e-02 9.96859367e-01 2.79012742e-04 -1.68024060e-01] [ 2.53659140e-03 -7.83810468e-05 9.99996780e-01 -5.11386828e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.98538475 meters 0.05591294144084873 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.18, Z:-0.01 [[ 9.97179965e-01 7.50339147e-02 -1.42454716e-03 3.30869302e+00] [-7.50337674e-02 9.97180981e-01 1.56635572e-04 -1.82804423e-01] [ 1.43228431e-03 -4.93047139e-05 9.99998973e-01 -6.44386472e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.01538475 meters 0.056524468629505435 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.19, Z:-0.01 [[ 9.97300599e-01 7.34070708e-02 -1.70776569e-03 3.33863438e+00] [-7.34068523e-02 9.97302059e-01 1.90355476e-04 -1.92242978e-01] [ 1.71713168e-03 -6.44799265e-05 9.99998524e-01 -7.86290675e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.045384749999999 meters 0.05625451586497223 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.20, Z:-0.01 [[ 9.97312338e-01 7.32355830e-02 -2.15658339e-03 3.37001822e+00] [-7.32352341e-02 9.97314666e-01 2.40392271e-04 -2.03226605e-01] [ 2.16839751e-03 -8.18082882e-05 9.99997646e-01 -7.85940977e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.07538475 meters 0.056538199697219946 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.21, Z:-0.01 [[ 9.97234723e-01 7.42529819e-02 -3.06626164e-03 3.40068195e+00] [-7.42522849e-02 9.97239431e-01 3.40667430e-04 -2.11958894e-01] [ 3.08309258e-03 -1.12048458e-04 9.99995241e-01 -9.04871001e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.10538475 meters 0.055935579043792184 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.22, Z:-0.01 [[ 9.97023053e-01 7.70964251e-02 -1.08260809e-03 3.43131483e+00] [-7.70963406e-02 9.97023641e-01 1.19636241e-04 -2.18776947e-01] [ 1.08860938e-03 -3.58149688e-05 9.99999407e-01 -8.15669844e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.13538475 meters 0.05633413440618237 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.23, Z:-0.01 [[ 9.96626113e-01 8.20751911e-02 2.33468580e-04 3.46064567e+00] [-8.20751874e-02 9.96626140e-01 -2.54301319e-05 -2.27821312e-01] [-2.34768073e-04 6.18235601e-06 9.99999972e-01 -1.13633138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.165384749999999 meters 0.05509835815522759 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.23, Z:-0.01 [[ 9.96299531e-01 8.59237873e-02 2.08514984e-03 3.49268227e+00] [-8.59234966e-02 9.96301712e-01 -2.28768906e-04 -2.28760240e-01] [-2.09709504e-03 4.87589886e-05 9.99997800e-01 -1.03724695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.19538475 meters 0.05440581817491969 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.23, Z:-0.01 [[ 9.95795072e-01 9.15550687e-02 3.13750571e-03 3.52425214e+00] [-9.15544366e-02 9.95800013e-01 -3.44800801e-04 -2.34091772e-01] [-3.15589648e-03 5.60983718e-05 9.99995019e-01 -9.08027487e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.22538475 meters 0.05443683205630229 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.24, Z:-0.01 [[ 9.95629577e-01 9.33495649e-02 2.75767985e-03 3.55578996e+00] [-9.33490895e-02 9.95633395e-01 -3.00855730e-04 -2.40093054e-01] [-2.77372290e-03 4.21139601e-05 9.99996152e-01 -9.43791883e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.25538475 meters 0.054422874257330785 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.25, Z:-0.01 [[ 9.95503614e-01 9.47011719e-02 2.05998731e-03 3.58601146e+00] [-9.47009098e-02 9.95505744e-01 -2.24603763e-04 -2.49804236e-01] [-2.07199944e-03 2.85111850e-05 9.99997853e-01 -1.19475536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2853847499999995 meters 0.05430397409355533 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.26, Z:-0.01 [[ 9.95519271e-01 9.44920176e-02 3.55515247e-03 3.61768768e+00] [-9.44912248e-02 9.95525618e-01 -3.90684881e-04 -2.56981417e-01] [-3.57616196e-03 5.30036166e-05 9.99993604e-01 -1.15912517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.31538475 meters 0.05474701634505094 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.27, Z:-0.01 [[ 9.95916493e-01 9.01240040e-02 5.29177752e-03 3.64709199e+00] [-9.01221682e-02 9.95930546e-01 -5.84838839e-04 -2.72383298e-01] [-5.32295089e-03 1.05544182e-04 9.99985827e-01 -1.08196418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.34538475 meters 0.05515286893753295 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.28, Z:-0.01 [[ 9.96179385e-01 8.71098028e-02 6.20600928e-03 3.67808901e+00] [-8.71072074e-02 9.96198706e-01 -6.87792527e-04 -2.82967242e-01] [-6.24233189e-03 1.44576599e-04 9.99980506e-01 -1.14988152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.375384749999999 meters 0.05654000834846784 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.30, Z:-0.01 [[ 9.96873361e-01 7.88358372e-02 5.33030183e-03 3.70573970e+00] [-7.88337902e-02 9.96887597e-01 -5.93388256e-04 -3.01963151e-01] [-5.36049204e-03 1.71325049e-04 9.99985618e-01 -1.40016441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.40538475 meters 0.05654000834846784 Centerline is valid? [True, True] Translation: X:3.74, Y:-0.31, Z:-0.01 [[ 9.96850599e-01 7.91231312e-02 5.33049875e-03 3.73786986e+00] [-7.91210977e-02 9.96864836e-01 -5.91624627e-04 -3.05699248e-01] [-5.36059796e-03 1.68006451e-04 9.99985618e-01 -1.44520672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.43538475 meters 0.05776658639157039 Centerline is valid? [True, True] Translation: X:3.77, Y:-0.32, Z:-0.02 [[ 9.97253773e-01 7.39573594e-02 3.90144872e-03 3.76755202e+00] [-7.39562205e-02 9.97261394e-01 -4.35580137e-04 -3.18361937e-01] [-3.92297854e-03 1.45847534e-04 9.99992294e-01 -1.54075637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.46538475 meters 0.059973014433992465 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.34, Z:-0.02 [[ 9.98088765e-01 6.15893082e-02 5.05711179e-03 3.79644352e+00] [-6.15872330e-02 9.98101545e-01 -5.65205087e-04 -3.38446997e-01] [-5.08232168e-03 2.52671325e-04 9.99987053e-01 -1.52117791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4953847499999995 meters 0.06315845010996964 Centerline is valid? [True, True] Translation: X:3.82, Y:-0.35, Z:-0.02 [[ 9.98447748e-01 5.54429893e-02 5.30755533e-03 3.82433600e+00] [-5.54406151e-02 9.98461810e-01 -5.93526727e-04 -3.53811248e-01] [-5.33229820e-03 2.98351291e-04 9.99985739e-01 -1.65192477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.52538475 meters 0.0654031364594264 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.37, Z:-0.02 [[ 9.99024177e-01 4.36307489e-02 6.85938109e-03 3.85413043e+00] [-4.36265092e-02 9.99047617e-01 -7.66573054e-04 -3.68050720e-01] [-6.88629448e-03 4.66574162e-04 9.99976180e-01 -1.57161667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.55538475 meters 0.06853585385661655 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.38, Z:-0.01 [[ 9.99391573e-01 3.38447445e-02 8.42713381e-03 3.88319319e+00] [-3.38379962e-02 9.99426887e-01 -9.42119362e-04 -3.82152922e-01] [-8.45418990e-03 6.56388829e-04 9.99964047e-01 -1.43070969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.585384749999999 meters 0.07315002229147967 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.40, Z:-0.01 [[ 9.99508397e-01 2.99812644e-02 9.16999695e-03 3.91142485e+00] [-2.99731112e-02 9.99550180e-01 -1.02528964e-03 -3.95784721e-01] [-9.19661157e-03 7.49932263e-04 9.99957429e-01 -1.49279054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.61538475 meters 0.07086189364429864 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.39, Z:-0.01 [[ 9.99586977e-01 2.68819589e-02 1.01604977e-02 3.94216664e+00] [-2.68717922e-02 9.99638243e-01 -1.13583342e-03 -3.93759061e-01] [-1.01873555e-02 8.62333515e-04 9.99947736e-01 -1.42753346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.64538475 meters 0.07256646583413165 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.40, Z:-0.01 [[ 9.99681680e-01 2.28895866e-02 1.06115292e-02 3.97232655e+00] [-2.28782728e-02 9.99737554e-01 -1.18636171e-03 -3.96968179e-01] [-1.06358996e-02 9.43210605e-04 9.99942992e-01 -1.41241044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.67538475 meters 0.07210319983642968 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.40, Z:-0.01 [[ 9.99692954e-01 2.29246849e-02 9.40510448e-03 4.00405761e+00] [-2.29158099e-02 9.99736847e-01 -1.05033888e-03 -3.98030017e-01] [-9.42670818e-03 8.34490795e-04 9.99955219e-01 -1.39189680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7053847499999994 meters 0.07249496163838362 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.40, Z:-0.01 [[ 9.99681672e-01 2.37178365e-02 8.60338540e-03 4.03729636e+00] [-2.37104158e-02 9.99718404e-01 -9.63520669e-04 -3.95191169e-01] [-8.62381535e-03 7.59224108e-04 9.99962526e-01 -1.34405143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.73538475 meters 0.07094413462489796 Centerline is valid? [True, True] Translation: X:4.07, Y:-0.39, Z:-0.01 [[ 9.99661082e-01 2.46504835e-02 8.37112786e-03 4.07109965e+00] [-2.46434846e-02 9.99695863e-01 -9.38215949e-04 -3.86259111e-01] [-8.39170937e-03 7.31604209e-04 9.99964521e-01 -1.38887720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.76538475 meters 0.07034002439582085 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.38, Z:-0.01 [[ 9.99631003e-01 2.57595315e-02 8.61994580e-03 4.10348982e+00] [-2.57521425e-02 9.99667891e-01 -9.67116318e-04 -3.84024932e-01] [-8.64199549e-03 7.44777383e-04 9.99962380e-01 -1.44879751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.795384749999999 meters 0.07399782019017694 Centerline is valid? [True, True] Translation: X:4.13, Y:-0.38, Z:-0.01 [[ 9.99589755e-01 2.76239661e-02 7.56553090e-03 4.13383891e+00] [-2.76183274e-02 9.99618181e-01 -8.48802036e-04 -3.83773792e-01] [-7.58608952e-03 6.39506510e-04 9.99971021e-01 -1.46385564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.82538475 meters 0.06821089564803268 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.37, Z:-0.01 [[ 9.99572625e-01 2.85656621e-02 6.21050669e-03 4.16745391e+00] [-2.85618851e-02 9.99591784e-01 -6.96016583e-04 -3.69353100e-01] [-6.22785363e-03 5.18335344e-04 9.99980472e-01 -1.44565562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.85538475 meters 0.06788188401454848 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.36, Z:-0.01 [[ 9.99539465e-01 3.00265372e-02 4.38923876e-03 4.20074183e+00] [-3.00246643e-02 9.99549037e-01 -4.91993848e-04 -3.60712663e-01] [-4.40203225e-03 3.59981847e-04 9.99990246e-01 -1.49545524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.88538475 meters 0.06980529318058806 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.36, Z:-0.02 [[ 9.99503775e-01 3.12592626e-02 3.88099134e-03 4.23153676e+00] [-3.12577965e-02 9.99511260e-01 -4.37863376e-04 -3.62621958e-01] [-3.89278183e-03 3.16334860e-04 9.99992373e-01 -1.63836677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.915384749999999 meters 0.06649443835260543 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.35, Z:-0.02 [[ 9.99410632e-01 3.42367903e-02 2.49629095e-03 4.26447481e+00] [-3.42361927e-02 9.99413730e-01 -2.81756941e-04 -3.47802120e-01] [-2.50447390e-03 1.96127385e-04 9.99996845e-01 -1.77061672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.94538475 meters 0.06723548478391647 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.35, Z:-0.02 [[ 9.99356825e-01 3.58387534e-02 1.23285556e-03 4.29504398e+00] [-3.58386090e-02 9.99357581e-01 -1.39045519e-04 -3.47470431e-01] [-1.23704677e-03 9.47722599e-05 9.99999230e-01 -1.99570614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.97538475 meters 0.06587500809349733 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.34, Z:-0.02 [[ 9.99219349e-01 3.94975105e-02 7.99349268e-04 4.32732537e+00] [-3.94974509e-02 9.99219667e-01 -9.02101604e-05 -3.38898144e-01] [-8.02288586e-04 5.85674793e-05 9.99999676e-01 -2.09962484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.005384749999999 meters 0.06600418909331045 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.34, Z:-0.02 [[ 9.99107062e-01 4.22253715e-02 1.44818407e-03 4.35694263e+00] [-4.22251781e-02 9.99108106e-01 -1.63878768e-04 -3.38460041e-01] [-1.45381229e-03 1.02582604e-04 9.99998938e-01 -2.13199224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0353847499999995 meters 0.06327591177228531 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.33, Z:-0.02 [[ 9.98857440e-01 4.77826273e-02 7.96626496e-04 4.38948793e+00] [-4.77825707e-02 9.98857757e-01 -8.99385178e-05 -3.26469296e-01] [-8.00014054e-04 5.17708958e-05 9.99999679e-01 -2.15173056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.06538475 meters 0.06295695573460645 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.32, Z:-0.02 [[ 9.98743883e-01 5.00826384e-02 1.54434425e-03 4.42151626e+00] [-5.00824298e-02 9.98745073e-01 -1.73478173e-04 -3.24672448e-01] [-1.55109445e-03 9.59157516e-05 9.99998792e-01 -2.27059132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.09538475 meters 0.06197303647154955 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.32, Z:-0.02 [[ 9.98489076e-01 5.48949155e-02 2.47245902e-03 4.45270032e+00] [-5.48943911e-02 9.98492127e-01 -2.79514020e-04 -3.17978206e-01] [-2.48407477e-03 1.43367563e-04 9.99996904e-01 -2.31589241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.125384749999999 meters 0.0632450441425455 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.32, Z:-0.02 [[ 9.98392816e-01 5.66421895e-02 1.85695116e-03 4.48338273e+00] [-5.66419000e-02 9.98394537e-01 -2.08176631e-04 -3.21267712e-01] [-1.86576148e-03 1.02660811e-04 9.99998254e-01 -2.41289067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.15538475 meters 0.06219318924065907 Centerline is valid? [True, True] Translation: X:4.52, Y:-0.32, Z:-0.02 [[ 9.98307732e-01 5.80621323e-02 3.23449365e-03 4.51637189e+00] [-5.80612585e-02 9.98312956e-01 -3.63483093e-04 -3.15717709e-01] [-3.25014152e-03 1.75069210e-04 9.99994703e-01 -2.29700152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.18538475 meters 0.06259983848077941 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.32, Z:-0.02 [[ 9.98271856e-01 5.87040388e-02 2.67142236e-03 4.54720375e+00] [-5.87034414e-02 9.98275420e-01 -3.01528118e-04 -3.18251202e-01] [-2.68451620e-03 1.44185348e-04 9.99996386e-01 -2.40761254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.215384749999999 meters 0.06125228094795142 Centerline is valid? [True, True] Translation: X:4.58, Y:-0.31, Z:-0.02 [[ 9.98358909e-01 5.71792513e-02 3.16581811e-03 4.58023582e+00] [-5.71783998e-02 9.98363912e-01 -3.58923132e-04 -3.12040794e-01] [-3.18116151e-03 1.77317693e-04 9.99994924e-01 -2.35174078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2453847499999995 meters 0.06196179372596909 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.31, Z:-0.03 [[ 9.98526558e-01 5.42245250e-02 2.10072327e-03 4.61135803e+00] [-5.42241432e-02 9.98528760e-01 -2.38321169e-04 -3.13588623e-01] [-2.11055546e-03 1.24060098e-04 9.99997765e-01 -2.50786304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.27538475 meters 0.06368324010366447 Centerline is valid? [True, True] Translation: X:4.64, Y:-0.32, Z:-0.03 [[ 9.98801787e-01 4.89216827e-02 1.28834518e-03 4.64080984e+00] [-4.89215341e-02 9.98802614e-01 -1.46656437e-04 -3.16504948e-01] [-1.29397721e-03 8.34528892e-05 9.99999159e-01 -2.67873945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.30538475 meters 0.06663413909510275 Centerline is valid? [True, True] Translation: X:4.67, Y:-0.32, Z:-0.03 [[ 9.98950517e-01 4.57688816e-02 1.75303182e-03 4.67002903e+00] [-4.57686033e-02 9.98952049e-01 -1.98533154e-04 -3.24539486e-01] [-1.76028137e-03 1.18090979e-04 9.99998444e-01 -2.71229597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.335384749999999 meters 0.06543272444836419 Centerline is valid? [True, True] Translation: X:4.70, Y:-0.32, Z:-0.02 [[ 9.99194534e-01 3.97462658e-02 5.52419588e-03 4.70157309e+00] [-3.97433941e-02 9.99209721e-01 -6.28690713e-04 -3.20320848e-01] [-5.54481834e-03 4.08634030e-04 9.99984544e-01 -2.47462471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.36538475 meters 0.06559174339401137 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.32, Z:-0.03 [[ 9.99244757e-01 3.82594861e-02 6.79168526e-03 4.73384016e+00] [-3.82551138e-02 9.99267707e-01 -7.72573975e-04 -3.20603783e-01] [-6.81627004e-03 5.12173802e-04 9.99976638e-01 -2.51694094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.39538475 meters 0.06646942167403719 Centerline is valid? [True, True] Translation: X:4.77, Y:-0.32, Z:-0.03 [[ 9.99319563e-01 3.64759747e-02 5.46946737e-03 4.76527292e+00] [-3.64731087e-02 9.99334441e-01 -6.22865550e-04 -3.19158047e-01] [-5.48854674e-03 4.22953252e-04 9.99984848e-01 -2.75799487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.42538475 meters 0.06579767062730017 Centerline is valid? [True, True] Translation: X:4.80, Y:-0.32, Z:-0.03 [[ 9.99303514e-01 3.69457598e-02 5.24387514e-03 4.79757695e+00] [-3.69431427e-02 9.99317192e-01 -5.95103166e-04 -3.19231883e-01] [-5.26228112e-03 4.00963457e-04 9.99986074e-01 -2.77017645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4553847499999994 meters 0.06856829686437647 Centerline is valid? [True, True] Translation: X:4.83, Y:-0.32, Z:-0.03 [[ 9.99320815e-01 3.61603721e-02 7.09477035e-03 4.82878912e+00] [-3.61555376e-02 9.99345848e-01 -8.08542981e-04 -3.23068501e-01] [-7.11936651e-03 5.51478594e-04 9.99974505e-01 -2.88168450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.48538475 meters 0.06675883416152802 Centerline is valid? [True, True] Translation: X:4.86, Y:-0.32, Z:-0.03 [[ 9.99331756e-01 3.56241450e-02 8.18298656e-03 4.86176213e+00] [-3.56176756e-02 9.99365052e-01 -9.35017716e-04 -3.19189704e-01] [-8.21110000e-03 6.42933936e-04 9.99966082e-01 -2.91904976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.51538475 meters 0.06752671109611112 Centerline is valid? [True, True] Translation: X:4.89, Y:-0.32, Z:-0.03 [[ 9.99405108e-01 3.31455429e-02 9.52910630e-03 4.89278314e+00] [-3.31366171e-02 9.99450234e-01 -1.09309126e-03 -3.19394581e-01] [-9.56009862e-03 7.76678644e-04 9.99954000e-01 -3.09054220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.545384749999999 meters 0.06850199029521183 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.32, Z:-0.03 [[ 9.99436925e-01 3.23489249e-02 8.90953954e-03 4.92335484e+00] [-3.23410944e-02 9.99476368e-01 -1.02160657e-03 -3.22945228e-01] [-8.93792209e-03 7.32887073e-04 9.99959787e-01 -3.21436437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.57538475 meters 0.068703508980893 Centerline is valid? [True, True] Translation: X:4.96, Y:-0.32, Z:-0.03 [[ 9.99493362e-01 3.11993345e-02 6.29444179e-03 4.95587273e+00] [-3.11953989e-02 9.99513044e-01 -7.22488300e-04 -3.22030883e-01] [-6.31391783e-03 5.25764638e-04 9.99979929e-01 -3.44010561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.60538475 meters 0.06961797151301859 Centerline is valid? [True, True] Translation: X:4.99, Y:-0.33, Z:-0.04 [[ 9.99473187e-01 3.20243336e-02 5.27171160e-03 4.98715915e+00] [-3.20215866e-02 9.99486995e-01 -6.04684757e-04 -3.25165392e-01] [-5.28837181e-03 4.35557631e-04 9.99985922e-01 -3.57711014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.63538475 meters 0.06894381750408081 Centerline is valid? [True, True] Translation: X:5.02, Y:-0.32, Z:-0.04 [[ 9.99402237e-01 3.44107283e-02 3.32720787e-03 5.01851250e+00] [-3.44096434e-02 9.99407740e-01 -3.82769990e-04 -3.23755826e-01] [-3.33840869e-03 2.68053148e-04 9.99994392e-01 -3.73959704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.665384749999999 meters 0.06676972423677215 Centerline is valid? [True, True] Translation: X:5.05, Y:-0.31, Z:-0.04 [[ 9.99201678e-01 3.99188696e-02 1.57811260e-03 5.05045521e+00] [-3.99186321e-02 9.99202917e-01 -1.81690781e-04 -3.12700881e-01] [-1.58410761e-03 1.18549637e-04 9.99998738e-01 -3.95891270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.69538475 meters 0.06504005915892512 Centerline is valid? [True, True] Translation: X:5.08, Y:-0.30, Z:-0.04 [[ 9.98838958e-01 4.80515894e-02 3.43231653e-03 5.08231165e+00] [-4.80505141e-02 9.98844829e-01 -3.95102150e-04 -3.02719072e-01] [-3.44733690e-03 2.29718846e-04 9.99994032e-01 -3.90615328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.72538475 meters 0.06293980384281567 Centerline is valid? [True, True] Translation: X:5.11, Y:-0.30, Z:-0.04 [[ 9.98641108e-01 5.20695735e-02 2.16745853e-03 5.11415474e+00] [-5.20691546e-02 9.98643450e-01 -2.49291533e-04 -2.95982638e-01] [-2.17749877e-03 1.36095040e-04 9.99997620e-01 -3.83369021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.755384749999999 meters 0.06236188072155391 Centerline is valid? [True, True] Translation: X:5.14, Y:-0.29, Z:-0.04 [[ 9.98388131e-01 5.67281018e-02 1.75021290e-03 5.14493456e+00] [-5.67278356e-02 9.98389659e-01 -2.01399108e-04 -2.93476539e-01] [-1.75881945e-03 1.01788690e-04 9.99998448e-01 -3.76863279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7853847499999995 meters 0.06248434981141255 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.29, Z:-0.04 [[ 9.97885887e-01 6.49187107e-02 3.05259371e-03 5.17530982e+00] [-6.49179388e-02 9.97890544e-01 -3.51386614e-04 -2.90627317e-01] [-3.06896596e-03 1.52475651e-04 9.99995279e-01 -3.71035990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.81538475 meters 0.06017291293001061 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.28, Z:-0.04 [[ 9.97610388e-01 6.90107785e-02 3.32046062e-03 5.20727617e+00] [-6.90098879e-02 9.97615903e-01 -3.82186480e-04 -2.84546204e-01] [-3.33891930e-03 1.52128588e-04 9.99994414e-01 -3.62722705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.84538475 meters 0.0594292199962597 Centerline is valid? [True, True] Translation: X:5.24, Y:-0.28, Z:-0.04 [[ 9.97221802e-01 7.44006747e-02 3.63566189e-03 5.23801924e+00] [-7.43996416e-02 9.97228418e-01 -4.18762827e-04 -2.77076944e-01] [-3.65674159e-03 1.47107479e-04 9.99993303e-01 -3.77769573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.875384749999999 meters 0.05828806718981521 Centerline is valid? [True, True] Translation: X:5.27, Y:-0.27, Z:-0.04 [[ 9.96958438e-01 7.78836368e-02 2.83058779e-03 5.27021334e+00] [-7.78830259e-02 9.96962451e-01 -3.25579407e-04 -2.69774470e-01] [-2.84734704e-03 1.04134395e-04 9.99995941e-01 -3.93153356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.90538475 meters 0.05914906588508941 Centerline is valid? [True, True] Translation: X:5.30, Y:-0.28, Z:-0.04 [[ 9.96915777e-01 7.84311769e-02 2.73567104e-03 5.30190792e+00] [-7.84306161e-02 9.96919526e-01 -3.11831937e-04 -2.77093919e-01] [-2.75170122e-03 9.63098124e-05 9.99996209e-01 -4.10863443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.93538475 meters 0.05919061867884362 Centerline is valid? [True, True] Translation: X:5.33, Y:-0.28, Z:-0.04 [[ 9.97056723e-01 7.66235981e-02 2.59127643e-03 5.33380803e+00] [-7.66230864e-02 9.97060086e-01 -2.96306625e-04 -2.81622662e-01] [-2.60636238e-03 9.68829146e-05 9.99996599e-01 -4.04297988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.965384749999999 meters 0.06120391991082845 Centerline is valid? [True, True] Translation: X:5.36, Y:-0.29, Z:-0.04 [[ 9.97579221e-01 6.94834036e-02 2.78455754e-03 5.36207274e+00] [-6.94827745e-02 9.97583099e-01 -3.22148672e-04 -2.91061392e-01] [-2.80021153e-03 1.27890038e-04 9.99996071e-01 -4.26445280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9953847499999995 meters 0.06214489434266663 Centerline is valid? [True, True] Translation: X:5.39, Y:-0.30, Z:-0.04 [[ 9.97889198e-01 6.48824655e-02 2.72292602e-03 5.39222803e+00] [-6.48818470e-02 9.97892903e-01 -3.14962203e-04 -2.95923327e-01] [-2.73762408e-03 1.37628911e-04 9.99996243e-01 -4.45191705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.02538475 meters 0.06278483434440278 Centerline is valid? [True, True] Translation: X:5.42, Y:-0.30, Z:-0.04 [[ 9.98478095e-01 5.51368903e-02 1.19021601e-03 5.42225292e+00] [-5.51367651e-02 9.98478802e-01 -1.37809889e-04 -3.01554023e-01] [-1.19600387e-03 7.19754951e-05 9.99999282e-01 -4.44540176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.05538475 meters 0.06389493707325297 Centerline is valid? [True, True] Translation: X:5.45, Y:-0.31, Z:-0.05 [[ 9.98736339e-01 5.02539988e-02 5.11157431e-04 5.45230266e+00] [-5.02539750e-02 9.98736469e-01 -5.91513868e-05 -3.08841978e-01] [-5.13484162e-04 3.33889467e-05 9.99999868e-01 -4.51149245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.085384750000001 meters 0.06626093083840073 Centerline is valid? [True, True] Translation: X:5.48, Y:-0.32, Z:-0.05 [[ 9.99093722e-01 4.25269335e-02 1.78731182e-03 5.48094241e+00] [-4.25266304e-02 9.99095312e-01 -2.07275720e-04 -3.18412845e-01] [-1.79450966e-03 1.31079522e-04 9.99998381e-01 -4.57806349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.11538475 meters 0.0653134913693252 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.32, Z:-0.05 [[ 9.99172772e-01 4.05469523e-02 3.11718078e-03 5.51252338e+00] [-4.05460230e-02 9.99177607e-01 -3.60750779e-04 -3.20109008e-01] [-3.12924457e-03 2.34063072e-04 9.99995077e-01 -4.53200166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.14538475 meters 0.06495755294490124 Centerline is valid? [True, True] Translation: X:5.54, Y:-0.32, Z:-0.04 [[ 9.99100116e-01 4.19836676e-02 6.02743612e-03 5.54403141e+00] [-4.19802147e-02 9.99118198e-01 -6.98311205e-04 -3.21302117e-01] [-6.05143878e-03 4.44649744e-04 9.99981591e-01 -4.36337102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.175384750000001 meters 0.06548370620494269 Centerline is valid? [True, True] Translation: X:5.57, Y:-0.32, Z:-0.04 [[ 9.98973335e-01 4.47509376e-02 7.04476298e-03 5.57369146e+00] [-4.47462845e-02 9.98998049e-01 -8.16829622e-04 -3.24291352e-01] [-7.07425836e-03 5.00764044e-04 9.99974852e-01 -4.36881441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.20538475 meters 0.06569711489817524 Centerline is valid? [True, True] Translation: X:5.60, Y:-0.32, Z:-0.04 [[ 9.98721774e-01 5.00490929e-02 7.06439086e-03 5.60329012e+00] [-5.00445446e-02 9.98746651e-01 -8.19241839e-04 -3.22260560e-01] [-7.09653902e-03 4.64660440e-04 9.99974711e-01 -4.47193945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.23538475 meters 0.06349067641523769 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.32, Z:-0.05 [[ 9.98544742e-01 5.36751286e-02 5.23243540e-03 5.63522916e+00] [-5.36726850e-02 9.98558398e-01 -6.06416990e-04 -3.18071405e-01] [-5.25744182e-03 3.24695640e-04 9.99986127e-01 -4.59300751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.26538475 meters 0.06323349235331092 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.32, Z:-0.05 [[ 9.98121373e-01 6.10116432e-02 5.59505915e-03 5.66521688e+00] [-6.10089623e-02 9.98137007e-01 -6.48747947e-04 -3.18304833e-01] [-5.62421677e-03 3.06180439e-04 9.99984137e-01 -4.63457357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.29538475 meters 0.06323349235331092 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.32, Z:-0.05 [[ 9.98102613e-01 6.13177464e-02 5.59535412e-03 5.69741580e+00] [-6.13150845e-02 9.98118251e-01 -6.46207316e-04 -3.22168318e-01] [-5.62444904e-03 3.01901600e-04 9.99984137e-01 -4.67968630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.325384750000001 meters 0.0625406760139457 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.32, Z:-0.05 [[ 9.97829919e-01 6.56361208e-02 5.22991302e-03 5.72687686e+00] [-6.56338324e-02 9.97843590e-01 -6.08182429e-04 -3.22948895e-01] [-5.25855391e-03 2.63603390e-04 9.99986139e-01 -4.70767263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.35538475 meters 0.06070045609403183 Centerline is valid? [True, True] Translation: X:5.76, Y:-0.31, Z:-0.05 [[ 9.97223635e-01 7.44482255e-02 1.57599063e-03 5.75817927e+00] [-7.44480288e-02 9.97224878e-01 -1.83187768e-04 -3.14724060e-01] [-1.58525507e-03 6.53497756e-05 9.99998741e-01 -5.06153668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.38538475 meters 0.06000677835835999 Centerline is valid? [True, True] Translation: X:5.79, Y:-0.31, Z:-0.05 [[ 9.96475759e-01 8.38540723e-02 -2.13434498e-03 5.78894165e+00] [-8.38537335e-02 9.96478043e-01 2.47901509e-04 -3.09573903e-01] [ 2.14761546e-03 -6.80550496e-05 9.99997692e-01 -5.45564581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.415384750000001 meters 0.05957574044510628 Centerline is valid? [True, True] Translation: X:5.82, Y:-0.31, Z:-0.06 [[ 9.96095680e-01 8.82229594e-02 -3.17898485e-03 5.81899846e+00] [-8.82222281e-02 9.96100749e-01 3.69814331e-04 -3.10776300e-01] [ 3.19921531e-03 -8.79133308e-05 9.99994879e-01 -5.62860233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.44538475 meters 0.05902259158252369 Centerline is valid? [True, True] Translation: X:5.85, Y:-0.31, Z:-0.06 [[ 9.95720908e-01 9.23339676e-02 -3.78322302e-03 5.85066747e+00] [-9.23329589e-02 9.95728091e-01 4.40805875e-04 -3.12432278e-01] [ 3.80776278e-03 -8.96034503e-05 9.99992746e-01 -5.71187447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.47538475 meters 0.05863491544262712 Centerline is valid? [True, True] Translation: X:5.88, Y:-0.31, Z:-0.06 [[ 9.95160554e-01 9.81257667e-02 -5.17739178e-03 5.88320297e+00] [-9.81239467e-02 9.95174017e-01 6.05001088e-04 -3.14968024e-01] [ 5.21177197e-03 -9.40471032e-05 9.99986414e-01 -5.66664332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.505384750000001 meters 0.058390282237590185 Centerline is valid? [True, True] Translation: X:5.91, Y:-0.32, Z:-0.06 [[ 9.94943642e-01 1.00322241e-01 -4.75375703e-03 5.91492701e+00] [-1.00320716e-01 9.94954995e-01 5.58772694e-04 -3.19582589e-01] [ 4.78583163e-03 -7.90470315e-05 9.99988545e-01 -5.66021171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.53538475 meters 0.05835159336240828 Centerline is valid? [True, True] Translation: X:5.95, Y:-0.33, Z:-0.06 [[ 9.94726311e-01 1.02500960e-01 -3.62203301e-03 5.94550476e+00] [-1.02500083e-01 9.94732904e-01 4.27289525e-04 -3.26288173e-01] [ 3.64675300e-03 -5.37774479e-05 9.99993349e-01 -5.82034407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.56538475 meters 0.058362012256880785 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.33, Z:-0.06 [[ 9.94646445e-01 1.03267654e-01 -3.77374573e-03 5.97838701e+00] [-1.03266701e-01 9.94653602e-01 4.46997591e-04 -3.31144191e-01] [ 3.79973017e-03 -5.49022915e-05 9.99992779e-01 -5.89161019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.595384750000001 meters 0.05818527386899555 Centerline is valid? [True, True] Translation: X:6.01, Y:-0.34, Z:-0.06 [[ 9.94620732e-01 1.03557459e-01 -2.33479867e-03 6.00975586e+00] [-1.03557091e-01 9.94623472e-01 2.78343942e-04 -3.37229794e-01] [ 2.35107016e-03 -3.50616973e-05 9.99997236e-01 -5.86126373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.62538475 meters 0.05797008667783485 Centerline is valid? [True, True] Translation: X:6.04, Y:-0.35, Z:-0.06 [[ 9.94575151e-01 1.03994711e-01 2.31701558e-03 6.03995557e+00] [-1.03994366e-01 9.94577850e-01 -2.69285014e-04 -3.50009325e-01] [-2.33245659e-03 2.68676176e-05 9.99997279e-01 -5.57551266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.655384750000001 meters 0.05789540988335581 Centerline is valid? [True, True] Translation: X:6.07, Y:-0.36, Z:-0.05 [[ 9.94552312e-01 1.04134852e-01 4.65094770e-03 6.07018388e+00] [-1.04133438e-01 9.94563185e-01 -5.45849477e-04 -3.62835577e-01] [-4.68250331e-03 5.85566863e-05 9.99989035e-01 -5.37113045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.68538475 meters 0.05767353557284612 Centerline is valid? [True, True] Translation: X:6.10, Y:-0.37, Z:-0.05 [[ 9.94504824e-01 1.04537173e-01 5.66866050e-03 6.10206056e+00] [-1.04535067e-01 9.94520977e-01 -6.67281234e-04 -3.69746583e-01] [-5.70735748e-03 7.10406000e-05 9.99983710e-01 -5.42154724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.71538475 meters 0.0577041719417282 Centerline is valid? [True, True] Translation: X:6.13, Y:-0.38, Z:-0.06 [[ 9.94488874e-01 1.04715866e-01 5.14460964e-03 6.13278955e+00] [-1.04714130e-01 9.94502179e-01 -6.06486596e-04 -3.78169607e-01] [-5.17983426e-03 6.44308519e-05 9.99986582e-01 -5.51860774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.745384750000001 meters 0.05798313365280967 Centerline is valid? [True, True] Translation: X:6.16, Y:-0.39, Z:-0.06 [[ 9.94777012e-01 1.01983350e-01 4.25361656e-03 6.16342308e+00] [-1.01982134e-01 9.94786104e-01 -5.02170474e-04 -3.94519828e-01] [-4.28265168e-03 6.57547475e-05 9.99990827e-01 -5.70209092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.77538475 meters 0.058708326601382796 Centerline is valid? [True, True] Translation: X:6.19, Y:-0.42, Z:-0.06 [[ 9.95530725e-01 9.44222255e-02 1.73737283e-03 6.19238034e+00] [-9.44220094e-02 9.95532240e-01 -2.06152552e-04 -4.15767654e-01] [-1.74907605e-03 4.11849660e-05 9.99998470e-01 -5.91706484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.80538475 meters 0.05921563928225424 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.43, Z:-0.06 [[ 9.95967426e-01 8.97072340e-02 1.22381963e-03 6.22199576e+00] [-8.97071234e-02 9.95968178e-01 -1.45104379e-04 -4.30078207e-01] [-1.23190232e-03 3.47338956e-05 9.99999241e-01 -6.01804558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.835384750000001 meters 0.06026671149330309 Centerline is valid? [True, True] Translation: X:6.25, Y:-0.45, Z:-0.06 [[ 9.96485248e-01 8.37680377e-02 2.56907173e-04 6.25030003e+00] [-8.37680329e-02 9.96485281e-01 -2.95322573e-05 -4.45281193e-01] [-2.58478076e-04 7.90785022e-06 9.99999967e-01 -6.22746998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.86538475 meters 0.06172475864363296 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.47, Z:-0.06 [[ 9.97274190e-01 7.37391871e-02 -2.59282529e-03 6.27928356e+00] [-7.37386316e-02 9.97277553e-01 3.09331148e-04 -4.66488620e-01] [ 2.60857629e-03 -1.17296581e-04 9.99996591e-01 -6.44341227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.89538475 meters 0.06255003210416124 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.48, Z:-0.07 [[ 9.97575223e-01 6.95165476e-02 -3.33530480e-03 6.30875078e+00] [-6.95156057e-02 9.97580785e-01 3.97624843e-04 -4.77628236e-01] [ 3.35487748e-03 -1.64804958e-04 9.99994359e-01 -6.51831865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.925384750000001 meters 0.06347219677254268 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.50, Z:-0.06 [[ 9.98015031e-01 6.28524770e-02 -3.94500683e-03 6.33739598e+00] [-6.28511085e-02 9.98022804e-01 4.70038965e-04 -4.95060891e-01] [ 3.96674989e-03 -2.21157900e-04 9.99992108e-01 -6.46570223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.95538475 meters 0.06389609749446065 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.50, Z:-0.06 [[ 9.98189933e-01 5.99484196e-02 -4.80049737e-03 6.36785623e+00] [-5.99463565e-02 9.98201436e-01 5.72651724e-04 -5.03969380e-01] [ 4.82619293e-03 -2.83842859e-04 9.99988314e-01 -6.48448378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.98538475 meters 0.06525247871466398 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.52, Z:-0.07 [[ 9.98515711e-01 5.41147539e-02 -6.16181882e-03 6.39784332e+00] [-5.41112446e-02 9.98534643e-01 7.34944157e-04 -5.17365036e-01] [ 6.19256088e-03 -4.00429603e-04 9.99980746e-01 -6.66347783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.01538475 meters 0.06599000108207517 Centerline is valid? [True, True] Translation: X:6.43, Y:-0.53, Z:-0.07 [[ 9.98641109e-01 5.18199893e-02 -5.53391841e-03 6.42806014e+00] [-5.18171236e-02 9.98656372e-01 6.60059064e-04 -5.25695637e-01] [ 5.56068713e-03 -3.72410382e-04 9.99984470e-01 -6.70269204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.04538475 meters 0.06686335212889626 Centerline is valid? [True, True] Translation: X:6.46, Y:-0.54, Z:-0.07 [[ 9.98775844e-01 4.91907268e-02 -5.20432006e-03 6.45866870e+00] [-4.91881543e-02 9.98789337e-01 6.21224140e-04 -5.35149427e-01] [ 5.22857785e-03 -3.64472767e-04 9.99986264e-01 -6.63904079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.075384750000001 meters 0.06812256173611814 Centerline is valid? [True, True] Translation: X:6.49, Y:-0.54, Z:-0.07 [[ 9.98809969e-01 4.85041791e-02 -5.09811036e-03 6.48892975e+00] [-4.85016804e-02 9.98822913e-01 6.12695268e-04 -5.43479472e-01] [ 5.12182772e-03 -3.64699222e-04 9.99986817e-01 -6.68453133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.10538475 meters 0.06865316379434136 Centerline is valid? [True, True] Translation: X:6.52, Y:-0.55, Z:-0.06 [[ 9.98918893e-01 4.63369365e-02 -3.73275038e-03 6.51993199e+00] [-4.63355888e-02 9.98925830e-01 4.46764752e-04 -5.49651824e-01] [ 3.74944248e-03 -2.73322565e-04 9.99992933e-01 -6.38707750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.13538475 meters 0.06806897568724879 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.55, Z:-0.06 [[ 9.98861610e-01 4.75200682e-02 -4.16250146e-03 6.55145212e+00] [-4.75183852e-02 9.98870237e-01 5.02349921e-04 -5.52692035e-01] [ 4.18167053e-03 -3.03982703e-04 9.99991211e-01 -6.26443856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.165384750000001 meters 0.06693865168961574 Centerline is valid? [True, True] Translation: X:6.58, Y:-0.55, Z:-0.06 [[ 9.98862987e-01 4.74835793e-02 -4.24759464e-03 6.58375781e+00] [-4.74818215e-02 9.98871970e-01 5.13759012e-04 -5.52782224e-01] [ 4.26719835e-03 -3.11491331e-04 9.99990847e-01 -6.15789932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.19538475 meters 0.06789307555397982 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.56, Z:-0.06 [[ 9.98897163e-01 4.67447471e-02 -4.40309249e-03 6.61426336e+00] [-4.67428484e-02 9.98906813e-01 5.33221858e-04 -5.57601703e-01] [ 4.42320441e-03 -3.26820717e-04 9.99990164e-01 -6.18550697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.22538475 meters 0.06730465947157223 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.56, Z:-0.06 [[ 9.98911648e-01 4.63724588e-02 -5.01146884e-03 6.64661819e+00] [-4.63699885e-02 9.98924148e-01 6.08066198e-04 -5.58568136e-01] [ 5.03427477e-03 -3.75022655e-04 9.99987258e-01 -6.23202099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.255384750000001 meters 0.0677875857526251 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.56, Z:-0.06 [[ 9.98949559e-01 4.52516745e-02 -7.21558263e-03 6.67789139e+00] [-4.52465571e-02 9.98975470e-01 8.70971928e-04 -5.59849469e-01] [ 7.24760299e-03 -5.43576751e-04 9.99973588e-01 -6.16893781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.28538475 meters 0.06807878999585561 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.56, Z:-0.06 [[ 9.98955963e-01 4.50215578e-02 -7.74878694e-03 6.70971024e+00] [-4.50156089e-02 9.98985841e-01 9.40509856e-04 -5.61950488e-01] [ 7.78327165e-03 -5.90711566e-04 9.99969535e-01 -6.19693711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.31538475 meters 0.06779829637004602 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.56, Z:-0.06 [[ 9.98827230e-01 4.71758307e-02 -1.08906124e-02 6.74308109e+00] [-4.71642376e-02 9.98886277e-01 1.31903171e-03 -5.58033711e-01] [ 1.09407097e-02 -8.03837359e-04 9.99939826e-01 -6.31546864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.345384750000001 meters 0.0668923125118633 Centerline is valid? [True, True] Translation: X:6.78, Y:-0.56, Z:-0.06 [[ 9.98721194e-01 4.91114384e-02 -1.20018330e-02 6.77524477e+00] [-4.90974972e-02 9.98792933e-01 1.45366639e-03 -5.56225604e-01] [ 1.20587376e-02 -8.62547467e-04 9.99926919e-01 -6.30118583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.37538475 meters 0.06587570283512324 Centerline is valid? [True, True] Translation: X:6.81, Y:-0.55, Z:-0.06 [[ 9.98475926e-01 5.38177432e-02 -1.22260014e-02 6.80692150e+00] [-5.38036368e-02 9.98550438e-01 1.48004540e-03 -5.51000784e-01] [ 1.22879318e-02 -8.19986365e-04 9.99924164e-01 -6.23421867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.40538475 meters 0.06526217283162797 Centerline is valid? [True, True] Translation: X:6.84, Y:-0.55, Z:-0.06 [[ 9.98306996e-01 5.69014679e-02 -1.20567599e-02 6.83800143e+00] [-5.68879674e-02 9.98379501e-01 1.46003389e-03 -5.50249621e-01] [ 1.21203000e-02 -7.71677480e-04 9.99926249e-01 -6.28948597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.43538475 meters 0.06725286447825976 Centerline is valid? [True, True] Translation: X:6.87, Y:-0.55, Z:-0.07 [[ 9.98070213e-01 6.03274013e-02 -1.47123726e-02 6.86903315e+00] [-6.03076572e-02 9.98178245e-01 1.78239507e-03 -5.51324914e-01] [ 1.47930976e-02 -8.91686703e-04 9.99890179e-01 -6.68244875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.46538475 meters 0.06457935450762634 Centerline is valid? [True, True] Translation: X:6.90, Y:-0.54, Z:-0.07 [[ 9.97930790e-01 6.25566084e-02 -1.48596789e-02 6.90185132e+00] [-6.25367048e-02 9.98041040e-01 1.80080214e-03 -5.41566684e-01] [ 1.49432215e-02 -8.67800550e-04 9.99887967e-01 -6.53298329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.495384750000001 meters 0.06468857399634989 Centerline is valid? [True, True] Translation: X:6.93, Y:-0.54, Z:-0.07 [[ 9.97896149e-01 6.31344092e-02 -1.47418604e-02 6.93439855e+00] [-6.31147784e-02 9.98004663e-01 1.79356486e-03 -5.41526563e-01] [ 1.48256810e-02 -8.59362215e-04 9.99889724e-01 -6.72785799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.52538475 meters 0.06669777253386633 Centerline is valid? [True, True] Translation: X:6.96, Y:-0.55, Z:-0.07 [[ 9.97832544e-01 6.39604970e-02 -1.54683068e-02 6.96462577e+00] [-6.39389309e-02 9.97952032e-01 1.88526619e-03 -5.46426249e-01] [ 1.55572107e-02 -8.92152959e-04 9.99878581e-01 -7.12440146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.55538475 meters 0.0669063457533827 Centerline is valid? [True, True] Translation: X:7.00, Y:-0.55, Z:-0.07 [[ 9.97746344e-01 6.48053812e-02 -1.73923852e-02 6.99705785e+00] [-6.47781728e-02 9.97897428e-01 2.12381190e-03 -5.45084560e-01] [ 1.74934510e-02 -9.92378624e-04 9.99846485e-01 -7.29149454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.585384750000001 meters 0.06358994258798924 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.54, Z:-0.07 [[ 9.97659219e-01 6.59123128e-02 -1.82112343e-02 7.03070159e+00] [-6.58825724e-02 9.97824894e-01 2.22888486e-03 -5.37505086e-01] [ 1.83185339e-02 -1.02386457e-03 9.99831677e-01 -6.88662953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.61538475 meters 0.06199326363113415 Centerline is valid? [True, True] Translation: X:7.06, Y:-0.53, Z:-0.07 [[ 9.97224704e-01 7.17349479e-02 -1.99245498e-02 7.06289252e+00] [-7.17005696e-02 9.97423229e-01 2.43539358e-03 -5.28379267e-01] [ 2.00479116e-02 -1.00003307e-03 9.99798520e-01 -7.03198972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.64538475 meters 0.06183898634055444 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.53, Z:-0.07 [[ 9.96966426e-01 7.52376913e-02 -1.99307838e-02 7.09430169e+00] [-7.52039702e-02 9.97165194e-01 2.43711732e-03 -5.27110630e-01] [ 2.00576470e-02 -9.30850072e-04 9.99798392e-01 -7.23953251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.675384750000001 meters 0.06033713003387469 Centerline is valid? [True, True] Translation: X:7.13, Y:-0.52, Z:-0.07 [[ 9.96208195e-01 8.42020945e-02 -2.18915483e-02 7.12615835e+00] [-8.41635790e-02 9.96448357e-01 2.67645081e-03 -5.17834943e-01] [ 2.20391601e-02 -8.23831176e-04 9.99756769e-01 -7.40163946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.70538475 meters 0.05914893836193523 Centerline is valid? [True, True] Translation: X:7.16, Y:-0.51, Z:-0.07 [[ 9.95432351e-01 9.30374584e-02 -2.14118120e-02 7.15732249e+00] [-9.30026462e-02 9.95662419e-01 2.61809460e-03 -5.11682394e-01] [ 2.15625174e-02 -6.14780885e-04 9.99767313e-01 -7.28054810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.73538475 meters 0.059478183825459253 Centerline is valid? [True, True] Translation: X:7.19, Y:-0.52, Z:-0.08 [[ 9.95149333e-01 9.62153736e-02 -2.05038261e-02 7.18716268e+00] [-9.61841141e-02 9.95360401e-01 2.50762359e-03 -5.15058979e-01] [ 2.06499685e-02 -5.23317594e-04 9.99786630e-01 -7.64080566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.76538475 meters 0.05831443479458486 Centerline is valid? [True, True] Translation: X:7.22, Y:-0.51, Z:-0.07 [[ 9.94778800e-01 1.00029164e-01 -2.02312772e-02 7.21947531e+00] [-9.99993325e-02 9.94984405e-01 2.48338056e-03 -5.14065120e-01] [ 2.03782157e-02 -4.47300123e-04 9.99792243e-01 -7.24506129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.79538475 meters 0.05778028277067651 Centerline is valid? [True, True] Translation: X:7.25, Y:-0.51, Z:-0.07 [[ 9.94469424e-01 1.03704687e-01 -1.66103125e-02 7.25015116e+00] [-1.03685144e-01 9.94608087e-01 2.03579173e-03 -5.13631413e-01] [ 1.67318723e-02 -3.02289982e-04 9.99859967e-01 -7.12327156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.825384750000001 meters 0.0573014514704432 Centerline is valid? [True, True] Translation: X:7.28, Y:-0.52, Z:-0.07 [[ 9.94391994e-01 1.04909297e-01 -1.33642174e-02 7.28137301e+00] [-1.04896740e-01 9.94481768e-01 1.63902111e-03 -5.16943484e-01] [ 1.34624191e-02 -2.27966627e-04 9.99909352e-01 -7.03182464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.85538475 meters 0.05735019260476493 Centerline is valid? [True, True] Translation: X:7.31, Y:-0.52, Z:-0.07 [[ 9.94404605e-01 1.04847030e-01 -1.29066973e-02 7.31238971e+00] [-1.04835266e-01 9.94488336e-01 1.58650042e-03 -5.22687247e-01] [ 1.30018998e-02 -2.24546276e-04 9.99915447e-01 -7.16147002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.88538475 meters 0.057030827881275475 Centerline is valid? [True, True] Translation: X:7.34, Y:-0.53, Z:-0.07 [[ 9.94472594e-01 1.04405238e-01 -1.11267980e-02 7.34379190e+00] [-1.04396414e-01 9.94534818e-01 1.37259403e-03 -5.30266980e-01] [ 1.12092940e-02 -2.03409344e-04 9.99937153e-01 -7.14075155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.915384750000001 meters 0.05713572284499176 Centerline is valid? [True, True] Translation: X:7.38, Y:-0.54, Z:-0.07 [[ 9.94614772e-01 1.02970032e-01 -1.17740632e-02 7.37528750e+00] [-1.02960014e-01 9.94684431e-01 1.45542256e-03 -5.36860779e-01] [ 1.18613422e-02 -2.35327067e-04 9.99929624e-01 -7.21691331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.94538475 meters 0.05718980207201218 Centerline is valid? [True, True] Translation: X:7.41, Y:-0.55, Z:-0.07 [[ 9.94845527e-01 1.00623786e-01 -1.25392045e-02 7.40670574e+00] [-1.00612196e-01 9.94924506e-01 1.55333658e-03 -5.47018800e-01] [ 1.26318645e-02 -2.83733034e-04 9.99920175e-01 -7.25310303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.97538475 meters 0.05731764614113834 Centerline is valid? [True, True] Translation: X:7.44, Y:-0.56, Z:-0.07 [[ 9.94953385e-01 9.96522495e-02 -1.17128225e-02 7.43812184e+00] [-9.96420523e-02 9.95022287e-01 1.45241483e-03 -5.55766848e-01] [ 1.17992559e-02 -2.77995372e-04 9.99930348e-01 -7.42151606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.005384750000001 meters 0.05776760245470215 Centerline is valid? [True, True] Translation: X:7.47, Y:-0.57, Z:-0.07 [[ 9.95277044e-01 9.63103845e-02 -1.21620157e-02 7.46823206e+00] [-9.62990952e-02 9.95351294e-01 1.51183795e-03 -5.68670806e-01] [ 1.22510837e-02 -3.33506503e-04 9.99924897e-01 -7.44920156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.03538475 meters 0.05791449749757681 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.58, Z:-0.08 [[ 9.95420151e-01 9.50762865e-02 -9.96110135e-03 7.49990377e+00] [-9.50686161e-02 9.95469947e-01 1.24180737e-03 -5.77351829e-01] [ 1.00340435e-02 -2.89131955e-04 9.99949616e-01 -7.53885267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.06538475 meters 0.05850289143464094 Centerline is valid? [True, True] Translation: X:7.53, Y:-0.59, Z:-0.08 [[ 9.95745815e-01 9.15948404e-02 -1.00328381e-02 7.52952913e+00] [-9.15868606e-02 9.95796303e-01 1.25292308e-03 -5.89549927e-01] [ 1.01054244e-02 -3.28716771e-04 9.99948885e-01 -7.71381606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.095384750000001 meters 0.058675021737431686 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.60, Z:-0.08 [[ 9.95854689e-01 9.04135739e-02 -9.94103345e-03 7.56089970e+00] [-9.04056512e-02 9.95904247e-01 1.24440011e-03 -5.97202948e-01] [ 1.00128281e-02 -3.40516084e-04 9.99949812e-01 -7.81379112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.12538475 meters 0.058680204295277844 Centerline is valid? [True, True] Translation: X:7.59, Y:-0.61, Z:-0.08 [[ 9.96050574e-01 8.82657006e-02 -9.61355288e-03 7.59133204e+00] [-8.82581685e-02 9.96096904e-01 1.20576410e-03 -6.08066521e-01] [ 9.68245787e-03 -3.52527450e-04 9.99953062e-01 -7.75279340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.15538475 meters 0.05899887744348632 Centerline is valid? [True, True] Translation: X:7.62, Y:-0.62, Z:-0.08 [[ 9.96145290e-01 8.71800923e-02 -9.70526338e-03 7.62281082e+00] [-8.71723368e-02 9.96192499e-01 1.22008928e-03 -6.16366199e-01] [ 9.77467808e-03 -3.69355703e-04 9.99952158e-01 -7.87236349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.18538475 meters 0.058920458912265904 Centerline is valid? [True, True] Translation: X:7.65, Y:-0.62, Z:-0.08 [[ 9.96193864e-01 8.67980435e-02 -7.99281274e-03 7.65421411e+00] [-8.67927484e-02 9.96225880e-01 1.00763844e-03 -6.23255911e-01] [ 8.05010795e-03 -3.10085050e-04 9.99967549e-01 -7.87544609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.21538475 meters 0.058920458912265904 Centerline is valid? [True, True] Translation: X:7.69, Y:-0.63, Z:-0.08 [[ 9.96167369e-01 8.71016324e-02 -7.99243930e-03 7.68633856e+00] [-8.70963233e-02 9.96199382e-01 1.01060349e-03 -6.27425796e-01] [ 8.05008830e-03 -3.10618142e-04 9.99967549e-01 -7.92069538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.245384750000001 meters 0.05889407260904215 Centerline is valid? [True, True] Translation: X:7.72, Y:-0.63, Z:-0.08 [[ 9.96161744e-01 8.71120638e-02 -8.55967162e-03 7.71764490e+00] [-8.71059616e-02 9.96198463e-01 1.08385621e-03 -6.34304475e-01] [ 8.62154866e-03 -3.34097665e-04 9.99962778e-01 -8.11247199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.27538475 meters 0.059238775101784664 Centerline is valid? [True, True] Translation: X:7.75, Y:-0.64, Z:-0.08 [[ 9.96238088e-01 8.63673091e-02 -7.09650567e-03 7.74842005e+00] [-8.63630748e-02 9.96263322e-01 9.01533437e-04 -6.42341683e-01] [ 7.14785133e-03 -2.85265897e-04 9.99974413e-01 -8.39082926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.30538475 meters 0.05910682403173166 Centerline is valid? [True, True] Translation: X:7.78, Y:-0.65, Z:-0.08 [[ 9.96261017e-01 8.62174535e-02 -5.52593024e-03 7.77984822e+00] [-8.62148720e-02 9.96276317e-01 7.04127311e-04 -6.48964360e-01] [ 5.56606149e-03 -2.25077223e-04 9.99984484e-01 -8.28751159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.335384750000001 meters 0.059199405545202984 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.66, Z:-0.08 [[ 9.96282577e-01 8.60566787e-02 -3.90818064e-03 7.81092470e+00] [-8.60553778e-02 9.96290230e-01 5.00129102e-04 -6.55796544e-01] [ 3.93672164e-03 -1.61949950e-04 9.99992238e-01 -8.25512991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.36538475 meters 0.058990686227260995 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.66, Z:-0.08 [[ 9.96421977e-01 8.44858820e-02 -2.31957818e-03 7.84247708e+00] [-8.44854143e-02 9.96424671e-01 2.99057394e-04 -6.61507664e-01] [ 2.33655105e-03 -1.02016836e-04 9.99997265e-01 -8.15606738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.39538475 meters 0.05946337280416016 Centerline is valid? [True, True] Translation: X:7.87, Y:-0.67, Z:-0.08 [[ 9.96481433e-01 8.37916149e-02 -1.92858528e-03 7.87262465e+00] [-8.37912922e-02 9.96483295e-01 2.47638556e-04 -6.67084439e-01] [ 1.94255305e-03 -8.51685702e-05 9.99998110e-01 -8.35840208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.425384750000001 meters 0.06055055730582211 Centerline is valid? [True, True] Translation: X:7.90, Y:-0.67, Z:-0.09 [[ 9.96720536e-01 8.08812966e-02 -2.52766963e-03 7.90230256e+00] [-8.08807385e-02 9.96723734e-01 3.22406976e-04 -6.74652936e-01] [ 2.54546501e-03 -1.16909868e-04 9.99996753e-01 -8.60476510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.45538475 meters 0.06092127947502655 Centerline is valid? [True, True] Translation: X:7.93, Y:-0.68, Z:-0.09 [[ 9.96988162e-01 7.75416596e-02 -1.37671082e-03 7.93209121e+00] [-7.75414906e-02 9.96989110e-01 1.75750229e-04 -6.83380151e-01] [ 1.38619366e-03 -6.84686888e-05 9.99999037e-01 -8.61790900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.48538475 meters 0.06142657972643243 Centerline is valid? [True, True] Translation: X:7.96, Y:-0.69, Z:-0.09 [[ 9.97154740e-01 7.53409784e-02 -2.48242638e-03 7.96294916e+00] [-7.53404219e-02 9.97157821e-01 3.17051509e-04 -6.90806044e-01] [ 2.49925785e-03 -1.29122364e-04 9.99996869e-01 -8.55431079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.51538475 meters 0.06306470376824334 Centerline is valid? [True, True] Translation: X:7.99, Y:-0.70, Z:-0.09 [[ 9.97334179e-01 7.29593425e-02 -1.21249925e-03 7.99337290e+00] [-7.29592060e-02 9.97334914e-01 1.56501218e-04 -7.00269092e-01] [ 1.22068606e-03 -6.76210310e-05 9.99999253e-01 -8.67085619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.54538475 meters 0.06343662509569194 Centerline is valid? [True, True] Translation: X:8.02, Y:-0.70, Z:-0.09 [[ 9.97773761e-01 6.66892217e-02 2.62599050e-04 8.02438421e+00] [-6.66892153e-02 9.97773796e-01 -3.32991113e-05 -7.03508948e-01] [-2.64235143e-04 1.57124549e-05 9.99999965e-01 -8.68122022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.57538475 meters 0.06480138952622227 Centerline is valid? [True, True] Translation: X:8.05, Y:-0.71, Z:-0.09 [[ 9.98269752e-01 5.85666765e-02 5.23895110e-03 8.05455635e+00] [-5.85639710e-02 9.98283434e-01 -6.68473610e-04 -7.08052666e-01] [-5.26910837e-03 3.60503205e-04 9.99986053e-01 -8.56981124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.60538475 meters 0.06561246749889244 Centerline is valid? [True, True] Translation: X:8.09, Y:-0.71, Z:-0.08 [[ 9.98402719e-01 5.60831871e-02 6.83270245e-03 8.08530205e+00] [-5.60785253e-02 9.98425980e-01 -8.72116672e-04 -7.14977756e-01] [-6.87085873e-03 4.87555780e-04 9.99976277e-01 -8.34770308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.63538475 meters 0.0666073938146388 Centerline is valid? [True, True] Translation: X:8.12, Y:-0.72, Z:-0.08 [[ 9.98580726e-01 5.28174443e-02 6.84474453e-03 8.11561136e+00] [-5.28126870e-02 9.98604054e-01 -8.74055720e-04 -7.21682440e-01] [-6.88135502e-03 5.11325846e-04 9.99976192e-01 -8.16258255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.665384750000001 meters 0.06863883371354473 Centerline is valid? [True, True] Translation: X:8.15, Y:-0.73, Z:-0.08 [[ 9.98851072e-01 4.71829355e-02 8.38493118e-03 8.14529505e+00] [-4.71755968e-02 9.98886038e-01 -1.07098060e-03 -7.28353047e-01] [-8.42612269e-03 6.74185990e-04 9.99964272e-01 -8.01492836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.69538475 meters 0.06970847420770726 Centerline is valid? [True, True] Translation: X:8.18, Y:-0.73, Z:-0.08 [[ 9.98963134e-01 4.45071699e-02 9.57958193e-03 8.17669585e+00] [-4.44974683e-02 9.99008748e-01 -1.22360897e-03 -7.30309126e-01] [-9.62454552e-03 7.96073111e-04 9.99953366e-01 -8.24805574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.72538475 meters 0.06819990515365779 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.72, Z:-0.09 [[ 9.99152033e-01 4.06346905e-02 6.63599948e-03 8.20851514e+00] [-4.06299484e-02 9.99173903e-01 -8.47912790e-04 -7.19990081e-01] [-6.66497217e-03 5.77573472e-04 9.99977622e-01 -8.69483842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.755384750000001 meters 0.06937341470101348 Centerline is valid? [True, True] Translation: X:8.24, Y:-0.72, Z:-0.09 [[ 9.99190577e-01 3.97708183e-02 6.03920240e-03 8.23912398e+00] [-3.97668762e-02 9.99208687e-01 -7.71476296e-04 -7.21586501e-01] [-6.06510575e-03 5.30691631e-04 9.99981466e-01 -8.88652046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.78538475 meters 0.07357984333884918 Centerline is valid? [True, True] Translation: X:8.27, Y:-0.73, Z:-0.09 [[ 9.99171716e-01 4.03592137e-02 5.19759750e-03 8.26981534e+00] [-4.03563063e-02 9.99185132e-01 -6.63102250e-04 -7.27621338e-01] [-5.22012443e-03 4.52797177e-04 9.99986273e-01 -8.81563427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.81538475 meters 0.06827076941250347 Centerline is valid? [True, True] Translation: X:8.30, Y:-0.72, Z:-0.09 [[ 9.99125704e-01 4.14954207e-02 5.09481170e-03 8.30368668e+00] [-4.14926432e-02 9.99138598e-01 -6.49690673e-04 -7.17299088e-01] [-5.11738221e-03 4.37725447e-04 9.99986810e-01 -8.66083979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.845384750000001 meters 0.0681826050962337 Centerline is valid? [True, True] Translation: X:8.34, Y:-0.71, Z:-0.09 [[ 9.99054532e-01 4.34485149e-02 1.50625295e-03 8.33624736e+00] [-4.34482733e-02 9.99055659e-01 -1.92713451e-04 -7.10146012e-01] [-1.51320365e-03 1.27087157e-04 9.99998847e-01 -9.02711526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.87538475 meters 0.0685138916664326 Centerline is valid? [True, True] Translation: X:8.37, Y:-0.71, Z:-0.09 [[ 9.98973898e-01 4.52894336e-02 -1.37055365e-04 8.36734763e+00] [-4.52894315e-02 9.98973907e-01 1.81272497e-05 -7.08773762e-01] [ 1.37735706e-04 -1.19014897e-05 9.99999990e-01 -9.31614638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.90538475 meters 0.06578577912406737 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.70, Z:-0.10 [[ 9.98754221e-01 4.97722182e-02 -3.56817969e-03 8.39969825e+00] [-4.97708976e-02 9.98760556e-01 4.58017092e-04 -6.95436230e-01] [ 3.58655366e-03 -2.79854998e-04 9.99993529e-01 -9.50812973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.93538475 meters 0.06652298233294701 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.70, Z:-0.10 [[ 9.98591056e-01 5.29071500e-02 -4.09096262e-03 8.42970991e+00] [-5.29054404e-02 9.98599388e-01 5.25057094e-04 -6.97213254e-01] [ 4.11301204e-03 -3.07883139e-04 9.99991494e-01 -9.61155291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.96538475 meters 0.06590087446903202 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.69, Z:-0.10 [[ 9.98352512e-01 5.70833761e-02 -5.80944981e-03 8.46179580e+00] [-5.70799977e-02 9.98369329e-01 7.45814149e-04 -6.91167720e-01] [ 5.84255010e-03 -4.12982047e-04 9.99982847e-01 -9.55597357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.995384750000001 meters 0.0633904879937629 Centerline is valid? [True, True] Translation: X:8.49, Y:-0.68, Z:-0.09 [[ 9.98247149e-01 5.89951044e-02 -4.71254429e-03 8.49490291e+00] [-5.89928978e-02 9.98258218e-01 6.06008192e-04 -6.84720386e-01] [ 4.74008758e-03 -3.26939307e-04 9.99988712e-01 -9.43153675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.02538475 meters 0.06307435853681773 Centerline is valid? [True, True] Translation: X:8.53, Y:-0.68, Z:-0.09 [[ 9.98018202e-01 6.27457952e-02 -4.75756306e-03 8.52676859e+00] [-6.27435908e-02 9.98029493e-01 6.11322167e-04 -6.77826979e-01] [ 4.78654614e-03 -3.11604060e-04 9.99988496e-01 -9.38430779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.05538475 meters 0.06220834305456808 Centerline is valid? [True, True] Translation: X:8.56, Y:-0.68, Z:-0.09 [[ 9.97911612e-01 6.44950013e-02 -3.57895263e-03 8.55870045e+00] [-6.44937633e-02 9.97918004e-01 4.60382458e-04 -6.75350556e-01] [ 3.60119363e-03 -2.28600877e-04 9.99993490e-01 -9.28163196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.085384750000001 meters 0.06164430598345119 Centerline is valid? [True, True] Translation: X:8.59, Y:-0.67, Z:-0.09 [[ 9.97723203e-01 6.74076756e-02 -2.14840408e-03 8.59002281e+00] [-6.74072369e-02 9.97725507e-01 2.76021996e-04 -6.69646336e-01] [ 2.16212355e-03 -1.30575568e-04 9.99997654e-01 -8.97575026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.11538475 meters 0.061505325792032675 Centerline is valid? [True, True] Translation: X:8.62, Y:-0.67, Z:-0.09 [[ 9.97534994e-01 7.01506125e-02 -1.68161412e-03 8.62221468e+00] [-7.01503454e-02 9.97536406e-01 2.17419553e-04 -6.69832606e-01] [ 1.69272342e-03 -9.89178010e-05 9.99998562e-01 -9.00250159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.14538475 meters 0.06116241157180046 Centerline is valid? [True, True] Translation: X:8.65, Y:-0.67, Z:-0.09 [[ 9.97372412e-01 7.23778735e-02 -3.11691286e-03 8.65452020e+00] [-7.23769585e-02 9.97377266e-01 4.05507231e-04 -6.69368510e-01] [ 3.13808778e-03 -1.78849052e-04 9.99995060e-01 -8.92019546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.175384750000001 meters 0.061540200108747854 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.67, Z:-0.09 [[ 9.97167832e-01 7.49424223e-02 -6.32040393e-03 8.68640251e+00] [-7.49387283e-02 9.97187803e-01 8.19604177e-04 -6.66794403e-01] [ 6.36405283e-03 -3.43639888e-04 9.99979690e-01 -8.95701957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.20538475 meters 0.06180991093594571 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.67, Z:-0.09 [[ 9.97085877e-01 7.58298198e-02 -8.34219092e-03 8.71963938e+00] [-7.58233964e-02 9.97120673e-01 1.08403879e-03 -6.65387351e-01] [ 8.40037349e-03 -4.48346523e-04 9.99964616e-01 -9.06621404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.23538475 meters 0.06182201843137955 Centerline is valid? [True, True] Translation: X:8.75, Y:-0.67, Z:-0.09 [[ 9.97055951e-01 7.61881581e-02 -8.64845289e-03 8.75276987e+00] [-7.61812455e-02 9.97093350e-01 1.12640281e-03 -6.67739501e-01] [ 8.70913342e-03 -4.64236709e-04 9.99961967e-01 -9.16007386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.26538475 meters 0.06257353152719806 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.67, Z:-0.09 [[ 9.97189268e-01 7.39519231e-02 -1.20282002e-02 8.78412254e+00] [-7.39384505e-02 9.97261584e-01 1.56154911e-03 -6.69313938e-01] [ 1.21107416e-02 -6.67813529e-04 9.99926439e-01 -9.43392050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.29538475 meters 0.06221736925394552 Centerline is valid? [True, True] Translation: X:8.82, Y:-0.67, Z:-0.09 [[ 9.97331288e-01 7.17642482e-02 -1.34236956e-02 8.81537754e+00] [-7.17472711e-02 9.97421321e-01 1.74266501e-03 -6.69403209e-01] [ 1.35141413e-02 -7.74900813e-04 9.99908380e-01 -9.47853441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.32538475 meters 0.06365550037907428 Centerline is valid? [True, True] Translation: X:8.84, Y:-0.68, Z:-0.10 [[ 9.97498776e-01 6.84674933e-02 -1.75611758e-02 8.84447553e+00] [-6.84379227e-02 9.97652771e-01 2.28005023e-03 -6.75231202e-01] [ 1.76760650e-02 -1.07249692e-03 9.99843191e-01 -9.66306755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.35538475 meters 0.06402811066788244 Centerline is valid? [True, True] Translation: X:8.88, Y:-0.68, Z:-0.10 [[ 9.97557533e-01 6.72881376e-02 -1.87423276e-02 8.87653839e+00] [-6.72542044e-02 9.97732900e-01 2.43568703e-03 -6.80036679e-01] [ 1.88637298e-02 -1.16923761e-03 9.99821380e-01 -9.66508249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.38538475 meters 0.06489124426260379 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.68, Z:-0.10 [[ 9.97689012e-01 6.51482572e-02 -1.92961205e-02 8.90693218e+00] [-6.51118994e-02 9.97874819e-01 2.50717930e-03 -6.83210910e-01] [ 1.94184511e-02 -1.24497818e-03 9.99810669e-01 -9.81535542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.415384750000001 meters 0.06525370058703206 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.69, Z:-0.10 [[ 9.97636854e-01 6.57593585e-02 -1.99101787e-02 8.93812513e+00] [-6.57206732e-02 9.97834694e-01 2.59182629e-03 -6.86218070e-01] [ 2.00375039e-02 -1.27719108e-03 9.99798413e-01 -9.91049801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.44538475 meters 0.06338581469001522 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.68, Z:-0.10 [[ 9.97154485e-01 7.27292811e-02 -1.98339044e-02 8.96993783e+00] [-7.26922991e-02 9.97351078e-01 2.58016951e-03 -6.80191843e-01] [ 1.99690198e-02 -1.13105549e-03 9.99799959e-01 -9.75009052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.47538475 meters 0.06211820193924785 Centerline is valid? [True, True] Translation: X:9.00, Y:-0.68, Z:-0.10 [[ 9.96777220e-01 7.77516560e-02 -1.97447361e-02 9.00078968e+00] [-7.77159981e-02 9.96972231e-01 2.56804686e-03 -6.77356137e-01] [ 1.98846235e-02 -1.02528874e-03 9.99801756e-01 -9.64458468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.505384750000001 meters 0.059395926653153165 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.67, Z:-0.09 [[ 9.95906777e-01 8.76831402e-02 -2.19398899e-02 9.03328830e+00] [-8.76415069e-02 9.96147992e-01 2.85385680e-03 -6.67597601e-01] [ 2.21056124e-02 -9.19330314e-04 9.99755218e-01 -9.32706489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.53538475 meters 0.059133145130341964 Centerline is valid? [True, True] Translation: X:9.07, Y:-0.67, Z:-0.09 [[ 9.95587297e-01 9.13045521e-02 -2.16659196e-02 9.06505636e+00] [-9.12647618e-02 9.95822669e-01 2.82034033e-03 -6.68777850e-01] [ 2.18329238e-02 -8.30560019e-04 9.99761288e-01 -9.29177786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.56538475 meters 0.05873594434022329 Centerline is valid? [True, True] Translation: X:9.10, Y:-0.67, Z:-0.09 [[ 9.95273226e-01 9.44412096e-02 -2.26288223e-02 9.09781468e+00] [-9.43983961e-02 9.95530115e-01 2.95517340e-03 -6.68496281e-01] [ 2.28067642e-02 -8.05080436e-04 9.99739568e-01 -9.31988509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.595384750000001 meters 0.0595082110510161 Centerline is valid? [True, True] Translation: X:9.13, Y:-0.67, Z:-0.10 [[ 9.95392367e-01 9.31818549e-02 -2.26092452e-02 9.12837101e+00] [-9.31387560e-02 9.95648756e-01 2.95415122e-03 -6.73641856e-01] [ 2.27861401e-02 -8.34742604e-04 9.99740014e-01 -9.64016467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.62538475 meters 0.0592111292350067 Centerline is valid? [True, True] Translation: X:9.16, Y:-0.68, Z:-0.09 [[ 9.95731348e-01 8.95853506e-02 -2.22159461e-02 9.16007093e+00] [-8.95426740e-02 9.95978734e-01 2.91037007e-03 -6.76617911e-01] [ 2.23873364e-02 -9.08671489e-04 9.99748959e-01 -9.27813147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.65538475 meters 0.06106464961973688 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.69, Z:-0.10 [[ 9.96041184e-01 8.61704280e-02 -2.18315757e-02 9.18980066e+00] [-8.61282697e-02 9.96279935e-01 2.86578918e-03 -6.87051142e-01] [ 2.19973071e-02 -9.74128207e-04 9.99757555e-01 -9.62466213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.68538475 meters 0.06148852935293284 Centerline is valid? [True, True] Translation: X:9.22, Y:-0.69, Z:-0.09 [[ 9.96636141e-01 7.84642686e-02 -2.36592658e-02 9.21978224e+00] [-7.84126698e-02 9.96916160e-01 3.10223901e-03 -6.93886295e-01] [ 2.38297193e-02 -1.23661732e-03 9.99715267e-01 -9.40392334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.71538475 meters 0.06272109747095928 Centerline is valid? [True, True] Translation: X:9.25, Y:-0.70, Z:-0.10 [[ 9.96919811e-01 7.46045002e-02 -2.41879799e-02 9.24899093e+00] [-7.45494404e-02 9.97212276e-01 3.17138615e-03 -7.01678619e-01] [ 2.43571502e-02 -1.35841732e-03 9.99702398e-01 -9.57212780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.745384750000001 meters 0.06229040347788597 Centerline is valid? [True, True] Translation: X:9.28, Y:-0.71, Z:-0.09 [[ 9.97282887e-01 6.93112397e-02 -2.49558621e-02 9.27953836e+00] [-6.92509712e-02 9.97593903e-01 3.27224173e-03 -7.06060066e-01] [ 2.51226190e-02 -1.53513299e-03 9.99683199e-01 -9.47271592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.77538475 meters 0.06310179258497133 Centerline is valid? [True, True] Translation: X:9.31, Y:-0.71, Z:-0.10 [[ 9.97410096e-01 6.76145866e-02 -2.45228191e-02 9.30985768e+00] [-6.75556322e-02 9.97710295e-01 3.22554978e-03 -7.12311331e-01] [ 2.46847632e-02 -1.56054137e-03 9.99694067e-01 -9.53865812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.80538475 meters 0.0632341109729414 Centerline is valid? [True, True] Translation: X:9.34, Y:-0.72, Z:-0.09 [[ 9.97441520e-01 6.67465157e-02 -2.55991615e-02 9.34179098e+00] [-6.66820015e-02 9.97768599e-01 3.36653915e-03 -7.15728647e-01] [ 2.57667443e-02 -1.65092260e-03 9.99666619e-01 -9.43623635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.835384750000001 meters 0.06320427081794308 Centerline is valid? [True, True] Translation: X:9.37, Y:-0.72, Z:-0.09 [[ 9.97398020e-01 6.77318843e-02 -2.46897054e-02 9.37421325e+00] [-6.76721039e-02 9.97702323e-01 3.24977015e-03 -7.19283769e-01] [ 2.48530895e-02 -1.57051000e-03 9.99689881e-01 -9.45015061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.86538475 meters 0.06281477696593056 Centerline is valid? [True, True] Translation: X:9.40, Y:-0.72, Z:-0.09 [[ 9.97166570e-01 7.18886173e-02 -2.21553389e-02 9.40375237e+00] [-7.18415483e-02 9.97411800e-01 2.91419114e-03 -7.21370574e-01] [ 2.23074936e-02 -1.31426013e-03 9.99750293e-01 -9.47949812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.89538475 meters 0.06181870481181884 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.72, Z:-0.09 [[ 9.96861797e-01 7.60206208e-02 -2.20776742e-02 9.43513460e+00] [-7.59748686e-02 9.97105501e-01 2.90498178e-03 -7.19705910e-01] [ 2.22346089e-02 -1.21851696e-03 9.99752038e-01 -9.46306018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.925384750000001 meters 0.06147217277160011 Centerline is valid? [True, True] Translation: X:9.47, Y:-0.72, Z:-0.10 [[ 9.96719060e-01 7.78306146e-02 -2.22150953e-02 9.46700448e+00] [-7.77845170e-02 9.96965880e-01 2.93298612e-03 -7.22422603e-01] [ 2.23759682e-02 -1.19537271e-03 9.99748912e-01 -9.51014834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.95538475 meters 0.06152262500216999 Centerline is valid? [True, True] Translation: X:9.50, Y:-0.73, Z:-0.10 [[ 9.96698232e-01 7.85820460e-02 -2.04327144e-02 9.49818525e+00] [-7.85432527e-02 9.96907063e-01 2.69546217e-03 -7.25629755e-01] [ 2.05813322e-02 -1.08171053e-03 9.99787597e-01 -9.57330457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.98538475 meters 0.06131581049073883 Centerline is valid? [True, True] Translation: X:9.53, Y:-0.73, Z:-0.10 [[ 9.96657164e-01 7.80279619e-02 -2.42102014e-02 9.52877428e+00] [-7.79733293e-02 9.96950329e-01 3.19390213e-03 -7.27871480e-01] [ 2.43855819e-02 -1.29547544e-03 9.99701788e-01 -9.54875180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.01538475 meters 0.06179653126182939 Centerline is valid? [True, True] Translation: X:9.56, Y:-0.73, Z:-0.10 [[ 9.96692076e-01 7.73815150e-02 -2.48396092e-02 9.56003268e+00] [-7.73236682e-02 9.97000640e-01 3.28236272e-03 -7.32932640e-01] [ 2.50191004e-02 -1.35081522e-03 9.99686061e-01 -9.75541387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.04538475 meters 0.061843129506783466 Centerline is valid? [True, True] Translation: X:9.59, Y:-0.73, Z:-0.10 [[ 9.96818510e-01 7.46096914e-02 -2.80401831e-02 9.59043185e+00] [-7.45349353e-02 9.97211527e-01 3.70329377e-03 -7.33609399e-01] [ 2.82382954e-02 -1.60153854e-03 9.99599937e-01 -9.76815052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.07538475 meters 0.0632972505433682 Centerline is valid? [True, True] Translation: X:9.62, Y:-0.74, Z:-0.10 [[ 9.96827859e-01 7.39235793e-02 -2.94876833e-02 9.62039633e+00] [-7.38405535e-02 9.97262449e-01 3.89616330e-03 -7.39814168e-01] [ 2.96949776e-02 -1.70641727e-03 9.99557550e-01 -1.01015263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.10538475 meters 0.06356458284035274 Centerline is valid? [True, True] Translation: X:9.65, Y:-0.74, Z:-0.10 [[ 9.96846100e-01 7.25853417e-02 -3.20814666e-02 9.65159881e+00] [-7.24863301e-02 9.97360393e-01 4.24012429e-03 -7.42873157e-01] [ 3.23045550e-02 -1.90128358e-03 9.99476263e-01 -1.00902720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.13538475 meters 0.06356458284035274 Centerline is valid? [True, True] Translation: X:9.68, Y:-0.75, Z:-0.10 [[ 9.96822712e-01 7.29066551e-02 -3.20795847e-02 9.68379441e+00] [-7.28073531e-02 9.97336949e-01 4.25434724e-03 -7.47241834e-01] [ 3.23043253e-02 -1.90520030e-03 9.99476263e-01 -1.01354902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.165384750000001 meters 0.06345083784892651 Centerline is valid? [True, True] Translation: X:9.72, Y:-0.75, Z:-0.10 [[ 9.96734372e-01 7.38382854e-02 -3.26878968e-02 9.71700348e+00] [-7.37353270e-02 9.97268377e-01 4.34571321e-03 -7.50497800e-01] [ 3.29194858e-02 -1.92126897e-03 9.99456160e-01 -1.02743290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.19538475 meters 0.06376717707912347 Centerline is valid? [True, True] Translation: X:9.75, Y:-0.75, Z:-0.10 [[ 9.96646712e-01 7.44533995e-02 -3.39414752e-02 9.74944014e+00] [-7.43424361e-02 9.97222522e-01 4.52138284e-03 -7.51467790e-01] [ 3.41838359e-02 -1.98292938e-03 9.99413595e-01 -1.04636535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.22538475 meters 0.06470522946472826 Centerline is valid? [True, True] Translation: X:9.78, Y:-0.76, Z:-0.11 [[ 9.96483513e-01 7.63296376e-02 -3.45600046e-02 9.77983986e+00] [-7.62154101e-02 9.97080707e-01 4.61254010e-03 -7.56296402e-01] [ 3.48111874e-02 -1.96231524e-03 9.99391980e-01 -1.07461433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.255384750000001 meters 0.06252757276210438 Centerline is valid? [True, True] Translation: X:9.81, Y:-0.75, Z:-0.10 [[ 9.96090430e-01 8.24133651e-02 -3.18102432e-02 9.81167326e+00] [-8.23197697e-02 9.96596936e-01 4.24304332e-03 -7.51662551e-01] [ 3.20516744e-02 -1.60784295e-03 9.99484920e-01 -1.04256420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.28538475 meters 0.06217370629977224 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.75, Z:-0.10 [[ 9.95771058e-01 8.64410270e-02 -3.11118830e-02 9.84258852e+00] [-8.63534289e-02 9.96255919e-01 4.15081313e-03 -7.52921454e-01] [ 3.13541981e-02 -1.44664180e-03 9.99507289e-01 -1.04854893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.31538475 meters 0.06086954302136745 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.75, Z:-0.10 [[ 9.94987422e-01 9.55850181e-02 -2.93859442e-02 9.87418250e+00] [-9.55108430e-02 9.95420668e-01 3.92075477e-03 -7.51704180e-01] [ 2.96261417e-02 -1.09442538e-03 9.99560450e-01 -1.04635795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.345384750000001 meters 0.06031350249100986 Centerline is valid? [True, True] Translation: X:9.90, Y:-0.75, Z:-0.10 [[ 9.94575417e-01 1.00033228e-01 -2.85147787e-02 9.90461613e+00] [-9.99652170e-02 9.94983659e-01 3.80435135e-03 -7.52899372e-01] [ 2.87523004e-02 -9.33228290e-04 9.99586132e-01 -1.03965559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.37538475 meters 0.05934275887273329 Centerline is valid? [True, True] Translation: X:9.94, Y:-0.75, Z:-0.11 [[ 9.93710969e-01 1.08458251e-01 -2.78445299e-02 9.93560198e+00] [-1.08396702e-01 9.94100777e-01 3.71490175e-03 -7.50849413e-01] [ 2.80831806e-02 -6.73283419e-04 9.99605363e-01 -1.05094764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.40538475 meters 0.05887658093969804 Centerline is valid? [True, True] Translation: X:9.97, Y:-0.75, Z:-0.10 [[ 9.93167464e-01 1.13269451e-01 -2.80788246e-02 9.96790186e+00] [-1.13208439e-01 9.93564152e-01 3.75828412e-03 -7.51510892e-01] [ 2.83238124e-02 -5.53845601e-04 9.99598647e-01 -1.04383609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.43538475 meters 0.058412936642722436 Centerline is valid? [True, True] Translation: X:10.00, Y:-0.75, Z:-0.11 [[ 9.92154874e-01 1.22118831e-01 -2.67525279e-02 9.99871376e+00] [-1.22066739e-01 9.92515446e-01 3.57785337e-03 -7.52347238e-01] [ 2.69892204e-02 -2.84190820e-04 9.99635684e-01 -1.06276491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.46538475 meters 0.05837132034758024 Centerline is valid? [True, True] Translation: X:10.03, Y:-0.76, Z:-0.11 [[ 9.91681797e-01 1.25816894e-01 -2.71536994e-02 1.00299018e+01] [-1.25764321e-01 9.92053462e-01 3.64211624e-03 -7.56680211e-01] [ 2.73961612e-02 -1.96853808e-04 9.99624635e-01 -1.07383590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.495384750000001 meters 0.058390145712485915 Centerline is valid? [True, True] Translation: X:10.06, Y:-0.76, Z:-0.11 [[ 9.91107936e-01 1.30142076e-01 -2.77145994e-02 1.00616100e+01] [-1.30088749e-01 9.91495352e-01 3.72625750e-03 -7.63685109e-01] [ 2.79638393e-02 -8.77658236e-05 9.99608932e-01 -1.09277063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.52538475 meters 0.05835862493019581 Centerline is valid? [True, True] Translation: X:10.09, Y:-0.77, Z:-0.11 [[ 9.90950491e-01 1.31399488e-01 -2.74098512e-02 1.00923440e+01] [-1.31347596e-01 9.91329497e-01 3.69297123e-03 -7.72888227e-01] [ 2.76574485e-02 -5.93336006e-05 9.99617458e-01 -1.10279763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.55538475 meters 0.05849823494551443 Centerline is valid? [True, True] Translation: X:10.12, Y:-0.78, Z:-0.11 [[ 9.90932259e-01 1.31472848e-01 -2.77154701e-02 1.01232560e+01] [-1.31419578e-01 9.91319770e-01 3.74283365e-03 -7.81048820e-01] [ 2.79669744e-02 -6.65392243e-05 9.99608845e-01 -1.12925510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.585384750000001 meters 0.058472331133542506 Centerline is valid? [True, True] Translation: X:10.15, Y:-0.79, Z:-0.11 [[ 9.91012534e-01 1.30929106e-01 -2.74176504e-02 1.01547621e+01] [-1.30876508e-01 9.91391729e-01 3.71194058e-03 -7.90835526e-01] [ 2.76676329e-02 -9.02532775e-05 9.99617174e-01 -1.13254436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.61538475 meters 0.05828599133111515 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.81, Z:-0.11 [[ 9.91371012e-01 1.28486754e-01 -2.59744287e-02 1.01853888e+01] [-1.28438520e-01 9.91711213e-01 3.52381870e-03 -8.06035587e-01] [ 2.62118962e-02 -1.57294517e-04 9.99656397e-01 -1.12479789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.64538475 meters 0.05835066071832277 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.82, Z:-0.12 [[ 9.91434469e-01 1.28126976e-01 -2.53213634e-02 1.02151007e+01] [-1.28080955e-01 9.91757758e-01 3.43775144e-03 -8.15050829e-01] [ 2.55531273e-02 -1.65120863e-04 9.99673452e-01 -1.15338299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.675384750000001 meters 0.05862564377972363 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.83, Z:-0.12 [[ 9.91569827e-01 1.27201891e-01 -2.46770521e-02 1.02458542e+01] [-1.27157679e-01 9.91876828e-01 3.35899031e-03 -8.27105337e-01] [ 2.49038661e-02 -1.92796769e-04 9.99689832e-01 -1.16986699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.70538475 meters 0.05861432482544684 Centerline is valid? [True, True] Translation: X:10.28, Y:-0.84, Z:-0.12 [[ 9.91372952e-01 1.29297781e-01 -2.14884584e-02 1.02752114e+01] [-1.29264731e-01 9.91605803e-01 2.92582061e-03 -8.37498378e-01] [ 2.16863822e-02 -1.22879614e-04 9.99764815e-01 -1.18943996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.73538475 meters 0.05861555170061516 Centerline is valid? [True, True] Translation: X:10.31, Y:-0.84, Z:-0.12 [[ 9.91139243e-01 1.31240851e-01 -2.04655822e-02 1.03072813e+01] [-1.31211249e-01 9.91350510e-01 2.78842636e-03 -8.44402382e-01] [ 2.06545208e-02 -7.84041961e-05 9.99786670e-01 -1.18301866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.76538475 meters 0.05871695180877366 Centerline is valid? [True, True] Translation: X:10.34, Y:-0.85, Z:-0.12 [[ 9.90836487e-01 1.33688057e-01 -1.92499063e-02 1.03375088e+01] [-1.33662251e-01 9.91023462e-01 2.62678696e-03 -8.54548361e-01] [ 1.94282788e-02 -2.97305635e-05 9.99811253e-01 -1.19797305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.79538475 meters 0.05868071528675918 Centerline is valid? [True, True] Translation: X:10.37, Y:-0.86, Z:-0.12 [[ 9.90616802e-01 1.35262025e-01 -1.95585342e-02 1.03694348e+01] [-1.35235526e-01 9.90809863e-01 2.67732622e-03 -8.62019789e-01] [ 1.97409292e-02 -7.19567691e-06 9.99805129e-01 -1.20098219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.82538475 meters 0.058773370863728434 Centerline is valid? [True, True] Translation: X:10.40, Y:-0.87, Z:-0.12 [[ 9.90518757e-01 1.36093171e-01 -1.87414144e-02 1.03992330e+01] [-1.36068910e-01 9.90696043e-01 2.56962726e-03 -8.70061031e-01] [ 1.89167538e-02 4.85983350e-06 9.99821062e-01 -1.22570981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.85538475 meters 0.0590729672173365 Centerline is valid? [True, True] Translation: X:10.43, Y:-0.89, Z:-0.12 [[ 9.90736380e-01 1.34185365e-01 -2.08737299e-02 1.04291215e+01] [-1.34154824e-01 9.90956248e-01 2.86302015e-03 -8.85114407e-01] [ 2.10691285e-02 -3.61866667e-05 9.99778021e-01 -1.23443505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.88538475 meters 0.05937211714704552 Centerline is valid? [True, True] Translation: X:10.46, Y:-0.90, Z:-0.13 [[ 9.90946827e-01 1.32350662e-01 -2.25319544e-02 1.04592562e+01] [-1.32314530e-01 9.91202954e-01 3.09356919e-03 -8.96319121e-01] [ 2.27431756e-02 -8.42576293e-05 9.99741337e-01 -1.26149623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.915384750000001 meters 0.05953196395974583 Centerline is valid? [True, True] Translation: X:10.49, Y:-0.91, Z:-0.13 [[ 9.91473459e-01 1.28147631e-01 -2.36339613e-02 1.04893917e+01] [-1.28106487e-01 9.91755083e-01 3.25307769e-03 -9.13880392e-01] [ 2.38559755e-02 -1.97676435e-04 9.99715386e-01 -1.27526844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.94538475 meters 0.05982467329243604 Centerline is valid? [True, True] Translation: X:10.52, Y:-0.93, Z:-0.13 [[ 9.92059504e-01 1.23915822e-01 -2.15129905e-02 1.05187281e+01] [-1.23880617e-01 9.92292695e-01 2.96662803e-03 -9.29908906e-01] [ 2.17147954e-02 -2.78028991e-04 9.99764167e-01 -1.30488298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.97538475 meters 0.05978890738049521 Centerline is valid? [True, True] Translation: X:10.55, Y:-0.94, Z:-0.13 [[ 9.92335407e-01 1.21862787e-01 -2.04914643e-02 1.05505795e+01] [-1.21830259e-01 9.92546907e-01 2.83305021e-03 -9.38501573e-01] [ 2.06839829e-02 -3.14855642e-04 9.99786014e-01 -1.29451311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.005384750000001 meters 0.059761783584846795 Centerline is valid? [True, True] Translation: X:10.58, Y:-0.95, Z:-0.13 [[ 9.92714705e-01 1.19052861e-01 -1.85453426e-02 1.05820965e+01] [-1.19025634e-01 9.92887858e-01 2.56903545e-03 -9.47926563e-01] [ 1.87192966e-02 -3.42948110e-04 9.99824720e-01 -1.27745363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.03538475 meters 0.06009977809109997 Centerline is valid? [True, True] Translation: X:10.61, Y:-0.96, Z:-0.13 [[ 9.93189394e-01 1.15419222e-01 -1.59132157e-02 1.06118087e+01] [-1.15398621e-01 9.93316805e-01 2.20986352e-03 -9.64486858e-01] [ 1.60619253e-02 -3.58449853e-04 9.99870935e-01 -1.27378508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.06538475 meters 0.0604660773609908 Centerline is valid? [True, True] Translation: X:10.64, Y:-0.97, Z:-0.13 [[ 9.93388999e-01 1.13774600e-01 -1.52851871e-02 1.06426646e+01] [-1.13755338e-01 9.93506518e-01 2.12659665e-03 -9.74168782e-01] [ 1.54278857e-02 -3.73766106e-04 9.99880913e-01 -1.26522480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.095384750000001 meters 0.06088854233734328 Centerline is valid? [True, True] Translation: X:10.67, Y:-0.99, Z:-0.13 [[ 9.93654830e-01 1.11626180e-01 -1.37722182e-02 1.06722201e+01] [-1.11610288e-01 9.93750199e-01 1.91959084e-03 -9.86236111e-01] [ 1.39004212e-02 -3.70289469e-04 9.99903316e-01 -1.26936883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.12538475 meters 0.06056066301103472 Centerline is valid? [True, True] Translation: X:10.70, Y:-0.99, Z:-0.13 [[ 9.93537185e-01 1.12655732e-01 -1.38761327e-02 1.07039416e+01] [-1.12639641e-01 9.93634014e-01 1.93823062e-03 -9.92404625e-01] [ 1.40061502e-02 -3.62701587e-04 9.99901843e-01 -1.26029445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.15538475 meters 0.06084551740869597 Centerline is valid? [True, True] Translation: X:10.73, Y:-1.00, Z:-0.13 [[ 9.93320106e-01 1.14479972e-01 -1.44742109e-02 1.07340165e+01] [-1.14462611e-01 9.93425493e-01 2.02496897e-03 -9.98935226e-01] [ 1.46108685e-02 -3.54686416e-04 9.99893193e-01 -1.28830386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.18538475 meters 0.06063359667646401 Centerline is valid? [True, True] Translation: X:10.76, Y:-1.01, Z:-0.13 [[ 9.92997686e-01 1.17366155e-01 -1.34454750e-02 1.07648608e+01] [-1.17351384e-01 9.93088666e-01 1.88500822e-03 -1.00684890e+00] [ 1.35737850e-02 -2.93963689e-04 9.99907829e-01 -1.29996342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.21538475 meters 0.06029067081951575 Centerline is valid? [True, True] Translation: X:10.80, Y:-1.01, Z:-0.13 [[ 9.92846547e-01 1.18767295e-01 -1.22500748e-02 1.07960117e+01] [-1.18755097e-01 9.92922084e-01 1.72095606e-03 -1.01315862e+00] [ 1.23677631e-02 -2.53886454e-04 9.99923484e-01 -1.29376896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.24538475 meters 0.05985669803066177 Centerline is valid? [True, True] Translation: X:10.83, Y:-1.02, Z:-0.13 [[ 9.92724242e-01 1.19928566e-01 -1.07572158e-02 1.08279157e+01] [-1.19919190e-01 9.92782500e-01 1.51478091e-03 -1.01884103e+00] [ 1.08612411e-02 -2.13763130e-04 9.99940992e-01 -1.27579302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.27538475 meters 0.05993495053998166 Centerline is valid? [True, True] Translation: X:10.86, Y:-1.03, Z:-0.13 [[ 9.92558882e-01 1.21170577e-01 -1.20232226e-02 1.08587554e+01] [-1.21158920e-01 9.92631674e-01 1.69591477e-03 -1.02832316e+00] [ 1.21401266e-02 -2.26574594e-04 9.99926280e-01 -1.28064018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.30538475 meters 0.06052812962399121 Centerline is valid? [True, True] Translation: X:10.89, Y:-1.04, Z:-0.13 [[ 9.92628690e-01 1.20245615e-01 -1.51418265e-02 1.08896258e+01] [-1.20227057e-01 9.92744128e-01 2.13330034e-03 -1.03835876e+00] [ 1.52884794e-02 -2.97117882e-04 9.99883080e-01 -1.31170608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.335384750000001 meters 0.06078911407852703 Centerline is valid? [True, True] Translation: X:10.92, Y:-1.05, Z:-0.13 [[ 9.92757278e-01 1.19001521e-01 -1.64810774e-02 1.09208228e+01] [-1.18979246e-01 9.92894010e-01 2.32903440e-03 -1.04776863e+00] [ 1.66411217e-02 -3.51259696e-04 9.99861465e-01 -1.31482517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.36538475 meters 0.061200801514345274 Centerline is valid? [True, True] Translation: X:10.95, Y:-1.06, Z:-0.13 [[ 9.93269058e-01 1.14785912e-01 -1.55168664e-02 1.09499415e+01] [-1.14765646e-01 9.93390173e-01 2.19320293e-03 -1.06116616e+00] [ 1.56660514e-02 -3.97637412e-04 9.99877201e-01 -1.29712032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.39538475 meters 0.06109900841063248 Centerline is valid? [True, True] Translation: X:10.98, Y:-1.07, Z:-0.13 [[ 9.93412024e-01 1.13773066e-01 -1.37200665e-02 1.09813993e+01] [-1.13757046e-01 9.93506694e-01 1.94500177e-03 -1.06826227e+00] [ 1.38522668e-02 -3.71433914e-04 9.99903984e-01 -1.29296048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.425384750000001 meters 0.06126774255084106 Centerline is valid? [True, True] Translation: X:11.01, Y:-1.08, Z:-0.13 [[ 9.93611821e-01 1.12190830e-01 -1.21970043e-02 1.10137047e+01] [-1.12177992e-01 9.93686617e-01 1.73375697e-03 -1.07576912e+00] [ 1.23145115e-02 -3.54445971e-04 9.99924111e-01 -1.29026394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.45538475 meters 0.061575235317648566 Centerline is valid? [True, True] Translation: X:11.04, Y:-1.09, Z:-0.13 [[ 9.94181931e-01 1.07189619e-01 -1.06147770e-02 1.10446962e+01] [-1.07179631e-01 9.94238530e-01 1.50706620e-03 -1.08643806e+00] [ 1.07151622e-02 -3.60610097e-04 9.99942526e-01 -1.26383238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.48538475 meters 0.06337529483637913 Centerline is valid? [True, True] Translation: X:11.07, Y:-1.10, Z:-0.13 [[ 9.94883321e-01 1.00470657e-01 -1.06218580e-02 1.10724693e+01] [-1.00460285e-01 9.94939928e-01 1.50688637e-03 -1.10149769e+00] [ 1.07195085e-02 -4.32101231e-04 9.99942451e-01 -1.26100355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.51538475 meters 0.06284718678829816 Centerline is valid? [True, True] Translation: X:11.10, Y:-1.11, Z:-0.12 [[ 9.95286315e-01 9.63669733e-02 -1.08884023e-02 1.11036420e+01] [-9.63558179e-02 9.95345753e-01 1.54574048e-03 -1.10582353e+00] [ 1.09866834e-02 -4.89293437e-04 9.99939525e-01 -1.22957586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.54538475 meters 0.06393821264956208 Centerline is valid? [True, True] Translation: X:11.13, Y:-1.12, Z:-0.12 [[ 9.96173105e-01 8.68508685e-02 -9.80163186e-03 1.11338989e+01] [-8.68413656e-02 9.96221180e-01 1.39179679e-03 -1.11600505e+00] [ 9.88547202e-03 -5.35283438e-04 9.99950994e-01 -1.22414714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.57538475 meters 0.06521311333266257 Centerline is valid? [True, True] Translation: X:11.16, Y:-1.12, Z:-0.12 [[ 9.96714524e-01 8.04876338e-02 -9.04978730e-03 1.11635221e+01] [-8.04792674e-02 9.96755454e-01 1.28547835e-03 -1.12414543e+00] [ 9.12388996e-03 -5.52934689e-04 9.99958224e-01 -1.22643648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.60538475 meters 0.06763065612952714 Centerline is valid? [True, True] Translation: X:11.19, Y:-1.14, Z:-0.12 [[ 9.97574500e-01 6.88881851e-02 -9.97671085e-03 1.11930602e+01] [-6.88774430e-02 9.97624123e-01 1.41674151e-03 -1.13507791e+00] [ 1.00506042e-02 -7.26134872e-04 9.99949228e-01 -1.22679571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.63538475 meters 0.0693151449900675 Centerline is valid? [True, True] Translation: X:11.22, Y:-1.14, Z:-0.12 [[ 9.97905212e-01 6.39128056e-02 -1.00170507e-02 1.12224304e+01] [-6.39017262e-02 9.97955182e-01 1.42256934e-03 -1.14407299e+00] [ 1.00874880e-02 -7.79482530e-04 9.99948816e-01 -1.22488623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.665384750000001 meters 0.07167136675037919 Centerline is valid? [True, True] Translation: X:11.25, Y:-1.15, Z:-0.12 [[ 9.98449990e-01 5.46119650e-02 -1.07308159e-02 1.12527384e+01] [-5.45987130e-02 9.98507214e-01 1.52425630e-03 -1.15252437e+00] [ 1.07980398e-02 -9.36004951e-04 9.99941261e-01 -1.21269577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.69538475 meters 0.07437672505741104 Centerline is valid? [True, True] Translation: X:11.28, Y:-1.16, Z:-0.12 [[ 9.98728486e-01 4.88003878e-02 -1.26464653e-02 1.12819600e+01] [-4.87815152e-02 9.98807857e-01 1.79669914e-03 -1.15616726e+00] [ 1.27190685e-02 -1.17750087e-03 9.99918416e-01 -1.22794493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.72538475 meters 0.07315048021748796 Centerline is valid? [True, True] Translation: X:11.31, Y:-1.15, Z:-0.12 [[ 9.98774996e-01 4.74715208e-02 -1.39628596e-02 1.13137959e+01] [-4.74483834e-02 9.98871721e-01 1.98389052e-03 -1.15317448e+00] [ 1.40412839e-02 -1.31894514e-03 9.99900546e-01 -1.24331772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.755384750000001 meters 0.07399521623313894 Centerline is valid? [True, True] Translation: X:11.35, Y:-1.15, Z:-0.13 [[ 9.98729104e-01 4.84180547e-02 -1.39953146e-02 1.13455814e+01] [-4.83948010e-02 9.98826292e-01 1.99565349e-03 -1.15423061e+00] [ 1.40755139e-02 -1.31581676e-03 9.99900069e-01 -1.25463657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.78538475 meters 0.07143930536919621 Centerline is valid? [True, True] Translation: X:11.38, Y:-1.14, Z:-0.12 [[ 9.98556027e-01 5.18822367e-02 -1.39317675e-02 1.13783441e+01] [-5.18595788e-02 9.98652418e-01 1.98296243e-03 -1.14202864e+00] [ 1.40158739e-02 -1.25760349e-03 9.99900982e-01 -1.24880273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.81538475 meters 0.07167803225193993 Centerline is valid? [True, True] Translation: X:11.41, Y:-1.14, Z:-0.13 [[ 9.98429859e-01 5.46781949e-02 -1.21700948e-02 1.14083282e+01] [-5.46611164e-02 9.98503462e-01 1.73179319e-03 -1.14134642e+00] [ 1.22465731e-02 -1.06384306e-03 9.99924442e-01 -1.25243318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.845384750000001 meters 0.06761180527065744 Centerline is valid? [True, True] Translation: X:11.44, Y:-1.12, Z:-0.12 [[ 9.98192213e-01 5.92262265e-02 -1.02254528e-02 1.14420663e+01] [-5.92144005e-02 9.98244226e-01 1.45569954e-03 -1.12485200e+00] [ 1.02937148e-02 -8.47573890e-04 9.99946659e-01 -1.23158793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.87538475 meters 0.06921719345929517 Centerline is valid? [True, True] Translation: X:11.47, Y:-1.13, Z:-0.12 [[ 9.98094252e-01 6.08738974e-02 -1.01109855e-02 1.14725804e+01] [-6.08624164e-02 9.98145127e-01 1.43963069e-03 -1.12555761e+00] [ 1.01798669e-02 -8.21508107e-04 9.99947846e-01 -1.24733933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.90538475 meters 0.0669160852582632 Centerline is valid? [True, True] Translation: X:11.51, Y:-1.11, Z:-0.12 [[ 9.97871296e-01 6.42698300e-02 -1.10573875e-02 1.15056457e+01] [-6.42563020e-02 9.97932186e-01 1.57475120e-03 -1.11031486e+00] [ 1.11357319e-02 -8.60892192e-04 9.99937625e-01 -1.24237481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.93538475 meters 0.06372634815854736 Centerline is valid? [True, True] Translation: X:11.54, Y:-1.09, Z:-0.12 [[ 9.97377052e-01 7.10992089e-02 -1.35616814e-02 1.15391309e+01] [-7.10794885e-02 9.97468785e-01 1.93124091e-03 -1.09350630e+00] [ 1.36646636e-02 -9.62217988e-04 9.99906171e-01 -1.22350694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.96538475 meters 0.06449413479130785 Centerline is valid? [True, True] Translation: X:11.57, Y:-1.09, Z:-0.12 [[ 9.97092348e-01 7.48500681e-02 -1.42939754e-02 1.15696791e+01] [-7.48285460e-02 9.97194337e-01 2.03536652e-03 -1.09271808e+00] [ 1.44062186e-02 -9.59850988e-04 9.99895764e-01 -1.24382395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.99538475 meters 0.06297179618604817 Centerline is valid? [True, True] Translation: X:11.60, Y:-1.09, Z:-0.12 [[ 9.96767088e-01 7.90369853e-02 -1.44404425e-02 1.16014481e+01] [-7.90154491e-02 9.96871270e-01 2.05677511e-03 -1.08630565e+00] [ 1.45578236e-02 -9.09107688e-04 9.99893616e-01 -1.23238083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.02538475 meters 0.061011457721036444 Centerline is valid? [True, True] Translation: X:11.63, Y:-1.07, Z:-0.12 [[ 9.95790635e-01 9.02481163e-02 -1.60090139e-02 1.16343123e+01] [-9.02230902e-02 9.95918970e-01 2.28013677e-03 -1.07177307e+00] [ 1.61494587e-02 -8.26156142e-04 9.99869248e-01 -1.24006452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.05538475 meters 0.061011457721036444 Centerline is valid? [True, True] Translation: X:11.67, Y:-1.08, Z:-0.12 [[ 9.95761917e-01 9.05646650e-02 -1.60076802e-02 1.16664137e+01] [-9.05395297e-02 9.95890231e-01 2.28949021e-03 -1.07646394e+00] [ 1.61492393e-02 -8.30459320e-04 9.99869248e-01 -1.24457805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.085384750000001 meters 0.05990084649999374 Centerline is valid? [True, True] Translation: X:11.70, Y:-1.07, Z:-0.12 [[ 9.95156962e-01 9.68514332e-02 -1.68053699e-02 1.16979372e+01] [-9.68246923e-02 9.95298559e-01 2.39954206e-03 -1.07084335e+00] [ 1.69587595e-02 -7.60746219e-04 9.99855900e-01 -1.24250832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.11538475 meters 0.058595856973579864 Centerline is valid? [True, True] Translation: X:11.73, Y:-1.06, Z:-0.13 [[ 9.93804817e-01 1.09338243e-01 -1.99282199e-02 1.17301123e+01] [-1.09303149e-01 9.94004390e-01 2.84509253e-03 -1.05847523e+00] [ 2.01198155e-02 -6.49249486e-04 9.99797365e-01 -1.26339833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.14538475 meters 0.058185641496154114 Centerline is valid? [True, True] Translation: X:11.76, Y:-1.05, Z:-0.13 [[ 9.92604843e-01 1.19920932e-01 -1.88307009e-02 1.17608532e+01] [-1.19891507e-01 9.92783361e-01 2.68789661e-03 -1.05158183e+00] [ 1.90171416e-02 -4.10378081e-04 9.99819074e-01 -1.29945202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.175384750000001 meters 0.05758589558503351 Centerline is valid? [True, True] Translation: X:11.79, Y:-1.05, Z:-0.13 [[ 9.92048616e-01 1.24353213e-01 -1.93861494e-02 1.17937656e+01] [-1.24322687e-01 9.92237955e-01 2.77663100e-03 -1.05068835e+00] [ 1.95809563e-02 -3.44414752e-04 9.99808215e-01 -1.27588553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.20538475 meters 0.05720045352504576 Centerline is valid? [True, True] Translation: X:11.83, Y:-1.05, Z:-0.13 [[ 9.91670770e-01 1.27433301e-01 -1.87039533e-02 1.18260463e+01] [-1.27405329e-01 9.91847103e-01 2.68447411e-03 -1.05158940e+00] [ 1.88935533e-02 -2.79131196e-04 9.99821462e-01 -1.26613417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.23538475 meters 0.056761139223610806 Centerline is valid? [True, True] Translation: X:11.86, Y:-1.05, Z:-0.13 [[ 9.91422083e-01 1.29541716e-01 -1.73550116e-02 1.18572821e+01] [-1.29517931e-01 9.91573948e-01 2.49227783e-03 -1.05185178e+00] [ 1.75316313e-02 -2.23114084e-04 9.99846284e-01 -1.28649053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.26538475 meters 0.056539054209544325 Centerline is valid? [True, True] Translation: X:11.89, Y:-1.06, Z:-0.13 [[ 9.91586396e-01 1.28333882e-01 -1.69361506e-02 1.18898905e+01] [-1.28310921e-01 9.91730989e-01 2.43998523e-03 -1.05685390e+00] [ 1.71092382e-02 -2.46363075e-04 9.99853596e-01 -1.27926002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.29538475 meters 0.05650743718001291 Centerline is valid? [True, True] Translation: X:11.92, Y:-1.06, Z:-0.13 [[ 9.91739808e-01 1.27015295e-01 -1.78680952e-02 1.19216496e+01] [-1.26989444e-01 9.91900717e-01 2.57868879e-03 -1.06313289e+00] [ 1.80509094e-02 -2.88328861e-04 9.99837027e-01 -1.26862306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.32538475 meters 0.0570367631649816 Centerline is valid? [True, True] Translation: X:11.95, Y:-1.08, Z:-0.13 [[ 9.92561520e-01 1.20827227e-01 -1.49134498e-02 1.19514293e+01] [-1.20808454e-01 9.92673494e-01 2.15660515e-03 -1.07558470e+00] [ 1.50647630e-02 -3.38892456e-04 9.99886463e-01 -1.28491517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.35538475 meters 0.056832933997490516 Centerline is valid? [True, True] Translation: X:11.98, Y:-1.08, Z:-0.13 [[ 9.93033427e-01 1.17041411e-01 -1.36352780e-02 1.19829519e+01] [-1.17025301e-01 9.93126967e-01 1.97619052e-03 -1.08319750e+00] [ 1.37728584e-02 -3.66750726e-04 9.99905082e-01 -1.27884460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.38538475 meters 0.05728551180591392 Centerline is valid? [True, True] Translation: X:12.01, Y:-1.09, Z:-0.13 [[ 9.93522531e-01 1.13076359e-01 -1.12569059e-02 1.20145013e+01] [-1.13065081e-01 9.93586238e-01 1.63533677e-03 -1.09190022e+00] [ 1.13696247e-02 -3.51980949e-04 9.99935302e-01 -1.27891021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.41538475 meters 0.05781169865755247 Centerline is valid? [True, True] Translation: X:12.04, Y:-1.10, Z:-0.13 [[ 9.94339457e-01 1.05840502e-01 -9.31834982e-03 1.20441658e+01] [-1.05832482e-01 9.94383055e-01 1.35096196e-03 -1.10358700e+00] [ 9.40899565e-03 -3.57130688e-04 9.99955671e-01 -1.27407892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.44538475 meters 0.05822587791282437 Centerline is valid? [True, True] Translation: X:12.07, Y:-1.11, Z:-0.13 [[ 9.94726830e-01 1.02041150e-01 -1.03023122e-02 1.20743943e+01] [-1.02031142e-01 9.94780084e-01 1.49379875e-03 -1.11097520e+00] [ 1.04009639e-02 -4.34765019e-04 9.99945814e-01 -1.27123460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.47538475 meters 0.059878021036007846 Centerline is valid? [True, True] Translation: X:12.10, Y:-1.12, Z:-0.13 [[ 9.95375975e-01 9.56334732e-02 -8.99486983e-03 1.21023822e+01] [-9.56255749e-02 9.95416519e-01 1.30509563e-03 -1.12380963e+00] [ 9.07845284e-03 -4.38921232e-04 9.99958694e-01 -1.29105408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.505384750000001 meters 0.06060395878621595 Centerline is valid? [True, True] Translation: X:12.13, Y:-1.13, Z:-0.13 [[ 9.95769067e-01 9.15876879e-02 -7.46060306e-03 1.21329095e+01] [-9.15821389e-02 9.95796937e-01 1.08276427e-03 -1.13113220e+00] [ 7.52841355e-03 -3.94925180e-04 9.99971583e-01 -1.29125158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.53538475 meters 0.06061082996411356 Centerline is valid? [True, True] Translation: X:12.16, Y:-1.14, Z:-0.13 [[ 9.95792128e-01 9.12351305e-02 -8.61327348e-03 1.21641493e+01] [-9.12276763e-02 9.95829270e-01 1.25521243e-03 -1.13568976e+00] [ 8.69186932e-03 -4.64161730e-04 9.99962117e-01 -1.30297131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.56538475 meters 0.060036034232258145 Centerline is valid? [True, True] Translation: X:12.20, Y:-1.14, Z:-0.13 [[ 9.95772346e-01 9.13589461e-02 -9.53823973e-03 1.21965191e+01] [-9.13497847e-02 9.95817894e-01 1.39269505e-03 -1.13850565e+00] [ 9.62558494e-03 -5.15491070e-04 9.99953540e-01 -1.30473683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.595384750000001 meters 0.06030685041846687 Centerline is valid? [True, True] Translation: X:12.23, Y:-1.14, Z:-0.13 [[ 9.95679477e-01 9.24683823e-02 -8.48398125e-03 1.22273822e+01] [-9.24611543e-02 9.95715519e-01 1.24110645e-03 -1.14332785e+00] [ 8.56239490e-03 -4.51305516e-04 9.99963240e-01 -1.31868311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.62538475 meters 0.05925974708879689 Centerline is valid? [True, True] Translation: X:12.26, Y:-1.14, Z:-0.13 [[ 9.95567589e-01 9.37532675e-02 -7.44990013e-03 1.22599072e+01] [-9.37477073e-02 9.95595386e-01 1.09285553e-03 -1.14492385e+00] [ 7.51954497e-03 -3.89600484e-04 9.99971652e-01 -1.30879175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.65538475 meters 0.05916267604717121 Centerline is valid? [True, True] Translation: X:12.29, Y:-1.15, Z:-0.13 [[ 9.95286262e-01 9.65678165e-02 -8.93940978e-03 1.22909833e+01] [-9.65599587e-02 9.95326311e-01 1.30748691e-03 -1.14829996e+00] [ 9.02389091e-03 -4.38134725e-04 9.99959188e-01 -1.32458245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.68538475 meters 0.060596416547768664 Centerline is valid? [True, True] Translation: X:12.32, Y:-1.16, Z:-0.14 [[ 9.95177570e-01 9.76396055e-02 -9.38677783e-03 1.23214456e+01] [-9.76309363e-02 9.95221734e-01 1.37849415e-03 -1.15580942e+00] [ 9.47652094e-03 -4.55406552e-04 9.99954993e-01 -1.37370224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.71538475 meters 0.06086303382226869 Centerline is valid? [True, True] Translation: X:12.35, Y:-1.16, Z:-0.14 [[ 9.95092046e-01 9.84525240e-02 -9.94592848e-03 1.23525896e+01] [-9.84428063e-02 9.95141635e-01 1.46313482e-03 -1.16097833e+00] [ 1.00416568e-02 -4.76848711e-04 9.99949468e-01 -1.38742593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.74538475 meters 0.059770945041403845 Centerline is valid? [True, True] Translation: X:12.39, Y:-1.16, Z:-0.14 [[ 9.95207398e-01 9.71774235e-02 -1.08987556e-02 1.23851975e+01] [-9.71657008e-02 9.95266930e-01 1.60125250e-03 -1.16109935e+00] [ 1.10027766e-02 -5.34593114e-04 9.99939325e-01 -1.36707250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.77538475 meters 0.06026803400663353 Centerline is valid? [True, True] Translation: X:12.42, Y:-1.17, Z:-0.14 [[ 9.95271221e-01 9.65744630e-02 -1.04197213e-02 1.24159882e+01] [-9.65636593e-02 9.95325625e-01 1.53618996e-03 -1.16760484e+00] [ 1.05193724e-02 -5.22759231e-04 9.99944533e-01 -1.36123283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.80538475 meters 0.060707940990796024 Centerline is valid? [True, True] Translation: X:12.45, Y:-1.17, Z:-0.14 [[ 9.95417287e-01 9.52102010e-02 -8.91309201e-03 1.24475978e+01] [-9.52022117e-02 9.95457083e-01 1.31735686e-03 -1.17386833e+00] [ 8.99802638e-03 -4.62773721e-04 9.99959410e-01 -1.35843579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.835384750000001 meters 0.06145492714796082 Centerline is valid? [True, True] Translation: X:12.48, Y:-1.18, Z:-0.13 [[ 9.95881704e-01 9.02602239e-02 -8.52786910e-03 1.24783415e+01] [-9.02527584e-02 9.95918099e-01 1.25703331e-03 -1.17806243e+00] [ 8.60651929e-03 -4.82192769e-04 9.99962847e-01 -1.32997504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.86538475 meters 0.06329978903016578 Centerline is valid? [True, True] Translation: X:12.51, Y:-1.18, Z:-0.13 [[ 9.96321095e-01 8.52909458e-02 -8.35045299e-03 1.25080939e+01] [-8.52836175e-02 9.96355956e-01 1.23043156e-03 -1.18058096e+00] [ 8.42496824e-03 -5.13748085e-04 9.99964377e-01 -1.32269206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.89538475 meters 0.06287530273905881 Centerline is valid? [True, True] Translation: X:12.54, Y:-1.18, Z:-0.13 [[ 9.96532188e-01 8.28177670e-02 -8.05083057e-03 1.25396412e+01] [-8.28108663e-02 9.96564574e-01 1.18732494e-03 -1.18090296e+00] [ 8.12150414e-03 -5.16511263e-04 9.99966887e-01 -1.30656101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.925384750000001 meters 0.06464745826310368 Centerline is valid? [True, True] Translation: X:12.57, Y:-1.18, Z:-0.13 [[ 9.96977800e-01 7.72277104e-02 -8.43487687e-03 1.25696751e+01] [-7.72199326e-02 9.97013307e-01 1.24441307e-03 -1.18417440e+00] [ 8.50578765e-03 -5.89311585e-04 9.99963651e-01 -1.28245562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.95538475 meters 0.06463066726067875 Centerline is valid? [True, True] Translation: X:12.60, Y:-1.19, Z:-0.13 [[ 9.97139670e-01 7.52851058e-02 -6.68065747e-03 1.26014773e+01] [-7.52801677e-02 9.97161933e-01 9.87923696e-04 -1.18636574e+00] [ 6.73607325e-03 -4.82176894e-04 9.99977196e-01 -1.27026408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.98538475 meters 0.06573196630363838 Centerline is valid? [True, True] Translation: X:12.63, Y:-1.19, Z:-0.12 [[ 9.97342410e-01 7.25631072e-02 -6.53549288e-03 1.26331189e+01] [-7.25583301e-02 9.97363703e-01 9.65419628e-04 -1.18812523e+00] [ 6.58831723e-03 -4.88649489e-04 9.99978177e-01 -1.24521334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.01538475 meters 0.06576906152259895 Centerline is valid? [True, True] Translation: X:12.67, Y:-1.19, Z:-0.12 [[ 9.97352334e-01 7.23453256e-02 -7.38080958e-03 1.26657520e+01] [-7.23391870e-02 9.97379487e-01 1.09565643e-03 -1.18896465e+00] [ 7.44073370e-03 -5.58833728e-04 9.99972161e-01 -1.24667716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.04538475 meters 0.064806593734235 Centerline is valid? [True, True] Translation: X:12.70, Y:-1.18, Z:-0.13 [[ 9.97191842e-01 7.44925909e-02 -7.69962610e-03 1.26982828e+01] [-7.44859988e-02 9.97221408e-01 1.13979767e-03 -1.18233211e+00] [ 7.76313847e-03 -5.63082594e-04 9.99969708e-01 -1.26601789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.07538475 meters 0.06463411504198983 Centerline is valid? [True, True] Translation: X:12.73, Y:-1.18, Z:-0.13 [[ 9.97055941e-01 7.62379555e-02 -8.19903436e-03 1.27299018e+01] [-7.62305368e-02 9.97089480e-01 1.21402525e-03 -1.18260808e+00] [ 8.26772572e-03 -5.85434302e-04 9.99965650e-01 -1.26976846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.10538475 meters 0.07319738740691144 Centerline is valid? [True, True] Translation: X:12.76, Y:-1.20, Z:-0.13 [[ 9.96859914e-01 7.87128222e-02 -8.63736132e-03 1.27592876e+01] [-7.87046723e-02 9.96897154e-01 1.27997837e-03 -1.19794145e+00] [ 8.71131163e-03 -5.96158433e-04 9.99961878e-01 -1.32908139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.13538475 meters 0.06426161126621456 Centerline is valid? [True, True] Translation: X:12.79, Y:-1.18, Z:-0.13 [[ 9.96727297e-01 8.03674937e-02 -8.70404618e-03 1.27933223e+01] [-8.03592266e-02 9.96765125e-01 1.29596401e-03 -1.18114887e+00] [ 8.78004306e-03 -5.92272289e-04 9.99961279e-01 -1.26557188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.16538475 meters 0.06337564644586627 Centerline is valid? [True, True] Translation: X:12.82, Y:-1.18, Z:-0.13 [[ 9.96406698e-01 8.43075580e-02 -8.11962704e-03 1.28246999e+01] [-8.43005242e-02 9.96439646e-01 1.20526519e-03 -1.17694888e+00] [ 8.19233126e-03 -5.16445488e-04 9.99966309e-01 -1.27569430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.19538475 meters 0.06268445844079452 Centerline is valid? [True, True] Translation: X:12.86, Y:-1.18, Z:-0.13 [[ 9.96198549e-01 8.66757507e-02 -8.70432573e-03 1.28563258e+01] [-8.66677516e-02 9.96236433e-01 1.29271711e-03 -1.17697074e+00] [ 8.78361364e-03 -5.33418573e-04 9.99961281e-01 -1.27356692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.22538475 meters 0.06341997854370415 Centerline is valid? [True, True] Translation: X:12.89, Y:-1.18, Z:-0.13 [[ 9.96011621e-01 8.87901066e-02 -8.78453145e-03 1.28861693e+01] [-8.87820423e-02 9.96050223e-01 1.30452237e-03 -1.18066148e+00] [ 8.86566319e-03 -5.19410797e-04 9.99960564e-01 -1.29168933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.255384750000001 meters 0.06171094865473341 Centerline is valid? [True, True] Translation: X:12.92, Y:-1.18, Z:-0.13 [[ 9.95575491e-01 9.32618755e-02 -1.14745321e-02 1.29178718e+01] [-9.32484160e-02 9.95641417e-01 1.70362474e-03 -1.17517914e+00] [ 1.15834026e-02 -6.26105094e-04 9.99932714e-01 -1.29579073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.28538475 meters 0.06951004397999484 Centerline is valid? [True, True] Translation: X:12.95, Y:-1.19, Z:-0.14 [[ 9.95449297e-01 9.46107923e-02 -1.13795502e-02 1.29464173e+01] [-9.45975472e-02 9.95514149e-01 1.69782692e-03 -1.19123670e+00] [ 1.14891360e-02 -6.13623077e-04 9.99933809e-01 -1.40426053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.31538475 meters 0.07008535000586907 Centerline is valid? [True, True] Translation: X:12.98, Y:-1.20, Z:-0.14 [[ 9.95433499e-01 9.47231562e-02 -1.18183054e-02 1.29786238e+01] [-9.47088358e-02 9.95503448e-01 1.76680837e-03 -1.19555620e+00] [ 1.19325215e-02 -6.39442290e-04 9.99928600e-01 -1.41295351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.345384750000001 meters 0.06960722865518232 Centerline is valid? [True, True] Translation: X:13.01, Y:-1.19, Z:-0.14 [[ 9.95633708e-01 9.24544323e-02 -1.28723600e-02 1.30104537e+01] [-9.24373006e-02 9.95716654e-01 1.92083519e-03 -1.19487050e+00] [ 1.29948129e-02 -7.22562059e-04 9.99915303e-01 -1.40665517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.37538475 meters 0.06957442993351928 Centerline is valid? [True, True] Translation: X:13.04, Y:-1.20, Z:-0.14 [[ 9.95777236e-01 9.07761885e-02 -1.36886536e-02 1.30425466e+01] [-9.07566292e-02 9.95871003e-01 2.04464436e-03 -1.19676155e+00] [ 1.38177382e-02 -7.93674251e-04 9.99904216e-01 -1.40761389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.40538475 meters 0.06931889739611737 Centerline is valid? [True, True] Translation: X:13.07, Y:-1.20, Z:-0.14 [[ 9.95937111e-01 8.87893474e-02 -1.50240760e-02 1.30741171e+01] [-8.87654387e-02 9.96050011e-01 2.25211045e-03 -1.19783857e+00] [ 1.51646945e-02 -9.09341680e-04 9.99884596e-01 -1.40298634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.43538475 meters 0.07419287637477788 Centerline is valid? [True, True] Translation: X:13.10, Y:-1.21, Z:-0.14 [[ 9.96268726e-01 8.49341630e-02 -1.53236014e-02 1.31032366e+01] [-8.49089086e-02 9.96386081e-01 2.29238744e-03 -1.20662433e+00] [ 1.54629251e-02 -9.82723650e-04 9.99879959e-01 -1.42072821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.46538475 meters 0.0734283445283851 Centerline is valid? [True, True] Translation: X:13.14, Y:-1.21, Z:-0.14 [[ 9.96559677e-01 8.17070026e-02 -1.38843858e-02 1.31351473e+01] [-8.16859385e-02 9.96655952e-01 2.07845352e-03 -1.20546254e+00] [ 1.40077800e-02 -9.37143884e-04 9.99901447e-01 -1.38368422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.49538475 meters 0.07405110634311815 Centerline is valid? [True, True] Translation: X:13.17, Y:-1.21, Z:-0.14 [[ 9.96692508e-01 8.02917436e-02 -1.25411418e-02 1.31674554e+01] [-8.02743390e-02 9.96771024e-01 1.88588224e-03 -1.20902149e+00] [ 1.26520675e-02 -8.72912831e-04 9.99919578e-01 -1.37891502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.52538475 meters 0.07465036388685214 Centerline is valid? [True, True] Translation: X:13.20, Y:-1.21, Z:-0.14 [[ 9.96805159e-01 7.94050684e-02 -8.62036488e-03 1.32005674e+01] [-7.93967643e-02 9.96842244e-01 1.30183678e-03 -1.21096106e+00] [ 8.69651631e-03 -6.13248537e-04 9.99961997e-01 -1.35986940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.55538475 meters 0.07480047433860054 Centerline is valid? [True, True] Translation: X:13.23, Y:-1.21, Z:-0.14 [[ 9.96801178e-01 7.95134895e-02 -8.06332060e-03 1.32330789e+01] [-7.95061988e-02 9.96833623e-01 1.22123998e-03 -1.21426369e+00] [ 8.13489415e-03 -5.76249477e-04 9.99966745e-01 -1.36483439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.585384750000001 meters 0.07082348947893909 Centerline is valid? [True, True] Translation: X:13.27, Y:-1.21, Z:-0.14 [[ 9.96603462e-01 8.18837369e-02 -8.75178730e-03 1.32666956e+01] [-8.18752183e-02 9.96641704e-01 1.32785679e-03 -1.20813388e+00] [ 8.83112608e-03 -6.06792176e-04 9.99960821e-01 -1.35095123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.61538475 meters 0.0731559150217079 Centerline is valid? [True, True] Translation: X:13.30, Y:-1.21, Z:-0.14 [[ 9.96453936e-01 8.37871939e-02 -7.69806240e-03 1.32964571e+01] [-8.37806681e-02 9.96483536e-01 1.16689409e-03 -1.21466203e+00] [ 7.76876322e-03 -5.17807393e-04 9.99969689e-01 -1.37012611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.64538475 meters 0.07093455279231363 Centerline is valid? [True, True] Translation: X:13.33, Y:-1.21, Z:-0.14 [[ 9.95985301e-01 8.89522707e-02 -1.00385977e-02 1.33280341e+01] [-8.89414625e-02 9.96035697e-01 1.51889022e-03 -1.20930813e+00] [ 1.01339103e-02 -6.19944776e-04 9.99948458e-01 -1.39369616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.675384750000001 meters 0.06897290231509244 Centerline is valid? [True, True] Translation: X:13.36, Y:-1.21, Z:-0.14 [[ 9.95766654e-01 9.10401125e-02 -1.26676566e-02 1.33603607e+01] [-9.10229495e-02 9.95846932e-01 1.92608400e-03 -1.20728941e+00] [ 1.27903979e-02 -7.64882755e-04 9.99917907e-01 -1.40404185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.70538475 meters 0.07038385206593739 Centerline is valid? [True, True] Translation: X:13.39, Y:-1.21, Z:-0.14 [[ 9.95649239e-01 9.20698496e-02 -1.43435188e-02 1.33913823e+01] [-9.20478769e-02 9.95752183e-01 2.18601653e-03 -1.21212783e+00] [ 1.44838564e-02 -8.56215236e-04 9.99894737e-01 -1.44034087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.73538475 meters 0.07034133786738551 Centerline is valid? [True, True] Translation: X:13.42, Y:-1.21, Z:-0.15 [[ 9.95619095e-01 9.17284891e-02 -1.81246188e-02 1.34231077e+01] [-9.16932781e-02 9.95783456e-01 2.76603989e-03 -1.21273561e+00] [ 1.83019202e-02 -1.09201642e-03 9.99831909e-01 -1.46348752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.76538475 meters 0.07115615984817546 Centerline is valid? [True, True] Translation: X:13.46, Y:-1.22, Z:-0.15 [[ 9.95703943e-01 9.09343942e-02 -1.74525956e-02 1.34550042e+01] [-9.09015097e-02 9.95856308e-01 2.66999967e-03 -1.21689235e+00] [ 1.76230722e-02 -1.07206191e-03 9.99844127e-01 -1.46882226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.79538475 meters 0.0713714063281219 Centerline is valid? [True, True] Translation: X:13.49, Y:-1.22, Z:-0.15 [[ 9.95765742e-01 9.06685841e-02 -1.51589553e-02 1.34879924e+01] [-9.06436548e-02 9.95880677e-01 2.32500682e-03 -1.21613888e+00] [ 1.53073157e-02 -9.41099036e-04 9.99882393e-01 -1.47644966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.82538475 meters 0.07226228450713214 Centerline is valid? [True, True] Translation: X:13.52, Y:-1.22, Z:-0.15 [[ 9.95698370e-01 9.12485799e-02 -1.60764477e-02 1.35210907e+01] [-9.12205073e-02 9.95827649e-01 2.47246059e-03 -1.21664955e+00] [ 1.62349797e-02 -9.95323264e-04 9.99867709e-01 -1.51367412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.85538475 meters 0.07070657679581319 Centerline is valid? [True, True] Translation: X:13.55, Y:-1.22, Z:-0.15 [[ 9.95601908e-01 9.21577153e-02 -1.68462661e-02 1.35541661e+01] [-9.21269048e-02 9.95743886e-01 2.59757010e-03 -1.21610853e+00] [ 1.70139526e-02 -1.03415139e-03 9.99854717e-01 -1.51614262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.88538475 meters 0.07154472978138413 Centerline is valid? [True, True] Translation: X:13.59, Y:-1.22, Z:-0.15 [[ 9.95455047e-01 9.38318584e-02 -1.62736510e-02 1.35853184e+01] [-9.38032592e-02 9.95587581e-01 2.51358095e-03 -1.21924336e+00] [ 1.64376988e-02 -9.75635347e-04 9.99864416e-01 -1.54244003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.91538475 meters 0.07154472978138413 Centerline is valid? [True, True] Translation: X:13.62, Y:-1.22, Z:-0.15 [[ 9.95418679e-01 9.42170815e-02 -1.62725262e-02 1.36173808e+01] [-9.41884150e-02 9.95551198e-01 2.52086117e-03 -1.22446741e+00] [ 1.64376411e-02 -9.76628848e-04 9.99864416e-01 -1.54697060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.94538475 meters 0.067976201257225 Centerline is valid? [True, True] Translation: X:13.65, Y:-1.21, Z:-0.15 [[ 9.94837587e-01 1.00447618e-01 -1.44378638e-02 1.36501355e+01] [-1.00425773e-01 9.94942050e-01 2.23201324e-03 -1.21484364e+00] [ 1.45890382e-02 -7.70557028e-04 9.99893277e-01 -1.54602460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.97538475 meters 0.0671456491713324 Centerline is valid? [True, True] Translation: X:13.68, Y:-1.21, Z:-0.15 [[ 9.94417361e-01 1.04762012e-01 -1.26108430e-02 1.36801705e+01] [-1.04745693e-01 9.94497129e-01 1.94948118e-03 -1.21473654e+00] [ 1.27456787e-02 -6.17666435e-04 9.99918580e-01 -1.54598767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.00538475 meters 0.06331126404473365 Centerline is valid? [True, True] Translation: X:13.71, Y:-1.21, Z:-0.15 [[ 9.93564137e-01 1.12568274e-01 -1.25971810e-02 1.37131204e+01] [-1.12552612e-01 9.93643858e-01 1.94772381e-03 -1.20541936e+00] [ 1.27363634e-02 -5.17342905e-04 9.99918755e-01 -1.52997342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.03538475 meters 0.06285180394067764 Centerline is valid? [True, True] Translation: X:13.74, Y:-1.21, Z:-0.15 [[ 9.93184259e-01 1.15869265e-01 -1.26230463e-02 1.37441405e+01] [-1.15853789e-01 9.93264358e-01 1.95287387e-03 -1.20674292e+00] [ 1.27643000e-02 -4.77135839e-04 9.99918419e-01 -1.54221596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.06538475 meters 0.06108081889908992 Centerline is valid? [True, True] Translation: X:13.78, Y:-1.20, Z:-0.15 [[ 9.92442975e-01 1.21872361e-01 -1.42852541e-02 1.37764709e+01] [-1.21853152e-01 9.92545678e-01 2.21065685e-03 -1.20400468e+00] [ 1.44481852e-02 -4.53247618e-04 9.99895517e-01 -1.54848789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.095384749999997 meters 0.06071771145991609 Centerline is valid? [True, True] Translation: X:13.81, Y:-1.21, Z:-0.16 [[ 9.92204810e-01 1.23742844e-01 -1.47419071e-02 1.38083069e+01] [-1.23722456e-01 9.92314218e-01 2.29058112e-03 -1.20639992e+00] [ 1.49120470e-02 -4.48820652e-04 9.99888709e-01 -1.56207915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.12538475 meters 0.05971120284217608 Centerline is valid? [True, True] Translation: X:13.84, Y:-1.21, Z:-0.16 [[ 9.91715469e-01 1.27595312e-01 -1.48278442e-02 1.38407992e+01] [-1.27575036e-01 9.91826234e-01 2.30923426e-03 -1.20665583e+00] [ 1.50012923e-02 -3.98440581e-04 9.99887395e-01 -1.57088645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.15538475 meters 0.059919010303125554 Centerline is valid? [True, True] Translation: X:13.87, Y:-1.21, Z:-0.16 [[ 9.91626395e-01 1.28402230e-01 -1.37825995e-02 1.38708368e+01] [-1.28384728e-01 9.91722106e-01 2.15083976e-03 -1.21313016e+00] [ 1.39446813e-02 -3.63354180e-04 9.99902702e-01 -1.57964814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.185384749999997 meters 0.06032529733912135 Centerline is valid? [True, True] Translation: X:13.90, Y:-1.22, Z:-0.16 [[ 9.91706560e-01 1.27753225e-01 -1.40432260e-02 1.39014076e+01] [-1.27734921e-01 9.91805911e-01 2.19646291e-03 -1.22343205e+00] [ 1.42087598e-02 -3.84436326e-04 9.99898977e-01 -1.58412423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.21538475 meters 0.06033734182111192 Centerline is valid? [True, True] Translation: X:13.93, Y:-1.23, Z:-0.16 [[ 9.91760643e-01 1.27189245e-01 -1.52879772e-02 1.39326704e+01] [-1.27167405e-01 9.91878374e-01 2.39625786e-03 -1.23147053e+00] [ 1.54685922e-02 -4.32381848e-04 9.99880261e-01 -1.58341229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.24538475 meters 0.062002302179292514 Centerline is valid? [True, True] Translation: X:13.96, Y:-1.25, Z:-0.16 [[ 9.92411662e-01 1.21893006e-01 -1.61613228e-02 1.39608084e+01] [-1.21867921e-01 9.92543097e-01 2.53167737e-03 -1.24624381e+00] [ 1.63494031e-02 -5.42919332e-04 9.99866192e-01 -1.59840103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.275384749999997 meters 0.06284536751694098 Centerline is valid? [True, True] Translation: X:13.99, Y:-1.26, Z:-0.16 [[ 9.92873423e-01 1.18013565e-01 -1.65880576e-02 1.39911327e+01] [-1.17986461e-01 9.93011783e-01 2.60668359e-03 -1.25680778e+00] [ 1.67797607e-02 -6.30940650e-04 9.99859011e-01 -1.59608127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.305384749999998 meters 0.06489878652393431 Centerline is valid? [True, True] Translation: X:14.02, Y:-1.27, Z:-0.16 [[ 9.93377629e-01 1.13580162e-01 -1.73329793e-02 1.40193300e+01] [-1.13549975e-01 9.93528565e-01 2.71906818e-03 -1.26981990e+00] [ 1.75296423e-02 -7.32902129e-04 9.99846075e-01 -1.61595150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.33538475 meters 0.06935383332080343 Centerline is valid? [True, True] Translation: X:14.05, Y:-1.29, Z:-0.16 [[ 9.94426810e-01 1.03916386e-01 -1.77962049e-02 1.40463474e+01] [-1.03883013e-01 9.94585604e-01 2.79208761e-03 -1.29300376e+00] [ 1.79899929e-02 -9.27803391e-04 9.99837737e-01 -1.60187430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.365384749999997 meters 0.07143285362744584 Centerline is valid? [True, True] Translation: X:14.08, Y:-1.31, Z:-0.16 [[ 9.95317779e-01 9.52874797e-02 -1.62115631e-02 1.40753469e+01] [-9.52586427e-02 9.95449306e-01 2.54354925e-03 -1.30858273e+00] [ 1.63801576e-02 -9.87348295e-04 9.99865349e-01 -1.57651460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.395384749999998 meters 0.07339159339081705 Centerline is valid? [True, True] Translation: X:14.10, Y:-1.32, Z:-0.16 [[ 9.95559514e-01 9.26384009e-02 -1.67147087e-02 1.41043723e+01] [-9.26073629e-02 9.95699250e-01 2.62314320e-03 -1.31923680e+00] [ 1.68858267e-02 -1.06359007e-03 9.99856859e-01 -1.57971974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.42538475 meters 0.07357941273135934 Centerline is valid? [True, True] Translation: X:14.13, Y:-1.33, Z:-0.16 [[ 9.95754881e-01 9.01376339e-02 -1.86393017e-02 1.41342349e+01] [-9.00985910e-02 9.95928554e-01 2.92562518e-03 -1.32631714e+00] [ 1.88271217e-02 -1.23383074e-03 9.99821993e-01 -1.58531012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.455384749999997 meters 0.07515534902814641 Centerline is valid? [True, True] Translation: X:14.16, Y:-1.33, Z:-0.16 [[ 9.95742216e-01 9.01657280e-02 -1.91724031e-02 1.41643539e+01] [-9.01242221e-02 9.95925954e-01 3.01975975e-03 -1.33419982e+00] [ 1.93665727e-02 -1.27900434e-03 9.99811632e-01 -1.60720372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.485384749999998 meters 0.07589111330983452 Centerline is valid? [True, True] Translation: X:14.20, Y:-1.34, Z:-0.16 [[ 9.95771981e-01 8.98583880e-02 -1.90691104e-02 1.41951848e+01] [-8.98171574e-02 9.95953725e-01 3.00944411e-03 -1.33972622e+00] [ 1.92623753e-02 -1.28398684e-03 9.99813639e-01 -1.62201803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.51538475 meters 0.07437284739311725 Centerline is valid? [True, True] Translation: X:14.23, Y:-1.34, Z:-0.16 [[ 9.95713382e-01 9.06666944e-02 -1.82869097e-02 1.42276398e+01] [-9.06287832e-02 9.95880542e-01 2.89302730e-03 -1.34176471e+00] [ 1.84738788e-02 -1.22330562e-03 9.99828595e-01 -1.61228729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.54538475 meters 0.07418060583407522 Centerline is valid? [True, True] Translation: X:14.26, Y:-1.34, Z:-0.16 [[ 9.95717025e-01 9.09979905e-02 -1.63392613e-02 1.42602007e+01] [-9.09676669e-02 9.95850475e-01 2.59114855e-03 -1.34356401e+00] [ 1.65072504e-02 -1.09370625e-03 9.99863148e-01 -1.60040415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.575384749999998 meters 0.0746326797948203 Centerline is valid? [True, True] Translation: X:14.29, Y:-1.35, Z:-0.16 [[ 9.95788384e-01 9.04913603e-02 -1.47243959e-02 1.42929105e+01] [-9.04665744e-02 9.95896738e-01 2.34214569e-03 -1.34802418e+00] [ 1.48759218e-02 -1.00021582e-03 9.99888847e-01 -1.60420679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.60538475 meters 0.07578980458979877 Centerline is valid? [True, True] Translation: X:14.32, Y:-1.35, Z:-0.16 [[ 9.96106416e-01 8.71248603e-02 -1.34635511e-02 1.43234750e+01] [-8.71038909e-02 9.96196941e-01 2.13723071e-03 -1.35301135e+00] [ 1.35985544e-02 -9.56181534e-04 9.99907078e-01 -1.59013549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.63538475 meters 0.07673961425981146 Centerline is valid? [True, True] Translation: X:14.35, Y:-1.36, Z:-0.16 [[ 9.96341779e-01 8.44615767e-02 -1.30115535e-02 1.43540958e+01] [-8.44417524e-02 9.96426274e-01 2.06650053e-03 -1.35871735e+00] [ 1.31395936e-02 -9.60222444e-04 9.99913211e-01 -1.58140259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.665384749999998 meters 0.08086038845661589 Centerline is valid? [True, True] Translation: X:14.38, Y:-1.37, Z:-0.16 [[ 9.96897280e-01 7.75475942e-02 -1.34975809e-02 1.43846462e+01] [-7.75256254e-02 9.96988054e-01 2.14409112e-03 -1.36678803e+00] [ 1.36231960e-02 -1.09103021e-03 9.99906605e-01 -1.59711266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.69538475 meters 0.08086481242835086 Centerline is valid? [True, True] Translation: X:14.42, Y:-1.37, Z:-0.16 [[ 9.97119042e-01 7.46349108e-02 -1.35368118e-02 1.44161220e+01] [-7.46125359e-02 9.97210280e-01 2.15116600e-03 -1.36911746e+00] [ 1.36596000e-02 -1.13495273e-03 9.99906059e-01 -1.59703230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.72538475 meters 0.08278091895136415 Centerline is valid? [True, True] Translation: X:14.45, Y:-1.37, Z:-0.16 [[ 9.97204308e-01 7.30432477e-02 -1.57560013e-02 1.44470155e+01] [-7.30127383e-02 9.97327865e-01 2.50375230e-03 -1.37051030e+00] [ 1.58967813e-02 -1.34636379e-03 9.99872732e-01 -1.62156322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.755384749999997 meters 0.08222446422342619 Centerline is valid? [True, True] Translation: X:14.48, Y:-1.37, Z:-0.16 [[ 9.97157582e-01 7.34748747e-02 -1.66793135e-02 1.44790424e+01] [-7.34405656e-02 9.97296045e-01 2.66108750e-03 -1.37082302e+00] [ 1.68297365e-02 -1.42858536e-03 9.99857349e-01 -1.63669772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.78538475 meters 0.08084865819811496 Centerline is valid? [True, True] Translation: X:14.51, Y:-1.36, Z:-0.17 [[ 9.96724066e-01 7.83054358e-02 -2.02334922e-02 1.45114567e+01] [-7.82560324e-02 9.96928084e-01 3.22323061e-03 -1.36460997e+00] [ 2.04237330e-02 -1.62927870e-03 9.99790086e-01 -1.66838515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.81538475 meters 0.0794472949967601 Centerline is valid? [True, True] Translation: X:14.54, Y:-1.36, Z:-0.17 [[ 9.96487280e-01 8.13413910e-02 -1.99168018e-02 1.45431765e+01] [-8.12941163e-02 9.96685104e-01 3.17319658e-03 -1.36216785e+00] [ 2.01088919e-02 -1.54293123e-03 9.99796605e-01 -1.67468679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.845384749999997 meters 0.07652811298324026 Centerline is valid? [True, True] Translation: X:14.58, Y:-1.35, Z:-0.17 [[ 9.95863009e-01 8.85083435e-02 -2.05703637e-02 1.45754465e+01] [-8.84594427e-02 9.96074389e-01 3.27691850e-03 -1.35406483e+00] [ 2.07796471e-02 -1.44371901e-03 9.99783037e-01 -1.68927517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.87538475 meters 0.0749446765732398 Centerline is valid? [True, True] Translation: X:14.61, Y:-1.35, Z:-0.17 [[ 9.95504102e-01 9.23432073e-02 -2.10787582e-02 1.46072554e+01] [-9.22926950e-02 9.95726256e-01 3.35881202e-03 -1.35233343e+00] [ 2.12988365e-02 -1.39829574e-03 9.99772176e-01 -1.70077384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.90538475 meters 0.07256546366624388 Centerline is valid? [True, True] Translation: X:14.64, Y:-1.34, Z:-0.18 [[ 9.94520276e-01 1.02009217e-01 -2.28809988e-02 1.46383754e+01] [-1.01952273e-01 9.94782615e-01 3.64462199e-03 -1.34352049e+00] [ 2.31334048e-02 -1.29188063e-03 9.99731552e-01 -1.75949055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.935384749999997 meters 0.06842155571807364 Centerline is valid? [True, True] Translation: X:14.67, Y:-1.33, Z:-0.18 [[ 9.93492072e-01 1.10730566e-01 -2.66878995e-02 1.46715586e+01] [-1.10656178e-01 9.93849649e-01 4.25279713e-03 -1.33236619e+00] [ 2.69946742e-02 -1.27193927e-03 9.99634768e-01 -1.79107525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.96538475 meters 0.0673592962554631 Centerline is valid? [True, True] Translation: X:14.70, Y:-1.33, Z:-0.18 [[ 9.92930576e-01 1.15466157e-01 -2.75034031e-02 1.47029378e+01] [-1.15388920e-01 9.93310714e-01 4.38435227e-03 -1.33218462e+00] [ 2.78256692e-02 -1.17976945e-03 9.99612095e-01 -1.81103827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.99538475 meters 0.06562403075758289 Centerline is valid? [True, True] Translation: X:14.73, Y:-1.33, Z:-0.18 [[ 9.92504726e-01 1.19458119e-01 -2.57706480e-02 1.47344959e+01] [-1.19391644e-01 9.92838736e-01 4.10846478e-03 -1.33183907e+00] [ 2.60768871e-02 -1.00087068e-03 9.99659439e-01 -1.80380451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.025384749999997 meters 0.06368852741842117 Centerline is valid? [True, True] Translation: X:14.76, Y:-1.33, Z:-0.18 [[ 9.91553142e-01 1.26982072e-01 -2.64181679e-02 1.47648558e+01] [-1.26914886e-01 9.91904671e-01 4.21134563e-03 -1.32952362e+00] [ 2.67390695e-02 -8.22914223e-04 9.99642108e-01 -1.81482116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.055384749999998 meters 0.062343732414433445 Centerline is valid? [True, True] Translation: X:14.80, Y:-1.33, Z:-0.18 [[ 9.91128030e-01 1.30321474e-01 -2.61063540e-02 1.47970229e+01] [-1.30256654e-01 9.91471517e-01 4.17557603e-03 -1.33107696e+00] [ 2.64278737e-02 -7.38004116e-04 9.99650450e-01 -1.80309446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.08538475 meters 0.06061423151904133 Centerline is valid? [True, True] Translation: X:14.83, Y:-1.33, Z:-0.18 [[ 9.89905699e-01 1.38933347e-01 -2.80041389e-02 1.48296457e+01] [-1.38862254e-01 9.90301585e-01 4.47710415e-03 -1.32897533e+00] [ 2.83545622e-02 -5.43193059e-04 9.99597781e-01 -1.81409814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.115384749999997 meters 0.05986943301540128 Centerline is valid? [True, True] Translation: X:14.86, Y:-1.33, Z:-0.18 [[ 9.89347128e-01 1.42938088e-01 -2.75855735e-02 1.48617090e+01] [-1.42870283e-01 9.89731536e-01 4.42366625e-03 -1.33105011e+00] [ 2.79346225e-02 -4.35382793e-04 9.99609657e-01 -1.81467506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.145384749999998 meters 0.058962679352683865 Centerline is valid? [True, True] Translation: X:14.89, Y:-1.33, Z:-0.18 [[ 9.88168784e-01 1.51179710e-01 -2.58292282e-02 1.48924756e+01] [-1.51123144e-01 9.88506277e-01 4.13947758e-03 -1.33286173e+00] [ 2.61581593e-02 -1.87108358e-04 9.99657799e-01 -1.81946656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.17538475 meters 0.05865179053653213 Centerline is valid? [True, True] Translation: X:14.92, Y:-1.34, Z:-0.18 [[ 9.87359826e-01 1.56368591e-01 -2.58734821e-02 1.49233079e+01] [-1.56313302e-01 9.87698770e-01 4.15833304e-03 -1.33618310e+00] [ 2.62054391e-02 -6.14015675e-05 9.99656577e-01 -1.83033269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.205384749999997 meters 0.058623970997963494 Centerline is valid? [True, True] Translation: X:14.95, Y:-1.34, Z:-0.18 [[ 9.85948208e-01 1.65047644e-01 -2.57954742e-02 1.49549298e+01] [-1.64995397e-01 9.86285582e-01 4.15560418e-03 -1.33905622e+00] [ 2.61275770e-02 1.58924009e-04 9.99658604e-01 -1.84319971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.235384749999998 meters 0.05898379621894451 Centerline is valid? [True, True] Translation: X:14.99, Y:-1.34, Z:-0.19 [[ 9.85342011e-01 1.68848194e-01 -2.43189095e-02 1.49854714e+01] [-1.68802743e-01 9.85642040e-01 3.92467286e-03 -1.34323888e+00] [ 2.46324135e-02 2.37953589e-04 9.99696548e-01 -1.86700725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.26538475 meters 0.0593855254554893 Centerline is valid? [True, True] Translation: X:15.02, Y:-1.35, Z:-0.18 [[ 9.84088630e-01 1.75963379e-01 -2.46263704e-02 1.50163504e+01] [-1.75918815e-01 9.84396626e-01 3.98154361e-03 -1.35173847e+00] [ 2.49427218e-02 4.14050109e-04 9.99688796e-01 -1.84713806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.29538475 meters 0.05965020617199622 Centerline is valid? [True, True] Translation: X:15.05, Y:-1.36, Z:-0.19 [[ 9.83659092e-01 1.78346513e-01 -2.46437104e-02 1.50462526e+01] [-1.78302453e-01 9.83967633e-01 3.99158270e-03 -1.36026705e+00] [ 2.49604982e-02 4.67677390e-04 9.99688329e-01 -1.86077134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.325384749999998 meters 0.05812342202840194 Centerline is valid? [True, True] Translation: X:15.08, Y:-1.38, Z:-0.17 [[ 9.83038607e-01 1.81879976e-01 -2.35535919e-02 1.50759094e+01] [-1.81840534e-01 9.83320599e-01 3.82370134e-03 -1.38158639e+00] [ 2.38561868e-02 5.24151682e-04 9.99715263e-01 -1.74355520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.35538475 meters 0.05803404334238403 Centerline is valid? [True, True] Translation: X:15.11, Y:-1.39, Z:-0.17 [[ 9.82783558e-01 1.83269983e-01 -2.34220355e-02 1.51063627e+01] [-1.83231226e-01 9.83062466e-01 3.80860257e-03 -1.39318597e+00] [ 2.37233265e-02 5.48616309e-04 9.99718412e-01 -1.73920718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.38538475 meters 0.05868583443338212 Centerline is valid? [True, True] Translation: X:15.14, Y:-1.41, Z:-0.18 [[ 9.82181246e-01 1.86731228e-01 -2.12472911e-02 1.51358673e+01] [-1.86700066e-01 9.82410873e-01 3.45859919e-03 -1.40955146e+00] [ 2.15193983e-02 5.69899380e-04 9.99768269e-01 -1.75346651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.415384749999998 meters 0.05859623532454852 Centerline is valid? [True, True] Translation: X:15.17, Y:-1.42, Z:-0.17 [[ 9.81721790e-01 1.89016626e-01 -2.22495468e-02 1.51662704e+01] [-1.88983039e-01 9.81973673e-01 3.62175267e-03 -1.42191468e+00] [ 2.25330406e-02 6.49233460e-04 9.99745888e-01 -1.74454186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.44538475 meters 0.05909585968207369 Centerline is valid? [True, True] Translation: X:15.20, Y:-1.44, Z:-0.17 [[ 9.80723039e-01 1.94230978e-01 -2.13693166e-02 1.51957384e+01] [-1.94201050e-01 9.80955551e-01 3.48684399e-03 -1.43821872e+00] [ 2.16396028e-02 7.30315479e-04 9.99765570e-01 -1.74993745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.47538475 meters 0.059455047715905714 Centerline is valid? [True, True] Translation: X:15.23, Y:-1.45, Z:-0.18 [[ 9.80125117e-01 1.97229592e-01 -2.13364051e-02 1.52266134e+01] [-1.97200482e-01 9.80357004e-01 3.48070891e-03 -1.44954463e+00] [ 2.16037929e-02 7.96019144e-04 9.99766294e-01 -1.76264601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.505384749999997 meters 0.060169792377977954 Centerline is valid? [True, True] Translation: X:15.26, Y:-1.47, Z:-0.18 [[ 9.79579884e-01 2.00243158e-01 -1.80534733e-02 1.52559274e+01] [-2.00222665e-01 9.79745966e-01 2.95404483e-03 -1.46672213e+00] [ 1.82793449e-02 7.20991647e-04 9.99832659e-01 -1.76906710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.53538475 meters 0.05962388774546964 Centerline is valid? [True, True] Translation: X:15.29, Y:-1.48, Z:-0.18 [[ 9.79361036e-01 2.01506640e-01 -1.57173432e-02 1.52863994e+01] [-2.01491191e-01 9.79486937e-01 2.57672496e-03 -1.48109675e+00] [ 1.59141595e-02 6.43362184e-04 9.99873155e-01 -1.75023395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.56538475 meters 0.05966800160763347 Centerline is valid? [True, True] Translation: X:15.31, Y:-1.50, Z:-0.18 [[ 9.79622730e-01 2.00467414e-01 -1.23338098e-02 1.53136500e+01] [-2.00457852e-01 9.79700246e-01 2.01941205e-03 -1.50128989e+00] [ 1.24882628e-02 4.94147078e-04 9.99921897e-01 -1.75245396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.595384749999997 meters 0.05906880626825285 Centerline is valid? [True, True] Translation: X:15.34, Y:-1.52, Z:-0.17 [[ 9.80143047e-01 1.97943756e-01 -1.17421238e-02 1.53430947e+01] [-1.97934892e-01 9.80213282e-01 1.92388718e-03 -1.51759663e+00] [ 1.18906071e-02 4.38491354e-04 9.99929208e-01 -1.74699121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.62538475 meters 0.05874350412044044 Centerline is valid? [True, True] Translation: X:15.37, Y:-1.54, Z:-0.18 [[ 9.81243696e-01 1.92566260e-01 -8.89066040e-03 1.53704738e+01] [-1.92560959e-01 9.81283932e-01 1.45649964e-03 -1.54212117e+00] [ 9.00473488e-03 2.82813004e-04 9.99959417e-01 -1.75578561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.65538475 meters 0.0583792853859458 Centerline is valid? [True, True] Translation: X:15.40, Y:-1.56, Z:-0.18 [[ 9.81671759e-01 1.90418024e-01 -7.84428549e-03 1.54007641e+01] [-1.90413781e-01 9.81703074e-01 1.29113487e-03 -1.55707815e+00] [ 7.94661453e-03 2.26189418e-04 9.99968400e-01 -1.76651151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.685384749999997 meters 0.058171731037423235 Centerline is valid? [True, True] Translation: X:15.43, Y:-1.58, Z:-0.18 [[ 9.82129482e-01 1.88083335e-01 -6.80724927e-03 1.54296650e+01] [-1.88080066e-01 9.82153057e-01 1.12299704e-03 -1.58022756e+00] [ 6.89697771e-03 1.77379398e-04 9.99976200e-01 -1.80825942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.71538475 meters 0.05854024389203744 Centerline is valid? [True, True] Translation: X:15.46, Y:-1.59, Z:-0.18 [[ 9.82144400e-01 1.88015303e-01 -6.52859975e-03 1.54593196e+01] [-1.88012285e-01 9.82166084e-01 1.07863428e-03 -1.59196314e+00] [ 6.61496900e-03 1.68082335e-04 9.99978107e-01 -1.83727583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.74538475 meters 0.05960611386070483 Centerline is valid? [True, True] Translation: X:15.49, Y:-1.61, Z:-0.19 [[ 9.81442401e-01 1.91664554e-01 -5.95914673e-03 1.54875838e+01] [-1.91662122e-01 9.81460476e-01 9.81975598e-04 -1.60841493e+00] [ 6.03687690e-03 1.78390216e-04 9.99981762e-01 -1.86853912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.775384749999997 meters 0.059639572300989444 Centerline is valid? [True, True] Translation: X:15.52, Y:-1.62, Z:-0.19 [[ 9.80978061e-01 1.94058412e-01 -4.83501874e-03 1.55184247e+01] [-1.94056816e-01 9.80989964e-01 8.01711950e-04 -1.62100507e+00] [ 4.89868381e-03 1.51806507e-04 9.99987990e-01 -1.87087479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.805384749999998 meters 0.06127313293942963 Centerline is valid? [True, True] Translation: X:15.55, Y:-1.64, Z:-0.19 [[ 9.80248933e-01 1.97729448e-01 -3.88515310e-03 1.55475742e+01] [-1.97728440e-01 9.80256623e-01 6.45726831e-04 -1.63594119e+00] [ 3.93612627e-03 1.35232227e-04 9.99992244e-01 -1.90985267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.83538475 meters 0.06127313293942963 Centerline is valid? [True, True] Translation: X:15.58, Y:-1.64, Z:-0.19 [[ 9.80187444e-01 1.98034044e-01 -3.88484292e-03 1.55795458e+01] [-1.98033031e-01 9.80195133e-01 6.47598583e-04 -1.64136742e+00] [ 3.93615069e-03 1.34559217e-04 9.99992244e-01 -1.91437705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.865384749999997 meters 0.06210804283967464 Centerline is valid? [True, True] Translation: X:15.61, Y:-1.65, Z:-0.19 [[ 9.79894251e-01 1.99480105e-01 -3.86585257e-03 1.56096079e+01] [-1.99479112e-01 9.79901867e-01 6.44591039e-04 -1.65122708e+00] [ 3.91673923e-03 1.39525784e-04 9.99992320e-01 -1.93081957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.895384749999998 meters 0.0614897094077422 Centerline is valid? [True, True] Translation: X:15.64, Y:-1.67, Z:-0.19 [[ 9.79525789e-01 2.01292730e-01 -3.23499226e-03 1.56387693e+01] [-2.01292039e-01 9.79531124e-01 5.41277158e-04 -1.67208134e+00] [ 3.27773076e-03 1.20983253e-04 9.99994621e-01 -1.93877462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.92538475 meters 0.061952922124071365 Centerline is valid? [True, True] Translation: X:15.67, Y:-1.68, Z:-0.20 [[ 9.79436301e-01 2.01746957e-01 -1.64242938e-03 1.56687185e+01] [-2.01746776e-01 9.79437676e-01 2.76853624e-04 -1.68160310e+00] [ 1.66451159e-03 6.01943428e-05 9.99998613e-01 -1.95763965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.955384749999997 meters 0.0619023722141309 Centerline is valid? [True, True] Translation: X:15.70, Y:-1.70, Z:-0.20 [[ 9.79794603e-01 2.00006003e-01 3.65947442e-04 1.56976318e+01] [-2.00005994e-01 9.79794672e-01 -6.00922674e-05 -1.70052863e+00] [-3.70572168e-04 -1.43136025e-05 9.99999931e-01 -1.97990509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.985384749999998 meters 0.06125736875045392 Centerline is valid? [True, True] Translation: X:15.73, Y:-1.71, Z:-0.20 [[ 9.80031783e-01 1.98840816e-01 1.82494413e-04 1.57279896e+01] [-1.98840815e-01 9.80031800e-01 -2.66150458e-05 -1.71489940e+00] [-1.84142486e-04 -1.02037470e-05 9.99999983e-01 -1.98533368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.01538475 meters 0.06024917141799539 Centerline is valid? [True, True] Translation: X:15.76, Y:-1.74, Z:-0.20 [[ 9.80879621e-01 1.94576763e-01 3.87984721e-03 1.57559401e+01] [-1.94575727e-01 9.80887286e-01 -6.46450550e-04 -1.73878418e+00] [-3.93147705e-03 -1.20833921e-04 9.99992264e-01 -1.97283667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.045384749999997 meters 0.06028299877307412 Centerline is valid? [True, True] Translation: X:15.79, Y:-1.75, Z:-0.20 [[ 9.81081223e-01 1.93504592e-01 5.96717114e-03 1.57854909e+01] [-1.93502128e-01 9.81099353e-01 -9.92983603e-04 -1.75002922e+00] [-6.04653463e-03 -1.80462748e-04 9.99981703e-01 -1.97248230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.075384749999998 meters 0.05948212489487899 Centerline is valid? [True, True] Translation: X:15.81, Y:-1.77, Z:-0.20 [[ 9.81668633e-01 1.90426985e-01 8.01609617e-03 1.58140544e+01] [-1.90422399e-01 9.81701339e-01 -1.33842749e-03 -1.77112089e+00] [-8.12428505e-03 -2.12551984e-04 9.99966975e-01 -1.97520692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.10538475 meters 0.059299828420716384 Centerline is valid? [True, True] Translation: X:15.84, Y:-1.79, Z:-0.20 [[ 9.82027122e-01 1.88506882e-01 9.37481786e-03 1.58424160e+01] [-1.88500525e-01 9.82071842e-01 -1.56513482e-03 -1.78833129e+00] [-9.50178333e-03 -2.30153246e-04 9.99954831e-01 -1.98950709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.13538475 meters 0.05928226106957221 Centerline is valid? [True, True] Translation: X:15.87, Y:-1.80, Z:-0.20 [[ 9.82155046e-01 1.87810202e-01 9.93946479e-03 1.58732822e+01] [-1.87802992e-01 9.82205311e-01 -1.66216032e-03 -1.79909381e+00] [-1.00747658e-02 -2.34162080e-04 9.99949221e-01 -1.99930666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.165384749999998 meters 0.05885235072245312 Centerline is valid? [True, True] Translation: X:15.90, Y:-1.82, Z:-0.20 [[ 9.82570843e-01 1.85591700e-01 1.05004392e-02 1.59030894e+01] [-1.85583494e-01 9.82626924e-01 -1.75907833e-03 -1.81641366e+00] [-1.06444846e-02 -2.20289123e-04 9.99943322e-01 -2.01900367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.19538475 meters 0.05866826921022776 Centerline is valid? [True, True] Translation: X:15.93, Y:-1.83, Z:-0.20 [[ 9.82774652e-01 1.84511832e-01 1.04578452e-02 1.59339047e+01] [-1.84503600e-01 9.82830271e-01 -1.75485881e-03 -1.82867289e+00] [-1.06020790e-02 -2.04879328e-04 9.99943775e-01 -2.02969698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.22538475 meters 0.058424657219568916 Centerline is valid? [True, True] Translation: X:15.96, Y:-1.85, Z:-0.20 [[ 9.83265350e-01 1.81879564e-01 1.04439318e-02 1.59620546e+01] [-1.81871171e-01 9.83320799e-01 -1.75580941e-03 -1.84726464e+00] [-1.05890812e-02 -1.73023556e-04 9.99943919e-01 -2.03012802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.255384749999997 meters 0.05812497539244697 Centerline is valid? [True, True] Translation: X:15.99, Y:-1.86, Z:-0.20 [[ 9.83550715e-01 1.80321385e-01 1.05919080e-02 1.59928563e+01] [-1.80312648e-01 9.83607734e-01 -1.78202374e-03 -1.85888518e+00] [-1.07396196e-02 -1.57144247e-04 9.99942316e-01 -2.03696068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.28538475 meters 0.057891834315847455 Centerline is valid? [True, True] Translation: X:16.02, Y:-1.87, Z:-0.21 [[ 9.83980850e-01 1.77969306e-01 1.04217509e-02 1.60219354e+01] [-1.77960685e-01 9.84036031e-01 -1.75627631e-03 -1.87442592e+00] [-1.05679416e-02 -1.26519672e-04 9.99944150e-01 -2.05702245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.31538475 meters 0.05791465476621176 Centerline is valid? [True, True] Translation: X:16.05, Y:-1.88, Z:-0.21 [[ 9.84113150e-01 1.77242889e-01 1.03085469e-02 1.60520281e+01] [-1.77234388e-01 9.84167133e-01 -1.73978526e-03 -1.88453880e+00] [-1.04536976e-02 -1.14883453e-04 9.99945352e-01 -2.06553414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.345384749999997 meters 0.0574249907559578 Centerline is valid? [True, True] Translation: X:16.08, Y:-1.90, Z:-0.21 [[ 9.84395519e-01 1.75614409e-01 1.11821767e-02 1.60820257e+01] [-1.75604265e-01 9.84459023e-01 -1.89026476e-03 -1.90089387e+00] [-1.13403525e-02 -1.02869773e-04 9.99935691e-01 -2.06030234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.37538475 meters 0.05728149699461378 Centerline is valid? [True, True] Translation: X:16.11, Y:-1.91, Z:-0.21 [[ 9.84571887e-01 1.74585993e-01 1.17443764e-02 1.61114792e+01] [-1.74574688e-01 9.84641926e-01 -1.98890534e-03 -1.91123831e+00] [-1.19112404e-02 -9.20505720e-05 9.99929054e-01 -2.06131644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.40538475 meters 0.05711499667111602 Centerline is valid? [True, True] Translation: X:16.14, Y:-1.93, Z:-0.21 [[ 9.85056335e-01 1.71747640e-01 1.29137418e-02 1.61400496e+01] [-1.71733700e-01 9.85140977e-01 -2.18903353e-03 -1.92634045e+00] [-1.30978175e-02 -6.14033143e-05 9.99914218e-01 -2.06459952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.435384749999997 meters 0.05717674772968917 Centerline is valid? [True, True] Translation: X:16.17, Y:-1.94, Z:-0.21 [[ 9.85361473e-01 1.70062243e-01 1.18996341e-02 1.61716110e+01] [-1.70050253e-01 9.85433322e-01 -2.01968072e-03 -1.93759453e+00] [-1.20697674e-02 -3.34202249e-05 9.99927157e-01 -2.08503627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.46538475 meters 0.05709137205583103 Centerline is valid? [True, True] Translation: X:16.20, Y:-1.95, Z:-0.21 [[ 9.85921194e-01 1.66978598e-01 8.80610251e-03 1.62007643e+01] [-1.66971893e-01 9.85960520e-01 -1.49640412e-03 -1.95384721e+00] [-8.93233687e-03 4.96493184e-06 9.99960106e-01 -2.11168057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.49538475 meters 0.05706322699635894 Centerline is valid? [True, True] Translation: X:16.23, Y:-1.96, Z:-0.21 [[ 9.86042787e-01 1.66270224e-01 8.59266024e-03 1.62314398e+01] [-1.66263787e-01 9.86080226e-01 -1.46310878e-03 -1.96442948e+00] [-8.71632378e-03 1.40396251e-05 9.99962012e-01 -2.12753462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.525384749999997 meters 0.05702084145254771 Centerline is valid? [True, True] Translation: X:16.26, Y:-1.98, Z:-0.21 [[ 9.86350119e-01 1.64462125e-01 8.10261213e-03 1.62625798e+01] [-1.64456335e-01 9.86383398e-01 -1.38043461e-03 -1.97935235e+00] [-8.21931130e-03 2.90659540e-05 9.99966220e-01 -2.12709737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.555384749999998 meters 0.056932294991367566 Centerline is valid? [True, True] Translation: X:16.29, Y:-1.99, Z:-0.21 [[ 9.86424636e-01 1.64001401e-01 8.36524065e-03 1.62943006e+01] [-1.63995189e-01 9.86460105e-01 -1.42783715e-03 -1.98917338e+00] [-8.48614347e-03 3.65945204e-05 9.99963991e-01 -2.12719724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.58538475 meters 0.05667094815681188 Centerline is valid? [True, True] Translation: X:16.32, Y:-2.00, Z:-0.21 [[ 9.86376103e-01 1.64338933e-01 7.40940025e-03 1.63244438e+01] [-1.64334055e-01 9.86403930e-01 -1.26664549e-03 -2.00244439e+00] [-7.51682070e-03 3.17720484e-05 9.99971748e-01 -2.13094505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.615384749999997 meters 0.05671988053377655 Centerline is valid? [True, True] Translation: X:16.36, Y:-2.01, Z:-0.21 [[ 9.86196080e-01 1.65393231e-01 7.89758098e-03 1.63558839e+01] [-1.65387701e-01 9.86227701e-01 -1.35270347e-03 -2.01040037e+00] [-8.01254114e-03 2.78680929e-05 9.99967899e-01 -2.13809396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.645384749999998 meters 0.0565869070463677 Centerline is valid? [True, True] Translation: X:16.39, Y:-2.02, Z:-0.21 [[ 9.85581964e-01 1.69010820e-01 7.97092014e-03 1.63881134e+01] [-1.69005289e-01 9.85614196e-01 -1.36732468e-03 -2.01797761e+00] [-8.08734471e-03 4.82884633e-07 9.99967297e-01 -2.14329301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.67538475 meters 0.05639992453120056 Centerline is valid? [True, True] Translation: X:16.42, Y:-2.03, Z:-0.22 [[ 9.84876492e-01 1.73071549e-01 8.03334619e-03 1.64194301e+01] [-1.73066044e-01 9.84909254e-01 -1.38077063e-03 -2.02562559e+00] [-8.15108911e-03 -3.04109140e-05 9.99966779e-01 -2.15599088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.705384749999997 meters 0.05640904091913342 Centerline is valid? [True, True] Translation: X:16.45, Y:-2.03, Z:-0.22 [[ 9.84495878e-01 1.75251005e-01 7.41295491e-03 1.64509400e+01] [-1.75246364e-01 9.84523785e-01 -1.27615022e-03 -2.03335317e+00] [-7.52187704e-03 -4.27287600e-05 9.99971709e-01 -2.15348651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.735384749999998 meters 0.05637748294845117 Centerline is valid? [True, True] Translation: X:16.48, Y:-2.04, Z:-0.21 [[ 9.84195259e-01 1.76899394e-01 8.14223376e-03 1.64830024e+01] [-1.76893830e-01 9.84228937e-01 -1.40419246e-03 -2.04123906e+00] [-8.26222288e-03 -5.83113478e-05 9.99965866e-01 -2.14787429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.76538475 meters 0.056321623304817235 Centerline is valid? [True, True] Translation: X:16.51, Y:-2.05, Z:-0.22 [[ 9.83684371e-01 1.79778974e-01 6.67673100e-03 1.65134571e+01] [-1.79775281e-01 9.83707028e-01 -1.15421939e-03 -2.05144740e+00] [-6.77545159e-03 -6.49236131e-05 9.99977044e-01 -2.15810807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.795384749999997 meters 0.05636748396369386 Centerline is valid? [True, True] Translation: X:16.54, Y:-2.06, Z:-0.22 [[ 9.83510573e-01 1.80749645e-01 6.04298761e-03 1.65444189e+01] [-1.80746644e-01 9.83529136e-01 -1.04361986e-03 -2.05867339e+00] [-6.13208830e-03 -6.58385662e-05 9.99981196e-01 -2.17339281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.825384749999998 meters 0.05659319196937953 Centerline is valid? [True, True] Translation: X:16.58, Y:-2.07, Z:-0.22 [[ 9.83105075e-01 1.82990603e-01 4.34183544e-03 1.65753419e+01] [-1.82989074e-01 9.83114661e-01 -7.50190185e-04 -2.06806166e+00] [-4.40579983e-03 -5.69926693e-05 9.99990293e-01 -2.20262081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.85538475 meters 0.05670658428647812 Centerline is valid? [True, True] Translation: X:16.61, Y:-2.08, Z:-0.22 [[ 9.83029198e-01 1.83419042e-01 3.32441554e-03 1.66055899e+01] [-1.83418143e-01 9.83034818e-01 -5.75702475e-04 -2.07558157e+00] [-3.37361102e-03 -4.38257836e-05 9.99994308e-01 -2.21803742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.88538475 meters 0.056628415708890094 Centerline is valid? [True, True] Translation: X:16.64, Y:-2.09, Z:-0.22 [[ 9.82983918e-01 1.83665291e-01 3.11080839e-03 1.66375225e+01] [-1.83664510e-01 9.82988840e-01 -5.37332936e-04 -2.08546589e+00] [-3.15657934e-03 -4.31554625e-05 9.99995017e-01 -2.22070945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.915384749999998 meters 0.0561500689775588 Centerline is valid? [True, True] Translation: X:16.67, Y:-2.10, Z:-0.22 [[ 9.83306718e-01 1.81943575e-01 2.10568736e-03 1.66672111e+01] [-1.81943214e-01 9.83308972e-01 -3.63455329e-04 -2.10152087e+00] [-2.13666963e-03 -2.57274583e-05 9.99997717e-01 -2.21399888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.94538475 meters 0.05582333252683701 Centerline is valid? [True, True] Translation: X:16.70, Y:-2.12, Z:-0.22 [[ 9.83910545e-01 1.78661103e-01 4.99840273e-04 1.66965375e+01] [-1.78661083e-01 9.83910672e-01 -8.38489214e-05 -2.11654296e+00] [-5.06778720e-04 -6.80216670e-06 9.99999872e-01 -2.22569459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.97538475 meters 0.05568361564538022 Centerline is valid? [True, True] Translation: X:16.73, Y:-2.13, Z:-0.22 [[ 9.84388812e-01 1.76007376e-01 2.66381178e-04 1.67275666e+01] [-1.76007371e-01 9.84388848e-01 -4.28755429e-05 -2.12739061e+00] [-2.69769073e-04 -4.67884614e-06 9.99999964e-01 -2.23127327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.005384749999997 meters 0.0556403117332589 Centerline is valid? [True, True] Translation: X:16.76, Y:-2.14, Z:-0.23 [[ 9.85113034e-01 1.71894696e-01 -2.12704223e-03 1.67571474e+01] [-1.71894284e-01 9.85115330e-01 3.76357603e-04 -2.14262373e+00] [ 2.16007579e-03 -5.12837958e-06 9.99997667e-01 -2.26164417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.03538475 meters 0.0555872724262635 Centerline is valid? [True, True] Translation: X:16.79, Y:-2.15, Z:-0.23 [[ 9.85658462e-01 1.68742994e-01 -1.78806273e-03 1.67876269e+01] [-1.68742698e-01 9.85660084e-01 3.16260545e-04 -2.15408372e+00] [ 1.81578881e-03 -1.00023532e-05 9.99998351e-01 -2.26814958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.06538475 meters 0.055610841500418236 Centerline is valid? [True, True] Translation: X:16.82, Y:-2.17, Z:-0.22 [[ 9.86944973e-01 1.61057235e-01 -4.33332434e-04 1.68172689e+01] [-1.61057216e-01 9.86945068e-01 7.98500886e-05 -2.17213038e+00] [ 4.40535743e-04 -9.01632822e-06 9.99999903e-01 -2.23191411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.095384749999997 meters 0.05577749647876956 Centerline is valid? [True, True] Translation: X:16.85, Y:-2.18, Z:-0.22 [[ 9.87439484e-01 1.57997617e-01 1.39735651e-04 1.68471536e+01] [-1.57997615e-01 9.87439493e-01 -2.25748840e-05 -2.18254807e+00] [-1.41547278e-04 2.13432307e-07 9.99999990e-01 -2.22542878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.12538475 meters 0.05597595907301176 Centerline is valid? [True, True] Translation: X:16.88, Y:-2.19, Z:-0.22 [[ 9.87875029e-01 1.55248175e-01 -9.64715723e-04 1.68781778e+01] [-1.55248079e-01 9.87875500e-01 1.73542492e-04 -2.19096633e+00] [ 9.79961182e-04 -2.16680316e-05 9.99999520e-01 -2.21698536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.15538475 meters 0.05679282025967242 Centerline is valid? [True, True] Translation: X:16.91, Y:-2.20, Z:-0.22 [[ 9.88219327e-01 1.53041351e-01 -9.52373826e-04 1.69076631e+01] [-1.53041258e-01 9.88219785e-01 1.70774796e-04 -2.19969233e+00] [ 9.67290264e-04 -2.30104660e-05 9.99999532e-01 -2.24105234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.185384749999997 meters 0.05705735038055589 Centerline is valid? [True, True] Translation: X:16.94, Y:-2.20, Z:-0.22 [[ 9.88955166e-01 1.48210994e-01 -1.08662729e-03 1.69388480e+01] [-1.48210869e-01 9.88955762e-01 1.95287775e-04 -2.20385051e+00] [ 1.10357012e-03 -3.20808784e-05 9.99999391e-01 -2.24377993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.21538475 meters 0.058100483175650024 Centerline is valid? [True, True] Translation: X:16.97, Y:-2.21, Z:-0.23 [[ 9.89410879e-01 1.45141549e-01 -2.06313529e-04 1.69685556e+01] [-1.45141544e-01 9.89410901e-01 3.83128812e-05 -2.21258363e+00] [ 2.09689646e-04 -7.96251728e-06 9.99999978e-01 -2.25912419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.24538475 meters 0.059502170139237254 Centerline is valid? [True, True] Translation: X:17.00, Y:-2.22, Z:-0.23 [[ 9.90269482e-01 1.39158390e-01 -1.13790089e-03 1.69968427e+01] [-1.39158250e-01 9.90270135e-01 2.01019081e-04 -2.22218045e+00] [ 1.15480276e-03 -4.07147646e-05 9.99999332e-01 -2.25583890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.275384749999997 meters 0.059523488214418094 Centerline is valid? [True, True] Translation: X:17.03, Y:-2.23, Z:-0.22 [[ 9.90744613e-01 1.35725338e-01 -1.93517824e-03 1.70271923e+01] [-1.35724929e-01 9.90746500e-01 3.42161058e-04 -2.22842544e+00] [ 1.96371099e-03 -7.63422974e-05 9.99998069e-01 -2.24710827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.305384749999998 meters 0.06066028794117668 Centerline is valid? [True, True] Translation: X:17.06, Y:-2.24, Z:-0.22 [[ 9.91579360e-01 1.29466828e-01 -2.95195555e-03 1.70576563e+01] [-1.29465847e-01 9.91583744e-01 5.21940216e-04 -2.23711321e+00] [ 2.99468508e-03 -1.35367720e-04 9.99995507e-01 -2.24500889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.33538475 meters 0.06182897410742401 Centerline is valid? [True, True] Translation: X:17.09, Y:-2.24, Z:-0.23 [[ 9.91825278e-01 1.27555712e-01 -3.48682945e-03 1.70879526e+01] [-1.27554318e-01 9.91831393e-01 6.20268964e-04 -2.24420493e+00] [ 3.53746576e-03 -1.70438287e-04 9.99993729e-01 -2.25266578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.365384749999997 meters 0.0627742953025602 Centerline is valid? [True, True] Translation: X:17.12, Y:-2.25, Z:-0.23 [[ 9.92267013e-01 1.24086722e-01 -2.94270625e-03 1.71182838e+01] [-1.24085721e-01 9.92271365e-01 5.20992090e-04 -2.24941918e+00] [ 2.98461135e-03 -1.51815439e-04 9.99995535e-01 -2.26555440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.395384749999998 meters 0.06289000866213555 Centerline is valid? [True, True] Translation: X:17.15, Y:-2.25, Z:-0.23 [[ 9.92256851e-01 1.24141803e-01 -3.89281770e-03 1.71503602e+01] [-1.24140035e-01 9.92264466e-01 6.93356115e-04 -2.25414987e+00] [ 3.94877915e-03 -2.04732829e-04 9.99992183e-01 -2.27111176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.42538475 meters 0.062084386992167284 Centerline is valid? [True, True] Translation: X:17.18, Y:-2.25, Z:-0.23 [[ 9.91879414e-01 1.27092404e-01 -4.76960677e-03 1.71823232e+01] [-1.27089802e-01 9.91890854e-01 8.45924961e-04 -2.25429602e+00] [ 4.83843997e-03 -2.32887174e-04 9.99988268e-01 -2.27693960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.455384749999997 meters 0.060661219064968866 Centerline is valid? [True, True] Translation: X:17.21, Y:-2.25, Z:-0.23 [[ 9.91563730e-01 1.29508931e-01 -5.36714325e-03 1.72145527e+01] [-1.29505647e-01 9.91578223e-01 9.56347272e-04 -2.25497055e+00] [ 5.44579788e-03 -2.53203908e-04 9.99985139e-01 -2.26526800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.485384749999998 meters 0.060891789734184645 Centerline is valid? [True, True] Translation: X:17.24, Y:-2.26, Z:-0.23 [[ 9.90748159e-01 1.35570603e-01 -6.22076349e-03 1.72445763e+01] [-1.35566337e-01 9.90767656e-01 1.10429892e-03 -2.25787611e+00] [ 6.31304173e-03 -2.50755999e-04 9.99980041e-01 -2.28149315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.51538475 meters 0.059005727502185426 Centerline is valid? [True, True] Translation: X:17.28, Y:-2.25, Z:-0.23 [[ 9.90297763e-01 1.38847243e-01 -5.63761377e-03 1.72766788e+01] [-1.38843789e-01 9.90313788e-01 1.00149239e-03 -2.25498500e+00] [ 5.72206110e-03 -2.09028022e-04 9.99983607e-01 -2.25380196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.545384749999997 meters 0.05761279885518739 Centerline is valid? [True, True] Translation: X:17.31, Y:-2.25, Z:-0.23 [[ 9.89369331e-01 1.45333469e-01 -5.14875223e-03 1.73088470e+01] [-1.45330674e-01 9.89382716e-01 9.14721821e-04 -2.25065763e+00] [ 5.22702616e-03 -1.56726082e-04 9.99986327e-01 -2.25874928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.575384749999998 meters 0.05739104734016081 Centerline is valid? [True, True] Translation: X:17.34, Y:-2.25, Z:-0.23 [[ 9.89017535e-01 1.47674340e-01 -6.05021668e-03 1.73414675e+01] [-1.47670511e-01 9.89036025e-01 1.07724429e-03 -2.25283884e+00] [ 6.14296359e-03 -1.71974898e-04 9.99981117e-01 -2.26958837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.60538475 meters 0.05726484436725139 Centerline is valid? [True, True] Translation: X:17.37, Y:-2.25, Z:-0.23 [[ 9.88573868e-01 1.50579522e-01 -6.89307845e-03 1.73740687e+01] [-1.50574600e-01 9.88597884e-01 1.23051234e-03 -2.25248158e+00] [ 6.99977273e-03 -1.78529811e-04 9.99975485e-01 -2.28385703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.63538475 meters 0.057400988031831114 Centerline is valid? [True, True] Translation: X:17.41, Y:-2.26, Z:-0.23 [[ 9.88509623e-01 1.50970472e-01 -7.52603103e-03 1.74054755e+01] [-1.50964616e-01 9.88538254e-01 1.34353227e-03 -2.25749786e+00] [ 7.64260327e-03 -1.91930200e-04 9.99970776e-01 -2.29390563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.665384749999998 meters 0.05739484665845752 Centerline is valid? [True, True] Translation: X:17.44, Y:-2.26, Z:-0.23 [[ 9.88713007e-01 1.49531875e-01 -9.31708290e-03 1.74369512e+01] [-1.49522849e-01 9.88756874e-01 1.66181381e-03 -2.26465316e+00] [ 9.46082389e-03 -2.49940146e-04 9.99955214e-01 -2.28680700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.69538475 meters 0.05795487754593913 Centerline is valid? [True, True] Translation: X:17.47, Y:-2.27, Z:-0.23 [[ 9.88915557e-01 1.48156636e-01 -9.77919109e-03 1.74668371e+01] [-1.48146581e-01 9.88963868e-01 1.74881808e-03 -2.27263890e+00] [ 9.93036565e-03 -2.80679683e-04 9.99950653e-01 -2.29787262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.72538475 meters 0.05795487754593913 Centerline is valid? [True, True] Translation: X:17.50, Y:-2.28, Z:-0.23 [[ 9.88873962e-01 1.48434045e-01 -9.77858591e-03 1.74986581e+01] [-1.48423969e-01 9.88922269e-01 1.75220323e-03 -2.27848350e+00] [ 9.93034799e-03 -2.81331618e-04 9.99950653e-01 -2.30239462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.755384749999997 meters 0.057865813744296286 Centerline is valid? [True, True] Translation: X:17.53, Y:-2.28, Z:-0.23 [[ 9.89394184e-01 1.44894040e-01 -1.02404361e-02 1.75307329e+01] [-1.44882825e-01 9.89447123e-01 1.83262578e-03 -2.28310308e+00] [ 1.03979066e-02 -3.29525972e-04 9.99945886e-01 -2.29145113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.78538475 meters 0.058413432599447285 Centerline is valid? [True, True] Translation: X:17.56, Y:-2.29, Z:-0.23 [[ 9.89514010e-01 1.44020747e-01 -1.09566746e-02 1.75614996e+01] [-1.44007829e-01 9.89574601e-01 1.96312899e-03 -2.28934169e+00] [ 1.11251782e-02 -3.64696721e-04 9.99938047e-01 -2.30677971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.81538475 meters 0.058817031033878996 Centerline is valid? [True, True] Translation: X:17.59, Y:-2.30, Z:-0.23 [[ 9.89638316e-01 1.43099418e-01 -1.17711554e-02 1.75919299e+01] [-1.43084393e-01 9.89708235e-01 2.11319335e-03 -2.29547866e+00] [ 1.19524062e-02 -4.07028491e-04 9.99928485e-01 -2.31565839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.845384749999997 meters 0.05887129291915107 Centerline is valid? [True, True] Translation: X:17.62, Y:-2.30, Z:-0.23 [[ 9.89660985e-01 1.42809697e-01 -1.32862606e-02 1.76230936e+01] [-1.42790491e-01 9.89750056e-01 2.38801582e-03 -2.29995410e+00] [ 1.34911090e-02 -4.66174409e-04 9.99908882e-01 -2.32628910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.87538475 meters 0.05929515027708112 Centerline is valid? [True, True] Translation: X:17.65, Y:-2.31, Z:-0.23 [[ 9.89820013e-01 1.41632542e-01 -1.40201952e-02 1.76541570e+01] [-1.41610991e-01 9.89919169e-01 2.52316234e-03 -2.30573508e+00] [ 1.42362218e-02 -5.12062851e-04 9.99898529e-01 -2.31831183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.90538475 meters 0.05984371350539235 Centerline is valid? [True, True] Translation: X:17.68, Y:-2.31, Z:-0.23 [[ 9.89965408e-01 1.40593009e-01 -1.42160532e-02 1.76844163e+01] [-1.40570696e-01 9.90067329e-01 2.56175646e-03 -2.31291673e+00] [ 1.44350148e-02 -5.37689789e-04 9.99895665e-01 -2.32068479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.935384749999997 meters 0.06023987968598653 Centerline is valid? [True, True] Translation: X:17.72, Y:-2.32, Z:-0.23 [[ 9.90503489e-01 1.36894135e-01 -1.27606528e-02 1.77162489e+01] [-1.36875864e-01 9.90585541e-01 2.29850854e-03 -2.31927510e+00] [ 1.29551705e-02 -5.30055356e-04 9.99915938e-01 -2.29589200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.96538475 meters 0.06089735385058743 Centerline is valid? [True, True] Translation: X:17.75, Y:-2.33, Z:-0.23 [[ 9.90845138e-01 1.34512297e-01 -1.15045495e-02 1.77461162e+01] [-1.34497225e-01 9.90911793e-01 2.07738628e-03 -2.32675766e+00] [ 1.16794277e-02 -5.11038119e-04 9.99931663e-01 -2.29659747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.99538475 meters 0.06194284005144259 Centerline is valid? [True, True] Translation: X:17.78, Y:-2.33, Z:-0.23 [[ 9.91205825e-01 1.31916047e-01 -1.04484145e-02 1.77761191e+01] [-1.31903443e-01 9.91260769e-01 1.88944249e-03 -2.33486280e+00] [ 1.06063512e-02 -4.94644554e-04 9.99943629e-01 -2.29463248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.025384749999997 meters 0.0628679569110951 Centerline is valid? [True, True] Translation: X:17.81, Y:-2.34, Z:-0.23 [[ 9.91735972e-01 1.27949892e-01 -9.41208202e-03 1.78063129e+01] [-1.27939509e-01 9.91780517e-01 1.69952194e-03 -2.34074089e+00] [ 9.55217322e-03 -4.81299892e-04 9.99954261e-01 -2.27615480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.055384749999998 meters 0.06415467304297377 Centerline is valid? [True, True] Translation: X:17.84, Y:-2.35, Z:-0.23 [[ 9.92104171e-01 1.25174294e-01 -7.79160805e-03 1.78366168e+01] [-1.25167056e-01 9.92134676e-01 1.41176964e-03 -2.34619038e+00] [ 7.90704180e-03 -4.25369912e-04 9.99968648e-01 -2.29011008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.08538475 meters 0.06500253844132861 Centerline is valid? [True, True] Translation: X:17.87, Y:-2.35, Z:-0.23 [[ 9.92236014e-01 1.24154323e-01 -7.30723154e-03 1.78672059e+01] [-1.24147915e-01 9.92262837e-01 1.32585875e-03 -2.35155838e+00] [ 7.41530539e-03 -4.08387242e-04 9.99972423e-01 -2.29270377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.115384749999997 meters 0.06629113920681544 Centerline is valid? [True, True] Translation: X:17.90, Y:-2.36, Z:-0.23 [[ 9.92439810e-01 1.22558537e-01 -6.52903025e-03 1.78983463e+01] [-1.22553375e-01 9.92461215e-01 1.18647467e-03 -2.35520678e+00] [ 6.62522189e-03 -3.77350007e-04 9.99977982e-01 -2.29712702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.145384749999998 meters 0.0668500035383108 Centerline is valid? [True, True] Translation: X:17.93, Y:-2.36, Z:-0.23 [[ 9.92719605e-01 1.20327114e-01 -5.40107451e-03 1.79304530e+01] [-1.20323556e-01 9.92734245e-01 9.80232091e-04 -2.35995896e+00] [ 5.47978012e-03 -3.23219124e-04 9.99984934e-01 -2.29891233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.17538475 meters 0.06664454110473075 Centerline is valid? [True, True] Translation: X:17.96, Y:-2.36, Z:-0.23 [[ 9.93126042e-01 1.16944945e-01 -4.95428475e-03 1.79617276e+01] [-1.16941912e-01 9.93138350e-01 8.98601266e-04 -2.36020063e+00] [ 5.02537705e-03 -3.13060791e-04 9.99987324e-01 -2.28001486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.205384749999997 meters 0.06506213829711655 Centerline is valid? [True, True] Translation: X:17.99, Y:-2.36, Z:-0.23 [[ 9.93275449e-01 1.15676158e-01 -4.78622190e-03 1.79940186e+01] [-1.15673292e-01 9.93286932e-01 8.72415393e-04 -2.35964497e+00] [ 4.85500933e-03 -3.12910751e-04 9.99988165e-01 -2.26340733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.235384749999998 meters 0.0663695733678463 Centerline is valid? [True, True] Translation: X:18.03, Y:-2.36, Z:-0.23 [[ 9.93813621e-01 1.10975887e-01 -4.34046493e-03 1.80251654e+01] [-1.10973496e-01 9.93823053e-01 7.88524031e-04 -2.35980156e+00] [ 4.40116126e-03 -3.01969353e-04 9.99990269e-01 -2.26790224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.26538475 meters 0.06645853490594321 Centerline is valid? [True, True] Translation: X:18.06, Y:-2.36, Z:-0.23 [[ 9.94026030e-01 1.09044479e-01 -4.64247713e-03 1.80569825e+01] [-1.09041722e-01 9.94036816e-01 8.43753026e-04 -2.36128330e+00] [ 4.70679979e-03 -3.32488772e-04 9.99988868e-01 -2.26913077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.295384749999997 meters 0.0675884816683616 Centerline is valid? [True, True] Translation: X:18.09, Y:-2.37, Z:-0.23 [[ 9.94440268e-01 1.05245354e-01 -3.45959625e-03 1.80880536e+01] [-1.05243799e-01 9.94446252e-01 6.28868151e-04 -2.36506994e+00] [ 3.50656797e-03 -2.61270760e-04 9.99993818e-01 -2.27112229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.325384749999998 meters 0.06721467233504085 Centerline is valid? [True, True] Translation: X:18.12, Y:-2.36, Z:-0.22 [[ 9.95273171e-01 9.70419453e-02 -3.76511749e-03 1.81199101e+01] [-9.70400444e-02 9.95280242e-01 6.84723916e-04 -2.36140955e+00] [ 3.81379399e-03 -3.16120175e-04 9.99992677e-01 -2.24917908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.35538475 meters 0.07130259821573143 Centerline is valid? [True, True] Translation: X:18.15, Y:-2.37, Z:-0.23 [[ 9.95678356e-01 9.28108752e-02 -3.27923178e-03 1.81485422e+01] [-9.28094118e-02 9.95683714e-01 5.95974402e-04 -2.37042497e+00] [ 3.32039059e-03 -2.89055239e-04 9.99994446e-01 -2.25871400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.38538475 meters 0.07368151430313365 Centerline is valid? [True, True] Translation: X:18.18, Y:-2.37, Z:-0.23 [[ 9.96292298e-01 8.59700986e-02 -3.28613703e-03 1.81803479e+01] [-8.59685912e-02 9.96297669e-01 5.97497731e-04 -2.36944690e+00] [ 3.32533760e-03 -3.12777816e-04 9.99994422e-01 -2.26408680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.415384749999998 meters 0.0705975941341721 Centerline is valid? [True, True] Translation: X:18.21, Y:-2.35, Z:-0.22 [[ 9.96633034e-01 8.19785379e-02 -1.45403079e-03 1.82140592e+01] [-8.19782378e-02 9.96634084e-01 2.64904686e-04 -2.35485118e+00] [ 1.47085314e-03 -1.44813879e-04 9.99998908e-01 -2.24648764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.44538475 meters 0.07517258469332151 Centerline is valid? [True, True] Translation: X:18.24, Y:-2.36, Z:-0.23 [[ 9.96693398e-01 8.12531151e-02 -4.49483401e-04 1.82441455e+01] [-8.12530848e-02 9.96693498e-01 8.52886317e-05 -2.36132964e+00] [ 4.54927150e-04 -4.84847032e-05 9.99999895e-01 -2.26809711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.47538475 meters 0.07105432071665739 Centerline is valid? [True, True] Translation: X:18.28, Y:-2.35, Z:-0.23 [[ 9.96692552e-01 8.12598756e-02 -8.88437837e-04 1.82780596e+01] [-8.12597601e-02 9.96692944e-01 1.65440405e-04 -2.35124001e+00] [ 8.98943389e-04 -9.26989739e-05 9.99999592e-01 -2.26432499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.505384749999997 meters 0.07234753641876365 Centerline is valid? [True, True] Translation: X:18.31, Y:-2.34, Z:-0.23 [[ 9.96787249e-01 8.00526955e-02 -2.59715706e-03 1.83101531e+01] [-8.00517309e-02 9.96790598e-01 4.73425617e-04 -2.34169214e+00] [ 2.62672073e-03 -2.63997701e-04 9.99996515e-01 -2.27572179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.53538475 meters 0.07163166188709841 Centerline is valid? [True, True] Translation: X:18.34, Y:-2.34, Z:-0.23 [[ 9.96733666e-01 8.06681562e-02 -3.82728536e-03 1.83434868e+01] [-8.06660474e-02 9.96740937e-01 7.02456139e-04 -2.33754090e+00] [ 3.87147783e-03 -3.91429701e-04 9.99992429e-01 -2.28291385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.56538475 meters 0.07432967860168471 Centerline is valid? [True, True] Translation: X:18.38, Y:-2.33, Z:-0.23 [[ 9.96554990e-01 8.26652112e-02 -6.67943734e-03 1.83759670e+01] [-8.26588739e-02 9.96577153e-01 1.21979875e-03 -2.32921571e+00] [ 6.75740957e-03 -6.63481765e-04 9.99976948e-01 -2.31015278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.595384749999997 meters 0.07310848670224802 Centerline is valid? [True, True] Translation: X:18.41, Y:-2.31, Z:-0.23 [[ 9.96184878e-01 8.68465896e-02 -8.56500972e-03 1.84095739e+01] [-8.68363250e-02 9.96221365e-01 1.56383186e-03 -2.31379926e+00] [ 8.66845913e-03 -8.14111682e-04 9.99962097e-01 -2.32914632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.62538475 meters 0.06845266596852047 Centerline is valid? [True, True] Translation: X:18.44, Y:-2.30, Z:-0.23 [[ 9.95943313e-01 8.95217878e-02 -9.09762287e-03 1.84428619e+01] [-8.95103176e-02 9.95984510e-01 1.66105529e-03 -2.30150769e+00] [ 9.20979210e-03 -8.39985795e-04 9.99957236e-01 -2.30325141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.65538475 meters 0.06837427723832981 Centerline is valid? [True, True] Translation: X:18.47, Y:-2.30, Z:-0.23 [[ 9.95504445e-01 9.41790422e-02 -1.00602304e-02 1.84731948e+01] [-9.41652566e-02 9.95554887e-01 1.83635020e-03 -2.29862678e+00] [ 1.01884573e-02 -8.80770608e-04 9.99947708e-01 -2.30299617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.685384749999997 meters 0.06525853133734152 Centerline is valid? [True, True] Translation: X:18.51, Y:-2.28, Z:-0.23 [[ 9.94684641e-01 1.02607710e-01 -8.60942414e-03 1.85079656e+01] [-1.02597923e-01 9.94721667e-01 1.57204801e-03 -2.27990105e+00] [ 8.72528498e-03 -6.80382978e-04 9.99961703e-01 -2.29495034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.71538475 meters 0.06452370096756915 Centerline is valid? [True, True] Translation: X:18.54, Y:-2.27, Z:-0.23 [[ 9.94224342e-01 1.06875830e-01 -9.77316923e-03 1.85404966e+01] [-1.06863422e-01 9.94272108e-01 1.78458087e-03 -2.27389472e+00] [ 9.90791813e-03 -7.29879429e-04 9.99950649e-01 -2.30799203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.74538475 meters 0.06195654759679779 Centerline is valid? [True, True] Translation: X:18.58, Y:-2.26, Z:-0.23 [[ 9.93220899e-01 1.15663006e-01 -1.15894333e-02 1.85753931e+01] [-1.15646150e-01 9.93288220e-01 2.11643540e-03 -2.25581270e+00] [ 1.17564409e-02 -7.61814532e-04 9.99930600e-01 -2.31248855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.775384749999997 meters 0.06117739388675602 Centerline is valid? [True, True] Translation: X:18.61, Y:-2.25, Z:-0.23 [[ 9.92175036e-01 1.24236210e-01 -1.24121428e-02 1.86070426e+01] [-1.24217554e-01 9.92252420e-01 2.26587757e-03 -2.24659562e+00] [ 1.25974827e-02 -7.06341143e-04 9.99920399e-01 -2.31153527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.805384749999998 meters 0.060465366395526327 Centerline is valid? [True, True] Translation: X:18.64, Y:-2.24, Z:-0.23 [[ 9.91637650e-01 1.28296406e-01 -1.39571994e-02 1.86398189e+01] [-1.28273177e-01 9.91735593e-01 2.55072365e-03 -2.24438080e+00] [ 1.41691001e-02 -7.39059307e-04 9.99899340e-01 -2.30920087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.83538475 meters 0.05928475099697161 Centerline is valid? [True, True] Translation: X:18.67, Y:-2.24, Z:-0.23 [[ 9.91016189e-01 1.32937531e-01 -1.46467161e-02 1.86720466e+01] [-1.32912465e-01 9.91124167e-01 2.67604299e-03 -2.24007955e+00] [ 1.48724608e-02 -7.05270785e-04 9.99889150e-01 -2.30726104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.865384749999997 meters 0.0586292506551701 Centerline is valid? [True, True] Translation: X:18.70, Y:-2.23, Z:-0.23 [[ 9.90022396e-01 1.40115800e-01 -1.49405105e-02 1.87038036e+01] [-1.40090543e-01 9.90134936e-01 2.72913215e-03 -2.23033659e+00] [ 1.51755160e-02 -6.08877722e-04 9.99884660e-01 -2.31648594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.895384749999998 meters 0.057435224664043646 Centerline is valid? [True, True] Translation: X:18.74, Y:-2.22, Z:-0.23 [[ 9.89258575e-01 1.45475927e-01 -1.42907543e-02 1.87371683e+01] [-1.45453366e-01 9.89361663e-01 2.61116416e-03 -2.22132319e+00] [ 1.45185859e-02 -5.04478232e-04 9.99894473e-01 -2.29020536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.92538475 meters 0.05781147382703924 Centerline is valid? [True, True] Translation: X:18.77, Y:-2.23, Z:-0.23 [[ 9.88989074e-01 1.47378081e-01 -1.34280611e-02 1.87680610e+01] [-1.47358241e-01 9.89080125e-01 2.46055252e-03 -2.22505547e+00] [ 1.36440599e-02 -4.54724091e-04 9.99906812e-01 -2.30367635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.955384749999997 meters 0.05765942784786839 Centerline is valid? [True, True] Translation: X:18.80, Y:-2.22, Z:-0.23 [[ 9.88809949e-01 1.48599685e-01 -1.31536383e-02 1.88014307e+01] [-1.48580701e-01 9.88897339e-01 2.41432299e-03 -2.22150538e+00] [ 1.33663656e-02 -4.32929784e-04 9.99910572e-01 -2.26192448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.985384749999998 meters 0.058214760468731835 Centerline is valid? [True, True] Translation: X:18.83, Y:-2.22, Z:-0.23 [[ 9.88793100e-01 1.48667043e-01 -1.36497464e-02 1.88321124e+01] [-1.48646610e-01 9.88887208e-01 2.50520091e-03 -2.22399857e+00] [ 1.38705004e-02 -4.48136848e-04 9.99903700e-01 -2.26830817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.01538475 meters 0.05763000963422783 Centerline is valid? [True, True] Translation: X:18.87, Y:-2.22, Z:-0.23 [[ 9.88616661e-01 1.49850778e-01 -1.34849018e-02 1.88652653e+01] [-1.49830863e-01 9.88708530e-01 2.48090376e-03 -2.22344984e+00] [ 1.37044028e-02 -4.32208305e-04 9.99905997e-01 -2.25303685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.045384749999997 meters 0.05793462408940619 Centerline is valid? [True, True] Translation: X:18.90, Y:-2.22, Z:-0.23 [[ 9.88335134e-01 1.51570156e-01 -1.48374936e-02 1.88979408e+01] [-1.51546172e-01 9.88446398e-01 2.73418234e-03 -2.22206574e+00] [ 1.50804876e-02 -4.53723104e-04 9.99886180e-01 -2.27128607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.075384749999998 meters 0.058175780588503055 Centerline is valid? [True, True] Translation: X:18.93, Y:-2.23, Z:-0.23 [[ 9.88277726e-01 1.51826704e-01 -1.59934003e-02 1.89303110e+01] [-1.51798809e-01 9.88407008e-01 2.95105052e-03 -2.22560270e+00] [ 1.62560372e-02 -4.88678389e-04 9.99867742e-01 -2.27501144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.10538475 meters 0.058193015374667166 Centerline is valid? [True, True] Translation: X:18.96, Y:-2.23, Z:-0.23 [[ 9.88424096e-01 1.50806053e-01 -1.65933934e-02 1.89627294e+01] [-1.50775801e-01 9.88563227e-01 3.06648166e-03 -2.22713292e+00] [ 1.68660626e-02 -5.29102166e-04 9.99857618e-01 -2.26574138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.135384749999997 meters 0.05801206417222023 Centerline is valid? [True, True] Translation: X:18.99, Y:-2.23, Z:-0.23 [[ 9.88530490e-01 1.50338693e-01 -1.43439090e-02 1.89944214e+01] [-1.50315970e-01 9.88634441e-01 2.65548508e-03 -2.23187777e+00] [ 1.45801046e-02 -4.68909369e-04 9.99893595e-01 -2.25279354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.165384749999998 meters 0.05879565561031958 Centerline is valid? [True, True] Translation: X:19.02, Y:-2.24, Z:-0.23 [[ 9.88715029e-01 1.49311923e-01 -1.21877524e-02 1.90249350e+01] [-1.49295397e-01 9.88790057e-01 2.25984038e-03 -2.23763932e+00] [ 1.23885495e-02 -4.14762821e-04 9.99923173e-01 -2.25804463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.19538475 meters 0.05804808923102116 Centerline is valid? [True, True] Translation: X:19.06, Y:-2.24, Z:-0.22 [[ 9.88662419e-01 1.49717698e-01 -1.14556187e-02 1.90575730e+01] [-1.49703081e-01 9.88728709e-01 2.12786430e-03 -2.23972956e+00] [ 1.16450780e-02 -3.88798055e-04 9.99932118e-01 -2.24434253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.22538475 meters 0.057621862772856594 Centerline is valid? [True, True] Translation: X:19.09, Y:-2.24, Z:-0.22 [[ 9.88549550e-01 1.50493577e-01 -1.10213956e-02 1.90900647e+01] [-1.50480057e-01 9.88610918e-01 2.05062422e-03 -2.24074120e+00] [ 1.12044778e-02 -3.68643417e-04 9.99937160e-01 -2.24778446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.255384749999997 meters 0.05790970663071375 Centerline is valid? [True, True] Translation: X:19.12, Y:-2.25, Z:-0.23 [[ 9.88584672e-01 1.50239771e-01 -1.13294745e-02 1.91220807e+01] [-1.50225432e-01 9.88649515e-01 2.11105751e-03 -2.24583790e+00] [ 1.15180443e-02 -3.84983888e-04 9.99933591e-01 -2.26150849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.28538475 meters 0.05907883168088775 Centerline is valid? [True, True] Translation: X:19.15, Y:-2.25, Z:-0.23 [[ 9.88869710e-01 1.48228936e-01 -1.28405092e-02 1.91519534e+01] [-1.48210392e-01 9.88952967e-01 2.38924146e-03 -2.25265354e+00] [ 1.30528144e-02 -4.59551605e-04 9.99914703e-01 -2.29044954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.31538475 meters 0.05898897538337686 Centerline is valid? [True, True] Translation: X:19.18, Y:-2.26, Z:-0.23 [[ 9.89238128e-01 1.45547172e-01 -1.49648474e-02 1.91830366e+01] [-1.45521669e-01 9.89351145e-01 2.78503728e-03 -2.25618374e+00] [ 1.52108432e-02 -5.77355488e-04 9.99884142e-01 -2.29185287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.345384749999997 meters 0.05915068687348615 Centerline is valid? [True, True] Translation: X:19.21, Y:-2.26, Z:-0.23 [[ 9.89529901e-01 1.43272759e-01 -1.74210375e-02 1.92136373e+01] [-1.43237826e-01 9.89682983e-01 3.24320022e-03 -2.26088170e+00] [ 1.77059667e-02 -7.13892048e-04 9.99842982e-01 -2.30475077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.37538475 meters 0.059659126728455164 Centerline is valid? [True, True] Translation: X:19.24, Y:-2.26, Z:-0.23 [[ 9.90278088e-01 1.37892960e-01 -1.82986415e-02 1.92442061e+01] [-1.37853505e-01 9.90446772e-01 3.40638074e-03 -2.26487177e+00] [ 1.85935464e-02 -8.50732338e-04 9.99826763e-01 -2.32291028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.40538475 meters 0.06074296907956562 Centerline is valid? [True, True] Translation: X:19.27, Y:-2.27, Z:-0.23 [[ 9.90703952e-01 1.34873316e-01 -1.77445401e-02 1.92745086e+01] [-1.34835582e-01 9.90862453e-01 3.31148827e-03 -2.27314686e+00] [ 1.80290299e-02 -8.88109132e-04 9.99837069e-01 -2.33678208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.435384749999997 meters 0.06094845317296615 Centerline is valid? [True, True] Translation: X:19.31, Y:-2.28, Z:-0.23 [[ 9.91832332e-01 1.26244649e-01 -1.81910204e-02 1.93054678e+01] [-1.26203591e-01 9.91998562e-01 3.39225034e-03 -2.27816185e+00] [ 1.84737195e-02 -1.06877147e-03 9.99828775e-01 -2.30162124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.46538475 meters 0.07154567698476863 Centerline is valid? [True, True] Translation: X:19.33, Y:-2.30, Z:-0.24 [[ 9.92312110e-01 1.22552521e-01 -1.72498187e-02 1.93313632e+01] [-1.22515041e-01 9.92461443e-01 3.21702301e-03 -2.30468774e+00] [ 1.75140343e-02 -1.07892864e-03 9.99846035e-01 -2.40861064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.49538475 meters 0.07298651909508487 Centerline is valid? [True, True] Translation: X:19.36, Y:-2.31, Z:-0.24 [[ 9.93013155e-01 1.16769770e-01 -1.70204465e-02 1.93614088e+01] [-1.16732433e-01 9.93158327e-01 3.17426185e-03 -2.30943982e+00] [ 1.72746560e-02 -1.16524564e-03 9.99850103e-01 -2.39523308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.525384749999997 meters 0.07543709164483471 Centerline is valid? [True, True] Translation: X:19.39, Y:-2.32, Z:-0.24 [[ 9.93112032e-01 1.15891986e-01 -1.72493202e-02 1.93917530e+01] [-1.15853333e-01 9.93261090e-01 3.22689619e-03 -2.31698041e+00] [ 1.75070500e-02 -1.20627820e-03 9.99846012e-01 -2.40930838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.555384749999998 meters 0.07602066341633684 Centerline is valid? [True, True] Translation: X:19.42, Y:-2.32, Z:-0.24 [[ 9.93144920e-01 1.15587412e-01 -1.73988199e-02 1.94232513e+01] [-1.15547942e-01 9.93296554e-01 3.26033146e-03 -2.31627436e+00] [ 1.76590411e-02 -1.22758379e-03 9.99843313e-01 -2.42028170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.58538475 meters 0.07494326853680124 Centerline is valid? [True, True] Translation: X:19.46, Y:-2.32, Z:-0.24 [[ 9.92933233e-01 1.17508102e-01 -1.65964272e-02 1.94557838e+01] [-1.17472489e-01 9.93071274e-01 3.10803966e-03 -2.31630242e+00] [ 1.68466550e-02 -1.13645225e-03 9.99857439e-01 -2.42425466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.615384749999997 meters 0.07266299190004775 Centerline is valid? [True, True] Translation: X:19.49, Y:-2.31, Z:-0.24 [[ 9.92613309e-01 1.19869528e-01 -1.87113585e-02 1.94895785e+01] [-1.19824479e-01 9.92788871e-01 3.51450118e-03 -2.31087886e+00] [ 1.89977101e-02 -1.24646186e-03 9.99818750e-01 -2.41532358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.645384749999998 meters 0.07266299190004775 Centerline is valid? [True, True] Translation: X:19.52, Y:-2.32, Z:-0.24 [[ 9.92565940e-01 1.20261369e-01 -1.87098418e-02 1.95214463e+01] [-1.20216237e-01 9.92741481e-01 3.52257372e-03 -2.31712858e+00] [ 1.89976656e-02 -1.24715992e-03 9.99818750e-01 -2.41985668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.67538475 meters 0.07273774604226964 Centerline is valid? [True, True] Translation: X:19.55, Y:-2.32, Z:-0.24 [[ 9.92458807e-01 1.21062970e-01 -1.92164863e-02 1.95540833e+01] [-1.21015541e-01 9.92644025e-01 3.61638701e-03 -2.32018746e+00] [ 1.95129409e-02 -1.26362166e-03 9.99808806e-01 -2.42549283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.705384749999997 meters 0.07274430101605302 Centerline is valid? [True, True] Translation: X:19.59, Y:-2.32, Z:-0.24 [[ 9.92357586e-01 1.21929240e-01 -1.89652966e-02 1.95864355e+01] [-1.21883013e-01 9.92538021e-01 3.57885838e-03 -2.32305873e+00] [ 1.92601454e-02 -1.23995977e-03 9.99813737e-01 -2.42705537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.735384749999998 meters 0.07199886885537564 Centerline is valid? [True, True] Translation: X:19.62, Y:-2.32, Z:-0.24 [[ 9.92383451e-01 1.21414148e-01 -2.08252444e-02 1.96193006e+01] [-1.21358161e-01 9.92600979e-01 3.93616254e-03 -2.31917784e+00] [ 2.11490638e-02 -1.37886920e-03 9.99775383e-01 -2.44259707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.76538475 meters 0.0765239622473939 Centerline is valid? [True, True] Translation: X:19.65, Y:-2.33, Z:-0.25 [[ 9.92896678e-01 1.17236577e-01 -2.02921470e-02 1.96485358e+01] [-1.17182572e-01 9.93102987e-01 3.83437979e-03 -2.32575767e+00] [ 2.06017214e-02 -1.42925697e-03 9.99786740e-01 -2.48269230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.795384749999997 meters 0.07757049182741313 Centerline is valid? [True, True] Translation: X:19.68, Y:-2.33, Z:-0.25 [[ 9.93244914e-01 1.13855432e-01 -2.23937669e-02 1.96785223e+01] [-1.13788826e-01 9.93495952e-01 4.23053494e-03 -2.33047953e+00] [ 2.27297862e-02 -1.65379687e-03 9.99740277e-01 -2.48852130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.825384749999998 meters 0.08098580756723385 Centerline is valid? [True, True] Translation: X:19.71, Y:-2.34, Z:-0.25 [[ 9.93562509e-01 1.11171131e-01 -2.17834998e-02 1.97071190e+01] [-1.11107470e-01 9.93799878e-01 4.11503685e-03 -2.33928756e+00] [ 2.21059127e-02 -1.66823679e-03 9.99754243e-01 -2.50002917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.85538475 meters 0.08429188895873116 Centerline is valid? [True, True] Translation: X:19.74, Y:-2.34, Z:-0.25 [[ 9.93952656e-01 1.07166221e-01 -2.39482588e-02 1.97359549e+01] [-1.07088136e-01 9.94239242e-01 4.52333050e-03 -2.34434947e+00] [ 2.42950469e-02 -1.93140197e-03 9.99702966e-01 -2.51694594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.885384749999997 meters 0.08251186186680588 Centerline is valid? [True, True] Translation: X:19.77, Y:-2.35, Z:-0.25 [[ 9.94143213e-01 1.05408150e-01 -2.38410260e-02 1.97687136e+01] [-1.05330162e-01 9.94427093e-01 4.50712274e-03 -2.34552868e+00] [ 2.41832497e-02 -1.96954633e-03 9.99705602e-01 -2.50357081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.915384749999998 meters 0.08573018667489672 Centerline is valid? [True, True] Translation: X:19.80, Y:-2.35, Z:-0.25 [[ 9.94431348e-01 1.02753580e-01 -2.34093006e-02 1.97980955e+01] [-1.02677694e-01 9.94704840e-01 4.42414149e-03 -2.34987195e+00] [ 2.37399410e-02 -1.99589199e-03 9.99716176e-01 -2.51778201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.94538475 meters 0.08102088932853317 Centerline is valid? [True, True] Translation: X:19.83, Y:-2.34, Z:-0.25 [[ 9.94428108e-01 1.03128404e-01 -2.18465149e-02 1.98322526e+01] [-1.03062117e-01 9.94666299e-01 4.14172296e-03 -2.34090780e+00] [ 2.21571214e-02 -1.86709765e-03 9.99752757e-01 -2.50316824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.97538475 meters 0.08313295432506278 Centerline is valid? [True, True] Translation: X:19.86, Y:-2.35, Z:-0.25 [[ 9.94340520e-01 1.04166422e-01 -2.08875042e-02 1.98630854e+01] [-1.04105912e-01 9.94558306e-01 3.96665088e-03 -2.34695255e+00] [ 2.11870326e-02 -1.76968902e-03 9.99773963e-01 -2.51511123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.005384749999997 meters 0.08117749722342057 Centerline is valid? [True, True] Translation: X:19.89, Y:-2.35, Z:-0.25 [[ 9.94187383e-01 1.06024495e-01 -1.87150790e-02 1.98945676e+01] [-1.05976308e-01 9.94362315e-01 3.55084530e-03 -2.34664618e+00] [ 1.89860459e-02 -1.54685062e-03 9.99818552e-01 -2.49978406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.03538475 meters 0.08431351987951427 Centerline is valid? [True, True] Translation: X:19.92, Y:-2.35, Z:-0.25 [[ 9.93741646e-01 1.10450741e-01 -1.66785934e-02 1.99236929e+01] [-1.10413109e-01 9.93880747e-01 3.16341074e-03 -2.34969256e+00] [ 1.69259339e-02 -1.30207765e-03 9.99855898e-01 -2.50773387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.06538475 meters 0.0767021576989578 Centerline is valid? [True, True] Translation: X:19.96, Y:-2.34, Z:-0.25 [[ 9.93504636e-01 1.12689814e-01 -1.57969726e-02 1.99575580e+01] [-1.12656306e-01 9.93629493e-01 2.99803901e-03 -2.33958280e+00] [ 1.60341863e-02 -1.19893707e-03 9.99870725e-01 -2.46350169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.095384749999997 meters 0.07660781559805731 Centerline is valid? [True, True] Translation: X:19.99, Y:-2.33, Z:-0.25 [[ 9.92976708e-01 1.17445608e-01 -1.42753893e-02 1.99882795e+01] [-1.17418751e-01 9.93078800e-01 2.70801252e-03 -2.33466458e+00] [ 1.44946306e-02 -1.01279498e-03 9.99894434e-01 -2.49176463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.12538475 meters 0.07442209489851603 Centerline is valid? [True, True] Translation: X:20.02, Y:-2.33, Z:-0.25 [[ 9.92648395e-01 1.20145803e-01 -1.46338852e-02 2.00223639e+01] [-1.20117836e-01 9.92755753e-01 2.77847201e-03 -2.32586969e+00] [ 1.48616954e-02 -1.00025515e-03 9.99889059e-01 -2.51954181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.15538475 meters 0.07607388162650923 Centerline is valid? [True, True] Translation: X:20.05, Y:-2.33, Z:-0.25 [[ 9.92651518e-01 1.20177485e-01 -1.41540045e-02 2.00534918e+01] [-1.20151191e-01 9.92751942e-01 2.69675195e-03 -2.33130959e+00] [ 1.43755044e-02 -9.76314416e-04 9.99896190e-01 -2.53506619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.185384749999997 meters 0.0744977486126393 Centerline is valid? [True, True] Translation: X:20.09, Y:-2.33, Z:-0.25 [[ 9.92825309e-01 1.18811097e-01 -1.34844030e-02 2.00856407e+01] [-1.18787040e-01 9.92916418e-01 2.57401810e-03 -2.33296700e+00] [ 1.36947071e-02 -9.53777989e-04 9.99905768e-01 -2.51350951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.21538475 meters 0.07827155546240187 Centerline is valid? [True, True] Translation: X:20.11, Y:-2.34, Z:-0.25 [[ 9.93443420e-01 1.13649039e-01 -1.24123465e-02 2.01145148e+01] [-1.13628299e-01 9.93520514e-01 2.36585220e-03 -2.34171693e+00] [ 1.26007977e-02 -9.39946477e-04 9.99920165e-01 -2.51451348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.24538475 meters 0.07943949497288973 Centerline is valid? [True, True] Translation: X:20.15, Y:-2.35, Z:-0.25 [[ 9.94177835e-01 1.06964445e-01 -1.30015484e-02 2.01450046e+01] [-1.06941122e-01 9.94262267e-01 2.47804183e-03 -2.34507492e+00] [ 1.31920114e-02 -1.07321408e-03 9.99912406e-01 -2.52671830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.275384749999997 meters 0.08305854535735156 Centerline is valid? [True, True] Translation: X:20.17, Y:-2.35, Z:-0.26 [[ 9.94538345e-01 1.03454289e-01 -1.38090439e-02 2.01740732e+01] [-1.03427640e-01 9.94633498e-01 2.63217172e-03 -2.35417603e+00] [ 1.40072471e-02 -1.18955889e-03 9.99901186e-01 -2.55326684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.305384749999998 meters 0.08319934575924169 Centerline is valid? [True, True] Translation: X:20.21, Y:-2.36, Z:-0.26 [[ 9.94873964e-01 1.00165070e-01 -1.38836306e-02 2.02052200e+01] [-1.00137797e-01 9.94970056e-01 2.64756772e-03 -2.35870199e+00] [ 1.40789905e-02 -1.24372001e-03 9.99900113e-01 -2.55948262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.33538475 meters 0.0854312648798017 Centerline is valid? [True, True] Translation: X:20.24, Y:-2.36, Z:-0.26 [[ 9.95343795e-01 9.51481885e-02 -1.54127298e-02 2.02352177e+01] [-9.51139863e-02 9.95462050e-01 2.93878402e-03 -2.36483341e+00] [ 1.56224076e-02 -1.45913426e-03 9.99876898e-01 -2.57123337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.365384749999997 meters 0.08332709132181114 Centerline is valid? [True, True] Translation: X:20.27, Y:-2.37, Z:-0.26 [[ 9.95324705e-01 9.52729135e-02 -1.58683363e-02 2.02680232e+01] [-9.52365036e-02 9.95450044e-01 3.03629911e-03 -2.36635360e+00] [ 1.60854131e-02 -1.51085865e-03 9.99869480e-01 -2.56971378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.395384749999998 meters 0.08311496627108542 Centerline is valid? [True, True] Translation: X:20.30, Y:-2.37, Z:-0.26 [[ 9.94976283e-01 9.88871189e-02 -1.56055814e-02 2.02981123e+01] [-9.88524261e-02 9.95097639e-01 2.98092632e-03 -2.36771244e+00] [ 1.58238524e-02 -1.42330141e-03 9.99873782e-01 -2.57271575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.42538475 meters 0.08176141985223193 Centerline is valid? [True, True] Translation: X:20.33, Y:-2.37, Z:-0.26 [[ 9.94673489e-01 1.01734183e-01 -1.65772659e-02 2.03297296e+01] [-1.01695400e-01 9.94810539e-01 3.16817576e-03 -2.36771124e+00] [ 1.68135506e-02 -1.46546876e-03 9.99857568e-01 -2.58839555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.455384749999997 meters 0.08024941976871709 Centerline is valid? [True, True] Translation: X:20.36, Y:-2.36, Z:-0.26 [[ 9.93834895e-01 1.09599759e-01 -1.67360240e-02 2.03618213e+01] [-1.09561337e-01 9.93974891e-01 3.19841136e-03 -2.36071815e+00] [ 1.69857327e-02 -1.34507165e-03 9.99854827e-01 -2.62278423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.485384749999998 meters 0.07760587226166603 Centerline is valid? [True, True] Translation: X:20.39, Y:-2.36, Z:-0.26 [[ 9.93425043e-01 1.13206332e-01 -1.70590517e-02 2.03935563e+01] [-1.13166945e-01 9.93570640e-01 3.25986788e-03 -2.35735101e+00] [ 1.73184106e-02 -1.30791361e-03 9.99849170e-01 -2.62144594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.51538475 meters 0.07681903371484718 Centerline is valid? [True, True] Translation: X:20.42, Y:-2.36, Z:-0.26 [[ 9.93120226e-01 1.15988710e-01 -1.60883528e-02 2.04247441e+01] [-1.15954030e-01 9.93249821e-01 3.07511748e-03 -2.35807454e+00] [ 1.63364324e-02 -1.18845204e-03 9.99865845e-01 -2.61571765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.545384749999997 meters 0.07408332616037808 Centerline is valid? [True, True] Translation: X:20.46, Y:-2.35, Z:-0.26 [[ 9.92594625e-01 1.20548512e-01 -1.49654968e-02 2.04561146e+01] [-1.20519031e-01 9.92706898e-01 2.85966619e-03 -2.35446989e+00] [ 1.52010805e-02 -1.03486210e-03 9.99883921e-01 -2.60722895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.575384749999998 meters 0.07405538399698343 Centerline is valid? [True, True] Translation: X:20.49, Y:-2.36, Z:-0.26 [[ 9.92508160e-01 1.21146537e-01 -1.58451804e-02 2.04887808e+01] [-1.21113367e-01 9.92634027e-01 3.04000661e-03 -2.35802576e+00] [ 1.60967515e-02 -1.09816821e-03 9.99869836e-01 -2.62327774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.60538475 meters 0.07645245894435351 Centerline is valid? [True, True] Translation: X:20.52, Y:-2.36, Z:-0.27 [[ 9.93006198e-01 1.16668849e-01 -1.80851096e-02 2.05192331e+01] [-1.16625012e-01 9.93169981e-01 3.46356319e-03 -2.36223207e+00] [ 1.83656779e-02 -1.33016359e-03 9.99830452e-01 -2.65555829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.635384749999997 meters 0.07873544314748755 Centerline is valid? [True, True] Translation: X:20.55, Y:-2.37, Z:-0.27 [[ 9.93443868e-01 1.12865792e-01 -1.81822284e-02 2.05492286e+01] [-1.12820836e-01 9.93609243e-01 3.48289657e-03 -2.37001466e+00] [ 1.84591301e-02 -1.40872804e-03 9.99828623e-01 -2.66674316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.665384749999998 meters 0.08275167111789314 Centerline is valid? [True, True] Translation: X:20.58, Y:-2.38, Z:-0.27 [[ 9.94230072e-01 1.05821678e-01 -1.75595031e-02 2.05782537e+01] [-1.05778633e-01 9.94384009e-01 3.36491832e-03 -2.37916988e+00] [ 1.78169704e-02 -1.48808276e-03 9.99840158e-01 -2.65983775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.69538475 meters 0.08270216904109369 Centerline is valid? [True, True] Translation: X:20.61, Y:-2.38, Z:-0.27 [[ 9.94411084e-01 1.04168474e-01 -1.71908654e-02 2.06097463e+01] [-1.04126895e-01 9.94558549e-01 3.29872268e-03 -2.38322285e+00] [ 1.74409451e-02 -1.49025495e-03 9.99846785e-01 -2.65406812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.72538475 meters 0.08362470339280759 Centerline is valid? [True, True] Translation: X:20.64, Y:-2.39, Z:-0.27 [[ 9.94441043e-01 1.03971937e-01 -1.66387665e-02 2.06420796e+01] [-1.03932818e-01 9.94579168e-01 3.20109704e-03 -2.38641371e+00] [ 1.68813948e-02 -1.45398839e-03 9.99856442e-01 -2.65871557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.755384749999997 meters 0.08252377855004342 Centerline is valid? [True, True] Translation: X:20.68, Y:-2.39, Z:-0.27 [[ 9.94380025e-01 1.04536921e-01 -1.67450893e-02 2.06750543e+01] [-1.04497254e-01 9.94519933e-01 3.22903707e-03 -2.38843374e+00] [ 1.69908787e-02 -1.46107411e-03 9.99854577e-01 -2.65679824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.78538475 meters 0.08654857865095748 Centerline is valid? [True, True] Translation: X:20.71, Y:-2.39, Z:-0.27 [[ 9.94381905e-01 1.04895026e-01 -1.42007273e-02 2.07057189e+01] [-1.04866472e-01 9.94482529e-01 2.74270723e-03 -2.39423081e+00] [ 1.44100715e-02 -1.23811827e-03 9.99895403e-01 -2.66884750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.81538475 meters 0.08176495553972146 Centerline is valid? [True, True] Translation: X:20.74, Y:-2.39, Z:-0.26 [[ 9.94320731e-01 1.05625397e-01 -1.30215270e-02 2.07395515e+01] [-1.05601381e-01 9.94405348e-01 2.52025219e-03 -2.38957414e+00] [ 1.32148788e-02 -1.13084776e-03 9.99912040e-01 -2.64438578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.845384749999997 meters 0.08196346207701906 Centerline is valid? [True, True] Translation: X:20.77, Y:-2.39, Z:-0.26 [[ 9.94307559e-01 1.05781977e-01 -1.27535062e-02 2.07731087e+01] [-1.05758875e-01 9.94388726e-01 2.47429694e-03 -2.39089702e+00] [ 1.29436788e-02 -1.11141567e-03 9.99915609e-01 -2.64040516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.87538475 meters 0.08187202889803118 Centerline is valid? [True, True] Translation: X:20.81, Y:-2.39, Z:-0.27 [[ 9.94176189e-01 1.06913835e-01 -1.35328372e-02 2.08050896e+01] [-1.06887877e-01 9.94267604e-01 2.62922164e-03 -2.39458704e+00] [ 1.37363618e-02 -1.16741331e-03 9.99904970e-01 -2.65121826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.90538475 meters 0.08016665337445347 Centerline is valid? [True, True] Translation: X:20.84, Y:-2.39, Z:-0.27 [[ 9.93811628e-01 1.10199027e-01 -1.39507117e-02 2.08372811e+01] [-1.10171822e-01 9.93908872e-01 2.70615951e-03 -2.39016515e+00] [ 1.41639523e-02 -1.15243746e-03 9.99899022e-01 -2.66019082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.935384749999997 meters 0.07894564130084891 Centerline is valid? [True, True] Translation: X:20.87, Y:-2.39, Z:-0.27 [[ 9.93412507e-01 1.13680594e-01 -1.44330867e-02 2.08691257e+01] [-1.13651832e-01 9.93516693e-01 2.80027123e-03 -2.39020021e+00] [ 1.46578491e-02 -1.14147772e-03 9.99891916e-01 -2.66394805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.96538475 meters 0.07611397172242707 Centerline is valid? [True, True] Translation: X:20.90, Y:-2.38, Z:-0.27 [[ 9.92372148e-01 1.22394647e-01 -1.47333239e-02 2.09001421e+01] [-1.22365648e-01 9.92480974e-01 2.85730212e-03 -2.38409244e+00] [ 1.49722621e-02 -1.03265432e-03 9.99887376e-01 -2.66917401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.99538475 meters 0.06850188343378205 Centerline is valid? [True, True] Translation: X:20.93, Y:-2.37, Z:-0.27 [[ 9.90573700e-01 1.35883070e-01 -1.73070956e-02 2.09343836e+01] [-1.35845090e-01 9.90724403e-01 3.35698620e-03 -2.36809597e+00] [ 1.76027195e-02 -9.74258276e-04 9.99844585e-01 -2.66731973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.025384749999997 meters 0.06751643507454735 Centerline is valid? [True, True] Translation: X:20.96, Y:-2.37, Z:-0.27 [[ 9.89464925e-01 1.43641749e-01 -1.80613100e-02 2.09641611e+01] [-1.43601688e-01 9.89629369e-01 3.50253176e-03 -2.36791110e+00] [ 1.83771126e-02 -8.71997724e-04 9.99830746e-01 -2.70990101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.055384749999998 meters 0.06476308032023313 Centerline is valid? [True, True] Translation: X:21.00, Y:-2.36, Z:-0.27 [[ 9.88334248e-01 1.50951777e-01 -2.02231302e-02 2.09955710e+01] [-1.50903086e-01 9.88540784e-01 3.92125370e-03 -2.36441210e+00] [ 2.05833092e-02 -8.23776569e-04 9.99787802e-01 -2.72449167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.08538475 meters 0.06157043816720107 Centerline is valid? [True, True] Translation: X:21.03, Y:-2.36, Z:-0.28 [[ 9.86204489e-01 1.64034797e-01 -2.22101477e-02 2.10267716e+01] [-1.63979388e-01 9.86454368e-01 4.30583731e-03 -2.35748529e+00] [ 2.26156044e-02 -6.04429652e-04 9.99744052e-01 -2.75644654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.115384749999997 meters 0.05914492315821434 Centerline is valid? [True, True] Translation: X:21.06, Y:-2.35, Z:-0.28 [[ 9.84284438e-01 1.75468290e-01 -1.98752274e-02 2.10585918e+01] [-1.75426242e-01 9.84485036e-01 3.85332653e-03 -2.35318650e+00] [ 2.02430006e-02 -3.06132875e-04 9.99795043e-01 -2.75083073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.145384749999998 meters 0.058531558077932574 Centerline is valid? [True, True] Translation: X:21.09, Y:-2.35, Z:-0.28 [[ 9.83418903e-01 1.80280389e-01 -1.96530306e-02 2.10878652e+01] [-1.80240300e-01 9.83615240e-01 3.80705511e-03 -2.35484661e+00] [ 2.00173578e-02 -2.01661835e-04 9.99799612e-01 -2.75621331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.17538475 meters 0.05841778778138554 Centerline is valid? [True, True] Translation: X:21.12, Y:-2.36, Z:-0.28 [[ 9.81646386e-01 1.89537279e-01 -2.11185199e-02 2.11162371e+01] [-1.89493185e-01 9.81873525e-01 4.08816740e-03 -2.35532251e+00] [ 2.15105757e-02 -1.13191575e-05 9.99768621e-01 -2.78263384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.205384749999997 meters 0.05813974653145781 Centerline is valid? [True, True] Translation: X:21.14, Y:-2.36, Z:-0.27 [[ 9.80891955e-01 1.93373193e-01 -2.13958004e-02 2.11447454e+01] [-1.93328887e-01 9.81125274e-01 4.13990392e-03 -2.36053829e+00] [ 2.17925070e-02 7.56278385e-05 9.99762512e-01 -2.74950469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.235384749999998 meters 0.05841452925342753 Centerline is valid? [True, True] Translation: X:21.17, Y:-2.37, Z:-0.28 [[ 9.79814177e-01 1.98933122e-01 -1.97431499e-02 2.11715578e+01] [-1.98896584e-01 9.80013050e-01 3.81716548e-03 -2.36885228e+00] [ 2.01079052e-02 1.86732230e-04 9.99797798e-01 -2.75457069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.26538475 meters 0.05862744320799896 Centerline is valid? [True, True] Translation: X:21.20, Y:-2.38, Z:-0.28 [[ 9.79417808e-01 2.00869088e-01 -1.98082377e-02 2.11994705e+01] [-2.00832737e-01 9.79618067e-01 3.82812751e-03 -2.37833412e+00] [ 2.01734600e-02 2.28806347e-04 9.99796469e-01 -2.76199276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.295384749999997 meters 0.0587509776497103 Centerline is valid? [True, True] Translation: X:21.23, Y:-2.40, Z:-0.28 [[ 9.79270588e-01 2.01413569e-01 -2.14869604e-02 2.12252505e+01] [-2.01370972e-01 9.79506256e-01 4.15048382e-03 -2.39552483e+00] [ 2.18825759e-02 2.62403358e-04 9.99760513e-01 -2.76497869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.325384749999998 meters 0.058952574153180226 Centerline is valid? [True, True] Translation: X:21.25, Y:-2.41, Z:-0.28 [[ 9.79325940e-01 2.01230904e-01 -2.06597771e-02 2.12509947e+01] [-2.01191544e-01 9.79543802e-01 3.98775504e-03 -2.40778122e+00] [ 2.10396161e-02 2.51260499e-04 9.99778611e-01 -2.78366915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.35538475 meters 0.058882160276672785 Centerline is valid? [True, True] Translation: X:21.28, Y:-2.42, Z:-0.28 [[ 9.79447653e-01 2.00653112e-01 -2.05091233e-02 2.12782742e+01] [-2.00614198e-01 9.79662326e-01 3.95866288e-03 -2.42109919e+00] [ 2.08863334e-02 2.37118252e-04 9.99781829e-01 -2.78263093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.385384749999997 meters 0.05872469673669088 Centerline is valid? [True, True] Translation: X:21.31, Y:-2.44, Z:-0.28 [[ 9.79645827e-01 1.99758506e-01 -1.97634340e-02 2.13053503e+01] [-1.99722175e-01 9.79845139e-01 3.81538589e-03 -2.44300023e+00] [ 2.01272605e-02 2.09469171e-04 9.99797404e-01 -2.76930325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.415384749999998 meters 0.058615447925469244 Centerline is valid? [True, True] Translation: X:21.34, Y:-2.46, Z:-0.28 [[ 9.79662319e-01 1.99700928e-01 -1.95264198e-02 2.13350665e+01] [-1.99665217e-01 9.79856878e-01 3.78145290e-03 -2.45734352e+00] [ 1.98882564e-02 1.94199937e-04 9.99802190e-01 -2.76155921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.44538475 meters 0.058905951623953394 Centerline is valid? [True, True] Translation: X:21.36, Y:-2.48, Z:-0.28 [[ 9.79829872e-01 1.98862151e-01 -1.96791052e-02 2.13636413e+01] [-1.98825556e-01 9.80027457e-01 3.81872692e-03 -2.47944724e+00] [ 2.00454636e-02 1.71006312e-04 9.99799055e-01 -2.78445606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.47538475 meters 0.05893812856345566 Centerline is valid? [True, True] Translation: X:21.39, Y:-2.50, Z:-0.28 [[ 9.80101799e-01 1.97417449e-01 -2.06594719e-02 2.13933171e+01] [-1.97376667e-01 9.80319504e-01 4.01508045e-03 -2.49548701e+00] [ 2.10455302e-02 1.42510130e-04 9.99778508e-01 -2.79066599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.505384749999997 meters 0.05876475627989062 Centerline is valid? [True, True] Translation: X:21.42, Y:-2.51, Z:-0.28 [[ 9.80621527e-01 1.94816719e-01 -2.06849307e-02 2.14230592e+01] [-1.94775106e-01 9.80839661e-01 4.02718937e-03 -2.51245215e+00] [ 2.10731642e-02 7.97609807e-05 9.99777933e-01 -2.78347038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.53538475 meters 0.05876475627989062 Centerline is valid? [True, True] Translation: X:21.45, Y:-2.52, Z:-0.28 [[ 9.80547643e-01 1.95188427e-01 -2.06832735e-02 2.14548893e+01] [-1.95146718e-01 9.80765758e-01 4.03569799e-03 -2.51890409e+00] [ 2.10731679e-02 7.90787810e-05 9.99777933e-01 -2.78799537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.56538475 meters 0.05877580513433675 Centerline is valid? [True, True] Translation: X:21.48, Y:-2.55, Z:-0.28 [[ 9.82300715e-01 1.86203217e-01 -2.03388196e-02 2.14823209e+01] [-1.86160790e-01 9.82511245e-01 3.97654696e-03 -2.54894899e+00] [ 2.07235648e-02 -1.19874202e-04 9.99785237e-01 -2.77410330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.595384749999997 meters 0.05991610508112064 Centerline is valid? [True, True] Translation: X:21.51, Y:-2.58, Z:-0.28 [[ 9.84340033e-01 1.75158300e-01 -1.98561936e-02 2.15090929e+01] [-1.75115650e-01 9.84540224e-01 3.88025168e-03 -2.58036471e+00] [ 2.02288796e-02 -3.42356820e-04 9.99795317e-01 -2.75788516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.62538475 meters 0.060731508311157464 Centerline is valid? [True, True] Translation: X:21.54, Y:-2.60, Z:-0.28 [[ 9.85318015e-01 1.69494412e-01 -2.04952061e-02 2.15384099e+01] [-1.69447703e-01 9.85531034e-01 4.00718483e-03 -2.59798093e+00] [ 2.08778570e-02 -4.75485805e-04 9.99781921e-01 -2.76021317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.65538475 meters 0.06273106246392704 Centerline is valid? [True, True] Translation: X:21.56, Y:-2.62, Z:-0.28 [[ 9.86776132e-01 1.60672641e-01 -2.13814932e-02 2.15637487e+01] [-1.60619764e-01 9.87007511e-01 4.17903449e-03 -2.62482956e+00] [ 2.17751509e-02 -6.89481099e-04 9.99762656e-01 -2.75707322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.685384749999997 meters 0.0633172864390229 Centerline is valid? [True, True] Translation: X:21.59, Y:-2.64, Z:-0.28 [[ 9.87054751e-01 1.59070399e-01 -2.04823680e-02 2.15936282e+01] [-1.59021283e-01 9.87266990e-01 4.01517526e-03 -2.63914748e+00] [ 2.08602613e-02 -7.06065375e-04 9.99782152e-01 -2.75062343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.71538475 meters 0.062143353268310664 Centerline is valid? [True, True] Translation: X:21.62, Y:-2.65, Z:-0.27 [[ 9.86739534e-01 1.61278481e-01 -1.82850850e-02 2.16228340e+01] [-1.61239767e-01 9.86908764e-01 3.58181612e-03 -2.65339621e+00] [ 1.86233805e-02 -5.86036715e-04 9.99826398e-01 -2.71400363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.74538475 meters 0.06127367032402675 Centerline is valid? [True, True] Translation: X:21.65, Y:-2.66, Z:-0.27 [[ 9.86361363e-01 1.63656567e-01 -1.75439625e-02 2.16540508e+01] [-1.63621118e-01 9.86517231e-01 3.44698011e-03 -2.66184254e+00] [ 1.78715422e-02 -5.29405239e-04 9.99840151e-01 -2.70468052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.775384749999997 meters 0.06040790179374437 Centerline is valid? [True, True] Translation: X:21.68, Y:-2.67, Z:-0.27 [[ 9.85796861e-01 1.66956153e-01 -1.81711848e-02 2.16840318e+01] [-1.66918586e-01 9.85964199e-01 3.57551973e-03 -2.67145547e+00] [ 1.85130927e-02 -4.91627655e-04 9.99828497e-01 -2.70865426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.805384749999998 meters 0.060304081768802115 Centerline is valid? [True, True] Translation: X:21.72, Y:-2.68, Z:-0.27 [[ 9.85632664e-01 1.67746019e-01 -1.97363940e-02 2.17155008e+01] [-1.67701719e-01 9.85830106e-01 3.89046717e-03 -2.67956801e+00] [ 2.01093417e-02 -5.24744324e-04 9.99797649e-01 -2.72444157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.83538475 meters 0.060516784918154175 Centerline is valid? [True, True] Translation: X:21.75, Y:-2.69, Z:-0.27 [[ 9.85623266e-01 1.67729110e-01 -2.03401921e-02 2.17458199e+01] [-1.67681908e-01 9.85832970e-01 4.01651466e-03 -2.68974504e+00] [ 2.07257184e-02 -5.48088072e-04 9.99785049e-01 -2.72703894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.865384749999997 meters 0.061960458766691116 Centerline is valid? [True, True] Translation: X:21.77, Y:-2.71, Z:-0.27 [[ 9.86703511e-01 1.61124523e-01 -2.13323535e-02 2.17742871e+01] [-1.61071131e-01 9.86933824e-01 4.20916381e-03 -2.70707605e+00] [ 2.17318208e-02 -7.17170406e-04 9.99763579e-01 -2.71679866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.895384749999998 meters 0.06559217866364417 Centerline is valid? [True, True] Translation: X:21.80, Y:-2.73, Z:-0.27 [[ 9.88337072e-01 1.50651848e-01 -2.22227805e-02 2.18009137e+01] [-1.50591278e-01 9.88586389e-01 4.38394974e-03 -2.72785859e+00] [ 2.26295884e-02 -9.86263144e-04 9.99743432e-01 -2.73471533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.92538475 meters 0.06791154224674645 Centerline is valid? [True, True] Translation: X:21.83, Y:-2.74, Z:-0.27 [[ 9.89233120e-01 1.44724317e-01 -2.17417917e-02 2.18299482e+01] [-1.44664891e-01 9.89471407e-01 4.29001606e-03 -2.74086457e+00] [ 2.21337508e-02 -1.09855206e-03 9.99754415e-01 -2.74161019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.955384749999997 meters 0.0704961768748926 Centerline is valid? [True, True] Translation: X:21.86, Y:-2.75, Z:-0.28 [[ 9.90037507e-01 1.39136481e-01 -2.16049415e-02 2.18588442e+01] [-1.39076461e-01 9.90272468e-01 4.26355104e-03 -2.75363953e+00] [ 2.19879942e-02 -1.21633664e-03 9.99757495e-01 -2.75453808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.985384749999998 meters 0.0746075699154325 Centerline is valid? [True, True] Translation: X:21.89, Y:-2.77, Z:-0.28 [[ 9.91227179e-01 1.30199390e-01 -2.27331805e-02 2.18874642e+01] [-1.30130569e-01 9.91486712e-01 4.48720050e-03 -2.76900406e+00] [ 2.31238771e-02 -1.48955338e-03 9.99731498e-01 -2.76991505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.01538475 meters 0.07657064478586198 Centerline is valid? [True, True] Translation: X:21.92, Y:-2.78, Z:-0.28 [[ 9.91642536e-01 1.26863367e-01 -2.34684381e-02 2.19167894e+01] [-1.26789081e-01 9.91918881e-01 4.63272815e-03 -2.77887286e+00] [ 2.38665104e-02 -1.61846859e-03 9.99713844e-01 -2.77179892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.045384749999997 meters 0.07928102981225611 Centerline is valid? [True, True] Translation: X:21.95, Y:-2.79, Z:-0.28 [[ 9.92255436e-01 1.22395734e-01 -2.11762647e-02 2.19460375e+01] [-1.22334229e-01 9.92480155e-01 4.18080055e-03 -2.78837364e+00] [ 2.15287346e-02 -1.55784007e-03 9.99767016e-01 -2.76917524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.075384749999998 meters 0.07776812236515551 Centerline is valid? [True, True] Translation: X:21.98, Y:-2.79, Z:-0.28 [[ 9.92243074e-01 1.22441961e-01 -2.14860046e-02 2.19779418e+01] [-1.22378389e-01 9.92474399e-01 4.25405496e-03 -2.79055794e+00] [ 2.18451844e-02 -1.59163394e-03 9.99760099e-01 -2.76255534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.10538475 meters 0.0772198714502554 Centerline is valid? [True, True] Translation: X:22.01, Y:-2.79, Z:-0.28 [[ 9.92029676e-01 1.24151455e-01 -2.15299166e-02 2.20104212e+01] [-1.24087855e-01 9.92262046e-01 4.27046229e-03 -2.79192916e+00] [ 2.18935032e-02 -1.56482415e-03 9.99759084e-01 -2.77981138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.135384749999997 meters 0.0793249161650716 Centerline is valid? [True, True] Translation: X:22.04, Y:-2.80, Z:-0.28 [[ 9.91852858e-01 1.25400362e-01 -2.24200017e-02 2.20408982e+01] [-1.25331658e-01 9.92104924e-01 4.44926456e-03 -2.79967162e+00] [ 2.28009334e-02 -1.60307978e-03 9.99738740e-01 -2.81370866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.165384749999998 meters 0.08009240308320464 Centerline is valid? [True, True] Translation: X:22.07, Y:-2.80, Z:-0.28 [[ 9.91708014e-01 1.26549854e-01 -2.23685021e-02 2.20719691e+01] [-1.26481661e-01 9.91958995e-01 4.44323153e-03 -2.80280845e+00] [ 2.27509272e-02 -1.57718301e-03 9.99739920e-01 -2.83615504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.19538475 meters 0.07723095752174974 Centerline is valid? [True, True] Translation: X:22.11, Y:-2.80, Z:-0.28 [[ 9.91709751e-01 1.26581236e-01 -2.21124522e-02 2.21053970e+01] [-1.26514339e-01 9.91955002e-01 4.40416859e-03 -2.80297545e+00] [ 2.24920427e-02 -1.57011466e-03 9.99745789e-01 -2.81903105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.22538475 meters 0.07600932458372793 Centerline is valid? [True, True] Translation: X:22.14, Y:-2.81, Z:-0.28 [[ 9.91768059e-01 1.26134390e-01 -2.20506834e-02 2.21377905e+01] [-1.26067588e-01 9.92011900e-01 4.39932817e-03 -2.80606055e+00] [ 2.24294469e-02 -1.58323669e-03 9.99747175e-01 -2.81394609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.255384749999997 meters 0.07892594645839977 Centerline is valid? [True, True] Translation: X:22.17, Y:-2.81, Z:-0.29 [[ 9.92031956e-01 1.23600229e-01 -2.44045345e-02 2.21671585e+01] [-1.23517679e-01 9.92330435e-01 4.86728701e-03 -2.81259197e+00] [ 2.48189602e-02 -1.81411278e-03 9.99690316e-01 -2.85980445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.28538475 meters 0.07860183718242822 Centerline is valid? [True, True] Translation: X:22.20, Y:-2.81, Z:-0.29 [[ 9.92457107e-01 1.19711768e-01 -2.64193889e-02 2.21978878e+01] [-1.19613681e-01 9.92806535e-01 5.26802058e-03 -2.81365776e+00] [ 2.68599860e-02 -2.06816410e-03 9.99637066e-01 -2.86257705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.31538475 meters 0.08066509786014918 Centerline is valid? [True, True] Translation: X:22.23, Y:-2.82, Z:-0.29 [[ 9.92609649e-01 1.18326677e-01 -2.69236387e-02 2.22283827e+01] [-1.18223929e-01 9.92972373e-01 5.38222599e-03 -2.82088900e+00] [ 2.73712904e-02 -2.15943111e-03 9.99623004e-01 -2.87259255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.345384749999997 meters 0.08213507502689443 Centerline is valid? [True, True] Translation: X:22.26, Y:-2.82, Z:-0.29 [[ 9.92713701e-01 1.17691629e-01 -2.58493456e-02 2.22598487e+01] [-1.17596473e-01 9.93047972e-01 5.17628778e-03 -2.82288681e+00] [ 2.62788460e-02 -2.09877991e-03 9.99652448e-01 -2.88886688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.37538475 meters 0.08090794474179766 Centerline is valid? [True, True] Translation: X:22.29, Y:-2.82, Z:-0.29 [[ 9.92675923e-01 1.18034549e-01 -2.57362950e-02 2.22933035e+01] [-1.17940023e-01 9.93007284e-01 5.16569334e-03 -2.82360726e+00] [ 2.61660587e-02 -2.09252019e-03 9.99655420e-01 -2.87614970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.40538475 meters 0.08211957619179013 Centerline is valid? [True, True] Translation: X:22.33, Y:-2.82, Z:-0.29 [[ 9.92548777e-01 1.19277152e-01 -2.48975149e-02 2.23256072e+01] [-1.19188863e-01 9.92858982e-01 5.00577547e-03 -2.82314723e+00] [ 2.53167960e-02 -2.00096983e-03 9.99677476e-01 -2.88834779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.435384749999997 meters 0.08066200838736738 Centerline is valid? [True, True] Translation: X:22.36, Y:-2.82, Z:-0.29 [[ 9.92411913e-01 1.20410778e-01 -2.48965883e-02 2.23588670e+01] [-1.20322622e-01 9.92722177e-01 5.01459862e-03 -2.82269914e+00] [ 2.53192070e-02 -1.98092464e-03 9.99677455e-01 -2.87539896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.46538475 meters 0.07942639820696609 Centerline is valid? [True, True] Translation: X:22.39, Y:-2.82, Z:-0.29 [[ 9.92239634e-01 1.22166175e-01 -2.31502731e-02 2.23919552e+01] [-1.22090492e-01 9.92508032e-01 4.66020946e-03 -2.81737901e+00] [ 2.35461520e-02 -1.79761629e-03 9.99721135e-01 -2.87406542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.49538475 meters 0.07818813080985038 Centerline is valid? [True, True] Translation: X:22.42, Y:-2.82, Z:-0.29 [[ 9.92254858e-01 1.21999313e-01 -2.33765714e-02 2.24247450e+01] [-1.21921784e-01 9.92528494e-01 4.71890300e-03 -2.81744440e+00] [ 2.37776161e-02 -1.83224114e-03 9.99715593e-01 -2.86967869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.525384749999997 meters 0.07967075698542563 Centerline is valid? [True, True] Translation: X:22.46, Y:-2.82, Z:-0.29 [[ 9.92246583e-01 1.21936744e-01 -2.40447216e-02 2.24550241e+01] [-1.21854644e-01 9.92536077e-01 4.85608378e-03 -2.82263268e+00] [ 2.44573887e-02 -1.88847153e-03 9.99699090e-01 -2.88720403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.555384749999998 meters 0.08199936334433071 Centerline is valid? [True, True] Translation: X:22.49, Y:-2.82, Z:-0.29 [[ 9.92209929e-01 1.22011847e-01 -2.51508823e-02 2.24857300e+01] [-1.21921832e-01 9.92526666e-01 5.08768141e-03 -2.82470827e+00] [ 2.55836788e-02 -1.98160636e-03 9.99670720e-01 -2.92649985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.58538475 meters 0.07978630320360056 Centerline is valid? [True, True] Translation: X:22.52, Y:-2.82, Z:-0.29 [[ 9.92026732e-01 1.23130889e-01 -2.68653410e-02 2.25197209e+01] [-1.23028240e-01 9.92388220e-01 5.44722738e-03 -2.82304918e+00] [ 2.73315699e-02 -2.09859957e-03 9.99624220e-01 -2.93667117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.615384749999997 meters 0.07888221745553968 Centerline is valid? [True, True] Translation: X:22.55, Y:-2.82, Z:-0.30 [[ 9.91697808e-01 1.25605664e-01 -2.75440405e-02 2.25522911e+01] [-1.25498812e-01 9.92078071e-01 5.58117049e-03 -2.82051971e+00] [ 2.80268652e-02 -2.07809018e-03 9.99605010e-01 -2.95444718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.645384749999998 meters 0.07910606503352831 Centerline is valid? [True, True] Translation: X:22.58, Y:-2.82, Z:-0.30 [[ 9.91123823e-01 1.29969632e-01 -2.79546356e-02 2.25829619e+01] [-1.29861316e-01 9.91515992e-01 5.66364491e-03 -2.82079139e+00] [ 2.84535701e-02 -1.98314763e-03 9.99593148e-01 -2.97645588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.67538475 meters 0.07795431812615744 Centerline is valid? [True, True] Translation: X:22.62, Y:-2.82, Z:-0.30 [[ 9.90869620e-01 1.31680696e-01 -2.89411537e-02 2.26151564e+01] [-1.31564879e-01 9.91290131e-01 5.87859182e-03 -2.82177506e+00] [ 2.94631771e-02 -2.01727866e-03 9.99563831e-01 -2.98786568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.705384749999997 meters 0.07856279057160717 Centerline is valid? [True, True] Translation: X:22.65, Y:-2.83, Z:-0.30 [[ 9.90771823e-01 1.32323237e-01 -2.93556925e-02 2.26469024e+01] [-1.32204020e-01 9.91204524e-01 5.97406618e-03 -2.82632222e+00] [ 2.98880030e-02 -2.03799587e-03 9.99551176e-01 -3.00077915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.735384749999998 meters 0.07829065384447277 Centerline is valid? [True, True] Translation: X:22.68, Y:-2.83, Z:-0.30 [[ 9.90656357e-01 1.32535301e-01 -3.21617204e-02 2.26792668e+01] [-1.32392338e-01 9.91175788e-01 6.54412351e-03 -2.82759357e+00] [ 3.27452460e-02 -2.22501220e-03 9.99461254e-01 -3.01673119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.76538475 meters 0.07861297448675965 Centerline is valid? [True, True] Translation: X:22.71, Y:-2.83, Z:-0.30 [[ 9.90717788e-01 1.32152827e-01 -3.18417064e-02 2.27105080e+01] [-1.32012062e-01 9.91226847e-01 6.49249104e-03 -2.83274611e+00] [ 3.24203553e-02 -2.22873704e-03 9.99471837e-01 -3.02496382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.795384749999997 meters 0.07667096329397216 Centerline is valid? [True, True] Translation: X:22.74, Y:-2.83, Z:-0.30 [[ 9.90957854e-01 1.30298573e-01 -3.20126965e-02 2.27435239e+01] [-1.30155318e-01 9.91472129e-01 6.52769304e-03 -2.83223549e+00] [ 3.25902455e-02 -2.30204598e-03 9.99466146e-01 -3.00109497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.825384749999998 meters 0.07874273839753793 Centerline is valid? [True, True] Translation: X:22.77, Y:-2.84, Z:-0.30 [[ 9.90855789e-01 1.31385732e-01 -3.07017078e-02 2.27731916e+01] [-1.31254324e-01 9.91328928e-01 6.26577988e-03 -2.83769491e+00] [ 3.12587251e-02 -2.17875238e-03 9.99508952e-01 -3.02364852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.85538475 meters 0.07672325723268537 Centerline is valid? [True, True] Translation: X:22.81, Y:-2.84, Z:-0.30 [[ 9.90532388e-01 1.33599198e-01 -3.15728159e-02 2.28058330e+01] [-1.33460892e-01 9.91033042e-01 6.45757805e-03 -2.83975362e+00] [ 3.21524310e-02 -2.18270404e-03 9.99480594e-01 -3.01260314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.885384749999997 meters 0.07608080286467543 Centerline is valid? [True, True] Translation: X:22.84, Y:-2.84, Z:-0.30 [[ 9.90198190e-01 1.35899046e-01 -3.22334364e-02 2.28382239e+01] [-1.35755728e-01 9.90720328e-01 6.60405660e-03 -2.84244160e+00] [ 3.28318057e-02 -2.16345126e-03 9.99458549e-01 -3.02208705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.915384749999998 meters 0.07654667451832628 Centerline is valid? [True, True] Translation: X:22.87, Y:-2.85, Z:-0.30 [[ 9.90075803e-01 1.36814940e-01 -3.21181688e-02 2.28690080e+01] [-1.36672792e-01 9.90594323e-01 6.59060469e-03 -2.84788126e+00] [ 3.27177689e-02 -2.13551842e-03 9.99462349e-01 -3.03286191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.94538475 meters 0.0744238061997007 Centerline is valid? [True, True] Translation: X:22.90, Y:-2.85, Z:-0.30 [[ 9.89898572e-01 1.38181357e-01 -3.17290185e-02 2.29020036e+01] [-1.38042948e-01 9.90404765e-01 6.52266131e-03 -2.84775655e+00] [ 3.23258813e-02 -2.07680588e-03 9.99475224e-01 -3.02262173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.97538475 meters 0.07519920894584411 Centerline is valid? [True, True] Translation: X:22.93, Y:-2.86, Z:-0.30 [[ 9.89988955e-01 1.37719852e-01 -3.09048719e-02 2.29334135e+01] [-1.37587934e-01 9.90469102e-01 6.36542115e-03 -2.85517118e+00] [ 3.14869655e-02 -2.04955915e-03 9.99502061e-01 -3.02582304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.005384749999997 meters 0.07495024923149154 Centerline is valid? [True, True] Translation: X:22.97, Y:-2.86, Z:-0.30 [[ 9.89988402e-01 1.37823551e-01 -3.04570733e-02 2.29654812e+01] [-1.37695079e-01 9.90454719e-01 6.28604860e-03 -2.86108206e+00] [ 3.10327175e-02 -2.02932608e-03 9.99516309e-01 -3.02390652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.03538475 meters 0.07755240443823541 Centerline is valid? [True, True] Translation: X:22.99, Y:-2.87, Z:-0.30 [[ 9.90300334e-01 1.35458712e-01 -3.09222606e-02 2.29944401e+01] [-1.35325279e-01 9.90780700e-01 6.37754450e-03 -2.86992573e+00] [ 3.15010730e-02 -2.13112089e-03 9.99501446e-01 -3.04599120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.06538475 meters 0.07636848862497718 Centerline is valid? [True, True] Translation: X:23.03, Y:-2.87, Z:-0.30 [[ 9.90447364e-01 1.34226029e-01 -3.15815047e-02 2.30264153e+01] [-1.34086083e-01 9.90948253e-01 6.51779222e-03 -2.87414370e+00] [ 3.21704943e-02 -2.22088986e-03 9.99479928e-01 -3.03464943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.095384749999997 meters 0.07693234740110028 Centerline is valid? [True, True] Translation: X:23.06, Y:-2.88, Z:-0.30 [[ 9.90646637e-01 1.33005470e-01 -3.04759779e-02 2.30579750e+01] [-1.32874134e-01 9.91112872e-01 6.30395647e-03 -2.88086639e+00] [ 3.10435947e-02 -2.19552411e-03 9.99515620e-01 -3.03464269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.12538475 meters 0.07802296740251063 Centerline is valid? [True, True] Translation: X:23.09, Y:-2.89, Z:-0.31 [[ 9.90686725e-01 1.32599094e-01 -3.09401655e-02 2.30890380e+01] [-1.32463192e-01 9.91167194e-01 6.41065706e-03 -2.88860224e+00] [ 3.15169243e-02 -2.25251978e-03 9.99500680e-01 -3.05329309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.15538475 meters 0.08055087276741674 Centerline is valid? [True, True] Translation: X:23.12, Y:-2.90, Z:-0.31 [[ 9.90855268e-01 1.30989612e-01 -3.23660185e-02 2.31182076e+01] [-1.30840163e-01 9.91380821e-01 6.70224418e-03 -2.89770424e+00] [ 3.29649744e-02 -2.40617882e-03 9.99453611e-01 -3.08425766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.185384749999997 meters 0.08108715845258217 Centerline is valid? [True, True] Translation: X:23.15, Y:-2.90, Z:-0.31 [[ 9.90879157e-01 1.30806512e-01 -3.23751795e-02 2.31497965e+01] [-1.30656376e-01 9.91404943e-01 6.71942484e-03 -2.90498947e+00] [ 3.29758575e-02 -2.42811439e-03 9.99453199e-01 -3.08997695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.21538475 meters 0.08076041268562179 Centerline is valid? [True, True] Translation: X:23.18, Y:-2.91, Z:-0.31 [[ 9.91022830e-01 1.30572985e-01 -2.87131603e-02 2.31805238e+01] [-1.30454865e-01 9.91436351e-01 5.95734372e-03 -2.90984287e+00] [ 2.92451390e-02 -2.15809218e-03 9.99569940e-01 -3.06838013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.24538475 meters 0.08111520502532228 Centerline is valid? [True, True] Translation: X:23.21, Y:-2.92, Z:-0.31 [[ 9.91069994e-01 1.30601601e-01 -2.68977337e-02 2.32111523e+01] [-1.30497631e-01 9.91432847e-01 5.59266640e-03 -2.91625935e+00] [ 2.73977079e-02 -2.03263332e-03 9.99622546e-01 -3.06210353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.275384749999997 meters 0.07808331111621225 Centerline is valid? [True, True] Translation: X:23.24, Y:-2.92, Z:-0.30 [[ 9.91062787e-01 1.31181140e-01 -2.42086848e-02 2.32433687e+01] [-1.31097120e-01 9.91356756e-01 5.03256548e-03 -2.91804656e+00] [ 2.46596209e-02 -1.81389952e-03 9.99694260e-01 -3.02687337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.305384749999998 meters 0.07612486016004645 Centerline is valid? [True, True] Translation: X:23.27, Y:-2.92, Z:-0.30 [[ 9.91045392e-01 1.31749277e-01 -2.17062167e-02 2.32748666e+01] [-1.31681849e-01 9.91281757e-01 4.51324274e-03 -2.91997256e+00] [ 2.21115930e-02 -1.61451368e-03 9.99754205e-01 -2.99401249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.33538475 meters 0.07383627184204582 Centerline is valid? [True, True] Translation: X:23.31, Y:-2.92, Z:-0.30 [[ 9.90980515e-01 1.32482185e-01 -2.01516816e-02 2.33082417e+01] [-1.32423981e-01 9.91184259e-01 4.20169888e-03 -2.91910098e+00] [ 2.05306798e-02 -1.49523581e-03 9.99788105e-01 -2.97997804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.365384749999997 meters 0.07330372815216404 Centerline is valid? [True, True] Translation: X:23.34, Y:-2.92, Z:-0.30 [[ 9.90747656e-01 1.34233832e-01 -2.00090235e-02 2.33393010e+01] [-1.34176870e-01 9.90948631e-01 4.16878444e-03 -2.92230415e+00] [ 2.03875063e-02 -1.44546528e-03 9.99791108e-01 -2.98981171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.395384749999998 meters 0.07334671956490178 Centerline is valid? [True, True] Translation: X:23.37, Y:-2.92, Z:-0.30 [[ 9.90386626e-01 1.36809378e-01 -2.04334212e-02 2.33703372e+01] [-1.36750496e-01 9.90596370e-01 4.25824897e-03 -2.92494186e+00] [ 2.08238413e-02 -1.42303234e-03 9.99782148e-01 -3.01411828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.42538475 meters 0.07287438304693819 Centerline is valid? [True, True] Translation: X:23.40, Y:-2.93, Z:-0.30 [[ 9.90176616e-01 1.38180409e-01 -2.13645646e-02 2.34019749e+01] [-1.38116100e-01 9.90405985e-01 4.46401445e-03 -2.92930715e+00] [ 2.17764320e-02 -1.46937238e-03 9.99761786e-01 -3.02776087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.455384749999997 meters 0.07287438304693819 Centerline is valid? [True, True] Translation: X:23.43, Y:-2.94, Z:-0.30 [[ 9.90122702e-01 1.38566481e-01 -2.13626860e-02 2.34337793e+01] [-1.38502069e-01 9.90352043e-01 4.47300166e-03 -2.93621672e+00] [ 2.17763878e-02 -1.47004429e-03 9.99761786e-01 -3.03229609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.485384749999998 meters 0.07162130225854475 Centerline is valid? [True, True] Translation: X:23.47, Y:-2.94, Z:-0.30 [[ 9.89872133e-01 1.40125228e-01 -2.27613967e-02 2.34670269e+01] [-1.40052540e-01 9.90132609e-01 4.76468830e-03 -2.93687294e+00] [ 2.32044541e-02 -1.52864075e-03 9.99729572e-01 -3.04928297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.51538475 meters 0.07267245069257733 Centerline is valid? [True, True] Translation: X:23.50, Y:-2.94, Z:-0.31 [[ 9.89785113e-01 1.40707062e-01 -2.29554705e-02 2.34980469e+01] [-1.40632996e-01 9.90050075e-01 4.81766909e-03 -2.94219835e+00] [ 2.34049454e-02 -1.54016055e-03 9.99724880e-01 -3.07266715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.545384749999997 meters 0.07407890609398607 Centerline is valid? [True, True] Translation: X:23.53, Y:-2.95, Z:-0.31 [[ 9.89884584e-01 1.40046721e-01 -2.27029801e-02 2.35280560e+01] [-1.39973950e-01 9.90143691e-01 4.77127895e-03 -2.94942545e+00] [ 2.31474145e-02 -1.54518968e-03 9.99730869e-01 -3.08773437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.575384749999998 meters 0.0729580019814114 Centerline is valid? [True, True] Translation: X:23.56, Y:-2.95, Z:-0.31 [[ 9.90000058e-01 1.39415350e-01 -2.15231268e-02 2.35597881e+01] [-1.39349616e-01 9.90232876e-01 4.53165012e-03 -2.95348631e+00] [ 2.19446894e-02 -1.48709443e-03 9.99758080e-01 -3.07191109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.60538475 meters 0.07498518659159524 Centerline is valid? [True, True] Translation: X:23.59, Y:-2.96, Z:-0.31 [[ 9.90457864e-01 1.36447825e-01 -1.93703618e-02 2.35890339e+01] [-1.36393991e-01 9.90646271e-01 4.07984629e-03 -2.96315007e+00] [ 1.97458628e-02 -1.39891490e-03 9.99804053e-01 -3.06777970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.635384749999997 meters 0.07454575073458293 Centerline is valid? [True, True] Translation: X:23.62, Y:-2.97, Z:-0.31 [[ 9.90709335e-01 1.34647078e-01 -1.91096513e-02 2.36210662e+01] [-1.34594332e-01 9.90892607e-01 4.02590967e-03 -2.96884976e+00] [ 1.94776892e-02 -1.41645555e-03 9.99809288e-01 -3.06047240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.665384749999998 meters 0.07703584865730628 Centerline is valid? [True, True] Translation: X:23.65, Y:-2.98, Z:-0.31 [[ 9.91457498e-01 1.29245997e-01 -1.75357548e-02 2.36508108e+01] [-1.29200762e-01 9.91611579e-01 3.69320983e-03 -2.97711066e+00] [ 1.78659901e-02 -1.39602771e-03 9.99839416e-01 -3.05730592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.69538475 meters 0.07999715132722057 Centerline is valid? [True, True] Translation: X:23.68, Y:-2.99, Z:-0.31 [[ 9.91731868e-01 1.27332764e-01 -1.59457941e-02 2.36801551e+01] [-1.27294960e-01 9.91859189e-01 3.36790106e-03 -2.98756607e+00] [ 1.62448265e-02 -1.31023559e-03 9.99867186e-01 -3.06441911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.725384749999996 meters 0.07841870091163892 Centerline is valid? [True, True] Translation: X:23.71, Y:-2.99, Z:-0.31 [[ 9.91851747e-01 1.26418334e-01 -1.57643969e-02 2.37122825e+01] [-1.26381173e-01 9.91976145e-01 3.33560825e-03 -2.99078392e+00] [ 1.60595877e-02 -1.31610589e-03 9.99870170e-01 -3.05150064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.755384749999997 meters 0.07952918366130426 Centerline is valid? [True, True] Translation: X:23.74, Y:-3.00, Z:-0.31 [[ 9.91920430e-01 1.25830230e-01 -1.61435473e-02 2.37431448e+01] [-1.25791105e-01 9.92050854e-01 3.42057752e-03 -2.99574837e+00] [ 1.64456320e-02 -1.36222607e-03 9.99863833e-01 -3.06791423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.78538475 meters 0.08074898696478686 Centerline is valid? [True, True] Translation: X:23.77, Y:-3.00, Z:-0.31 [[ 9.91854519e-01 1.26354351e-01 -1.60994127e-02 2.37734190e+01] [-1.26315424e-01 9.91984245e-01 3.41633924e-03 -3.00226369e+00] [ 1.64020331e-02 -1.35490736e-03 9.99864560e-01 -3.08858158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.81538475 meters 0.07656437899704821 Centerline is valid? [True, True] Translation: X:23.81, Y:-3.00, Z:-0.31 [[ 9.91453067e-01 1.29537150e-01 -1.55223045e-02 2.38055554e+01] [-1.29501406e-01 9.91573779e-01 3.29041551e-03 -2.99855416e+00] [ 1.58177412e-02 -1.25213229e-03 9.99874108e-01 -3.07456876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.845384749999997 meters 0.07529124149061486 Centerline is valid? [True, True] Translation: X:23.84, Y:-3.00, Z:-0.31 [[ 9.91156768e-01 1.31928698e-01 -1.42505846e-02 2.38376991e+01] [-1.31898791e-01 9.91258580e-01 3.02266455e-03 -3.00133083e+00] [ 1.45247904e-02 -1.11629955e-03 9.99893887e-01 -3.07061659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.87538475 meters 0.07366561796937798 Centerline is valid? [True, True] Translation: X:23.87, Y:-3.00, Z:-0.31 [[ 9.90630100e-01 1.35947984e-01 -1.30441529e-02 2.38690184e+01] [-1.35923274e-01 9.90715504e-01 2.76662855e-03 -3.00088144e+00] [ 1.32991621e-02 -9.67701536e-04 9.99911094e-01 -3.06875428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.90538475 meters 0.07260656905687488 Centerline is valid? [True, True] Translation: X:23.90, Y:-3.00, Z:-0.31 [[ 9.90459395e-01 1.37277302e-01 -1.20469611e-02 2.39011493e+01] [-1.37256214e-01 9.90532260e-01 2.56405480e-03 -3.00378819e+00] [ 1.22848901e-02 -8.86071899e-04 9.99924145e-01 -3.06930224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.935384749999997 meters 0.07426152529865929 Centerline is valid? [True, True] Translation: X:23.93, Y:-3.01, Z:-0.31 [[ 9.90390725e-01 1.37705545e-01 -1.27825711e-02 2.39323003e+01] [-1.37681774e-01 9.90472766e-01 2.72557429e-03 -3.01197880e+00] [ 1.30361153e-02 -9.39456428e-04 9.99914585e-01 -3.08979605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.96538475 meters 0.07491044630525075 Centerline is valid? [True, True] Translation: X:23.96, Y:-3.02, Z:-0.31 [[ 9.90710129e-01 1.35353371e-01 -1.31493139e-02 2.39629848e+01] [-1.35328065e-01 9.90796890e-01 2.79971857e-03 -3.01969245e+00] [ 1.34072507e-02 -9.94238332e-04 9.99909624e-01 -3.09375960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.99538475 meters 0.08093581700124604 Centerline is valid? [True, True] Translation: X:23.99, Y:-3.04, Z:-0.31 [[ 9.91749900e-01 1.27473329e-01 -1.35161497e-02 2.39896677e+01] [-1.27445855e-01 9.91841353e-01 2.87838069e-03 -3.03503220e+00] [ 1.37727929e-02 -1.13205651e-03 9.99904510e-01 -3.11809935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.025384749999997 meters 0.07809965953498722 Centerline is valid? [True, True] Translation: X:24.02, Y:-3.04, Z:-0.31 [[ 9.92211735e-01 1.23834592e-01 -1.34487069e-02 2.40214711e+01] [-1.23807059e-01 9.92302176e-01 2.86408513e-03 -3.03604673e+00] [ 1.36998539e-02 -1.17673402e-03 9.99905460e-01 -3.10249969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.055384749999998 meters 0.08433765378556703 Centerline is valid? [True, True] Translation: X:24.05, Y:-3.05, Z:-0.31 [[ 9.92825149e-01 1.18886972e-01 -1.28105997e-02 2.40484027e+01] [-1.18861558e-01 9.92907084e-01 2.73002310e-03 -3.04924176e+00] [ 1.30442994e-02 -1.18774775e-03 9.99914214e-01 -3.12341142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.08538475 meters 0.08348024651483424 Centerline is valid? [True, True] Translation: X:24.08, Y:-3.05, Z:-0.31 [[ 9.92922197e-01 1.18212615e-01 -1.14580997e-02 2.40802788e+01] [-1.18192150e-01 9.92987722e-01 2.44951065e-03 -3.05404182e+00] [ 1.16673154e-02 -1.07791607e-03 9.99931354e-01 -3.10736399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.115384749999997 meters 0.08384965404695595 Centerline is valid? [True, True] Translation: X:24.11, Y:-3.06, Z:-0.31 [[ 9.93040005e-01 1.17354355e-01 -9.97513453e-03 2.41120208e+01] [-1.17338760e-01 9.93089649e-01 2.13655843e-03 -3.05928809e+00] [ 1.01569373e-02 -9.51218077e-04 9.99947965e-01 -3.10123632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.145384749999998 meters 0.07988311972225079 Centerline is valid? [True, True] Translation: X:24.15, Y:-3.06, Z:-0.31 [[ 9.92960020e-01 1.18130707e-01 -8.69101724e-03 2.41450568e+01] [-1.18118863e-01 9.92997711e-01 1.86552289e-03 -3.05868478e+00] [ 8.85053577e-03 -8.25816577e-04 9.99960492e-01 -3.08423838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.17538475 meters 0.0805975880542284 Centerline is valid? [True, True] Translation: X:24.18, Y:-3.06, Z:-0.31 [[ 9.92665713e-01 1.20583994e-01 -8.61874168e-03 2.41758118e+01] [-1.20572471e-01 9.92702811e-01 1.84620479e-03 -3.06130669e+00] [ 8.77847184e-03 -7.93481216e-04 9.99961154e-01 -3.08520833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.205384749999997 meters 0.08246071281803533 Centerline is valid? [True, True] Translation: X:24.21, Y:-3.07, Z:-0.31 [[ 9.92459244e-01 1.22382219e-01 -6.87323974e-03 2.42052706e+01] [-1.22374934e-01 9.92482850e-01 1.47228569e-03 -3.06853912e+00] [ 7.00175416e-03 -6.20071285e-04 9.99975295e-01 -3.09464756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.235384749999998 meters 0.07997688025289172 Centerline is valid? [True, True] Translation: X:24.24, Y:-3.07, Z:-0.31 [[ 9.92038725e-01 1.25771101e-01 -6.38742681e-03 2.42366877e+01] [-1.25764878e-01 9.92059133e-01 1.36838972e-03 -3.06785457e+00] [ 6.50880899e-03 -5.54181645e-04 9.99978664e-01 -3.09183352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.26538475 meters 0.07978782733788092 Centerline is valid? [True, True] Translation: X:24.27, Y:-3.07, Z:-0.31 [[ 9.91919759e-01 1.26720463e-01 -6.09228588e-03 2.42681049e+01] [-1.26714779e-01 9.91938327e-01 1.31166630e-03 -3.07265953e+00] [ 6.20938682e-03 -5.29085056e-04 9.99980582e-01 -3.09799742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.295384749999997 meters 0.07786599688429215 Centerline is valid? [True, True] Translation: X:24.30, Y:-3.07, Z:-0.31 [[ 9.91838321e-01 1.27308731e-01 -7.01661509e-03 2.43011392e+01] [-1.27301185e-01 9.91862953e-01 1.51361584e-03 -3.07419207e+00] [ 7.15221707e-03 -6.08038777e-04 9.99974238e-01 -3.10168008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.325384749999998 meters 0.07892802542677824 Centerline is valid? [True, True] Translation: X:24.33, Y:-3.08, Z:-0.31 [[ 9.91756188e-01 1.27928190e-01 -7.35135266e-03 2.43317725e+01] [-1.27919916e-01 9.91783231e-01 1.58685238e-03 -3.08092108e+00] [ 7.49395145e-03 -6.33386259e-04 9.99971719e-01 -3.12152673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.35538475 meters 0.0798576462009458 Centerline is valid? [True, True] Translation: X:24.36, Y:-3.09, Z:-0.31 [[ 9.91656851e-01 1.28685386e-01 -7.53402817e-03 2.43623930e+01] [-1.28676700e-01 9.91685260e-01 1.62848140e-03 -3.08658925e+00] [ 7.68094644e-03 -6.45440848e-04 9.99970293e-01 -3.12808970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.385384749999997 meters 0.0789606508193584 Centerline is valid? [True, True] Translation: X:24.39, Y:-3.09, Z:-0.31 [[ 9.91524737e-01 1.29712868e-01 -7.29849815e-03 2.43940697e+01] [-1.29704722e-01 9.91551404e-01 1.58059882e-03 -3.09127076e+00] [ 7.44186010e-03 -6.20553157e-04 9.99972116e-01 -3.12760677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.415384749999998 meters 0.0805520573090278 Centerline is valid? [True, True] Translation: X:24.42, Y:-3.10, Z:-0.31 [[ 9.91278865e-01 1.31534880e-01 -8.04906180e-03 2.44234130e+01] [-1.31525048e-01 9.91311319e-01 1.74108825e-03 -3.09922552e+00] [ 8.20813990e-03 -6.67250740e-04 9.99966090e-01 -3.14440712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.44538475 meters 0.07555496073984119 Centerline is valid? [True, True] Translation: X:24.46, Y:-3.10, Z:-0.31 [[ 9.90764694e-01 1.35302481e-01 -8.86338704e-03 2.44559871e+01] [-1.35290724e-01 9.90804093e-01 1.91563369e-03 -3.09614606e+00] [ 9.04107014e-03 -6.98808181e-04 9.99958885e-01 -3.13428624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.475384749999996 meters 0.07727278160561113 Centerline is valid? [True, True] Translation: X:24.49, Y:-3.10, Z:-0.32 [[ 9.90518308e-01 1.37094231e-01 -8.86868432e-03 2.44858395e+01] [-1.37082524e-01 9.90557774e-01 1.91755773e-03 -3.10377914e+00] [ 9.04783030e-03 -6.83634403e-04 9.99958834e-01 -3.15496852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.505384749999997 meters 0.07567114746406699 Centerline is valid? [True, True] Translation: X:24.52, Y:-3.10, Z:-0.32 [[ 9.89925788e-01 1.41179078e-01 -1.07425515e-02 2.45176070e+01] [-1.41162143e-01 9.89983765e-01 2.32247723e-03 -3.10419517e+00] [ 1.09628367e-02 -7.82638512e-04 9.99939600e-01 -3.16902001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.53538475 meters 0.07066778397630882 Centerline is valid? [True, True] Translation: X:24.55, Y:-3.10, Z:-0.32 [[ 9.89759269e-01 1.42270477e-01 -1.16491125e-02 2.45512018e+01] [-1.42250533e-01 9.89827459e-01 2.52729784e-03 -3.10147787e+00] [ 1.18901713e-02 -8.44323995e-04 9.99928953e-01 -3.15304313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.56538475 meters 0.0702042245208169 Centerline is valid? [True, True] Translation: X:24.58, Y:-3.11, Z:-0.31 [[ 9.89680603e-01 1.42767237e-01 -1.22400740e-02 2.45821566e+01] [-1.42745305e-01 9.89755903e-01 2.65166396e-03 -3.10828454e+00] [ 1.24932563e-02 -8.77087288e-04 9.99921572e-01 -3.14898473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.595384749999997 meters 0.07269607851182054 Centerline is valid? [True, True] Translation: X:24.61, Y:-3.12, Z:-0.31 [[ 9.90222926e-01 1.39158691e-01 -9.66516265e-03 2.46101636e+01] [-1.39144822e-01 9.90269824e-01 2.09617202e-03 -3.12061116e+00] [ 9.86281947e-03 -7.30820253e-04 9.99951094e-01 -3.14251014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.62538475 meters 0.07423446178036613 Centerline is valid? [True, True] Translation: X:24.64, Y:-3.13, Z:-0.31 [[ 9.90679360e-01 1.35915960e-01 -9.01428351e-03 2.46396473e+01] [-1.35903772e-01 9.90720115e-01 1.95400633e-03 -3.13044125e+00] [ 9.19621265e-03 -7.10718614e-04 9.99957461e-01 -3.13865855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.65538475 meters 0.0757142686605996 Centerline is valid? [True, True] Translation: X:24.67, Y:-3.14, Z:-0.31 [[ 9.91421642e-01 1.30351044e-01 -9.57779580e-03 2.46689228e+01] [-1.30337028e-01 9.91467574e-01 2.07588674e-03 -3.14033599e+00] [ 9.76666797e-03 -8.09737599e-04 9.99951977e-01 -3.13662584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.685384749999997 meters 0.07635745206908498 Centerline is valid? [True, True] Translation: X:24.70, Y:-3.15, Z:-0.31 [[ 9.91394495e-01 1.30639287e-01 -8.38641856e-03 2.46993675e+01] [-1.30628490e-01 9.91429709e-01 1.82489484e-03 -3.14809569e+00] [ 8.55294747e-03 -7.13685505e-04 9.99963168e-01 -3.13135384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.71538475 meters 0.07683523710373047 Centerline is valid? [True, True] Translation: X:24.73, Y:-3.15, Z:-0.31 [[ 9.91268541e-01 1.31584228e-01 -8.50124520e-03 2.47304712e+01] [-1.31573140e-01 9.91304734e-01 1.85309090e-03 -3.15415970e+00] [ 8.67116214e-03 -7.18375184e-04 9.99962147e-01 -3.13960601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.74538475 meters 0.07447878716303592 Centerline is valid? [True, True] Translation: X:24.76, Y:-3.16, Z:-0.31 [[ 9.91078696e-01 1.33031199e-01 -8.10674581e-03 2.47629976e+01] [-1.33021137e-01 9.91111620e-01 1.77034175e-03 -3.15602426e+00] [ 8.27020066e-03 -6.76179440e-04 9.99965573e-01 -3.12804250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.775384749999997 meters 0.07594546380692573 Centerline is valid? [True, True] Translation: X:24.79, Y:-3.16, Z:-0.31 [[ 9.90827455e-01 1.34865668e-01 -8.49742965e-03 2.47932545e+01] [-1.34854715e-01 9.90863652e-01 1.85166785e-03 -3.16239765e+00] [ 8.66952060e-03 -6.88764886e-04 9.99962182e-01 -3.14277199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.805384749999998 meters 0.07373816621105152 Centerline is valid? [True, True] Translation: X:24.83, Y:-3.16, Z:-0.32 [[ 9.90697369e-01 1.35709755e-01 -1.00789715e-02 2.48264658e+01] [-1.35694297e-01 9.90748301e-01 2.20519849e-03 -3.16456792e+00] [ 1.02849908e-02 -8.17025398e-04 9.99946774e-01 -3.15184080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.83538475 meters 0.07818332183853126 Centerline is valid? [True, True] Translation: X:24.86, Y:-3.18, Z:-0.32 [[ 9.90738543e-01 1.35244774e-01 -1.20826929e-02 2.48558497e+01] [-1.35222502e-01 9.90811726e-01 2.64539965e-03 -3.17688299e+00] [ 1.23294503e-02 -9.87047429e-04 9.99923502e-01 -3.20099487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.865384749999997 meters 0.0791434126491829 Centerline is valid? [True, True] Translation: X:24.89, Y:-3.19, Z:-0.32 [[ 9.90744789e-01 1.35196850e-01 -1.21068271e-02 2.48866261e+01] [-1.35174435e-01 9.90818260e-01 2.65474941e-03 -3.18536803e+00] [ 1.23545791e-02 -9.93645636e-04 9.99923186e-01 -3.20752355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.895384749999998 meters 0.0771140681179099 Centerline is valid? [True, True] Translation: X:24.92, Y:-3.19, Z:-0.32 [[ 9.90572112e-01 1.36379947e-01 -1.29383572e-02 2.49182541e+01] [-1.36354494e-01 9.90656057e-01 2.83354651e-03 -3.18714260e+00] [ 1.32039009e-02 -1.04262899e-03 9.99912281e-01 -3.20902746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.92538475 meters 0.0750840976614557 Centerline is valid? [True, True] Translation: X:24.95, Y:-3.19, Z:-0.32 [[ 9.90452649e-01 1.37053739e-01 -1.48264007e-02 2.49498137e+01] [-1.37020379e-01 9.90562905e-01 3.24770005e-03 -3.18905319e+00] [ 1.51315920e-02 -1.18517406e-03 9.99884809e-01 -3.21089163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.955384749999997 meters 0.07701906271160054 Centerline is valid? [True, True] Translation: X:24.98, Y:-3.20, Z:-0.32 [[ 9.90172271e-01 1.38830951e-01 -1.68772072e-02 2.49788993e+01] [-1.38787921e-01 9.90315213e-01 3.70035669e-03 -3.19729937e+00] [ 1.72274791e-02 -1.32163809e-03 9.99850722e-01 -3.24599739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.985384749999998 meters 0.07754350738609216 Centerline is valid? [True, True] Translation: X:25.01, Y:-3.21, Z:-0.33 [[ 9.90093739e-01 1.39209556e-01 -1.83053867e-02 2.50088609e+01] [-1.39159037e-01 9.90261920e-01 4.01145170e-03 -3.20516546e+00] [ 1.86855598e-02 -1.42435323e-03 9.99824395e-01 -3.25810884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.01538475 meters 0.0786281480945666 Centerline is valid? [True, True] Translation: X:25.04, Y:-3.21, Z:-0.32 [[ 9.90411645e-01 1.37432021e-01 -1.40432214e-02 2.50373348e+01] [-1.37402122e-01 9.90510571e-01 3.07677611e-03 -3.21412931e+00] [ 1.43328068e-02 -1.11770646e-03 9.99896655e-01 -3.23117862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.045384749999997 meters 0.07526037426346147 Centerline is valid? [True, True] Translation: X:25.07, Y:-3.22, Z:-0.32 [[ 9.90512573e-01 1.36866903e-01 -1.23407264e-02 2.50688071e+01] [-1.36843750e-01 9.90588951e-01 2.70535656e-03 -3.21541008e+00] [ 1.25948610e-02 -9.90938405e-04 9.99920191e-01 -3.19554854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.075384749999998 meters 0.07464604762776678 Centerline is valid? [True, True] Translation: X:25.10, Y:-3.22, Z:-0.32 [[ 9.90508731e-01 1.36793309e-01 -1.34180327e-02 2.50999553e+01] [-1.36765818e-01 9.90599016e-01 2.94978264e-03 -3.22112700e+00] [ 1.36954006e-02 -1.08665724e-03 9.99905623e-01 -3.20086341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.10538475 meters 0.07449879356904815 Centerline is valid? [True, True] Translation: X:25.13, Y:-3.23, Z:-0.32 [[ 9.90599343e-01 1.36100015e-01 -1.37741562e-02 2.51309551e+01] [-1.36071025e-01 9.90694467e-01 3.02483321e-03 -3.22698561e+00] [ 1.40576601e-02 -1.12213424e-03 9.99900557e-01 -3.20417851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.135384749999997 meters 0.07573047878050705 Centerline is valid? [True, True] Translation: X:25.16, Y:-3.23, Z:-0.32 [[ 9.90568455e-01 1.36553129e-01 -1.12862667e-02 2.51610491e+01] [-1.36533694e-01 9.90632327e-01 2.47854587e-03 -3.23187879e+00] [ 1.15189938e-02 -9.14213671e-04 9.99933236e-01 -3.20760758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.165384749999998 meters 0.0743279856983059 Centerline is valid? [True, True] Translation: X:25.19, Y:-3.23, Z:-0.32 [[ 9.90404167e-01 1.37859285e-01 -9.71612620e-03 2.51921931e+01] [-1.37844942e-01 9.90451522e-01 2.13402008e-03 -3.23469232e+00] [ 9.91754647e-03 -7.74223535e-04 9.99950520e-01 -3.19508154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.19538475 meters 0.07445414700875319 Centerline is valid? [True, True] Translation: X:25.22, Y:-3.24, Z:-0.32 [[ 9.90223495e-01 1.39198269e-01 -9.01509428e-03 2.52229877e+01] [-1.39185968e-01 9.90264279e-01 1.98086237e-03 -3.24073924e+00] [ 9.20305845e-03 -7.06721833e-04 9.99957401e-01 -3.18975668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.225384749999996 meters 0.07362225241195433 Centerline is valid? [True, True] Translation: X:25.25, Y:-3.24, Z:-0.32 [[ 9.89851400e-01 1.41873156e-01 -8.13713923e-03 2.52528952e+01] [-1.41863229e-01 9.89884655e-01 1.78733795e-03 -3.24421861e+00] [ 8.30840453e-03 -6.14838121e-04 9.99965296e-01 -3.18092960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.255384749999997 meters 0.07173126137035765 Centerline is valid? [True, True] Translation: X:25.28, Y:-3.25, Z:-0.32 [[ 9.89755943e-01 1.42470161e-01 -9.24260278e-03 2.52848515e+01] [-1.42457369e-01 9.89798854e-01 2.03131568e-03 -3.24694007e+00] [ 9.43771951e-03 -6.93829893e-04 9.99955223e-01 -3.17727966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.28538475 meters 0.07140675568493425 Centerline is valid? [True, True] Translation: X:25.31, Y:-3.25, Z:-0.32 [[ 9.89647985e-01 1.43090672e-01 -1.10419486e-02 2.53148665e+01] [-1.43072462e-01 9.89709243e-01 2.42594625e-03 -3.25146603e+00] [ 1.12754488e-02 -8.21034048e-04 9.99936093e-01 -3.19956148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.31538475 meters 0.07109165586592299 Centerline is valid? [True, True] Translation: X:25.34, Y:-3.26, Z:-0.32 [[ 9.89722319e-01 1.42450266e-01 -1.25559852e-02 2.53447218e+01] [-1.42426668e-01 9.89801513e-01 2.75858422e-03 -3.25658149e+00] [ 1.28208942e-02 -9.41925244e-04 9.99917365e-01 -3.21147744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.345384749999997 meters 0.07109165586592299 Centerline is valid? [True, True] Translation: X:25.37, Y:-3.26, Z:-0.32 [[ 9.89729219e-01 1.42402294e-01 -1.25562635e-02 2.53733056e+01] [-1.42378708e-01 9.89808416e-01 2.75731723e-03 -3.26280908e+00] [ 1.28209436e-02 -9.41252852e-04 9.99917365e-01 -3.21554701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.37538475 meters 0.07496128965928406 Centerline is valid? [True, True] Translation: X:25.40, Y:-3.27, Z:-0.32 [[ 9.89813830e-01 1.41792110e-01 -1.27897853e-02 2.54007710e+01] [-1.41767587e-01 9.89895986e-01 2.80863776e-03 -3.27457708e+00] [ 1.30587998e-02 -9.66851496e-04 9.99914263e-01 -3.24259255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.40538475 meters 0.07328400414033037 Centerline is valid? [True, True] Translation: X:25.43, Y:-3.28, Z:-0.32 [[ 9.89651109e-01 1.42858043e-01 -1.35004429e-02 2.54304668e+01] [-1.42830831e-01 9.89742679e-01 2.96371814e-03 -3.27858356e+00] [ 1.37853555e-02 -1.00476746e-03 9.99904473e-01 -3.23772859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.435384749999997 meters 0.0728505394906196 Centerline is valid? [True, True] Translation: X:25.46, Y:-3.28, Z:-0.33 [[ 9.89318081e-01 1.44999915e-01 -1.49919888e-02 2.54594373e+01] [-1.44966602e-01 9.89431075e-01 3.29119914e-03 -3.28396702e+00] [ 1.53107632e-02 -1.08270514e-03 9.99882197e-01 -3.25122006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.46538475 meters 0.06697065823330299 Centerline is valid? [True, True] Translation: X:25.49, Y:-3.28, Z:-0.33 [[ 9.87696750e-01 1.55629758e-01 -1.53136835e-02 2.54919678e+01] [-1.55596269e-01 9.87815013e-01 3.36185127e-03 -3.27802283e+00] [ 1.56502906e-02 -9.37737558e-04 9.99877087e-01 -3.25053217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.49538475 meters 0.0639567328874859 Centerline is valid? [True, True] Translation: X:25.52, Y:-3.28, Z:-0.33 [[ 9.86710462e-01 1.61694964e-01 -1.60375764e-02 2.55232090e+01] [-1.61659032e-01 9.86840393e-01 3.52068687e-03 -3.27711175e+00] [ 1.63958056e-02 -8.81279484e-04 9.99865191e-01 -3.25053079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.525384749999997 meters 0.06214795642586247 Centerline is valid? [True, True] Translation: X:25.55, Y:-3.28, Z:-0.33 [[ 9.85698971e-01 1.67762549e-01 -1.59143000e-02 2.55539681e+01] [-1.67727959e-01 9.85827129e-01 3.49337026e-03 -3.27867035e+00] [ 1.62748054e-02 -7.74138410e-04 9.99867257e-01 -3.26378414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.555384749999998 meters 0.05900746002640262 Centerline is valid? [True, True] Translation: X:25.58, Y:-3.28, Z:-0.33 [[ 9.84074406e-01 1.76782073e-01 -1.85919676e-02 2.55846211e+01] [-1.76736496e-01 9.84249748e-01 4.07968350e-03 -3.27719813e+00] [ 1.90203543e-02 -7.28832921e-04 9.99818831e-01 -3.28036406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.58538475 meters 0.05883052744855116 Centerline is valid? [True, True] Translation: X:25.61, Y:-3.29, Z:-0.33 [[ 9.83260536e-01 1.81312858e-01 -1.80101514e-02 2.56123570e+01] [-1.81270879e-01 9.83425271e-01 3.95025033e-03 -3.28505251e+00] [ 1.84278692e-02 -6.19409281e-04 9.99830001e-01 -3.30668216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.615384749999997 meters 0.05816521663071467 Centerline is valid? [True, True] Translation: X:25.64, Y:-3.29, Z:-0.33 [[ 9.83117633e-01 1.82179101e-01 -1.70438906e-02 2.56402869e+01] [-1.82141672e-01 9.83265199e-01 3.73626503e-03 -3.29139586e+00] [ 1.74393339e-02 -5.68785308e-04 9.99847761e-01 -3.29075220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.645384749999998 meters 0.05736667443948529 Centerline is valid? [True, True] Translation: X:25.67, Y:-3.30, Z:-0.33 [[ 9.82889754e-01 1.83356514e-01 -1.75533465e-02 2.56677557e+01] [-1.83317033e-01 9.83046323e-01 3.84618523e-03 -3.29888855e+00] [ 1.79609758e-02 -5.62548669e-04 9.99838530e-01 -3.28403733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.67538475 meters 0.057438259955599286 Centerline is valid? [True, True] Translation: X:25.70, Y:-3.31, Z:-0.33 [[ 9.82771391e-01 1.83982840e-01 -1.76268918e-02 2.56957930e+01] [-1.83943160e-01 9.82929301e-01 3.86055515e-03 -3.30684797e+00] [ 1.80362643e-02 -5.51696983e-04 9.99837181e-01 -3.29717465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.705384749999997 meters 0.057198937933406746 Centerline is valid? [True, True] Translation: X:25.72, Y:-3.31, Z:-0.33 [[ 9.82655610e-01 1.84701978e-01 -1.65266790e-02 2.57236164e+01] [-1.84667227e-01 9.82794448e-01 3.61786162e-03 -3.31415802e+00] [ 1.69105546e-02 -5.03176033e-04 9.99856880e-01 -3.30531729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.735384749999998 meters 0.05763570937625375 Centerline is valid? [True, True] Translation: X:25.75, Y:-3.33, Z:-0.33 [[ 9.82652353e-01 1.84688275e-01 -1.68699057e-02 2.57493312e+01] [-1.84652105e-01 9.82797019e-01 3.69062478e-03 -3.32685483e+00] [ 1.72613081e-02 -5.11537537e-04 9.99850882e-01 -3.31469424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.76538475 meters 0.05945376265775341 Centerline is valid? [True, True] Translation: X:25.77, Y:-3.35, Z:-0.33 [[ 9.83517658e-01 1.80053958e-01 -1.65405256e-02 2.57744262e+01] [-1.80018541e-01 9.83656563e-01 3.61801551e-03 -3.34685159e+00] [ 1.69216346e-02 -5.80780844e-04 9.99856650e-01 -3.33342452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.795384749999997 meters 0.06040175275986803 Centerline is valid? [True, True] Translation: X:25.80, Y:-3.36, Z:-0.33 [[ 9.84109841e-01 1.76871074e-01 -1.56347037e-02 2.58019722e+01] [-1.76839037e-01 9.84233846e-01 3.41939417e-03 -3.36014410e+00] [ 1.59929965e-02 -6.00233504e-04 9.99871924e-01 -3.32745624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.825384749999998 meters 0.06304203997555341 Centerline is valid? [True, True] Translation: X:25.83, Y:-3.38, Z:-0.33 [[ 9.85463936e-01 1.69171554e-01 -1.55504149e-02 2.58290280e+01] [-1.69138880e-01 9.85586355e-01 3.40237813e-03 -3.38158595e+00] [ 1.59018623e-02 -7.22741187e-04 9.99873296e-01 -3.32867259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.85538475 meters 0.06501990995861166 Centerline is valid? [True, True] Translation: X:25.86, Y:-3.40, Z:-0.33 [[ 9.86033341e-01 1.65698745e-01 -1.67981050e-02 2.58578700e+01] [-1.65660096e-01 9.86176058e-01 3.67645205e-03 -3.39591925e+00] [ 1.71750725e-02 -8.42328607e-04 9.99852143e-01 -3.34968959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.885384749999997 meters 0.06621397978348777 Centerline is valid? [True, True] Translation: X:25.89, Y:-3.41, Z:-0.34 [[ 9.86557211e-01 1.62469839e-01 -1.75618983e-02 2.58858992e+01] [-1.62427083e-01 9.86713063e-01 3.84369034e-03 -3.41219191e+00] [ 1.79530382e-02 -9.39492508e-04 9.99838390e-01 -3.35193742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.915384749999998 meters 0.0673698274641915 Centerline is valid? [True, True] Translation: X:25.91, Y:-3.42, Z:-0.34 [[ 9.86585808e-01 1.62364878e-01 -1.69142044e-02 2.59149543e+01] [-1.62325043e-01 9.86730362e-01 3.71115081e-03 -3.42385423e+00] [ 1.72923196e-02 -9.15769758e-04 9.99850057e-01 -3.36311884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.94538475 meters 0.0647803963313092 Centerline is valid? [True, True] Translation: X:25.95, Y:-3.43, Z:-0.33 [[ 9.86516502e-01 1.62828597e-01 -1.64935930e-02 2.59457776e+01] [-1.62790673e-01 9.86653968e-01 3.62538510e-03 -3.43187356e+00] [ 1.68637853e-02 -8.91499123e-04 9.99857399e-01 -3.33170807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.975384749999996 meters 0.0676506075849689 Centerline is valid? [True, True] Translation: X:25.97, Y:-3.45, Z:-0.34 [[ 9.86594034e-01 1.62395517e-01 -1.61216612e-02 2.59745608e+01] [-1.62359210e-01 9.86725353e-01 3.54463871e-03 -3.44685418e+00] [ 1.64832853e-02 -8.79619221e-04 9.99863755e-01 -3.36128061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.005384749999997 meters 0.06696301421840874 Centerline is valid? [True, True] Translation: X:26.01, Y:-3.46, Z:-0.33 [[ 9.87005030e-01 1.59943164e-01 -1.54678426e-02 2.60056716e+01] [-1.59909436e-01 9.87125830e-01 3.40125543e-03 -3.45620914e+00] [ 1.58127145e-02 -8.83602232e-04 9.99874581e-01 -3.34921593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.03538475 meters 0.06772845804578412 Centerline is valid? [True, True] Translation: X:26.04, Y:-3.47, Z:-0.33 [[ 9.87361091e-01 1.57797525e-01 -1.47654281e-02 2.60366836e+01] [-1.57766529e-01 9.87471099e-01 3.24831882e-03 -3.46587547e+00] [ 1.50930101e-02 -8.77773276e-04 9.99885709e-01 -3.34565935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.06538475 meters 0.06822398913891634 Centerline is valid? [True, True] Translation: X:26.07, Y:-3.48, Z:-0.33 [[ 9.88240898e-01 1.52178034e-01 -1.48920819e-02 2.60658330e+01] [-1.52145884e-01 9.88352621e-01 3.27516438e-03 -3.47663501e+00] [ 1.52170362e-02 -9.70882422e-04 9.99883743e-01 -3.33223999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.095384749999997 meters 0.06891468559908853 Centerline is valid? [True, True] Translation: X:26.10, Y:-3.49, Z:-0.33 [[ 9.88639057e-01 1.49540670e-01 -1.51790292e-02 2.60959622e+01] [-1.49506939e-01 9.88755037e-01 3.33959625e-03 -3.48687811e+00] [ 1.55077470e-02 -1.03228509e-03 9.99879215e-01 -3.32528040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.12538475 meters 0.06979945596238762 Centerline is valid? [True, True] Translation: X:26.13, Y:-3.50, Z:-0.33 [[ 9.88943752e-01 1.47532553e-01 -1.49800367e-02 2.61269582e+01] [-1.47499437e-01 9.89056641e-01 3.29807822e-03 -3.49624298e+00] [ 1.53026787e-02 -1.05206687e-03 9.99882354e-01 -3.32041083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.15538475 meters 0.06867509877029293 Centerline is valid? [True, True] Translation: X:26.16, Y:-3.50, Z:-0.33 [[ 9.89036314e-01 1.46952869e-01 -1.45610618e-02 2.61587422e+01] [-1.46921382e-01 9.89142948e-01 3.21489468e-03 -3.50235022e+00] [ 1.48754096e-02 -1.04031627e-03 9.99888814e-01 -3.30978407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.185384749999997 meters 0.07144108155053533 Centerline is valid? [True, True] Translation: X:26.19, Y:-3.51, Z:-0.33 [[ 9.88854360e-01 1.48037918e-01 -1.58691463e-02 2.61880495e+01] [-1.48000584e-01 9.88981051e-01 3.50826262e-03 -3.51382978e+00] [ 1.62136408e-02 -1.12051786e-03 9.99867922e-01 -3.34376374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.21538475 meters 0.06984646630179775 Centerline is valid? [True, True] Translation: X:26.22, Y:-3.52, Z:-0.34 [[ 9.88665518e-01 1.49104432e-01 -1.75602137e-02 2.62214143e+01] [-1.49058743e-01 9.88820691e-01 3.88991321e-03 -3.51777467e+00] [ 1.79439060e-02 -1.22831967e-03 9.99838241e-01 -3.35084260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.24538475 meters 0.07167619322311472 Centerline is valid? [True, True] Translation: X:26.25, Y:-3.53, Z:-0.34 [[ 9.88452346e-01 1.50326800e-01 -1.90738849e-02 2.62521631e+01] [-1.50272994e-01 9.88635484e-01 4.23168037e-03 -3.52696735e+00] [ 1.94932544e-02 -1.31652459e-03 9.99809122e-01 -3.38335134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.275384749999997 meters 0.06896721821730004 Centerline is valid? [True, True] Translation: X:26.29, Y:-3.53, Z:-0.34 [[ 9.88223828e-01 1.51626487e-01 -2.05687533e-02 2.62851564e+01] [-1.51564016e-01 9.88436871e-01 4.57187405e-03 -3.52881352e+00] [ 2.10241314e-02 -1.40055201e-03 9.99777988e-01 -3.37899022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.305384749999998 meters 0.07074408969270786 Centerline is valid? [True, True] Translation: X:26.31, Y:-3.54, Z:-0.34 [[ 9.88064802e-01 1.52637874e-01 -2.07274383e-02 2.63149566e+01] [-1.52574627e-01 9.88281207e-01 4.60853557e-03 -3.53936684e+00] [ 2.11879748e-02 -1.39105061e-03 9.99774542e-01 -3.40769483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.33538475 meters 0.0716678849659715 Centerline is valid? [True, True] Translation: X:26.35, Y:-3.55, Z:-0.34 [[ 9.88046299e-01 1.52292205e-01 -2.39080752e-02 2.63455751e+01] [-1.52207736e-01 9.88334181e-01 5.32460328e-03 -3.54702637e+00] [ 2.44400635e-02 -1.62196056e-03 9.99699981e-01 -3.44421785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.365384749999997 meters 0.07501311504625074 Centerline is valid? [True, True] Translation: X:26.37, Y:-3.56, Z:-0.35 [[ 9.88525844e-01 1.48688567e-01 -2.66151318e-02 2.63732048e+01] [-1.48582688e-01 9.88882246e-01 5.92359302e-03 -3.55903532e+00] [ 2.72000019e-02 -1.90107697e-03 9.99628204e-01 -3.49386898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.395384749999998 meters 0.07464510477532853 Centerline is valid? [True, True] Translation: X:26.40, Y:-3.57, Z:-0.35 [[ 9.88841808e-01 1.46318549e-01 -2.79778679e-02 2.64031207e+01] [-1.46200583e-01 9.89235365e-01 6.22758820e-03 -3.56638587e+00] [ 2.85879080e-02 -2.06771898e-03 9.99589144e-01 -3.49638169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.42538475 meters 0.07416517007886261 Centerline is valid? [True, True] Translation: X:26.43, Y:-3.57, Z:-0.35 [[ 9.89227381e-01 1.43857668e-01 -2.70953891e-02 2.64344889e+01] [-1.43746002e-01 9.89596213e-01 6.03504624e-03 -3.57462220e+00] [ 2.76816821e-02 -2.07517912e-03 9.99614635e-01 -3.48054327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.455384749999997 meters 0.07642037637122195 Centerline is valid? [True, True] Translation: X:26.46, Y:-3.59, Z:-0.35 [[ 9.89605170e-01 1.41433651e-01 -2.60409421e-02 2.64632072e+01] [-1.41329657e-01 9.89945593e-01 5.80087845e-03 -3.58646983e+00] [ 2.65995553e-02 -2.06022190e-03 9.99644046e-01 -3.48668525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.485384749999998 meters 0.07615085747555608 Centerline is valid? [True, True] Translation: X:26.49, Y:-3.59, Z:-0.35 [[ 9.89763603e-01 1.41050489e-01 -2.17432525e-02 2.64947567e+01] [-1.40977637e-01 9.90000874e-01 4.85547091e-03 -3.59421702e+00] [ 2.22107055e-02 -1.74045603e-03 9.99751797e-01 -3.45475434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.51538475 meters 0.07592221609642215 Centerline is valid? [True, True] Translation: X:26.53, Y:-3.60, Z:-0.34 [[ 9.89742118e-01 1.41452070e-01 -2.00462643e-02 2.65261220e+01] [-1.41390076e-01 9.89943807e-01 4.48396486e-03 -3.60109072e+00] [ 2.04789413e-02 -1.60362604e-03 9.99788998e-01 -3.44344928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.545384749999997 meters 0.07607162324881235 Centerline is valid? [True, True] Translation: X:26.56, Y:-3.60, Z:-0.34 [[ 9.89339932e-01 1.44582075e-01 -1.73931811e-02 2.65559046e+01] [-1.44535967e-01 9.89491917e-01 3.88602081e-03 -3.60496158e+00] [ 1.77722610e-02 -1.33065531e-03 9.99841175e-01 -3.44310716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.575384749999998 meters 0.07293844000412336 Centerline is valid? [True, True] Translation: X:26.59, Y:-3.60, Z:-0.34 [[ 9.88990258e-01 1.46996565e-01 -1.70375799e-02 2.65883734e+01] [-1.46952637e-01 9.89136196e-01 3.80905603e-03 -3.60441790e+00] [ 1.74124051e-02 -1.26340201e-03 9.99847594e-01 -3.43156948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.60538475 meters 0.07135330840356294 Centerline is valid? [True, True] Translation: X:26.62, Y:-3.61, Z:-0.34 [[ 9.88710984e-01 1.48861282e-01 -1.70560642e-02 2.66197255e+01] [-1.48817525e-01 9.88857320e-01 3.81374006e-03 -3.60635715e+00] [ 1.74337322e-02 -1.23244543e-03 9.99847261e-01 -3.42976153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.635384749999997 meters 0.07222694434036851 Centerline is valid? [True, True] Translation: X:26.65, Y:-3.61, Z:-0.34 [[ 9.88373654e-01 1.51349105e-01 -1.45247256e-02 2.66487750e+01] [-1.51317649e-01 9.88479856e-01 3.24713230e-03 -3.61226152e+00] [ 1.48488492e-02 -1.01153269e-03 9.99889238e-01 -3.43668753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.665384749999998 meters 0.07105537290585463 Centerline is valid? [True, True] Translation: X:26.68, Y:-3.62, Z:-0.34 [[ 9.88235025e-01 1.52323630e-01 -1.37494565e-02 2.66812663e+01] [-1.52295488e-01 9.88330215e-01 3.07725070e-03 -3.61618482e+00] [ 1.40577413e-02 -9.47066726e-04 9.99900737e-01 -3.43098742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.69538475 meters 0.06881381798782685 Centerline is valid? [True, True] Translation: X:26.71, Y:-3.62, Z:-0.34 [[ 9.87950540e-01 1.54277010e-01 -1.23423808e-02 2.67130519e+01] [-1.54254488e-01 9.88027289e-01 2.76214560e-03 -3.61667529e+00] [ 1.26207446e-02 -8.24995602e-04 9.99920015e-01 -3.42703239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.725384749999996 meters 0.06961443302665972 Centerline is valid? [True, True] Translation: X:26.74, Y:-3.62, Z:-0.34 [[ 9.88001298e-01 1.53912411e-01 -1.28220082e-02 2.67448378e+01] [-1.53887960e-01 9.88084112e-01 2.87814739e-03 -3.62364623e+00] [ 1.31122052e-02 -8.70460672e-04 9.99913652e-01 -3.44848983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.755384749999997 meters 0.06883492023981609 Centerline is valid? [True, True] Translation: X:26.78, Y:-3.63, Z:-0.35 [[ 9.87964014e-01 1.54003669e-01 -1.44906063e-02 2.67761569e+01] [-1.53972379e-01 9.88069783e-01 3.25743483e-03 -3.62910235e+00] [ 1.48193871e-02 -9.87075272e-04 9.99889700e-01 -3.45131919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.78538475 meters 0.07373792561263143 Centerline is valid? [True, True] Translation: X:26.80, Y:-3.64, Z:-0.35 [[ 9.88413779e-01 1.50798242e-01 -1.72653598e-02 2.68036261e+01] [-1.50753437e-01 9.88563798e-01 3.87529687e-03 -3.64353940e+00] [ 1.76522976e-02 -1.22758449e-03 9.99843432e-01 -3.51332656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.815384749999996 meters 0.07425165087172864 Centerline is valid? [True, True] Translation: X:26.83, Y:-3.65, Z:-0.35 [[ 9.88600317e-01 1.49326288e-01 -1.92632454e-02 2.68339280e+01] [-1.49270202e-01 9.88786983e-01 4.32536048e-03 -3.65060665e+00] [ 1.96931363e-02 -1.40062420e-03 9.99805090e-01 -3.53494705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.845384749999997 meters 0.07527641634530124 Centerline is valid? [True, True] Translation: X:26.87, Y:-3.66, Z:-0.36 [[ 9.88755101e-01 1.48161077e-01 -2.02890524e-02 2.68653097e+01] [-1.48098560e-01 9.88962102e-01 4.55830894e-03 -3.65813159e+00] [ 2.07404678e-02 -1.50227179e-03 9.99783765e-01 -3.55438494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.87538475 meters 0.07238471599465122 Centerline is valid? [True, True] Translation: X:26.90, Y:-3.66, Z:-0.35 [[ 9.88497409e-01 1.49608035e-01 -2.21428962e-02 2.68975372e+01] [-1.49533673e-01 9.88744061e-01 4.98613635e-03 -3.65965045e+00] [ 2.26396232e-02 -1.61767425e-03 9.99742382e-01 -3.54998629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.90538475 meters 0.07148983050101237 Centerline is valid? [True, True] Translation: X:26.93, Y:-3.67, Z:-0.35 [[ 9.88293107e-01 1.50977818e-01 -2.19643395e-02 2.69287774e+01] [-1.50904806e-01 9.88535886e-01 4.95401850e-03 -3.66596151e+00] [ 2.24604847e-02 -1.58149796e-03 9.99746481e-01 -3.54764841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.935384749999997 meters 0.07175909386613308 Centerline is valid? [True, True] Translation: X:26.96, Y:-3.67, Z:-0.36 [[ 9.88172536e-01 1.51813407e-01 -2.16270232e-02 2.69591781e+01] [-1.51742667e-01 9.88407963e-01 4.88481809e-03 -3.67272874e+00] [ 2.21179029e-02 -1.54530089e-03 9.99754175e-01 -3.55363822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.96538475 meters 0.07210518578470691 Centerline is valid? [True, True] Translation: X:26.99, Y:-3.68, Z:-0.36 [[ 9.87679409e-01 1.55140685e-01 -2.05122444e-02 2.69891796e+01] [-1.55077855e-01 9.87891408e-01 4.62873910e-03 -3.67614210e+00] [ 2.09819757e-02 -1.39071545e-03 9.99778887e-01 -3.58056982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.99538475 meters 0.06982129376986508 Centerline is valid? [True, True] Translation: X:27.02, Y:-3.68, Z:-0.36 [[ 9.87365531e-01 1.57033936e-01 -2.12049895e-02 2.70219329e+01] [-1.56966956e-01 9.87592203e-01 4.79744459e-03 -3.67785545e+00] [ 2.16952439e-02 -1.40834877e-03 9.99763639e-01 -3.57568201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.025384749999997 meters 0.0685609087698667 Centerline is valid? [True, True] Translation: X:27.05, Y:-3.68, Z:-0.36 [[ 9.87238200e-01 1.58011247e-01 -1.98288425e-02 2.70528655e+01] [-1.57952932e-01 9.87436464e-01 4.48333279e-03 -3.68202829e+00] [ 2.02881391e-02 -1.29409359e-03 9.99793337e-01 -3.57034679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.055384749999998 meters 0.07165617827867034 Centerline is valid? [True, True] Translation: X:27.08, Y:-3.69, Z:-0.36 [[ 9.87201976e-01 1.58282563e-01 -1.94650442e-02 2.70821858e+01] [-1.58226215e-01 9.87393034e-01 4.41140906e-03 -3.69444854e+00] [ 1.99178981e-02 -1.27507148e-03 9.99800806e-01 -3.60063160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.08538475 meters 0.07107433513027624 Centerline is valid? [True, True] Translation: X:27.11, Y:-3.70, Z:-0.36 [[ 9.87574804e-01 1.56154297e-01 -1.76590468e-02 2.71133748e+01] [-1.56107460e-01 9.87731942e-01 4.00884097e-03 -3.70243161e+00] [ 1.80684023e-02 -1.20232139e-03 9.99836030e-01 -3.57199808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.115384749999997 meters 0.07019342990241245 Centerline is valid? [True, True] Translation: X:27.14, Y:-3.71, Z:-0.36 [[ 9.87706484e-01 1.55378977e-01 -1.71252892e-02 2.71445830e+01] [-1.55334699e-01 9.87854223e-01 3.89418011e-03 -3.70897946e+00] [ 1.75223630e-02 -1.18615530e-03 9.99845768e-01 -3.56095015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.145384749999998 meters 0.0711311477474758 Centerline is valid? [True, True] Translation: X:27.17, Y:-3.72, Z:-0.36 [[ 9.87834012e-01 1.54764638e-01 -1.52273236e-02 2.71749018e+01] [-1.54729455e-01 9.87950788e-01 3.46928229e-03 -3.71848352e+00] [ 1.55807686e-02 -1.07095956e-03 9.99878039e-01 -3.56556730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.17538475 meters 0.06973137085727353 Centerline is valid? [True, True] Translation: X:27.21, Y:-3.72, Z:-0.36 [[ 9.87684886e-01 1.55684280e-01 -1.55232654e-02 2.72063904e+01] [-1.55647746e-01 9.87806273e-01 3.54197516e-03 -3.72320632e+00] [ 1.58854088e-02 -1.08219406e-03 9.99873233e-01 -3.57009178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.205384749999997 meters 0.06964382251045607 Centerline is valid? [True, True] Translation: X:27.24, Y:-3.73, Z:-0.36 [[ 9.87273983e-01 1.58114781e-01 -1.70234905e-02 2.72361993e+01] [-1.58071118e-01 9.87420071e-01 3.88908452e-03 -3.73086091e+00] [ 1.74242579e-02 -1.14866979e-03 9.99847526e-01 -3.59718835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.235384749999998 meters 0.06933977396771687 Centerline is valid? [True, True] Translation: X:27.27, Y:-3.74, Z:-0.36 [[ 9.87034949e-01 1.59360532e-01 -1.91371532e-02 2.72676884e+01] [-1.59305455e-01 9.87219631e-01 4.37860350e-03 -3.73813003e+00] [ 1.95903499e-02 -1.27318179e-03 9.99807280e-01 -3.61485497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.26538475 meters 0.06933977396771687 Centerline is valid? [True, True] Translation: X:27.30, Y:-3.75, Z:-0.36 [[ 9.86980535e-01 1.59697369e-01 -1.91356582e-02 2.72985689e+01] [-1.59642229e-01 9.87165199e-01 4.38513607e-03 -3.74539964e+00] [ 1.95903505e-02 -1.27318481e-03 9.99807280e-01 -3.61927362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.295384749999997 meters 0.06901698543754951 Centerline is valid? [True, True] Translation: X:27.33, Y:-3.75, Z:-0.36 [[ 9.86592308e-01 1.61942431e-01 -2.02550271e-02 2.73301590e+01] [-1.61881139e-01 9.86799351e-01 4.64081036e-03 -3.75313697e+00] [ 2.07391918e-02 -1.29968095e-03 9.99784075e-01 -3.63368586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.325384749999998 meters 0.06789695850034527 Centerline is valid? [True, True] Translation: X:27.36, Y:-3.76, Z:-0.36 [[ 9.86435943e-01 1.62860849e-01 -2.05054741e-02 2.73621262e+01] [-1.62798004e-01 9.86648183e-01 4.70886686e-03 -3.75896948e+00] [ 2.09985789e-02 -1.30674525e-03 9.99778652e-01 -3.63916348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.35538475 meters 0.0679653982815428 Centerline is valid? [True, True] Translation: X:27.39, Y:-3.77, Z:-0.36 [[ 9.86615419e-01 1.61594547e-01 -2.18453128e-02 2.73935924e+01] [-1.61522945e-01 9.86856214e-01 5.01501870e-03 -3.76717447e+00] [ 2.23685824e-02 -1.41937551e-03 9.99748784e-01 -3.64513095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.385384749999997 meters 0.07062581607036267 Centerline is valid? [True, True] Translation: X:27.42, Y:-3.78, Z:-0.37 [[ 9.86770311e-01 1.60649147e-01 -2.18220953e-02 2.74227068e+01] [-1.60577232e-01 9.87010512e-01 5.02022185e-03 -3.77855310e+00] [ 2.23451318e-02 -1.44967422e-03 9.99749265e-01 -3.66826500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.415384749999998 meters 0.07126581020169642 Centerline is valid? [True, True] Translation: X:27.45, Y:-3.79, Z:-0.37 [[ 9.86880724e-01 1.59905820e-01 -2.22837617e-02 2.74536231e+01] [-1.59830462e-01 9.87131127e-01 5.13428430e-03 -3.78655442e+00] [ 2.28179968e-02 -1.50530229e-03 9.99738502e-01 -3.69001312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.44538475 meters 0.07157377785221315 Centerline is valid? [True, True] Translation: X:27.48, Y:-3.79, Z:-0.37 [[ 9.86841829e-01 1.60080366e-01 -2.27482264e-02 2.74847630e+01] [-1.60001696e-01 9.87102783e-01 5.24914037e-03 -3.79372879e+00] [ 2.32951219e-02 -1.54031647e-03 9.99727445e-01 -3.69873865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.475384749999996 meters 0.0720965818691832 Centerline is valid? [True, True] Translation: X:27.52, Y:-3.80, Z:-0.37 [[ 9.86832400e-01 1.60097623e-01 -2.30340048e-02 2.75154326e+01] [-1.60017039e-01 9.87099959e-01 5.31210164e-03 -3.80061706e+00] [ 2.35873201e-02 -1.55632077e-03 9.99720569e-01 -3.71377204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.505384749999997 meters 0.06870702153681273 Centerline is valid? [True, True] Translation: X:27.55, Y:-3.80, Z:-0.37 [[ 9.86614496e-01 1.61634459e-01 -2.15902373e-02 2.75478867e+01] [-1.61564001e-01 9.86849669e-01 4.98036006e-03 -3.80061881e+00] [ 2.21113163e-02 -1.42549031e-03 9.99754499e-01 -3.67891611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.53538475 meters 0.06727288151723516 Centerline is valid? [True, True] Translation: X:27.58, Y:-3.80, Z:-0.37 [[ 9.86635504e-01 1.61932660e-01 -1.81161756e-02 2.75793342e+01] [-1.61883084e-01 9.86801091e-01 4.18008474e-03 -3.80394801e+00] [ 1.85539541e-02 -1.19151763e-03 9.99827151e-01 -3.66115365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.565384749999996 meters 0.07020240796724936 Centerline is valid? [True, True] Translation: X:27.61, Y:-3.81, Z:-0.37 [[ 9.86732546e-01 1.61428331e-01 -1.73140623e-02 2.76084890e+01] [-1.61382872e-01 9.86883764e-01 4.00060799e-03 -3.81492236e+00] [ 1.77327785e-02 -1.15333700e-03 9.99842097e-01 -3.68140551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.595384749999997 meters 0.06907322037152758 Centerline is valid? [True, True] Translation: X:27.64, Y:-3.82, Z:-0.37 [[ 9.86743983e-01 1.61421131e-01 -1.67191479e-02 2.76409471e+01] [-1.61378600e-01 9.86884978e-01 3.87138842e-03 -3.81881600e+00] [ 1.71247998e-02 -1.12195655e-03 9.99852730e-01 -3.67492725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.62538475 meters 0.06920364778069994 Centerline is valid? [True, True] Translation: X:27.67, Y:-3.82, Z:-0.37 [[ 9.86723221e-01 1.61566296e-01 -1.65413596e-02 2.76731659e+01] [-1.61524584e-01 9.86861233e-01 3.83619760e-03 -3.82328905e+00] [ 1.69438267e-02 -1.11342903e-03 9.99855823e-01 -3.67617681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.65538475 meters 0.07040946812323003 Centerline is valid? [True, True] Translation: X:27.70, Y:-3.83, Z:-0.37 [[ 9.86952251e-01 1.60130636e-01 -1.68355129e-02 2.77047243e+01] [-1.60087252e-01 9.87095153e-01 3.90256395e-03 -3.83074489e+00] [ 1.72431732e-02 -1.15649329e-03 9.99850657e-01 -3.68333449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.685384749999997 meters 0.07118955575690587 Centerline is valid? [True, True] Translation: X:27.74, Y:-3.84, Z:-0.37 [[ 9.87044185e-01 1.59593399e-01 -1.65446069e-02 2.77361374e+01] [-1.59551268e-01 9.87182158e-01 3.84441225e-03 -3.83865509e+00] [ 1.69460835e-02 -1.15489174e-03 9.99855738e-01 -3.68763540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.71538475 meters 0.07188335998310537 Centerline is valid? [True, True] Translation: X:27.77, Y:-3.85, Z:-0.37 [[ 9.87302188e-01 1.57957686e-01 -1.68451206e-02 2.77672933e+01] [-1.57913686e-01 9.87445141e-01 3.91935235e-03 -3.84513917e+00] [ 1.72527243e-02 -1.20951007e-03 9.99850429e-01 -3.70230267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.74538475 meters 0.07473982768973118 Centerline is valid? [True, True] Translation: X:27.80, Y:-3.85, Z:-0.37 [[ 9.87911108e-01 1.54083394e-01 -1.70279504e-02 2.77958390e+01] [-1.54037939e-01 9.88057009e-01 3.95739198e-03 -3.85461857e+00] [ 1.74343542e-02 -1.28660110e-03 9.99847182e-01 -3.71460488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.775384749999997 meters 0.07506278231488063 Centerline is valid? [True, True] Translation: X:27.83, Y:-3.86, Z:-0.37 [[ 9.88185365e-01 1.52284598e-01 -1.72940818e-02 2.78272324e+01] [-1.52237383e-01 9.88335773e-01 4.02232277e-03 -3.86207362e+00] [ 1.77048975e-02 -1.34199474e-03 9.99842355e-01 -3.71683028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.805384749999998 meters 0.07828276695969642 Centerline is valid? [True, True] Translation: X:27.86, Y:-3.87, Z:-0.37 [[ 9.88629461e-01 1.49188761e-01 -1.88282280e-02 2.78556224e+01] [-1.49132266e-01 9.88807566e-01 4.37764986e-03 -3.87311906e+00] [ 1.92705904e-02 -1.51997731e-03 9.99813150e-01 -3.74245281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.83538475 meters 0.07872809306813502 Centerline is valid? [True, True] Translation: X:27.89, Y:-3.88, Z:-0.38 [[ 9.88378628e-01 1.50658893e-01 -2.02382291e-02 2.78857238e+01] [-1.50593705e-01 9.88584490e-01 4.71611265e-03 -3.87930430e+00] [ 2.07177237e-02 -1.61355505e-03 9.99784063e-01 -3.76883737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.865384749999997 meters 0.07559459270454758 Centerline is valid? [True, True] Translation: X:27.92, Y:-3.88, Z:-0.38 [[ 9.88045170e-01 1.52746117e-01 -2.08654262e-02 2.79165325e+01] [-1.52677381e-01 9.88264144e-01 4.85787808e-03 -3.88099881e+00] [ 2.13625746e-02 -1.61412434e-03 9.99770491e-01 -3.76106415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.895384749999998 meters 0.07508310788316765 Centerline is valid? [True, True] Translation: X:27.95, Y:-3.89, Z:-0.38 [[ 9.87603396e-01 1.55564822e-01 -2.09551720e-02 2.79458539e+01] [-1.55496124e-01 9.87824455e-01 4.87877265e-03 -3.88669190e+00] [ 2.14589968e-02 -1.55984442e-03 9.99768512e-01 -3.76955666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.92538475 meters 0.0696589716160135 Centerline is valid? [True, True] Translation: X:27.98, Y:-3.88, Z:-0.38 [[ 9.86263884e-01 1.63906673e-01 -2.04488026e-02 2.79784819e+01] [-1.63843028e-01 9.86474932e-01 4.76131890e-03 -3.88316893e+00] [ 2.09526431e-02 -1.34552313e-03 9.99779564e-01 -3.76858565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.955384749999997 meters 0.07040729777689647 Centerline is valid? [True, True] Translation: X:28.01, Y:-3.89, Z:-0.38 [[ 9.85553459e-01 1.68186230e-01 -1.99442208e-02 2.80063392e+01] [-1.68126602e-01 9.85754482e-01 4.64176416e-03 -3.89062485e+00] [ 2.04407859e-02 -1.22155265e-03 9.99790319e-01 -3.79959111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.985384749999998 meters 0.0645244836795566 Centerline is valid? [True, True] Translation: X:28.04, Y:-3.89, Z:-0.38 [[ 9.84147056e-01 1.76109406e-01 -2.09773492e-02 2.80379455e+01] [-1.76045216e-01 9.84369971e-01 4.88287641e-03 -3.88868930e+00] [ 2.15093931e-02 -1.11250647e-03 9.99768027e-01 -3.78324384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.01538475 meters 0.06333380940838941 Centerline is valid? [True, True] Translation: X:28.07, Y:-3.89, Z:-0.38 [[ 9.83448537e-01 1.80061837e-01 -2.01670349e-02 2.80674969e+01] [-1.80003373e-01 9.83654800e-01 4.69263771e-03 -3.89455326e+00] [ 2.06823656e-02 -9.84833392e-04 9.99785612e-01 -3.79155583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.045384749999997 meters 0.06133209427418273 Centerline is valid? [True, True] Translation: X:28.10, Y:-3.90, Z:-0.38 [[ 9.82260048e-01 1.86677650e-01 -1.77947247e-02 2.80964851e+01] [-1.86633221e-01 9.82420938e-01 4.14028613e-03 -3.90084780e+00] [ 1.82548090e-02 -7.45750862e-04 9.99833089e-01 -3.79474036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.075384749999998 meters 0.059904389400288166 Centerline is valid? [True, True] Translation: X:28.13, Y:-3.91, Z:-0.38 [[ 9.81686447e-01 1.89741686e-01 -1.70238553e-02 2.81261008e+01] [-1.89701490e-01 9.81833824e-01 3.96054685e-03 -3.90669195e+00] [ 1.74660778e-02 -6.58564446e-04 9.99847240e-01 -3.79258490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.10538475 meters 0.058273488715648476 Centerline is valid? [True, True] Translation: X:28.15, Y:-3.91, Z:-0.38 [[ 9.80716545e-01 1.94886710e-01 -1.46365762e-02 2.81537760e+01] [-1.94857597e-01 9.80825639e-01 3.40333231e-03 -3.91459181e+00] [ 1.50191934e-02 -4.85656241e-04 9.99887088e-01 -3.79544613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.135384749999997 meters 0.057596960224014004 Centerline is valid? [True, True] Translation: X:28.18, Y:-3.92, Z:-0.38 [[ 9.80278081e-01 1.97147223e-01 -1.37060911e-02 2.81823785e+01] [-1.97121920e-01 9.80373803e-01 3.18656233e-03 -3.92170432e+00] [ 1.40653146e-02 -4.21946206e-04 9.99900990e-01 -3.80135276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.165384749999998 meters 0.05705400954635458 Centerline is valid? [True, True] Translation: X:28.21, Y:-3.93, Z:-0.38 [[ 9.79703855e-01 2.00062902e-01 -1.24575699e-02 2.82089144e+01] [-2.00042252e-01 9.79782995e-01 2.89497296e-03 -3.93378476e+00] [ 1.27848918e-02 -3.44175839e-04 9.99918211e-01 -3.82551050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.19538475 meters 0.05703559626733787 Centerline is valid? [True, True] Translation: X:28.24, Y:-3.94, Z:-0.38 [[ 9.79725654e-01 1.99944506e-01 -1.26427098e-02 2.82364301e+01] [-1.99923230e-01 9.79807160e-01 2.93772577e-03 -3.94463836e+00] [ 1.29747997e-02 -3.50593911e-04 9.99915762e-01 -3.83059269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.225384749999996 meters 0.05649259295963079 Centerline is valid? [True, True] Translation: X:28.27, Y:-3.96, Z:-0.38 [[ 9.79740814e-01 1.99617799e-01 -1.61453398e-02 2.82653364e+01] [-1.99583030e-01 9.79873730e-01 3.75325976e-03 -3.95693638e+00] [ 1.65696118e-02 -4.54885934e-04 9.99862611e-01 -3.84053084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.255384749999997 meters 0.057229725426481 Centerline is valid? [True, True] Translation: X:28.29, Y:-3.97, Z:-0.39 [[ 9.79704384e-01 1.99795419e-01 -1.61589132e-02 2.82937971e+01] [-1.99760558e-01 9.79837529e-01 3.75985842e-03 -3.96965900e+00] [ 1.65843121e-02 -4.55636267e-04 9.99862367e-01 -3.87397465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.28538475 meters 0.05768506259181015 Centerline is valid? [True, True] Translation: X:28.32, Y:-3.98, Z:-0.39 [[ 9.79759950e-01 1.99359705e-01 -1.80595608e-02 2.83222914e+01] [-1.99316092e-01 9.79926242e-01 4.20179584e-03 -3.98454099e+00] [ 1.85347063e-02 -5.17190214e-04 9.99828084e-01 -3.89251816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.315384749999996 meters 0.05780663185146797 Centerline is valid? [True, True] Translation: X:28.35, Y:-4.00, Z:-0.39 [[ 9.79914859e-01 1.98595084e-01 -1.80793066e-02 2.83524073e+01] [-1.98551046e-01 9.80081475e-01 4.21715925e-03 -3.99677969e+00] [ 1.85567005e-02 -5.42791783e-04 9.99827662e-01 -3.89059804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.345384749999997 meters 0.05889916570482752 Centerline is valid? [True, True] Translation: X:28.38, Y:-4.01, Z:-0.39 [[ 9.80121492e-01 1.97771240e-01 -1.57606342e-02 2.83810070e+01] [-1.97737580e-01 9.80248078e-01 3.68173725e-03 -4.01083032e+00] [ 1.61774731e-02 -4.92080148e-04 9.99869015e-01 -3.90418465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.37538475 meters 0.059100547149721086 Centerline is valid? [True, True] Translation: X:28.41, Y:-4.03, Z:-0.39 [[ 9.80969181e-01 1.93745533e-01 -1.27331612e-02 2.84100521e+01] [-1.93723205e-01 9.81051713e-01 2.97597052e-03 -4.02605655e+00] [ 1.30684707e-02 -4.52626559e-04 9.99914501e-01 -3.86026760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.40538475 meters 0.06050584197992675 Centerline is valid? [True, True] Translation: X:28.44, Y:-4.04, Z:-0.39 [[ 9.81695089e-01 1.90153559e-01 -1.07877916e-02 2.84392529e+01] [-1.90137245e-01 9.81754266e-01 2.52766796e-03 -4.04345124e+00] [ 1.10716054e-02 -4.30238257e-04 9.99938615e-01 -3.85329810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.435384749999997 meters 0.06145560353377095 Centerline is valid? [True, True] Translation: X:28.47, Y:-4.06, Z:-0.39 [[ 9.82007860e-01 1.88530324e-01 -1.08110599e-02 2.84697448e+01] [-1.88513799e-01 9.82067264e-01 2.53690537e-03 -4.05588691e+00] [ 1.10954716e-02 -4.53227048e-04 9.99938341e-01 -3.85691857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.46538475 meters 0.062305830671886935 Centerline is valid? [True, True] Translation: X:28.50, Y:-4.07, Z:-0.39 [[ 9.82325781e-01 1.86898029e-01 -1.02560257e-02 2.85001947e+01] [-1.86883028e-01 9.82379216e-01 2.41050911e-03 -4.06755502e+00] [ 1.05258259e-02 -4.51228103e-04 9.99944500e-01 -3.86196444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.49538475 meters 0.06248484892534394 Centerline is valid? [True, True] Translation: X:28.53, Y:-4.08, Z:-0.39 [[ 9.82764194e-01 1.84570877e-01 -1.03985325e-02 2.85309753e+01] [-1.84555351e-01 9.82819088e-01 2.44165566e-03 -4.07807725e+00] [ 1.06705348e-02 -4.80466936e-04 9.99942953e-01 -3.86533367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.525384749999997 meters 0.06302008129644834 Centerline is valid? [True, True] Translation: X:28.56, Y:-4.09, Z:-0.39 [[ 9.82691582e-01 1.84943330e-01 -1.06404998e-02 2.85612207e+01] [-1.84927010e-01 9.82749062e-01 2.50632042e-03 -4.08771353e+00] [ 1.09204685e-02 -4.95224160e-04 9.99940247e-01 -3.88170406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.555384749999998 meters 0.062121863724439154 Centerline is valid? [True, True] Translation: X:28.59, Y:-4.10, Z:-0.39 [[ 9.82035224e-01 1.88337024e-01 -1.16612491e-02 2.85921370e+01] [-1.88317621e-01 9.82104328e-01 2.75005070e-03 -4.09605754e+00] [ 1.19704995e-02 -5.04627979e-04 9.99928224e-01 -3.89393120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.58538475 meters 0.06191141665824155 Centerline is valid? [True, True] Translation: X:28.62, Y:-4.10, Z:-0.39 [[ 9.81784818e-01 1.89623119e-01 -1.19014324e-02 2.86236922e+01] [-1.89603023e-01 9.81856825e-01 2.80499707e-03 -4.10441863e+00] [ 1.22173949e-02 -4.97355982e-04 9.99925241e-01 -3.90776632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.615384749999997 meters 0.06122978152557835 Centerline is valid? [True, True] Translation: X:28.65, Y:-4.11, Z:-0.39 [[ 9.81387446e-01 1.91663513e-01 -1.19907391e-02 2.86539871e+01] [-1.91643176e-01 9.81460577e-01 2.83343020e-03 -4.11443173e+00] [ 1.23115029e-02 -4.82749509e-04 9.99924094e-01 -3.92256358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.645384749999998 meters 0.06116225617446474 Centerline is valid? [True, True] Translation: X:28.69, Y:-4.12, Z:-0.39 [[ 9.81306168e-01 1.92068467e-01 -1.21617927e-02 2.86850742e+01] [-1.92047508e-01 9.81381406e-01 2.87941997e-03 -4.12407361e+00] [ 1.24884030e-02 -4.89950592e-04 9.99921897e-01 -3.93182779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.67538475 meters 0.061226194210650405 Centerline is valid? [True, True] Translation: X:28.72, Y:-4.14, Z:-0.39 [[ 9.81528627e-01 1.90866147e-01 -1.31022317e-02 2.87151899e+01] [-1.90841662e-01 9.81615920e-01 3.10586036e-03 -4.13611001e+00] [ 1.34541628e-02 -5.48039177e-04 9.99909338e-01 -3.93374392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.705384749999997 meters 0.06318957308462629 Centerline is valid? [True, True] Translation: X:28.74, Y:-4.15, Z:-0.39 [[ 9.82352512e-01 1.86612367e-01 -1.26240888e-02 2.87415784e+01] [-1.86589347e-01 9.82433453e-01 2.98775648e-03 -4.15329145e+00] [ 1.29598794e-02 -5.79509597e-04 9.99915849e-01 -3.94206421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.735384749999998 meters 0.06443899863830325 Centerline is valid? [True, True] Translation: X:28.77, Y:-4.17, Z:-0.39 [[ 9.82859236e-01 1.83906430e-01 -1.28897950e-02 2.87711191e+01] [-1.83882082e-01 9.82943548e-01 3.05947720e-03 -4.16636589e+00] [ 1.32325984e-02 -6.36833070e-04 9.99912243e-01 -3.94688486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.76538475 meters 0.06550570471399533 Centerline is valid? [True, True] Translation: X:28.80, Y:-4.18, Z:-0.40 [[ 9.83353482e-01 1.81142134e-01 -1.42638300e-02 2.88003136e+01] [-1.81112090e-01 9.83456647e-01 3.38132756e-03 -4.17791818e+00] [ 1.46403594e-02 -7.41688152e-04 9.99892549e-01 -3.95850619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.795384749999997 meters 0.06719223197870144 Centerline is valid? [True, True] Translation: X:28.83, Y:-4.19, Z:-0.40 [[ 9.84224201e-01 1.76301057e-01 -1.48546385e-02 2.88293560e+01] [-1.76267905e-01 9.84335927e-01 3.52257998e-03 -4.19023258e+00] [ 1.52429889e-02 -8.48612455e-04 9.99883459e-01 -3.96134267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.825384749999998 meters 0.06920474597831759 Centerline is valid? [True, True] Translation: X:28.86, Y:-4.20, Z:-0.40 [[ 9.84424266e-01 1.75243757e-01 -1.40886218e-02 2.88581367e+01] [-1.75213766e-01 9.84524731e-01 3.34521842e-03 -4.20157829e+00] [ 1.44568252e-02 -8.24593715e-04 9.99895155e-01 -3.96454910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.85538475 meters 0.06721337441638575 Centerline is valid? [True, True] Translation: X:28.89, Y:-4.21, Z:-0.39 [[ 9.84222884e-01 1.76380489e-01 -1.39727356e-02 2.88900040e+01] [-1.76350996e-01 9.84321730e-01 3.32522789e-03 -4.20564583e+00] [ 1.43401726e-02 -8.08659542e-04 9.99896847e-01 -3.93381861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.885384749999997 meters 0.06688414010090361 Centerline is valid? [True, True] Translation: X:28.92, Y:-4.21, Z:-0.39 [[ 9.84200206e-01 1.76617384e-01 -1.25001887e-02 2.89218431e+01] [-1.76593734e-01 9.84279317e-01 2.97982984e-03 -4.21186755e+00] [ 1.28299669e-02 -7.25294148e-04 9.99917430e-01 -3.92113824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.915384749999998 meters 0.06596751305632842 Centerline is valid? [True, True] Translation: X:28.95, Y:-4.22, Z:-0.39 [[ 9.83834201e-01 1.78628484e-01 -1.27330269e-02 2.89546408e+01] [-1.78604133e-01 9.83916338e-01 3.03374341e-03 -4.21550429e+00] [ 1.30701462e-02 -7.10529295e-04 9.99914330e-01 -3.91316226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.94538475 meters 0.06747125359753194 Centerline is valid? [True, True] Translation: X:28.98, Y:-4.22, Z:-0.39 [[ 9.83749328e-01 1.79111328e-01 -1.25056798e-02 2.89848753e+01] [-1.79087790e-01 9.83828565e-01 2.98650316e-03 -4.22451120e+00] [ 1.28383615e-02 -6.98355930e-04 9.99917341e-01 -3.93408336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.975384749999996 meters 0.06903120047987855 Centerline is valid? [True, True] Translation: X:29.01, Y:-4.23, Z:-0.39 [[ 9.84291370e-01 1.76003316e-01 -1.39043779e-02 2.90146738e+01] [-1.75973969e-01 9.84389234e-01 3.31622126e-03 -4.23272595e+00] [ 1.42709858e-02 -8.17319406e-04 9.99897830e-01 -3.94903101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.005384749999997 meters 0.07080526488671235 Centerline is valid? [True, True] Translation: X:29.04, Y:-4.24, Z:-0.40 [[ 9.84560120e-01 1.74415484e-01 -1.48529328e-02 2.90439995e+01] [-1.74381800e-01 9.84671738e-01 3.54351589e-03 -4.24251411e+00] [ 1.52433072e-02 -8.98723273e-04 9.99883410e-01 -3.96007993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.03538475 meters 0.07174520522096776 Centerline is valid? [True, True] Translation: X:29.07, Y:-4.25, Z:-0.39 [[ 9.85368301e-01 1.69837401e-01 -1.43027511e-02 2.90732290e+01] [-1.69805675e-01 9.85471656e-01 3.41305454e-03 -4.25170072e+00] [ 1.46746201e-02 -9.34427445e-04 9.99891885e-01 -3.93795040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.065384749999996 meters 0.07282635024630005 Centerline is valid? [True, True] Translation: X:29.10, Y:-4.26, Z:-0.39 [[ 9.85706613e-01 1.67913673e-01 -1.36919964e-02 2.91034728e+01] [-1.67884299e-01 9.85801265e-01 3.27544756e-03 -4.26132857e+00] [ 1.40475797e-02 -9.29959116e-04 9.99900895e-01 -3.93239788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.095384749999997 meters 0.07537050238331108 Centerline is valid? [True, True] Translation: X:29.13, Y:-4.27, Z:-0.40 [[ 9.86277748e-01 1.64407162e-01 -1.50495665e-02 2.91321734e+01] [-1.64371331e-01 9.86391978e-01 3.59610047e-03 -4.27177060e+00] [ 1.54359963e-02 -1.07303660e-03 9.99880282e-01 -3.95457659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.12538475 meters 0.07380462438583882 Centerline is valid? [True, True] Translation: X:29.16, Y:-4.28, Z:-0.39 [[ 9.86424458e-01 1.63413155e-01 -1.62151212e-02 2.91640679e+01] [-1.63371381e-01 9.86557023e-01 3.87726097e-03 -4.27581544e+00] [ 1.66307372e-02 -1.17553831e-03 9.99861009e-01 -3.94753686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.15538475 meters 0.07380462438583882 Centerline is valid? [True, True] Translation: X:29.20, Y:-4.28, Z:-0.40 [[ 9.86362042e-01 1.63789712e-01 -1.62127149e-02 2.91956477e+01] [-1.63747824e-01 9.86494571e-01 3.88731852e-03 -4.28364422e+00] [ 1.66304580e-02 -1.17950665e-03 9.99861009e-01 -3.95206543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.185384749999997 meters 0.07133409432214717 Centerline is valid? [True, True] Translation: X:29.23, Y:-4.29, Z:-0.39 [[ 9.86198765e-01 1.64587380e-01 -1.79719306e-02 2.92279196e+01] [-1.64535936e-01 9.86361652e-01 4.31465690e-03 -4.28660504e+00] [ 1.84369612e-02 -1.29808089e-03 9.99829182e-01 -3.93596073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.21538475 meters 0.0743912835183291 Centerline is valid? [True, True] Translation: X:29.26, Y:-4.30, Z:-0.40 [[ 9.86183984e-01 1.64598189e-01 -1.86704750e-02 2.92574456e+01] [-1.64542560e-01 9.86359774e-01 4.48807137e-03 -4.29829643e+00] [ 1.91545339e-02 -1.35397635e-03 9.99815618e-01 -3.95507233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.24538475 meters 0.072135168096513 Centerline is valid? [True, True] Translation: X:29.29, Y:-4.30, Z:-0.40 [[ 9.85808660e-01 1.66571722e-01 -2.08601844e-02 2.92901604e+01] [-1.66502561e-01 9.86028235e-01 5.02172593e-03 -4.29884245e+00] [ 2.14052083e-02 -1.47718678e-03 9.99769791e-01 -3.95389889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.275384749999997 meters 0.07376601154809646 Centerline is valid? [True, True] Translation: X:29.32, Y:-4.31, Z:-0.40 [[ 9.85620094e-01 1.67681465e-01 -2.08795988e-02 2.93203541e+01] [-1.67612284e-01 9.85840145e-01 5.03289548e-03 -4.30687438e+00] [ 2.14278700e-02 -1.46084567e-03 9.99769330e-01 -3.97790208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.305384749999998 meters 0.07145394089172402 Centerline is valid? [True, True] Translation: X:29.35, Y:-4.31, Z:-0.40 [[ 9.85307983e-01 1.69080540e-01 -2.40821297e-02 2.93531723e+01] [-1.68988714e-01 9.85600843e-01 5.81318067e-03 -4.30675618e+00] [ 2.47182630e-02 -1.65816520e-03 9.99693082e-01 -3.97691664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.33538475 meters 0.07068400464265455 Centerline is valid? [True, True] Translation: X:29.39, Y:-4.31, Z:-0.40 [[ 9.85126163e-01 1.69973306e-01 -2.52094869e-02 2.93859554e+01] [-1.69872685e-01 9.85447160e-01 6.09633182e-03 -4.31157817e+00] [ 2.58788309e-02 -1.72325275e-03 9.99663602e-01 -3.97268440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.365384749999997 meters 0.06900269661012179 Centerline is valid? [True, True] Translation: X:29.42, Y:-4.31, Z:-0.40 [[ 9.84637193e-01 1.72955647e-01 -2.39988090e-02 2.94177200e+01] [-1.72865450e-01 9.84928376e-01 5.79918605e-03 -4.31239339e+00] [ 2.46401100e-02 -1.56152936e-03 9.99695167e-01 -3.96784588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.395384749999998 meters 0.0679222310000232 Centerline is valid? [True, True] Translation: X:29.45, Y:-4.32, Z:-0.40 [[ 9.84333263e-01 1.74607199e-01 -2.45020906e-02 2.94501665e+01] [-1.74513344e-01 9.84636926e-01 5.93444505e-03 -4.31587329e+00] [ 2.51618599e-02 -1.56552990e-03 9.99682164e-01 -3.96855625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.42538475 meters 0.06784021487061409 Centerline is valid? [True, True] Translation: X:29.48, Y:-4.32, Z:-0.40 [[ 9.83896341e-01 1.76758299e-01 -2.65423124e-02 2.94817004e+01] [-1.76648688e-01 9.84252913e-01 6.43777903e-03 -4.32006346e+00] [ 2.72622791e-02 -1.64544259e-03 9.99626961e-01 -3.98398007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.455384749999997 meters 0.06814210094079458 Centerline is valid? [True, True] Translation: X:29.51, Y:-4.33, Z:-0.40 [[ 9.83879412e-01 1.76729793e-01 -2.73474414e-02 2.95125654e+01] [-1.76613171e-01 9.84257931e-01 6.64181318e-03 -4.32693016e+00] [ 2.80907423e-02 -1.70482489e-03 9.99603923e-01 -3.99437824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.485384749999998 meters 0.07407229823185242 Centerline is valid? [True, True] Translation: X:29.54, Y:-4.34, Z:-0.40 [[ 9.84581431e-01 1.72825021e-01 -2.70354864e-02 2.95396533e+01] [-1.72709575e-01 9.84950906e-01 6.56622563e-03 -4.34108670e+00] [ 2.77634349e-02 -1.79569648e-03 9.99612909e-01 -4.04530583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.51538475 meters 0.07176955278430519 Centerline is valid? [True, True] Translation: X:29.57, Y:-4.34, Z:-0.40 [[ 9.85064328e-01 1.69977397e-01 -2.74946398e-02 2.95707464e+01] [-1.69856905e-01 9.85446116e-01 6.67720972e-03 -4.34399996e+00] [ 2.82294607e-02 -1.90732670e-03 9.99599650e-01 -4.01611774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.545384749999997 meters 0.07514462127274282 Centerline is valid? [True, True] Translation: X:29.60, Y:-4.36, Z:-0.40 [[ 9.86242932e-01 1.63232991e-01 -2.60743013e-02 2.95986761e+01] [-1.63122287e-01 9.86585538e-01 6.33212710e-03 -4.35737987e+00] [ 2.67581406e-02 -1.99171593e-03 9.99639953e-01 -4.00476834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.575384749999998 meters 0.07758578740055572 Centerline is valid? [True, True] Translation: X:29.63, Y:-4.37, Z:-0.40 [[ 9.86762583e-01 1.60079384e-01 -2.59652709e-02 2.96275473e+01] [-1.59968494e-01 9.87101974e-01 6.30658120e-03 -4.36945941e+00] [ 2.66399238e-02 -2.06947309e-03 9.99642952e-01 -4.01027573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.60538475 meters 0.08008539925603739 Centerline is valid? [True, True] Translation: X:29.66, Y:-4.38, Z:-0.40 [[ 9.87690864e-01 1.54939521e-01 -2.14593293e-02 2.96563162e+01] [-1.54862566e-01 9.87922271e-01 5.21275114e-03 -4.38076052e+00] [ 2.20078105e-02 -1.82533987e-03 9.99756132e-01 -3.99225274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.635384749999997 meters 0.07864499251504276 Centerline is valid? [True, True] Translation: X:29.69, Y:-4.39, Z:-0.40 [[ 9.87773711e-01 1.54598394e-01 -2.00607377e-02 2.96890607e+01] [-1.54530799e-01 9.87975888e-01 4.88642993e-03 -4.38519619e+00] [ 2.05749594e-02 -1.72668520e-03 9.99786822e-01 -3.97661905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.665384749999998 meters 0.07750822535768745 Centerline is valid? [True, True] Translation: X:29.72, Y:-4.39, Z:-0.40 [[ 9.87524508e-01 1.56393420e-01 -1.83424285e-02 2.97210656e+01] [-1.56337266e-01 9.87693637e-01 4.46527708e-03 -4.38791498e+00] [ 1.88150399e-02 -1.54196542e-03 9.99821792e-01 -3.97114572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.69538475 meters 0.07680123801602273 Centerline is valid? [True, True] Translation: X:29.75, Y:-4.39, Z:-0.40 [[ 9.87139077e-01 1.58817905e-01 -1.82569393e-02 2.97524968e+01] [-1.58762659e-01 9.87306767e-01 4.44585879e-03 -4.39297839e+00] [ 1.87312817e-02 -1.49016072e-03 9.99823444e-01 -3.97652480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.725384749999996 meters 0.07243512165283794 Centerline is valid? [True, True] Translation: X:29.79, Y:-4.39, Z:-0.40 [[ 9.85861577e-01 1.66636069e-01 -1.75889432e-02 2.97850063e+01] [-1.66586032e-01 9.86017622e-01 4.28293012e-03 -4.38916271e+00] [ 1.80566986e-02 -1.29230398e-03 9.99836129e-01 -3.97108986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.755384749999997 meters 0.07041868209924329 Centerline is valid? [True, True] Translation: X:29.82, Y:-4.39, Z:-0.40 [[ 9.85197824e-01 1.70513205e-01 -1.76208859e-02 2.98168734e+01] [-1.70463593e-01 9.85354631e-01 4.29119077e-03 -4.38986356e+00] [ 1.80945262e-02 -1.22395228e-03 9.99835532e-01 -3.98546891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.78538475 meters 0.06642353658376866 Centerline is valid? [True, True] Translation: X:29.85, Y:-4.39, Z:-0.40 [[ 9.83715964e-01 1.78778838e-01 -1.84669580e-02 2.98492030e+01] [-1.78725804e-01 9.83888645e-01 4.49682238e-03 -4.38600949e+00] [ 1.89733669e-02 -1.12307406e-03 9.99819359e-01 -3.99049068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.815384749999996 meters 0.06664038509392242 Centerline is valid? [True, True] Translation: X:29.88, Y:-4.39, Z:-0.40 [[ 9.83113309e-01 1.82036149e-01 -1.87366471e-02 2.98788043e+01] [-1.81982126e-01 9.83291250e-01 4.56336509e-03 -4.39192772e+00] [ 1.92542785e-02 -1.07657008e-03 9.99814040e-01 -4.01840164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.845384749999997 meters 0.06410418873790848 Centerline is valid? [True, True] Translation: X:29.91, Y:-4.39, Z:-0.40 [[ 9.82333443e-01 1.86315984e-01 -1.75317288e-02 2.99103720e+01] [-1.86269357e-01 9.82489435e-01 4.27037679e-03 -4.39349982e+00] [ 1.80203778e-02 -9.29310077e-04 9.99837188e-01 -4.02148549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.87538475 meters 0.06253423430326199 Centerline is valid? [True, True] Translation: X:29.94, Y:-4.39, Z:-0.40 [[ 9.81516205e-01 1.90685595e-01 -1.62770593e-02 2.99407491e+01] [-1.90646008e-01 9.81650846e-01 3.96443849e-03 -4.39476474e+00] [ 1.67343503e-02 -7.88004241e-04 9.99859660e-01 -4.02598903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.90538475 meters 0.06233379381943258 Centerline is valid? [True, True] Translation: X:29.97, Y:-4.40, Z:-0.40 [[ 9.81290725e-01 1.91875114e-01 -1.58888104e-02 2.99717497e+01] [-1.91837375e-01 9.81419056e-01 3.88050637e-03 -4.40207145e+00] [ 1.63381539e-02 -7.59837223e-04 9.99866235e-01 -4.04348623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.935384749999997 meters 0.06258224774983967 Centerline is valid? [True, True] Translation: X:30.00, Y:-4.41, Z:-0.41 [[ 9.81060530e-01 1.93119924e-01 -1.49977094e-02 3.00014372e+01] [-1.93086426e-01 9.81174911e-01 3.66413315e-03 -4.41113069e+00] [ 1.54229934e-02 -6.98882301e-04 9.99880814e-01 -4.05558657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.96538475 meters 0.06289223010806769 Centerline is valid? [True, True] Translation: X:30.03, Y:-4.42, Z:-0.41 [[ 9.80978796e-01 1.93466274e-01 -1.58556986e-02 3.00327978e+01] [-1.93428755e-01 9.81106647e-01 3.88128380e-03 -4.42005498e+00] [ 1.63070288e-02 -7.40509061e-04 9.99866757e-01 -4.06494737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.99538475 meters 0.0627232435592363 Centerline is valid? [True, True] Translation: X:30.06, Y:-4.43, Z:-0.41 [[ 9.80522175e-01 1.95817094e-01 -1.52292654e-02 3.00623962e+01] [-1.95782770e-01 9.80640205e-01 3.72757881e-03 -4.42775967e+00] [ 1.56643536e-02 -6.73345905e-04 9.99877080e-01 -4.08013039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.02538475 meters 0.061580781546892595 Centerline is valid? [True, True] Translation: X:30.09, Y:-4.43, Z:-0.41 [[ 9.79662518e-01 2.00072408e-01 -1.52440916e-02 3.00923688e+01] [-2.00038551e-01 9.79780928e-01 3.72992727e-03 -4.43336111e+00] [ 1.56821257e-02 -6.04663954e-04 9.99876845e-01 -4.09891201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.05538475 meters 0.059965981250025044 Centerline is valid? [True, True] Translation: X:30.12, Y:-4.44, Z:-0.41 [[ 9.79192768e-01 2.02288914e-01 -1.61467886e-02 3.01240832e+01] [-2.02251055e-01 9.79325696e-01 3.96124555e-03 -4.43806992e+00] [ 1.66142810e-02 -6.13117980e-04 9.99861785e-01 -4.09155336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.08538475 meters 0.06028544983656749 Centerline is valid? [True, True] Translation: X:30.15, Y:-4.45, Z:-0.41 [[ 9.78817185e-01 2.04162597e-01 -1.53151094e-02 3.01537852e+01] [-2.04128688e-01 9.78936834e-01 3.76223593e-03 -4.44703353e+00] [ 1.57606325e-02 -5.56288001e-04 9.99875639e-01 -4.11204136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.115384750000004 meters 0.05937418880636789 Centerline is valid? [True, True] Translation: X:30.18, Y:-4.46, Z:-0.41 [[ 9.78635010e-01 2.05256309e-01 -1.19735254e-02 3.01843963e+01] [-2.05235685e-01 9.78708165e-01 2.93978899e-03 -4.45561358e+00] [ 1.23219973e-02 -4.19585741e-04 9.99923993e-01 -4.09150919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.14538475 meters 0.060148442908553604 Centerline is valid? [True, True] Translation: X:30.21, Y:-4.47, Z:-0.41 [[ 9.78680742e-01 2.05113555e-01 -1.06035101e-02 3.02135378e+01] [-2.05097295e-01 9.78738109e-01 2.61048007e-03 -4.46678560e+00] [ 1.09135043e-02 -3.80075332e-04 9.99940374e-01 -4.10218963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.17538475 meters 0.0607462092385151 Centerline is valid? [True, True] Translation: X:30.24, Y:-4.48, Z:-0.41 [[ 9.78924397e-01 2.04039303e-01 -8.65953952e-03 3.02448217e+01] [-2.04028370e-01 9.78962643e-01 2.13710721e-03 -4.47930273e+00] [ 8.91341956e-03 -3.25274658e-04 9.99960222e-01 -4.10581681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.20538475 meters 0.06034390378783971 Centerline is valid? [True, True] Translation: X:30.28, Y:-4.49, Z:-0.41 [[ 9.79167353e-01 2.02921585e-01 -7.35703610e-03 3.02755589e+01] [-2.02913639e-01 9.79194949e-01 1.81870285e-03 -4.49074265e+00] [ 7.57302665e-03 -2.87971486e-04 9.99971283e-01 -4.08777482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.23538475 meters 0.06222995738528041 Centerline is valid? [True, True] Translation: X:30.30, Y:-4.51, Z:-0.41 [[ 9.79240186e-01 2.02585877e-01 -6.90075742e-03 3.03046743e+01] [-2.02578855e-01 9.79264462e-01 1.70919243e-03 -4.50583049e+00] [ 7.10392474e-03 -2.75762374e-04 9.99974729e-01 -4.11214002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.26538475 meters 0.06120206957038408 Centerline is valid? [True, True] Translation: X:30.34, Y:-4.51, Z:-0.41 [[ 9.79256990e-01 2.02476689e-01 -7.67714018e-03 3.03358204e+01] [-2.02467981e-01 9.79287034e-01 1.90313883e-03 -4.51372820e+00] [ 7.90346509e-03 -3.09286922e-04 9.99968719e-01 -4.10538882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.295384750000004 meters 0.0613595034586332 Centerline is valid? [True, True] Translation: X:30.37, Y:-4.53, Z:-0.41 [[ 9.79090800e-01 2.03131260e-01 -1.09039530e-02 3.03655645e+01] [-2.03113712e-01 9.79151420e-01 2.70502806e-03 -4.52705108e+00] [ 1.12260968e-02 -4.33725726e-04 9.99936891e-01 -4.13947514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.325384750000005 meters 0.06110144956517323 Centerline is valid? [True, True] Translation: X:30.40, Y:-4.54, Z:-0.42 [[ 9.78834716e-01 2.04322375e-01 -1.16174365e-02 3.03962605e+01] [-2.04302491e-01 9.78903552e-01 2.88595963e-03 -4.53768905e+00] [ 1.19620160e-02 -4.51406254e-04 9.99928351e-01 -4.15148701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.35538475 meters 0.06036445213807531 Centerline is valid? [True, True] Translation: X:30.42, Y:-4.55, Z:-0.42 [[ 9.78272337e-01 2.07050919e-01 -1.06372460e-02 3.04243918e+01] [-2.07034452e-01 9.78330094e-01 2.63860902e-03 -4.54972616e+00] [ 1.09530643e-02 -3.79001820e-04 9.99939942e-01 -4.16180689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.38538475 meters 0.05954145869290916 Centerline is valid? [True, True] Translation: X:30.46, Y:-4.56, Z:-0.42 [[ 9.77890008e-01 2.08855623e-01 -1.05100116e-02 3.04555814e+01] [-2.08839562e-01 9.77946418e-01 2.61539525e-03 -4.55806181e+00] [ 1.08244683e-02 -3.62662653e-04 9.99941348e-01 -4.16330114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.41538475 meters 0.05888224168720065 Centerline is valid? [True, True] Translation: X:30.49, Y:-4.57, Z:-0.42 [[ 9.77480454e-01 2.10816811e-01 -9.39331692e-03 3.04861991e+01] [-2.10804033e-01 9.77525538e-01 2.34151832e-03 -4.56858497e+00] [ 9.67583860e-03 -3.08639301e-04 9.99953140e-01 -4.16934592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.44538475 meters 0.059747446396375234 Centerline is valid? [True, True] Translation: X:30.52, Y:-4.58, Z:-0.42 [[ 9.77230617e-01 2.11911620e-01 -1.06670627e-02 3.05157324e+01] [-2.11895200e-01 9.77288775e-01 2.65966948e-03 -4.58106844e+00] [ 1.09884155e-02 -3.38811068e-04 9.99939568e-01 -4.20489800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.47538475 meters 0.059715283888905964 Centerline is valid? [True, True] Translation: X:30.54, Y:-4.60, Z:-0.42 [[ 9.77358101e-01 2.11237404e-01 -1.22434291e-02 3.05448246e+01] [-2.11215651e-01 9.77434702e-01 3.05807851e-03 -4.59571770e+00] [ 1.26131330e-02 -4.02833967e-04 9.99920370e-01 -4.20615856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.505384750000005 meters 0.06024388635785585 Centerline is valid? [True, True] Translation: X:30.57, Y:-4.61, Z:-0.42 [[ 9.77486801e-01 2.10604891e-01 -1.28504671e-02 3.05745387e+01] [-2.10580816e-01 9.77571169e-01 3.21400675e-03 -4.60915226e+00] [ 1.32391317e-02 -4.35587310e-04 9.99912264e-01 -4.21205114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.53538475 meters 0.06239626800287799 Centerline is valid? [True, True] Translation: X:30.60, Y:-4.63, Z:-0.42 [[ 9.78871308e-01 2.04093971e-01 -1.25145188e-02 3.06017379e+01] [-2.04070658e-01 9.78951171e-01 3.12592737e-03 -4.62838315e+00] [ 1.28890857e-02 -5.06034535e-04 9.99916804e-01 -4.21711003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.56538475 meters 0.06487573753748019 Centerline is valid? [True, True] Translation: X:30.63, Y:-4.64, Z:-0.42 [[ 9.79994642e-01 1.98686132e-01 -1.15897549e-02 3.06286281e+01] [-1.98665764e-01 9.80063026e-01 2.89461720e-03 -4.64423364e+00] [ 1.19338105e-02 -5.34221845e-04 9.99928647e-01 -4.22831007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.59538475 meters 0.06533325245513254 Centerline is valid? [True, True] Translation: X:30.66, Y:-4.66, Z:-0.42 [[ 9.80181631e-01 1.97762289e-01 -1.15778953e-02 3.06588213e+01] [-1.97741793e-01 9.80249851e-01 2.90045625e-03 -4.65517935e+00] [ 1.19228310e-02 -5.53540164e-04 9.99928767e-01 -4.22785048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.62538475 meters 0.06501704752012619 Centerline is valid? [True, True] Translation: X:30.69, Y:-4.67, Z:-0.42 [[ 9.80328436e-01 1.97058352e-01 -1.11429092e-02 3.06894948e+01] [-1.97039272e-01 9.80391610e-01 2.79579462e-03 -4.66512788e+00] [ 1.14753493e-02 -5.45206255e-04 9.99934007e-01 -4.21528305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.65538475 meters 0.06698948944672743 Centerline is valid? [True, True] Translation: X:30.72, Y:-4.68, Z:-0.42 [[ 9.80565189e-01 1.95896653e-01 -1.07894312e-02 3.07177433e+01] [-1.95878657e-01 9.80624396e-01 2.71048182e-03 -4.68200361e+00] [ 1.11113538e-02 -5.44384819e-04 9.99938119e-01 -4.20975992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.685384750000004 meters 0.06650739663492286 Centerline is valid? [True, True] Translation: X:30.75, Y:-4.69, Z:-0.42 [[ 9.80777341e-01 1.94916515e-01 -9.13014497e-03 3.07483736e+01] [-1.94903547e-01 9.80819722e-01 2.29781979e-03 -4.69110027e+00] [ 9.40290928e-03 -4.74151943e-04 9.99955679e-01 -4.18598422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.71538475 meters 0.06854791512284009 Centerline is valid? [True, True] Translation: X:30.78, Y:-4.71, Z:-0.42 [[ 9.81159444e-01 1.93088701e-01 -6.54972497e-03 3.07771630e+01] [-1.93081966e-01 9.81181241e-01 1.65147542e-03 -4.70533163e+00] [ 6.74534852e-03 -3.55726928e-04 9.99977187e-01 -4.18294347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.74538475 meters 0.06658635354189454 Centerline is valid? [True, True] Translation: X:30.81, Y:-4.71, Z:-0.42 [[ 9.81344787e-01 1.92118314e-01 -7.27747499e-03 3.08086493e+01] [-1.92109956e-01 9.81371688e-01 1.83712036e-03 -4.70965986e+00] [ 7.49485238e-03 -4.04773083e-04 9.99971831e-01 -4.18108714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.77538475 meters 0.06788160093653561 Centerline is valid? [True, True] Translation: X:30.84, Y:-4.72, Z:-0.42 [[ 9.81687573e-01 1.90239414e-01 -9.92342563e-03 3.08382206e+01] [-1.90223829e-01 9.81737564e-01 2.50006765e-03 -4.72106795e+00] [ 1.02178111e-02 -5.66613326e-04 9.99947636e-01 -4.20953065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.80538475 meters 0.07148795371576838 Centerline is valid? [True, True] Translation: X:30.87, Y:-4.74, Z:-0.42 [[ 9.82445411e-01 1.86244948e-01 -1.06693012e-02 3.08652736e+01] [-1.86226700e-01 9.82503126e-01 2.68785050e-03 -4.73818274e+00] [ 1.09832204e-02 -6.53757626e-04 9.99939469e-01 -4.22843518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.83538475 meters 0.06959848168695983 Centerline is valid? [True, True] Translation: X:30.90, Y:-4.74, Z:-0.42 [[ 9.82709534e-01 1.84866500e-01 -1.03125217e-02 3.08963147e+01] [-1.84849293e-01 9.82763425e-01 2.60580220e-03 -4.74411192e+00] [ 1.06164947e-02 -6.54484315e-04 9.99943429e-01 -4.21217337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.865384750000004 meters 0.07230516422817979 Centerline is valid? [True, True] Translation: X:30.92, Y:-4.76, Z:-0.42 [[ 9.82929750e-01 1.83657126e-01 -1.09163835e-02 3.09247204e+01] [-1.83637810e-01 9.82990115e-01 2.75477490e-03 -4.75727684e+00] [ 1.12366311e-02 -7.03089445e-04 9.99936620e-01 -4.23628625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.89538475 meters 0.07152009017839231 Centerline is valid? [True, True] Translation: X:30.96, Y:-4.76, Z:-0.42 [[ 9.83247279e-01 1.81933239e-01 -1.11841620e-02 3.09558275e+01] [-1.81912765e-01 9.83310600e-01 2.83002700e-03 -4.76328489e+00] [ 1.15123810e-02 -7.48074512e-04 9.99933451e-01 -4.23345424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.92538475 meters 0.07202690846219816 Centerline is valid? [True, True] Translation: X:30.99, Y:-4.77, Z:-0.42 [[ 9.83280050e-01 1.81789453e-01 -1.06272487e-02 3.09872900e+01] [-1.81770911e-01 9.83337216e-01 2.69348732e-03 -4.77083376e+00] [ 1.09398167e-02 -7.16727672e-04 9.99939902e-01 -4.23834082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.95538475 meters 0.07151557651719288 Centerline is valid? [True, True] Translation: X:31.02, Y:-4.77, Z:-0.42 [[ 9.83012811e-01 1.83302634e-01 -9.27139688e-03 3.10201237e+01] [-1.83288551e-01 9.83056340e-01 2.35377809e-03 -4.77290936e+00] [ 9.54575921e-03 -6.14453121e-04 9.99954249e-01 -4.24191666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.98538475 meters 0.070683847735965 Centerline is valid? [True, True] Translation: X:31.05, Y:-4.77, Z:-0.42 [[ 9.82724248e-01 1.84909255e-01 -7.84985092e-03 3.10526408e+01] [-1.84899231e-01 9.82755469e-01 1.99042066e-03 -4.77372367e+00] [ 8.08253112e-03 -5.04603253e-04 9.99967208e-01 -4.23383843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.01538475 meters 0.07142573303523186 Centerline is valid? [True, True] Translation: X:31.08, Y:-4.78, Z:-0.42 [[ 9.82671214e-01 1.85203608e-01 -7.54384872e-03 3.10832123e+01] [-1.85194334e-01 9.82700050e-01 1.91606130e-03 -4.77987104e+00] [ 7.76820198e-03 -4.85780246e-04 9.99969709e-01 -4.23998732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.045384750000004 meters 0.07016634472538767 Centerline is valid? [True, True] Translation: X:31.12, Y:-4.78, Z:-0.42 [[ 9.82251015e-01 1.87389296e-01 -8.25804445e-03 3.11168477e+01] [-1.87378219e-01 9.82285592e-01 2.10217286e-03 -4.77863749e+00] [ 8.50568277e-03 -5.17483764e-04 9.99963692e-01 -4.23994458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.075384750000005 meters 0.06915515625823733 Centerline is valid? [True, True] Translation: X:31.15, Y:-4.78, Z:-0.42 [[ 9.81897625e-01 1.89234774e-01 -8.20087048e-03 3.11494098e+01] [-1.89223888e-01 9.81931744e-01 2.09061954e-03 -4.78085085e+00] [ 8.44831296e-03 -5.00973762e-04 9.99964187e-01 -4.24403768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.10538475 meters 0.06915515625823733 Centerline is valid? [True, True] Translation: X:31.18, Y:-4.79, Z:-0.42 [[ 9.81824788e-01 1.89612362e-01 -8.19989701e-03 3.11808387e+01] [-1.89601458e-01 9.81858901e-01 2.09444025e-03 -4.78912974e+00] [ 8.44827363e-03 -5.01660925e-04 9.99964187e-01 -4.24856840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.13538475 meters 0.06789306702835009 Centerline is valid? [True, True] Translation: X:31.22, Y:-4.79, Z:-0.43 [[ 9.81310728e-01 1.92173477e-01 -9.93025274e-03 3.12150565e+01] [-1.92157653e-01 9.81360801e-01 2.53273430e-03 -4.78682702e+00] [ 1.02318851e-02 -5.77225274e-04 9.99947486e-01 -4.26973294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.16538475 meters 0.06794733135914614 Centerline is valid? [True, True] Translation: X:31.25, Y:-4.79, Z:-0.43 [[ 9.81102670e-01 1.93217749e-01 -1.02201875e-02 3.12471222e+01] [-1.93200975e-01 9.81155724e-01 2.61331979e-03 -4.79123522e+00] [ 1.05325353e-02 -5.89384829e-04 9.99944358e-01 -4.28861269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.19538475 meters 0.06695758071464693 Centerline is valid? [True, True] Translation: X:31.28, Y:-4.79, Z:-0.43 [[ 9.80910810e-01 1.94093814e-01 -1.18984731e-02 3.12806717e+01] [-1.94071081e-01 9.80982736e-01 3.04740865e-03 -4.79426157e+00] [ 1.22636799e-02 -6.80086550e-04 9.99924567e-01 -4.30033544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.22538475 meters 0.06828924689665455 Centerline is valid? [True, True] Translation: X:31.31, Y:-4.80, Z:-0.43 [[ 9.81377210e-01 1.91657057e-01 -1.28974254e-02 3.13116511e+01] [-1.91630199e-01 9.81461658e-01 3.29855717e-03 -4.79888678e+00] [ 1.32905203e-02 -7.65592638e-04 9.99911384e-01 -4.31754011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.255384750000005 meters 0.06886620947118156 Centerline is valid? [True, True] Translation: X:31.34, Y:-4.80, Z:-0.43 [[ 9.82079514e-01 1.88083609e-01 -1.20160265e-02 3.13431047e+01] [-1.88060022e-01 9.82152727e-01 3.07382350e-03 -4.80319673e+00] [ 1.23797090e-02 -7.59004888e-04 9.99923080e-01 -4.30407776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.28538475 meters 0.06990130774069189 Centerline is valid? [True, True] Translation: X:31.37, Y:-4.81, Z:-0.43 [[ 9.82476251e-01 1.86033832e-01 -1.14817416e-02 3.13740672e+01] [-1.86012112e-01 9.82543050e-01 2.94087028e-03 -4.80985534e+00] [ 1.18284068e-02 -7.53592185e-04 9.99929758e-01 -4.31155977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.31538475 meters 0.07161777286051978 Centerline is valid? [True, True] Translation: X:31.41, Y:-4.81, Z:-0.43 [[ 9.83166334e-01 1.82418163e-01 -1.03717633e-02 3.14051351e+01] [-1.82400249e-01 9.83220777e-01 2.65564431e-03 -4.81467437e+00] [ 1.06821709e-02 -7.19127875e-04 9.99942685e-01 -4.30124175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.34538475 meters 0.07166838990200473 Centerline is valid? [True, True] Translation: X:31.44, Y:-4.82, Z:-0.43 [[ 9.83013461e-01 1.83211810e-01 -1.08612969e-02 3.14358154e+01] [-1.83192132e-01 9.83073176e-01 2.78826692e-03 -4.82035255e+00] [ 1.11882931e-02 -7.51199778e-04 9.99937127e-01 -4.30224763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.37538475 meters 0.07019565757235277 Centerline is valid? [True, True] Translation: X:31.47, Y:-4.82, Z:-0.43 [[ 9.82053163e-01 1.88264649e-01 -1.13140083e-02 3.14671028e+01] [-1.88243684e-01 9.82118072e-01 2.89982054e-03 -4.81951704e+00] [ 1.16576257e-02 -7.17987333e-04 9.99931790e-01 -4.30656110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.40538475 meters 0.06565274950968417 Centerline is valid? [True, True] Translation: X:31.50, Y:-4.82, Z:-0.43 [[ 9.81082520e-01 1.93271115e-01 -1.11069562e-02 3.15004616e+01] [-1.93251219e-01 9.81145176e-01 2.84765206e-03 -4.81524797e+00] [ 1.14479054e-02 -6.47348839e-04 9.99934261e-01 -4.29168140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.435384750000004 meters 0.0618765734104325 Centerline is valid? [True, True] Translation: X:31.53, Y:-4.81, Z:-0.43 [[ 9.78183908e-01 2.07271174e-01 -1.39607315e-02 3.15337258e+01] [-2.07241168e-01 9.78283339e-01 3.57864318e-03 -4.80564377e+00] [ 1.43993006e-02 -6.07332868e-04 9.99896140e-01 -4.34684113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.46538475 meters 0.058500926788428914 Centerline is valid? [True, True] Translation: X:31.57, Y:-4.80, Z:-0.44 [[ 9.76396141e-01 2.15315595e-01 -1.70226121e-02 3.15669084e+01] [-2.15272173e-01 9.76544335e-01 4.36509850e-03 -4.80155242e+00] [ 1.75632092e-02 -5.97570628e-04 9.99845576e-01 -4.35511007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.49538475 meters 0.05489448515280492 Centerline is valid? [True, True] Translation: X:31.60, Y:-4.79, Z:-0.44 [[ 9.73185048e-01 2.29116892e-01 -2.04037127e-02 3.16011775e+01] [-2.29057562e-01 9.73398827e-01 5.23040677e-03 -4.78979549e+00] [ 2.10593245e-02 -4.16529000e-04 9.99778141e-01 -4.38788142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.52538475 meters 0.05412911785550133 Centerline is valid? [True, True] Translation: X:31.63, Y:-4.79, Z:-0.44 [[ 9.71773921e-01 2.34932343e-01 -2.14997920e-02 3.16300142e+01] [-2.34867979e-01 9.72011678e-01 5.50721051e-03 -4.78945530e+00] [ 2.21918708e-02 -3.02150845e-04 9.99753684e-01 -4.41391422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.55538475 meters 0.05358640420617407 Centerline is valid? [True, True] Translation: X:31.66, Y:-4.79, Z:-0.44 [[ 9.69819725e-01 2.42696100e-01 -2.34158882e-02 3.16595760e+01] [-2.42622054e-01 9.70102358e-01 5.99614075e-03 -4.78916013e+00] [ 2.41710484e-02 -1.33964662e-04 9.99707829e-01 -4.42732152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.58538475 meters 0.05376331655741108 Centerline is valid? [True, True] Translation: X:31.69, Y:-4.80, Z:-0.45 [[ 9.69388683e-01 2.44446878e-01 -2.30500525e-02 3.16865821e+01] [-2.44375701e-01 9.69662682e-01 5.89916335e-03 -4.79612897e+00] [ 2.37928078e-02 -8.57094449e-05 9.99716907e-01 -4.45139508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.615384750000004 meters 0.053300221803243966 Centerline is valid? [True, True] Translation: X:31.71, Y:-4.80, Z:-0.44 [[ 9.68849851e-01 2.46634206e-01 -2.23949705e-02 3.17140927e+01] [-2.46567647e-01 9.69108646e-01 5.72954799e-03 -4.80345895e+00] [ 2.31162621e-02 -2.91965338e-05 9.99732783e-01 -4.43573940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.64538475 meters 0.053168112072227054 Centerline is valid? [True, True] Translation: X:31.74, Y:-4.81, Z:-0.44 [[ 9.68588042e-01 2.47748893e-01 -2.13937159e-02 3.17419821e+01] [-2.47688474e-01 9.68824280e-01 5.47115961e-03 -4.81053962e+00] [ 2.20822252e-02 -3.22913888e-07 9.99756158e-01 -4.43620841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.67538475 meters 0.052997827372721566 Centerline is valid? [True, True] Translation: X:31.77, Y:-4.82, Z:-0.44 [[ 9.68866802e-01 2.46787382e-01 -1.98269620e-02 3.17687187e+01] [-2.46735332e-01 9.69069651e-01 5.06836160e-03 -4.82281559e+00] [ 2.04645148e-02 -1.85552453e-05 9.99790580e-01 -4.42056468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.70538475 meters 0.05303576937705049 Centerline is valid? [True, True] Translation: X:31.79, Y:-4.84, Z:-0.44 [[ 9.69546095e-01 2.44210393e-01 -1.84838768e-02 3.17938823e+01] [-2.44164740e-01 9.69722269e-01 4.72230098e-03 -4.83554991e+00] [ 1.90774620e-02 -6.53774956e-05 9.99818007e-01 -4.41807261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.73538475 meters 0.053449862383600305 Centerline is valid? [True, True] Translation: X:31.82, Y:-4.85, Z:-0.44 [[ 9.70490795e-01 2.40365047e-01 -1.92940577e-02 3.18203449e+01] [-2.40314540e-01 9.70682555e-01 4.92942024e-03 -4.85030997e+00] [ 1.99132655e-02 -1.47314372e-04 9.99801700e-01 -4.42993252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.76538475 meters 0.05491619218462939 Centerline is valid? [True, True] Translation: X:31.85, Y:-4.88, Z:-0.44 [[ 9.73126881e-01 2.29459436e-01 -1.92987138e-02 3.18472625e+01] [-2.29406674e-01 9.73318153e-01 4.93467167e-03 -4.87550871e+00] [ 1.99160954e-02 -3.74807904e-04 9.99801585e-01 -4.41361567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.795384750000004 meters 0.05755154164944865 Centerline is valid? [True, True] Translation: X:31.87, Y:-4.90, Z:-0.44 [[ 9.75510490e-01 2.19255222e-01 -1.75051559e-02 3.18722267e+01] [-2.19210176e-01 9.75667396e-01 4.47557937e-03 -4.90091893e+00] [ 1.80605040e-02 -5.28666324e-04 9.99836756e-01 -4.40929418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.825384750000005 meters 0.0584269508849969 Centerline is valid? [True, True] Translation: X:31.90, Y:-4.92, Z:-0.44 [[ 9.76026687e-01 2.17004135e-01 -1.67663569e-02 3.19022252e+01] [-2.16962302e-01 9.76170526e-01 4.29693132e-03 -4.91504579e+00] [ 1.72992753e-02 -5.56252256e-04 9.99850202e-01 -4.41360086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.85538475 meters 0.0582698192333345 Centerline is valid? [True, True] Translation: X:31.93, Y:-4.93, Z:-0.44 [[ 9.76325370e-01 2.16006688e-01 -1.13965893e-02 3.19309356e+01] [-2.15987316e-01 9.76391807e-01 2.91880673e-03 -4.92923419e+00] [ 1.17580182e-02 -3.88186319e-04 9.99930797e-01 -4.37230473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.88538475 meters 0.05771889547458533 Centerline is valid? [True, True] Translation: X:31.96, Y:-4.94, Z:-0.44 [[ 9.75918021e-01 2.17845484e-01 -1.12854869e-02 3.19612771e+01] [-2.17826518e-01 9.75983201e-01 2.89829498e-03 -4.93898458e+00] [ 1.16458261e-02 -3.70219987e-04 9.99932117e-01 -4.36595132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.91538475 meters 0.056625620464206446 Centerline is valid? [True, True] Translation: X:31.99, Y:-4.95, Z:-0.44 [[ 9.74590080e-01 2.23597778e-01 -1.33495188e-02 3.19910641e+01] [-2.23571737e-01 9.74681437e-01 3.43136368e-03 -4.94908809e+00] [ 1.37787735e-02 -3.59597899e-04 9.99905004e-01 -4.38355481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.94538475 meters 0.0560363936727128 Centerline is valid? [True, True] Translation: X:32.02, Y:-4.96, Z:-0.44 [[ 9.74074539e-01 2.25759020e-01 -1.45484354e-02 3.20224608e+01] [-2.25728233e-01 9.74183110e-01 3.74609766e-03 -4.95831676e+00] [ 1.50185554e-02 -3.64985737e-04 9.99887149e-01 -4.38221114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.97538475 meters 0.056823460487397434 Centerline is valid? [True, True] Translation: X:32.05, Y:-4.98, Z:-0.44 [[ 9.73742160e-01 2.27124980e-01 -1.55064175e-02 3.20510818e+01] [-2.27090097e-01 9.73865548e-01 3.99782450e-03 -4.97545288e+00] [ 1.60091716e-02 -3.71496412e-04 9.99871776e-01 -4.41325178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.005384750000005 meters 0.05673211224658603 Centerline is valid? [True, True] Translation: X:32.08, Y:-4.99, Z:-0.44 [[ 9.74127092e-01 2.25507116e-01 -1.49314576e-02 3.20811816e+01] [-2.25474506e-01 9.74241443e-01 3.85451932e-03 -4.98796802e+00] [ 1.54160664e-02 -3.88128670e-04 9.99881090e-01 -4.38825684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.03538475 meters 0.057780176583923565 Centerline is valid? [True, True] Translation: X:32.11, Y:-5.01, Z:-0.44 [[ 9.75349368e-01 2.20073837e-01 -1.61590765e-02 3.21083766e+01] [-2.20034969e-01 9.75483084e-01 4.16716422e-03 -5.00572252e+00] [ 1.66799896e-02 -5.08879095e-04 9.99860750e-01 -4.38073810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.06538475 meters 0.059478221759583186 Centerline is valid? [True, True] Translation: X:32.14, Y:-5.02, Z:-0.44 [[ 9.75874352e-01 2.17649231e-01 -1.72644716e-02 3.21362790e+01] [-2.17604462e-01 9.76026877e-01 4.45342779e-03 -5.02063799e+00] [ 1.78198734e-02 -5.89159919e-04 9.99841040e-01 -4.41198948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.09538475 meters 0.06188535215625863 Centerline is valid? [True, True] Translation: X:32.16, Y:-5.04, Z:-0.44 [[ 9.76836184e-01 2.12987583e-01 -2.06726632e-02 3.21627261e+01] [-2.12922348e-01 9.77054572e-01 5.33256547e-03 -5.04096691e+00] [ 2.13340904e-02 -8.07370912e-04 9.99772076e-01 -4.42649505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.12538475 meters 0.060024188676100786 Centerline is valid? [True, True] Translation: X:32.19, Y:-5.05, Z:-0.44 [[ 9.77450932e-01 2.10103578e-01 -2.11225382e-02 3.21932679e+01] [-2.10034670e-01 9.77678723e-01 5.45457961e-03 -5.04919621e+00] [ 2.17970829e-02 -8.95118589e-04 9.99762015e-01 -4.37366327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.15538475 meters 0.0614499644675372 Centerline is valid? [True, True] Translation: X:32.22, Y:-5.07, Z:-0.44 [[ 9.78552744e-01 2.05007296e-01 -2.01627372e-02 3.22210156e+01] [-2.04943457e-01 9.78759973e-01 5.20530072e-03 -5.06537272e+00] [ 2.08016048e-02 -9.61440233e-04 9.99783161e-01 -4.35392920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.185384750000004 meters 0.062335890193398635 Centerline is valid? [True, True] Translation: X:32.25, Y:-5.08, Z:-0.44 [[ 9.78615270e-01 2.04792506e-01 -1.92920231e-02 3.22512105e+01] [-2.04733762e-01 9.78804961e-01 4.99351101e-03 -5.07787477e+00] [ 1.99057615e-02 -9.36997652e-04 9.99801422e-01 -4.35892006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.21538475 meters 0.06217156554148279 Centerline is valid? [True, True] Translation: X:32.28, Y:-5.09, Z:-0.44 [[ 9.77874815e-01 2.08103299e-01 -2.13040425e-02 3.22809562e+01] [-2.08032317e-01 9.78106376e-01 5.52007710e-03 -5.08811859e+00] [ 2.19863660e-02 -9.66015054e-04 9.99757804e-01 -4.37020671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.24538475 meters 0.06046888597801684 Centerline is valid? [True, True] Translation: X:32.31, Y:-5.09, Z:-0.44 [[ 9.76831096e-01 2.12685247e-01 -2.37906527e-02 3.23133436e+01] [-2.12597873e-01 9.77120280e-01 6.17280042e-03 -5.09239003e+00] [ 2.45591928e-02 -9.71941240e-04 9.99697905e-01 -4.37955988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.27538475 meters 0.05652667811137013 Centerline is valid? [True, True] Translation: X:32.35, Y:-5.09, Z:-0.44 [[ 9.73778712e-01 2.26100783e-01 -2.51685355e-02 3.23459686e+01] [-2.26007581e-01 9.74103687e-01 6.52541895e-03 -5.08796948e+00] [ 2.59921655e-02 -6.66034251e-04 9.99661925e-01 -4.38948496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.30538475 meters 0.05489796924819418 Centerline is valid? [True, True] Translation: X:32.38, Y:-5.09, Z:-0.44 [[ 9.72029726e-01 2.33405951e-01 -2.60743737e-02 3.23785724e+01] [-2.33308161e-01 9.72379252e-01 6.77434616e-03 -5.09016171e+00] [ 2.69353528e-02 -5.01501670e-04 9.99637052e-01 -4.39504701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.33538475 meters 0.05351230988951048 Centerline is valid? [True, True] Translation: X:32.41, Y:-5.09, Z:-0.44 [[ 9.69154302e-01 2.44877994e-01 -2.78335718e-02 3.24112420e+01] [-2.44771180e-01 9.69553881e-01 7.23472221e-03 -5.08951671e+00] [ 2.87577718e-02 -1.98705958e-04 9.99586390e-01 -4.42838071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.365384750000004 meters 0.053169369317708055 Centerline is valid? [True, True] Translation: X:32.44, Y:-5.10, Z:-0.44 [[ 9.67228376e-01 2.52331784e-01 -2.82478038e-02 3.24437969e+01] [-2.52224534e-01 9.67640776e-01 7.35621193e-03 -5.09506146e+00] [ 2.91899329e-02 9.65223902e-06 9.99573883e-01 -4.43839284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.39538475 meters 0.053168501230820966 Centerline is valid? [True, True] Translation: X:32.47, Y:-5.10, Z:-0.44 [[ 9.66552426e-01 2.54852842e-01 -2.87478045e-02 3.24747338e+01] [-2.54742601e-01 9.66979846e-01 7.49561151e-03 -5.10470688e+00] [ 2.97088255e-02 7.83890151e-05 9.99558592e-01 -4.43819373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.42538475 meters 0.053035801117463345 Centerline is valid? [True, True] Translation: X:32.51, Y:-5.12, Z:-0.44 [[ 9.65840250e-01 2.57571077e-01 -2.84561396e-02 3.25054709e+01] [-2.57463884e-01 9.66259343e-01 7.43169749e-03 -5.11769999e+00] [ 2.94102011e-02 1.48595650e-04 9.99567415e-01 -4.42789739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.45538475 meters 0.05287424174524079 Centerline is valid? [True, True] Translation: X:32.54, Y:-5.13, Z:-0.44 [[ 9.65651026e-01 2.58286119e-01 -2.83967530e-02 3.25362116e+01] [-2.58179343e-01 9.66068453e-01 7.42775108e-03 -5.12954207e+00] [ 2.93516922e-02 1.58839576e-04 9.99569134e-01 -4.42110321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.48538475 meters 0.05287656372997923 Centerline is valid? [True, True] Translation: X:32.57, Y:-5.14, Z:-0.44 [[ 9.65571012e-01 2.58604818e-01 -2.82164517e-02 3.25667564e+01] [-2.58499200e-01 9.65983190e-01 7.39188362e-03 -5.14181711e+00] [ 2.91681947e-02 1.56541637e-04 9.99574505e-01 -4.42502589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.51538475 meters 0.05285482542086801 Centerline is valid? [True, True] Translation: X:32.60, Y:-5.16, Z:-0.44 [[ 9.65883016e-01 2.57299138e-01 -2.94474614e-02 3.25951524e+01] [-2.57183204e-01 9.66331796e-01 7.72390666e-03 -5.15999834e+00] [ 3.04433728e-02 1.13002210e-04 9.99536487e-01 -4.42716211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.545384750000004 meters 0.05335066474306964 Centerline is valid? [True, True] Translation: X:32.62, Y:-5.18, Z:-0.45 [[ 9.66591545e-01 2.54625352e-01 -2.94400316e-02 3.26228728e+01] [-2.54507888e-01 9.67039777e-01 7.73338936e-03 -5.18016843e+00] [ 3.04387986e-02 1.76915065e-05 9.99536632e-01 -4.45488925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.575384750000005 meters 0.05286993375613217 Centerline is valid? [True, True] Translation: X:32.65, Y:-5.19, Z:-0.44 [[ 9.67062238e-01 2.52830544e-01 -2.94507054e-02 3.26533747e+01] [-2.52711780e-01 9.67510575e-01 7.74871354e-03 -5.19467587e+00] [ 3.04529804e-02 -5.09480585e-05 9.99536199e-01 -4.40522168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.60538475 meters 0.05333456732995656 Centerline is valid? [True, True] Translation: X:32.68, Y:-5.21, Z:-0.44 [[ 9.67589444e-01 2.50514801e-01 -3.18277104e-02 3.26821717e+01] [-2.50374878e-01 9.68112761e-01 8.37278317e-03 -5.21123787e+00] [ 3.29103187e-02 -1.32557498e-04 9.99458300e-01 -4.42698429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.63538475 meters 0.05317177457586118 Centerline is valid? [True, True] Translation: X:32.71, Y:-5.22, Z:-0.44 [[ 9.67348095e-01 2.51550165e-01 -3.09867287e-02 3.27127915e+01] [-2.51417602e-01 9.67844255e-01 8.16620421e-03 -5.22225065e+00] [ 3.20445374e-02 -1.08953051e-04 9.99486436e-01 -4.42412472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.66538475 meters 0.051912662311701066 Centerline is valid? [True, True] Translation: X:32.74, Y:-5.23, Z:-0.43 [[ 9.66961268e-01 2.53097252e-01 -3.04579654e-02 3.27433455e+01] [-2.52969596e-01 9.67440839e-01 8.03785417e-03 -5.23201463e+00] [ 3.15006384e-02 -6.73544505e-05 9.99503729e-01 -4.30740687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.69538475 meters 0.05167489514983898 Centerline is valid? [True, True] Translation: X:32.77, Y:-5.24, Z:-0.43 [[ 9.65783181e-01 2.57930321e-01 -2.71071208e-02 3.27731812e+01] [-2.57831161e-01 9.66163518e-01 7.15190896e-03 -5.24318274e+00] [ 2.80346054e-02 8.18670425e-05 9.99606950e-01 -4.29950723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.72538475 meters 0.05167192799271749 Centerline is valid? [True, True] Translation: X:32.80, Y:-5.25, Z:-0.43 [[ 9.63975341e-01 2.64953033e-01 -2.34825931e-02 3.28026995e+01] [-2.64880680e-01 9.64261287e-01 6.19646425e-03 -5.25288819e+00] [ 2.42851275e-02 2.46846493e-04 9.99705042e-01 -4.28616394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.755384750000005 meters 0.05178888468117886 Centerline is valid? [True, True] Translation: X:32.83, Y:-5.26, Z:-0.43 [[ 9.62937183e-01 2.68814707e-01 -2.21502715e-02 3.28338086e+01] [-2.68751083e-01 9.63191858e-01 5.85662581e-03 -5.26273025e+00] [ 2.29093083e-02 3.13346700e-04 9.99737498e-01 -4.28956946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.78538475 meters 0.05233919618920282 Centerline is valid? [True, True] Translation: X:32.86, Y:-5.28, Z:-0.43 [[ 9.61450639e-01 2.74085931e-01 -2.21262563e-02 3.28632091e+01] [-2.74023875e-01 9.61705105e-01 5.84870867e-03 -5.27662162e+00] [ 2.28819824e-02 4.39877791e-04 9.99738076e-01 -4.30735238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.81538475 meters 0.05260521116000417 Centerline is valid? [True, True] Translation: X:32.89, Y:-5.29, Z:-0.43 [[ 9.60889539e-01 2.76064193e-01 -2.19055940e-02 3.28934183e+01] [-2.76003667e-01 9.61139083e-01 5.79986426e-03 -5.28882549e+00] [ 2.26554574e-02 4.72995371e-04 9.99743220e-01 -4.31766630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.84538475 meters 0.05272152489108143 Centerline is valid? [True, True] Translation: X:32.92, Y:-5.31, Z:-0.43 [[ 9.60868543e-01 2.76272395e-01 -2.01297700e-02 3.29210823e+01] [-2.76221197e-01 9.61079277e-01 5.33608988e-03 -5.30907992e+00] [ 2.08205191e-02 4.32988245e-04 9.99783136e-01 -4.31492330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.87538475 meters 0.052769336148056976 Centerline is valid? [True, True] Translation: X:32.95, Y:-5.32, Z:-0.43 [[ 9.61108410e-01 2.75452710e-01 -1.99105443e-02 3.29504669e+01] [-2.75402322e-01 9.61314538e-01 5.28395943e-03 -5.32432384e+00] [ 2.05957766e-02 4.04952287e-04 9.99787802e-01 -4.32181135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.90538475 meters 0.05311741623906286 Centerline is valid? [True, True] Translation: X:32.98, Y:-5.34, Z:-0.43 [[ 9.61387574e-01 2.74472526e-01 -1.99691134e-02 3.29787159e+01] [-2.74421523e-01 9.61594867e-01 5.30467768e-03 -5.33832573e+00] [ 2.06581852e-02 3.80103302e-04 9.99786525e-01 -4.34806933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.935384750000004 meters 0.05279680034395528 Centerline is valid? [True, True] Translation: X:33.01, Y:-5.36, Z:-0.43 [[ 9.62212264e-01 2.71573654e-01 -1.98824072e-02 3.30061785e+01] [-2.71522348e-01 9.62417609e-01 5.28774443e-03 -5.36091464e+00] [ 2.05711909e-02 3.10585371e-04 9.99788342e-01 -4.34996325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.96538475 meters 0.05279680034395528 Centerline is valid? [True, True] Translation: X:33.04, Y:-5.37, Z:-0.44 [[ 9.62126995e-01 2.71875721e-01 -1.98806062e-02 3.30375004e+01] [-2.71824341e-01 9.62332321e-01 5.29451501e-03 -5.36937817e+00] [ 2.05712000e-02 3.10036851e-04 9.99788342e-01 -4.35448799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.99538475 meters 0.052853835280321504 Centerline is valid? [True, True] Translation: X:33.06, Y:-5.39, Z:-0.44 [[ 9.63166999e-01 2.68183258e-01 -1.96741261e-02 3.30640021e+01] [-2.68132147e-01 9.63367888e-01 5.24059249e-03 -5.39143857e+00] [ 2.03588605e-02 2.27699938e-04 9.99792711e-01 -4.38870331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.02538475 meters 0.05285341157491172 Centerline is valid? [True, True] Translation: X:33.09, Y:-5.41, Z:-0.44 [[ 9.63623923e-01 2.66561789e-01 -1.93325365e-02 3.30933034e+01] [-2.66512086e-01 9.63817813e-01 5.15081278e-03 -5.40807487e+00] [ 2.00060530e-02 1.88908226e-04 9.99799841e-01 -4.39745503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.05538475 meters 0.052631865254508546 Centerline is valid? [True, True] Translation: X:33.12, Y:-5.43, Z:-0.44 [[ 9.64867670e-01 2.62143701e-01 -1.76368703e-02 3.31189451e+01] [-2.62101468e-01 9.65028846e-01 4.70606993e-03 -5.43202378e+00] [ 1.82537552e-02 8.19148733e-05 9.99833383e-01 -4.41306349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.08538475 meters 0.05275145868562284 Centerline is valid? [True, True] Translation: X:33.15, Y:-5.45, Z:-0.44 [[ 9.65162067e-01 2.61171975e-01 -1.58551228e-02 3.31484526e+01] [-2.61137629e-01 9.65292286e-01 4.23579395e-03 -5.44706835e+00] [ 1.64110984e-02 5.21415321e-05 9.99865327e-01 -4.42194575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.115384750000004 meters 0.05277407056073537 Centerline is valid? [True, True] Translation: X:33.18, Y:-5.47, Z:-0.44 [[ 9.65489217e-01 2.59966108e-01 -1.57541888e-02 3.31777969e+01] [-2.59931945e-01 9.65617741e-01 4.21449149e-03 -5.46527429e+00] [ 1.63081491e-02 2.59708462e-05 9.99867013e-01 -4.43131981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.14538475 meters 0.052873097212408945 Centerline is valid? [True, True] Translation: X:33.21, Y:-5.48, Z:-0.44 [[ 9.65216593e-01 2.61102076e-01 -1.35142364e-02 3.32067878e+01] [-2.61076995e-01 9.65311196e-01 3.61911791e-03 -5.48017026e+00] [ 1.39904029e-02 3.50235678e-05 9.99902129e-01 -4.43732684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.17538475 meters 0.052909584382912295 Centerline is valid? [True, True] Translation: X:33.24, Y:-5.49, Z:-0.44 [[ 9.64948697e-01 2.62111369e-01 -1.31012548e-02 3.32376370e+01] [-2.62087824e-01 9.65037631e-01 3.51339854e-03 -5.49130926e+00] [ 1.35641056e-02 4.34300279e-05 9.99908002e-01 -4.43189348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.20538475 meters 0.05312670625948683 Centerline is valid? [True, True] Translation: X:33.27, Y:-5.50, Z:-0.44 [[ 9.64459511e-01 2.63961205e-01 -1.19303355e-02 3.32682977e+01] [-2.63941783e-01 9.64533296e-01 3.20260326e-03 -5.50231700e+00] [ 1.23525689e-02 6.01328605e-05 9.99923702e-01 -4.43125086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.23538475 meters 0.053447538996510974 Centerline is valid? [True, True] Translation: X:33.30, Y:-5.51, Z:-0.44 [[ 9.63502483e-01 2.67465111e-01 -1.11973525e-02 3.32998344e+01] [-2.67448187e-01 9.63567541e-01 3.01028653e-03 -5.51336759e+00] [ 1.15945520e-02 9.42930769e-05 9.99932776e-01 -4.44065574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.26538475 meters 0.05375637603386067 Centerline is valid? [True, True] Translation: X:33.33, Y:-5.52, Z:-0.44 [[ 9.63001499e-01 2.69217756e-01 -1.22439261e-02 3.33302509e+01] [-2.69197627e-01 9.63079324e-01 3.29436146e-03 -5.52319352e+00] [ 1.26787727e-02 1.23560821e-04 9.99919613e-01 -4.44490599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.295384750000004 meters 0.054219776139384536 Centerline is valid? [True, True] Translation: X:33.36, Y:-5.53, Z:-0.45 [[ 9.62349881e-01 2.71520199e-01 -1.26288851e-02 3.33595575e+01] [-2.71498944e-01 9.62432729e-01 3.40089649e-03 -5.53480207e+00] [ 1.30778645e-02 1.55876637e-04 9.99914469e-01 -4.49031891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.32538475 meters 0.05437168540919509 Centerline is valid? [True, True] Translation: X:33.39, Y:-5.55, Z:-0.45 [[ 9.62195335e-01 2.72065488e-01 -1.26691546e-02 3.33905933e+01] [-2.72044077e-01 9.62278725e-01 3.41690110e-03 -5.54549216e+00] [ 1.31208788e-02 1.58842175e-04 9.99913905e-01 -4.50341556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.35538475 meters 0.054591269815101776 Centerline is valid? [True, True] Translation: X:33.42, Y:-5.56, Z:-0.45 [[ 9.62204221e-01 2.71940857e-01 -1.45330035e-02 3.34194956e+01] [-2.71912632e-01 9.62313950e-01 3.92197040e-03 -5.55886004e+00] [ 1.50518560e-02 1.77970762e-04 9.99886699e-01 -4.53555279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.38538475 meters 0.054684519024443816 Centerline is valid? [True, True] Translation: X:33.45, Y:-5.57, Z:-0.45 [[ 9.62364115e-01 2.71344419e-01 -1.50836164e-02 3.34498818e+01] [-2.71313851e-01 9.62482300e-01 4.07635737e-03 -5.57442360e+00] [ 1.56238106e-02 1.69453999e-04 9.99877926e-01 -4.53485998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.41538475 meters 0.054795248025018096 Centerline is valid? [True, True] Translation: X:33.48, Y:-5.58, Z:-0.46 [[ 9.62321929e-01 2.71478710e-01 -1.53562820e-02 3.34802821e+01] [-2.71446974e-01 9.62444430e-01 4.15444879e-03 -5.58434484e+00] [ 1.59074125e-02 1.70499103e-04 9.99873455e-01 -4.56503794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.44538475 meters 0.05483308768038249 Centerline is valid? [True, True] Translation: X:33.51, Y:-5.60, Z:-0.46 [[ 9.62576298e-01 2.70506171e-01 -1.65312197e-02 3.35103052e+01] [-2.70469175e-01 9.62718227e-01 4.47662566e-03 -5.59517073e+00] [ 1.71258614e-02 1.62091602e-04 9.99853329e-01 -4.56438411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.47538475 meters 0.0550111304667718 Centerline is valid? [True, True] Translation: X:33.54, Y:-5.61, Z:-0.46 [[ 9.63272581e-01 2.67997326e-01 -1.68335226e-02 3.35390741e+01] [-2.67958508e-01 9.63419649e-01 4.56266557e-03 -5.60954205e+00] [ 1.74405286e-02 1.15594974e-04 9.99847896e-01 -4.58423325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.505384750000005 meters 0.054890775206340656 Centerline is valid? [True, True] Translation: X:33.57, Y:-5.62, Z:-0.46 [[ 9.63715375e-01 2.66420316e-01 -1.65194397e-02 3.35693427e+01] [-2.66382614e-01 9.63856944e-01 4.48265509e-03 -5.62145614e+00] [ 1.71166471e-02 8.04879047e-05 9.99853496e-01 -4.58604083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.53538475 meters 0.05462405153315552 Centerline is valid? [True, True] Translation: X:33.60, Y:-5.64, Z:-0.46 [[ 9.64895278e-01 2.62346653e-01 -1.23018534e-02 3.35977644e+01] [-2.62325438e-01 9.64973696e-01 3.33637114e-03 -5.63606951e+00] [ 1.27462508e-02 7.84032809e-06 9.99918763e-01 -4.56206167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.56538475 meters 0.05452255007714209 Centerline is valid? [True, True] Translation: X:33.63, Y:-5.65, Z:-0.46 [[ 9.65948923e-01 2.58618016e-01 -7.70716139e-03 3.36252348e+01] [-2.58609552e-01 9.65979669e-01 2.09252068e-03 -5.65040224e+00] [ 7.98612476e-03 -2.81225415e-05 9.99968110e-01 -4.55541920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.59538475 meters 0.054604159065218864 Centerline is valid? [True, True] Translation: X:33.66, Y:-5.66, Z:-0.46 [[ 9.66438508e-01 2.56827320e-01 -6.02816107e-03 3.36560224e+01] [-2.56822103e-01 9.66457307e-01 1.63739387e-03 -5.66140420e+00] [ 6.24648779e-03 -3.42754912e-05 9.99980490e-01 -4.55528985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.62538475 meters 0.054618462142745156 Centerline is valid? [True, True] Translation: X:33.69, Y:-5.67, Z:-0.46 [[ 9.66738567e-01 2.55715375e-01 -5.11757524e-03 3.36861675e+01] [-2.55711577e-01 9.66752112e-01 1.39429957e-03 -5.67192787e+00] [ 5.30397051e-03 -3.92999348e-05 9.99985933e-01 -4.55077493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.65538475 meters 0.054621642943295606 Centerline is valid? [True, True] Translation: X:33.71, Y:-5.69, Z:-0.45 [[ 9.67719627e-01 2.52028605e-01 -5.53441399e-04 3.37146380e+01] [-2.52028558e-01 9.67719785e-01 1.54131664e-04 -5.68549023e+00] [ 5.74421780e-04 -9.67319866e-06 9.99999835e-01 -4.54617185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.685384750000004 meters 0.05463588247811424 Centerline is valid? [True, True] Translation: X:33.74, Y:-5.70, Z:-0.45 [[ 9.67969886e-01 2.51062831e-01 1.32466357e-03 3.37449373e+01] [-2.51062577e-01 9.67970792e-01 -3.56759972e-04 -5.69637669e+00] [-1.37180482e-03 1.27594594e-05 9.99999059e-01 -4.53223744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.71538475 meters 0.054892832410219576 Centerline is valid? [True, True] Translation: X:33.77, Y:-5.71, Z:-0.45 [[ 9.68600522e-01 2.48609753e-01 2.49393939e-03 3.37739716e+01] [-2.48608836e-01 9.68603732e-01 -6.76056673e-04 -5.70738972e+00] [-2.58371328e-03 3.48134775e-05 9.99996662e-01 -4.52770846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.74538475 meters 0.055050271455438206 Centerline is valid? [True, True] Translation: X:33.80, Y:-5.72, Z:-0.45 [[ 9.68874583e-01 2.47541070e-01 2.33685651e-03 3.38043623e+01] [-2.47540259e-01 9.68877400e-01 -6.35043681e-04 -5.71610864e+00] [-2.42132685e-03 3.68116167e-05 9.99997068e-01 -4.53237774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.77538475 meters 0.055318787942475786 Centerline is valid? [True, True] Translation: X:33.83, Y:-5.73, Z:-0.45 [[ 9.69216499e-01 2.46202648e-01 1.90629310e-03 3.38347258e+01] [-2.46202109e-01 9.69218373e-01 -5.16438404e-04 -5.72731429e+00] [-1.97476280e-03 3.12072414e-05 9.99998050e-01 -4.53587727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.80538475 meters 0.05576975570341327 Centerline is valid? [True, True] Translation: X:33.86, Y:-5.74, Z:-0.46 [[ 9.69427524e-01 2.45370912e-01 -1.84139894e-03 3.38638689e+01] [-2.45370392e-01 9.69429272e-01 5.06708151e-04 -5.73849795e+00] [ 1.90943747e-03 -3.93920498e-05 9.99998176e-01 -4.57489481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.83538475 meters 0.05592973567407687 Centerline is valid? [True, True] Translation: X:33.89, Y:-5.75, Z:-0.46 [[ 9.69623037e-01 2.44586933e-01 -2.89816148e-03 3.38944603e+01] [-2.44585644e-01 9.69627366e-01 7.96565942e-04 -5.74735716e+00] [ 3.00496630e-03 -6.35199958e-05 9.99995483e-01 -4.58803117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.865384750000004 meters 0.05596681736573192 Centerline is valid? [True, True] Translation: X:33.92, Y:-5.76, Z:-0.46 [[ 9.69537747e-01 2.44912954e-01 -3.76843160e-03 3.39246905e+01] [-2.44910778e-01 9.69545068e-01 1.03565546e-03 -5.75661506e+00] [ 3.90730971e-03 -8.11775422e-05 9.99992363e-01 -4.60379546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.89538475 meters 0.05612269712976259 Centerline is valid? [True, True] Translation: X:33.96, Y:-5.77, Z:-0.46 [[ 9.69539320e-01 2.44878821e-01 -5.27924969e-03 3.39553266e+01] [-2.44874550e-01 9.69553686e-01 1.45079382e-03 -5.76704470e+00] [ 5.47378467e-03 -1.13847765e-04 9.99985012e-01 -4.63357906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.92538475 meters 0.0560505964029565 Centerline is valid? [True, True] Translation: X:33.99, Y:-5.78, Z:-0.46 [[ 9.69326368e-01 2.45742904e-01 -4.10100401e-03 3.39858151e+01] [-2.45740326e-01 9.69335039e-01 1.12910287e-03 -5.77615074e+00] [ 4.25271590e-03 -8.66871247e-05 9.99990953e-01 -4.63302086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.95538475 meters 0.05621317765592317 Centerline is valid? [True, True] Translation: X:34.02, Y:-5.79, Z:-0.46 [[ 9.69213258e-01 2.46186634e-01 -4.21911244e-03 3.40165088e+01] [-2.46183903e-01 9.69222437e-01 1.16306359e-03 -5.78566147e+00] [ 4.37558916e-03 -8.85790872e-05 9.99990423e-01 -4.63841838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.98538475 meters 0.05584294802357844 Centerline is valid? [True, True] Translation: X:34.05, Y:-5.79, Z:-0.46 [[ 9.68124818e-01 2.50444137e-01 -3.47436460e-03 3.40483507e+01] [-2.50442318e-01 9.68131051e-01 9.56071627e-04 -5.79244363e+00] [ 3.60308278e-03 -5.54687435e-05 9.99993507e-01 -4.61400211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.01538475 meters 0.05573745229173653 Centerline is valid? [True, True] Translation: X:34.08, Y:-5.80, Z:-0.46 [[ 9.67434217e-01 2.53107845e-01 -2.73034659e-03 3.40801147e+01] [-2.53106722e-01 9.67438069e-01 7.54877257e-04 -5.79876583e+00] [ 2.83250659e-03 -3.92250120e-05 9.99995988e-01 -4.61399376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.045384750000004 meters 0.05557792496001023 Centerline is valid? [True, True] Translation: X:34.11, Y:-5.80, Z:-0.46 [[ 9.65433490e-01 2.60637516e-01 -2.50249994e-03 3.41133358e+01] [-2.60636595e-01 9.65436733e-01 6.92943149e-04 -5.79988343e+00] [ 2.59661235e-03 -1.67474584e-05 9.99996629e-01 -4.61757320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.07538475 meters 0.0558468189050298 Centerline is valid? [True, True] Translation: X:34.15, Y:-5.81, Z:-0.46 [[ 9.64117330e-01 2.65461188e-01 -2.85169896e-03 3.41457989e+01] [-2.65460010e-01 9.64121547e-01 7.90859600e-04 -5.80537537e+00] [ 2.95932694e-03 -5.46941292e-06 9.99995621e-01 -4.61326915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.10538475 meters 0.05634234151783429 Centerline is valid? [True, True] Translation: X:34.18, Y:-5.81, Z:-0.46 [[ 9.61477958e-01 2.74853776e-01 -3.94175533e-03 3.41779466e+01] [-2.74851609e-01 9.61486038e-01 1.09197881e-03 -5.80888428e+00] [ 4.09007722e-03 3.34842395e-05 9.99991635e-01 -4.62392674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.13538475 meters 0.056784511993725466 Centerline is valid? [True, True] Translation: X:34.21, Y:-5.81, Z:-0.46 [[ 9.60215038e-01 2.79219706e-01 -4.84116047e-03 3.42086870e+01] [-2.79216492e-01 9.60227240e-01 1.34125082e-03 -5.81398289e+00] [ 5.02311781e-03 6.38426362e-05 9.99987382e-01 -4.63997636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.16538475 meters 0.05759655214536289 Centerline is valid? [True, True] Translation: X:34.24, Y:-5.82, Z:-0.46 [[ 9.57986531e-01 2.86780111e-01 -4.35601750e-03 3.42401861e+01] [-2.86777590e-01 9.57996430e-01 1.20598117e-03 -5.81838635e+00] [ 4.51890062e-03 9.38944890e-05 9.99989785e-01 -4.64417409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.19538475 meters 0.05818764181930565 Centerline is valid? [True, True] Translation: X:34.27, Y:-5.82, Z:-0.47 [[ 9.57036792e-01 2.89939833e-01 -3.93347595e-03 3.42701534e+01] [-2.89937801e-01 9.57044870e-01 1.08988057e-03 -5.82487115e+00] [ 4.08051277e-03 9.74075654e-05 9.99991670e-01 -4.65924696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.22538475 meters 0.05907817904061091 Centerline is valid? [True, True] Translation: X:34.30, Y:-5.83, Z:-0.47 [[ 9.55727764e-01 2.94218591e-01 -4.45654272e-03 3.42997635e+01] [-2.94216017e-01 9.55738146e-01 1.23743312e-03 -5.83421831e+00] [ 4.62336370e-03 1.28537057e-04 9.99989304e-01 -4.67306734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.255384750000005 meters 0.058961598945201664 Centerline is valid? [True, True] Translation: X:34.33, Y:-5.85, Z:-0.47 [[ 9.55340894e-01 2.95457355e-01 -5.35980441e-03 3.43290026e+01] [-2.95453647e-01 9.55355916e-01 1.48902661e-03 -5.84707434e+00] [ 5.56046471e-03 1.61045748e-04 9.99984528e-01 -4.66698978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.28538475 meters 0.05964757593385281 Centerline is valid? [True, True] Translation: X:34.36, Y:-5.86, Z:-0.47 [[ 9.54805447e-01 2.97175596e-01 -5.76403532e-03 3.43568321e+01] [-2.97171345e-01 9.54822827e-01 1.60030612e-03 -5.86182879e+00] [ 5.97920442e-03 1.84925126e-04 9.99982107e-01 -4.68283426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.31538475 meters 0.05963937541944995 Centerline is valid? [True, True] Translation: X:34.39, Y:-5.88, Z:-0.47 [[ 9.54545336e-01 2.98001697e-01 -6.17985892e-03 3.43868973e+01] [-2.97996804e-01 9.54565319e-01 1.71928416e-03 -5.87506783e+00] [ 6.41142860e-03 2.00443534e-04 9.99979426e-01 -4.68316666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.34538475 meters 0.060008325978318455 Centerline is valid? [True, True] Translation: X:34.42, Y:-5.89, Z:-0.47 [[ 9.54031700e-01 2.99659451e-01 -5.26587811e-03 3.44152254e+01] [-2.99655914e-01 9.54046216e-01 1.46673049e-03 -5.89106661e+00] [ 5.46341073e-03 1.78644134e-04 9.99985060e-01 -4.69064220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.37538475 meters 0.060263422968119935 Centerline is valid? [True, True] Translation: X:34.44, Y:-5.90, Z:-0.47 [[ 9.53376537e-01 3.01744923e-01 -4.81465219e-03 3.44447522e+01] [-3.01741985e-01 9.53388678e-01 1.34264418e-03 -5.90288879e+00] [ 4.99537095e-03 1.72737249e-04 9.99987508e-01 -4.68778103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.40538475 meters 0.0611524546022963 Centerline is valid? [True, True] Translation: X:34.47, Y:-5.92, Z:-0.47 [[ 9.52062034e-01 3.05870296e-01 -4.60922850e-03 3.44729841e+01] [-3.05867665e-01 9.52073173e-01 1.28263486e-03 -5.91845936e+00] [ 4.78064270e-03 1.88666005e-04 9.99988555e-01 -4.67911944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.435384750000004 meters 0.06157878543442234 Centerline is valid? [True, True] Translation: X:34.50, Y:-5.93, Z:-0.47 [[ 9.51307777e-01 3.08213416e-01 -4.24314471e-03 3.45027735e+01] [-3.08211190e-01 9.51317222e-01 1.18522192e-03 -5.93075824e+00] [ 4.40187794e-03 1.80273850e-04 9.99990295e-01 -4.68007216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.46538475 meters 0.062131651317988465 Centerline is valid? [True, True] Translation: X:34.53, Y:-5.94, Z:-0.47 [[ 9.50793469e-01 3.09809418e-01 -3.14696259e-03 3.45320647e+01] [-3.09808197e-01 9.50798667e-01 8.80666654e-04 -5.94168166e+00] [ 3.26496666e-03 1.37622702e-04 9.99994661e-01 -4.68786619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.49538475 meters 0.06258976661644174 Centerline is valid? [True, True] Translation: X:34.56, Y:-5.96, Z:-0.47 [[ 9.50230332e-01 3.11536936e-01 -2.65574530e-03 3.45606869e+01] [-3.11536069e-01 9.50234036e-01 7.44770824e-04 -5.95798342e+00] [ 2.75560319e-03 1.19656622e-04 9.99996196e-01 -4.70878091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.52538475 meters 0.06274692122653928 Centerline is valid? [True, True] Translation: X:34.59, Y:-5.97, Z:-0.47 [[ 9.50243128e-01 3.11496551e-01 -2.81019843e-03 3.45895704e+01] [-3.11495578e-01 9.50247275e-01 7.88628947e-04 -5.97186652e+00] [ 2.91603860e-03 1.25975147e-04 9.99995740e-01 -4.71033112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.55538475 meters 0.06174340873472573 Centerline is valid? [True, True] Translation: X:34.62, Y:-5.99, Z:-0.47 [[ 9.51028290e-01 3.09100223e-01 -1.49819064e-03 3.46160740e+01] [-3.09099945e-01 9.51029467e-01 4.19726843e-04 -5.99434062e+00] [ 1.55456111e-03 6.39185433e-05 9.99998790e-01 -4.70495661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.58538475 meters 0.060628100838891384 Centerline is valid? [True, True] Translation: X:34.64, Y:-6.01, Z:-0.47 [[ 9.51501707e-01 3.07639850e-01 -1.49170088e-03 3.46446373e+01] [-3.07639567e-01 9.51502874e-01 4.21115033e-04 -6.01181857e+00] [ 1.54890944e-03 5.82145411e-05 9.99998799e-01 -4.69655084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.615384750000004 meters 0.05949981466012669 Centerline is valid? [True, True] Translation: X:34.67, Y:-6.03, Z:-0.47 [[ 9.53086580e-01 3.02695274e-01 -1.24162410e-03 3.46704396e+01] [-3.02695078e-01 9.53087388e-01 3.47678839e-04 -6.03283618e+00] [ 1.28861702e-03 4.44654698e-05 9.99999169e-01 -4.69039121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.64538475 meters 0.05917993478505095 Centerline is valid? [True, True] Translation: X:34.70, Y:-6.05, Z:-0.47 [[ 9.53801064e-01 3.00432178e-01 -2.00917954e-03 3.46986468e+01] [-3.00431651e-01 9.53803178e-01 5.66071153e-04 -6.04662881e+00] [ 2.08642782e-03 6.37018586e-05 9.99997821e-01 -4.69757767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.67538475 meters 0.0577866579435128 Centerline is valid? [True, True] Translation: X:34.73, Y:-6.07, Z:-0.47 [[ 9.55487965e-01 2.95025787e-01 -1.59163771e-03 3.47250632e+01] [-2.95025452e-01 9.55489290e-01 4.46510044e-04 -6.06965274e+00] [ 1.65252476e-03 4.29386617e-05 9.99998634e-01 -4.69342744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.70538475 meters 0.05671394013538 Centerline is valid? [True, True] Translation: X:34.75, Y:-6.09, Z:-0.47 [[ 9.57772743e-01 2.87516193e-01 -2.41074972e-03 3.47505260e+01] [-2.87515400e-01 9.57775776e-01 6.76754872e-04 -6.09154385e+00] [ 2.50353566e-03 4.49502996e-05 9.99996865e-01 -4.72822410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.73538475 meters 0.05632700527912354 Centerline is valid? [True, True] Translation: X:34.78, Y:-6.11, Z:-0.47 [[ 9.58720585e-01 2.84334893e-01 -2.91704082e-03 3.47792104e+01] [-2.84333709e-01 9.58725021e-01 8.21682489e-04 -6.10689532e+00] [ 3.03027302e-03 4.16491182e-05 9.99995408e-01 -4.73525111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.76538475 meters 0.05604038333113805 Centerline is valid? [True, True] Translation: X:34.81, Y:-6.12, Z:-0.47 [[ 9.59516981e-01 2.81639786e-01 -2.48866930e-03 3.48070113e+01] [-2.81638913e-01 9.59520208e-01 7.01908550e-04 -6.12134281e+00] [ 2.58561385e-03 2.74129417e-05 9.99996657e-01 -4.74776923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.795384750000004 meters 0.05544983628158529 Centerline is valid? [True, True] Translation: X:34.84, Y:-6.14, Z:-0.47 [[ 9.60373048e-01 2.78711460e-01 -1.87882815e-03 3.48351762e+01] [-2.78710954e-01 9.60374886e-01 5.31512575e-04 -6.14031152e+00] [ 1.95251801e-03 1.31996328e-05 9.99998094e-01 -4.73967231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.82538475 meters 0.05539268451066637 Centerline is valid? [True, True] Translation: X:34.86, Y:-6.15, Z:-0.47 [[ 9.60508967e-01 2.78246862e-01 -1.09919316e-03 3.48646238e+01] [-2.78246686e-01 9.60509596e-01 3.12757153e-04 -6.15233521e+00] [ 1.14280928e-03 5.44080504e-06 9.99999347e-01 -4.74076253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.85538475 meters 0.05516468340861108 Centerline is valid? [True, True] Translation: X:34.90, Y:-6.17, Z:-0.47 [[ 9.59749474e-01 2.80857497e-01 -1.11181194e-04 3.48953701e+01] [-2.80857495e-01 9.59749481e-01 3.56040207e-05 -6.16603684e+00] [ 1.16705749e-04 -2.94486859e-06 9.99999993e-01 -4.72844004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.88538475 meters 0.05516468340861108 Centerline is valid? [True, True] Translation: X:34.93, Y:-6.17, Z:-0.47 [[ 9.59665756e-01 2.81143424e-01 -1.11170748e-04 3.49264703e+01] [-2.81143421e-01 9.59665762e-01 3.56388270e-05 -6.17494661e+00] [ 1.16706382e-04 -2.94643737e-06 9.99999993e-01 -4.73296391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.91538475 meters 0.055262360058574454 Centerline is valid? [True, True] Translation: X:34.96, Y:-6.18, Z:-0.47 [[ 9.59256858e-01 2.82535053e-01 -4.74225127e-04 3.49560287e+01] [-2.82535020e-01 9.59256975e-01 1.37249184e-04 -6.18475160e+00] [ 4.93681466e-04 2.32798503e-06 9.99999878e-01 -4.74769961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.94538475 meters 0.0554154220821985 Centerline is valid? [True, True] Translation: X:34.99, Y:-6.20, Z:-0.48 [[ 9.58318489e-01 2.85701069e-01 -7.56726520e-04 3.49854217e+01] [-2.85700987e-01 9.58318788e-01 2.17076186e-04 -6.19646324e+00] [ 7.87204140e-04 8.16939122e-06 9.99999690e-01 -4.75989537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.97538475 meters 0.05541234865317166 Centerline is valid? [True, True] Translation: X:35.02, Y:-6.21, Z:-0.48 [[ 9.57836895e-01 2.87312219e-01 -4.14519985e-04 3.50157697e+01] [-2.87312194e-01 9.57836984e-01 1.20870027e-04 -6.20725057e+00] [ 4.31770007e-04 3.32287527e-06 9.99999907e-01 -4.76156942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.005384750000005 meters 0.05557915682116716 Centerline is valid? [True, True] Translation: X:35.05, Y:-6.22, Z:-0.48 [[ 9.57352934e-01 2.88919797e-01 -8.42582141e-04 3.50456868e+01] [-2.88919697e-01 9.57353305e-01 2.40268597e-04 -6.21674764e+00] [ 8.76067151e-04 1.34167307e-05 9.99999616e-01 -4.76974604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.03538475 meters 0.05593107416326719 Centerline is valid? [True, True] Translation: X:35.07, Y:-6.23, Z:-0.48 [[ 9.56479442e-01 2.91799701e-01 -1.06015260e-04 3.50749004e+01] [-2.91799700e-01 9.56479448e-01 3.34012791e-05 -6.22696856e+00] [ 1.11147900e-04 -1.01241590e-06 9.99999994e-01 -4.78726140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.06538475 meters 0.05596152475396353 Centerline is valid? [True, True] Translation: X:35.10, Y:-6.24, Z:-0.48 [[ 9.56266614e-01 2.92494402e-01 -1.08931103e-03 3.51040056e+01] [-2.92494236e-01 9.56267235e-01 3.12327231e-04 -6.24073965e+00] [ 1.13302641e-03 1.99490932e-05 9.99999358e-01 -4.81814827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.09538475 meters 0.055845181292738535 Centerline is valid? [True, True] Translation: X:35.13, Y:-6.25, Z:-0.48 [[ 9.56148792e-01 2.92876946e-01 -1.60677719e-03 3.51348105e+01] [-2.92876586e-01 9.56150142e-01 4.60061289e-04 -6.25272159e+00] [ 1.67106159e-03 3.07003731e-05 9.99998603e-01 -4.83384062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.12538475 meters 0.055454402583841246 Centerline is valid? [True, True] Translation: X:35.16, Y:-6.27, Z:-0.48 [[ 9.56838759e-01 2.90610476e-01 -2.26708907e-03 3.51630323e+01] [-2.90609758e-01 9.56841444e-01 6.47445793e-04 -6.26926569e+00] [ 2.35739931e-03 3.93369762e-05 9.99997221e-01 -4.84536169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.15538475 meters 0.055072692150294665 Centerline is valid? [True, True] Translation: X:35.19, Y:-6.28, Z:-0.48 [[ 9.57485858e-01 2.88467272e-01 -2.73223411e-03 3.51918842e+01] [-2.88466221e-01 9.57489755e-01 7.79906289e-04 -6.28235265e+00] [ 2.84106361e-03 4.14080047e-05 9.99995963e-01 -4.84782381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.185384750000004 meters 0.054864979497432735 Centerline is valid? [True, True] Translation: X:35.22, Y:-6.30, Z:-0.48 [[ 9.57737002e-01 2.87633202e-01 -2.64137147e-03 3.52212601e+01] [-2.87632213e-01 9.57740643e-01 7.55130465e-04 -6.29532156e+00] [ 2.74694940e-03 3.65271348e-05 9.99996226e-01 -4.84112036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.21538475 meters 0.054349988756028846 Centerline is valid? [True, True] Translation: X:35.25, Y:-6.31, Z:-0.49 [[ 9.58774144e-01 2.84150075e-01 -3.29787445e-03 3.52494037e+01] [-2.84148514e-01 9.58779815e-01 9.42455428e-04 -6.30843731e+00] [ 3.42973424e-03 3.34842274e-05 9.99994118e-01 -4.86678205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.24538475 meters 0.05398824428900494 Centerline is valid? [True, True] Translation: X:35.28, Y:-6.32, Z:-0.49 [[ 9.59843735e-01 2.80494330e-01 -4.78897698e-03 3.52791857e+01] [-2.80490990e-01 9.59855682e-01 1.36915533e-03 -6.32397846e+00] [ 4.98076707e-03 2.90897261e-05 9.99987595e-01 -4.87133391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.27538475 meters 0.05376612033162573 Centerline is valid? [True, True] Translation: X:35.31, Y:-6.34, Z:-0.49 [[ 9.60169309e-01 2.79365942e-01 -5.43761162e-03 3.53096468e+01] [-2.79361611e-01 9.60184706e-01 1.55584594e-03 -6.33653262e+00] [ 5.65576188e-03 2.51844168e-05 9.99984006e-01 -4.87043363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.30538475 meters 0.053319038996991315 Centerline is valid? [True, True] Translation: X:35.34, Y:-6.35, Z:-0.49 [[ 9.61185667e-01 2.75867414e-01 -4.39129960e-03 3.53375749e+01] [-2.75864555e-01 9.61195698e-01 1.25585579e-03 -6.35097319e+00] [ 4.56734797e-03 4.29332473e-06 9.99989570e-01 -4.88009035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.33538475 meters 0.053001911087215095 Centerline is valid? [True, True] Translation: X:35.37, Y:-6.36, Z:-0.48 [[ 9.61740661e-01 2.73942474e-01 -3.22825413e-03 3.53674242e+01] [-2.73940908e-01 9.61746079e-01 9.26342187e-04 -6.36331824e+00] [ 3.35852522e-03 -6.55007985e-06 9.99994360e-01 -4.83914381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.365384750000004 meters 0.05254848781028013 Centerline is valid? [True, True] Translation: X:35.40, Y:-6.38, Z:-0.48 [[ 9.62767548e-01 2.70330433e-01 -3.23971314e-04 3.53953452e+01] [-2.70330416e-01 9.62767603e-01 9.61410749e-05 -6.37855406e+00] [ 3.37898944e-04 -4.98220689e-06 9.99999943e-01 -4.80782330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.39538475 meters 0.05255519334809428 Centerline is valid? [True, True] Translation: X:35.43, Y:-6.39, Z:-0.48 [[ 9.63376638e-01 2.68150681e-01 8.15595836e-04 3.54261848e+01] [-2.68150583e-01 9.63376984e-01 -2.29314879e-04 -6.39072645e+00] [-8.47217197e-04 2.21409868e-06 9.99999641e-01 -4.80265026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.42538475 meters 0.05266565667569968 Centerline is valid? [True, True] Translation: X:35.45, Y:-6.41, Z:-0.48 [[ 9.64456586e-01 2.64232299e-01 2.18749138e-03 3.54542474e+01] [-2.64231565e-01 9.64459067e-01 -6.23568305e-04 -6.40572915e+00] [-2.27451278e-03 2.34002893e-05 9.99997413e-01 -4.80558039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.45538475 meters 0.05273506123296346 Centerline is valid? [True, True] Translation: X:35.48, Y:-6.42, Z:-0.48 [[ 9.65172564e-01 2.61609173e-01 1.60052322e-03 3.54844434e+01] [-2.61608777e-01 9.65173891e-01 -4.55451062e-04 -6.41688284e+00] [-1.66393340e-03 2.08779462e-05 9.99998615e-01 -4.80142314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.48538475 meters 0.05335089695056533 Centerline is valid? [True, True] Translation: X:35.51, Y:-6.43, Z:-0.48 [[ 9.66533542e-01 2.56540027e-01 -3.55023814e-04 3.55130165e+01] [-2.56540006e-01 9.66533607e-01 1.05408115e-04 -6.43228415e+00] [ 3.70183848e-04 -1.08026674e-05 9.99999931e-01 -4.81669813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.51538475 meters 0.053525634191697556 Centerline is valid? [True, True] Translation: X:35.54, Y:-6.44, Z:-0.48 [[ 9.67206900e-01 2.53986745e-01 -1.24354528e-03 3.55429070e+01] [-2.53986490e-01 9.67207699e-01 3.61152102e-04 -6.44302235e+00] [ 1.29449442e-03 -3.34651025e-05 9.99999162e-01 -4.82783849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.545384750000004 meters 0.05465817629162031 Centerline is valid? [True, True] Translation: X:35.57, Y:-6.46, Z:-0.49 [[ 9.68523306e-01 2.48900165e-01 -3.36343630e-03 3.55721055e+01] [-2.48898303e-01 9.68529141e-01 9.67862117e-04 -6.45648289e+00] [ 3.49848711e-03 -1.00243429e-04 9.99993875e-01 -4.85740183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.57538475 meters 0.05481335423780304 Centerline is valid? [True, True] Translation: X:35.60, Y:-6.47, Z:-0.49 [[ 9.68944250e-01 2.47241873e-01 -4.30077264e-03 3.56025026e+01] [-2.47238796e-01 9.68953785e-01 1.24137933e-03 -6.46656436e+00] [ 4.47417088e-03 -1.39509509e-04 9.99989981e-01 -4.86289663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.60538475 meters 0.055579513975914235 Centerline is valid? [True, True] Translation: X:35.63, Y:-6.48, Z:-0.49 [[ 9.69401757e-01 2.45422325e-01 -5.30241448e-03 3.56316455e+01] [-2.45417632e-01 9.69416242e-01 1.52841266e-03 -6.47702996e+00] [ 5.51535331e-03 -1.80339905e-04 9.99984774e-01 -4.87855501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.63538475 meters 0.055541742400992127 Centerline is valid? [True, True] Translation: X:35.66, Y:-6.48, Z:-0.49 [[ 9.69469825e-01 2.45136301e-01 -6.03763480e-03 3.56629113e+01] [-2.45130190e-01 9.69488602e-01 1.74365955e-03 -6.48487974e+00] [ 6.28085238e-03 -2.10418754e-04 9.99980253e-01 -4.89882423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.66538475 meters 0.055738650269356114 Centerline is valid? [True, True] Translation: X:35.69, Y:-6.49, Z:-0.49 [[ 9.68703765e-01 2.48127496e-01 -6.76478850e-03 3.56933786e+01] [-2.48119887e-01 9.68727361e-01 1.95502637e-03 -6.49241663e+00] [ 7.03833150e-03 -2.15362840e-04 9.99975207e-01 -4.91197048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.69538475 meters 0.05513805859600849 Centerline is valid? [True, True] Translation: X:35.73, Y:-6.50, Z:-0.49 [[ 9.67939243e-01 2.51082786e-01 -7.14533830e-03 3.57250690e+01] [-2.51074366e-01 9.67965594e-01 2.06664665e-03 -6.49777779e+00] [ 7.43534104e-03 -2.06377108e-04 9.99972336e-01 -4.91839595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.72538475 meters 0.054337378476475316 Centerline is valid? [True, True] Translation: X:35.76, Y:-6.50, Z:-0.49 [[ 9.66227468e-01 2.57584657e-01 -7.39090770e-03 3.57568784e+01] [-2.57575849e-01 9.66255721e-01 2.13608792e-03 -6.49905113e+00] [ 7.69173032e-03 -1.60227496e-04 9.99970405e-01 -4.92816490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.755384750000005 meters 0.05352167940900135 Centerline is valid? [True, True] Translation: X:35.79, Y:-6.50, Z:-0.49 [[ 9.65066371e-01 2.61909696e-01 -7.08598190e-03 3.57896288e+01] [-2.61901686e-01 9.65092377e-01 2.05217680e-03 -6.50202522e+00] [ 7.37611212e-03 -1.24656211e-04 9.99972788e-01 -4.91072477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.78538475 meters 0.05275180805633918 Centerline is valid? [True, True] Translation: X:35.82, Y:-6.50, Z:-0.49 [[ 9.63202827e-01 2.68730560e-01 -4.91930134e-03 3.58212496e+01] [-2.68726798e-01 9.63215388e-01 1.42279732e-03 -6.50246301e+00] [ 5.12069587e-03 -4.84943058e-05 9.99986888e-01 -4.91167054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.81538475 meters 0.05237523392102966 Centerline is valid? [True, True] Translation: X:35.85, Y:-6.51, Z:-0.49 [[ 9.62333579e-01 2.71834719e-01 -4.46854300e-03 3.58529535e+01] [-2.71831627e-01 9.62343953e-01 1.29695522e-03 -6.50692131e+00] [ 4.65283279e-03 -3.34122480e-05 9.99989175e-01 -4.89260253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.84538475 meters 0.05207181714890363 Centerline is valid? [True, True] Translation: X:35.88, Y:-6.51, Z:-0.49 [[ 9.61228730e-01 2.75734321e-01 -3.14853689e-03 3.58849293e+01] [-2.75732801e-01 9.61233886e-01 9.15826971e-04 -6.51150292e+00] [ 3.27900527e-03 -1.21643026e-05 9.99994624e-01 -4.87495429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.87538475 meters 0.052069721037068625 Centerline is valid? [True, True] Translation: X:35.92, Y:-6.52, Z:-0.49 [[ 9.61009423e-01 2.76503539e-01 -2.58485573e-03 3.59158171e+01] [-2.76502513e-01 9.61012899e-01 7.53286900e-04 -6.51926175e+00] [ 2.69236620e-03 -9.19670225e-06 9.99996376e-01 -4.87668156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.90538475 meters 0.05209526804654572 Centerline is valid? [True, True] Translation: X:35.95, Y:-6.53, Z:-0.49 [[ 9.60863306e-01 2.77011898e-01 -2.47310391e-03 3.59459162e+01] [-2.77010962e-01 9.60866488e-01 7.20287492e-04 -6.52825193e+00] [ 2.57585088e-03 -7.02092561e-06 9.99996682e-01 -4.88401940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.935384750000004 meters 0.05213139306384809 Centerline is valid? [True, True] Translation: X:35.98, Y:-6.54, Z:-0.49 [[ 9.61921125e-01 2.73319694e-01 -2.02327469e-03 3.59753021e+01] [-2.73319054e-01 9.61923253e-01 5.91593353e-04 -6.54093305e+00] [ 2.10792909e-03 -1.60666186e-05 9.99997778e-01 -4.88609626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.96538475 meters 0.052124743602530596 Centerline is valid? [True, True] Translation: X:36.00, Y:-6.55, Z:-0.49 [[ 9.62518937e-01 2.71203406e-01 -2.45139397e-03 3.60049779e+01] [-2.71202461e-01 9.62522058e-01 7.16478647e-04 -6.55209846e+00] [ 2.55383222e-03 -2.48001884e-05 9.99996739e-01 -4.88372310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.99538475 meters 0.05277190906017399 Centerline is valid? [True, True] Translation: X:36.03, Y:-6.57, Z:-0.49 [[ 9.64415909e-01 2.64361850e-01 -3.84284399e-03 3.60325160e+01] [-2.64359486e-01 9.64423563e-01 1.11968317e-03 -6.56733172e+00] [ 4.00213081e-03 -6.39480008e-05 9.99991989e-01 -4.89785410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.02538475 meters 0.05326012886988284 Centerline is valid? [True, True] Translation: X:36.06, Y:-6.58, Z:-0.49 [[ 9.65295782e-01 2.61106962e-01 -5.21610333e-03 3.60607981e+01] [-2.61102559e-01 9.65309869e-01 1.51983364e-03 -6.58021255e+00] [ 5.43199517e-03 -1.05151071e-04 9.99985241e-01 -4.91483888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.05538475 meters 0.05424566062825183 Centerline is valid? [True, True] Translation: X:36.09, Y:-6.60, Z:-0.49 [[ 9.67291159e-01 2.53605876e-01 -5.64562055e-03 3.60893630e+01] [-2.53600596e-01 9.67307621e-01 1.64421321e-03 -6.59665672e+00] [ 5.87803392e-03 -1.58700170e-04 9.99982712e-01 -4.90909243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.08538475 meters 0.054719097174321656 Centerline is valid? [True, True] Translation: X:36.12, Y:-6.61, Z:-0.49 [[ 9.68088619e-01 2.50533144e-01 -6.12942306e-03 3.61185075e+01] [-2.50526833e-01 9.68108003e-01 1.78914849e-03 -6.60888887e+00] [ 6.38218452e-03 -1.96469347e-04 9.99979614e-01 -4.91716957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.115384750000004 meters 0.055706187629431525 Centerline is valid? [True, True] Translation: X:36.15, Y:-6.62, Z:-0.49 [[ 9.69167658e-01 2.46306280e-01 -6.87504790e-03 3.61475923e+01] [-2.46298226e-01 9.69192010e-01 2.00787271e-03 -6.62081013e+00] [ 7.15779315e-03 -2.52653194e-04 9.99974351e-01 -4.93336759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.14538475 meters 0.05574157875291903 Centerline is valid? [True, True] Translation: X:36.18, Y:-6.63, Z:-0.49 [[ 9.69157093e-01 2.46303630e-01 -8.30967545e-03 3.61780456e+01] [-2.46291849e-01 9.69192668e-01 2.42844949e-03 -6.62880821e+00] [ 8.65181244e-03 -3.06943720e-04 9.99962525e-01 -4.94321663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.17538475 meters 0.056008156958744205 Centerline is valid? [True, True] Translation: X:36.21, Y:-6.64, Z:-0.49 [[ 9.69658173e-01 2.44248901e-01 -1.02713729e-02 3.62091215e+01] [-2.44230812e-01 9.69712491e-01 2.99928244e-03 -6.63617116e+00] [ 1.06928500e-02 -3.99692991e-04 9.99942750e-01 -4.94747376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.20538475 meters 0.05672673099691414 Centerline is valid? [True, True] Translation: X:36.24, Y:-6.65, Z:-0.50 [[ 9.69799577e-01 2.43679078e-01 -1.04540619e-02 3.62388547e+01] [-2.43660252e-01 9.69855831e-01 3.05772629e-03 -6.64568165e+00] [ 1.08840368e-02 -4.18142305e-04 9.99940680e-01 -4.96096159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.23538475 meters 0.05672111395315945 Centerline is valid? [True, True] Translation: X:36.27, Y:-6.65, Z:-0.50 [[ 9.69902673e-01 2.43251585e-01 -1.08384089e-02 3.62692055e+01] [-2.43231293e-01 9.69963129e-01 3.17273631e-03 -6.65419341e+00] [ 1.12846301e-02 -4.41005227e-04 9.99936229e-01 -4.96092862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.26538475 meters 0.057328987331358966 Centerline is valid? [True, True] Translation: X:36.30, Y:-6.66, Z:-0.50 [[ 9.70439544e-01 2.41085121e-01 -1.11828229e-02 3.63001265e+01] [-2.41063343e-01 9.70503854e-01 3.27628711e-03 -6.66105719e+00] [ 1.16428368e-02 -4.83669895e-04 9.99932103e-01 -4.96163589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.295384750000004 meters 0.05833341609152695 Centerline is valid? [True, True] Translation: X:36.33, Y:-6.67, Z:-0.50 [[ 9.70730378e-01 2.39925358e-01 -1.08791461e-02 3.63304236e+01] [-2.39904642e-01 9.70791216e-01 3.19011956e-03 -6.66819881e+00] [ 1.13267701e-02 -4.86788307e-04 9.99935732e-01 -4.98079165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.32538475 meters 0.05809421009736245 Centerline is valid? [True, True] Translation: X:36.36, Y:-6.67, Z:-0.50 [[ 9.70855350e-01 2.39429596e-01 -1.06469562e-02 3.63624627e+01] [-2.39409690e-01 9.70913607e-01 3.12527476e-03 -6.67437491e+00] [ 1.10855579e-02 -4.85205235e-04 9.99938436e-01 -4.97459103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.35538475 meters 0.057695553690688385 Centerline is valid? [True, True] Translation: X:36.40, Y:-6.68, Z:-0.50 [[ 9.70510346e-01 2.40841607e-01 -1.02463414e-02 3.63950704e+01] [-2.40823262e-01 9.70564329e-01 3.00648467e-03 -6.67875367e+00] [ 1.06688201e-02 -4.50267119e-04 9.99942985e-01 -4.97507915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.38538475 meters 0.057875256535495995 Centerline is valid? [True, True] Translation: X:36.43, Y:-6.69, Z:-0.50 [[ 9.70402654e-01 2.41298023e-01 -9.69293594e-03 3.64264665e+01] [-2.41281578e-01 9.70450969e-01 2.84912426e-03 -6.68509725e+00] [ 1.00940071e-02 -4.26070859e-04 9.99948963e-01 -4.97772021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.41538475 meters 0.05715752869374868 Centerline is valid? [True, True] Translation: X:36.46, Y:-6.69, Z:-0.50 [[ 9.70092396e-01 2.42543122e-01 -9.67356570e-03 3.64586809e+01] [-2.42526777e-01 9.70140537e-01 2.84617728e-03 -6.68958958e+00] [ 1.00750389e-02 -4.14956225e-04 9.99949159e-01 -4.96816081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.44538475 meters 0.05650658002967915 Centerline is valid? [True, True] Translation: X:36.49, Y:-6.69, Z:-0.50 [[ 9.69507017e-01 2.44958553e-01 -7.17292504e-03 3.64908386e+01] [-2.44949646e-01 9.69533509e-01 2.10852825e-03 -6.69041252e+00] [ 7.47089321e-03 -2.87227480e-04 9.99972051e-01 -4.96547389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.47538475 meters 0.056650954144837944 Centerline is valid? [True, True] Translation: X:36.52, Y:-6.70, Z:-0.50 [[ 9.68962094e-01 2.47072573e-01 -8.22218495e-03 3.65208616e+01] [-2.47060904e-01 9.68996927e-01 2.42192687e-03 -6.69679896e+00] [ 8.56566365e-03 -3.15374885e-04 9.99963264e-01 -4.98358483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.505384750000005 meters 0.055818591148464554 Centerline is valid? [True, True] Translation: X:36.55, Y:-6.70, Z:-0.50 [[ 9.68088318e-01 2.50513884e-01 -6.91395416e-03 3.65531293e+01] [-2.50505736e-01 9.68112978e-01 2.03448587e-03 -6.69758300e+00] [ 7.20315571e-03 -2.37576828e-04 9.99974029e-01 -4.98626815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.53538475 meters 0.05515824433752907 Centerline is valid? [True, True] Translation: X:36.59, Y:-6.70, Z:-0.50 [[ 9.67256003e-01 2.53738618e-01 -5.70417629e-03 3.65855798e+01] [-2.53733123e-01 9.67272807e-01 1.67921085e-03 -6.70033574e+00] [ 5.94357525e-03 -1.76888315e-04 9.99982321e-01 -4.98824991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.56538475 meters 0.05512554392744954 Centerline is valid? [True, True] Translation: X:36.62, Y:-6.71, Z:-0.50 [[ 9.66739658e-01 2.55711062e-01 -5.12713066e-03 3.66159945e+01] [-2.55706628e-01 9.66753241e-01 1.51341049e-03 -6.70736231e+00] [ 5.34366599e-03 -1.52032648e-04 9.99985711e-01 -4.99194442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.59538475 meters 0.055043832559441085 Centerline is valid? [True, True] Translation: X:36.65, Y:-6.71, Z:-0.50 [[ 9.66263248e-01 2.57511569e-01 -4.80902848e-03 3.66463580e+01] [-2.57507684e-01 9.66275206e-01 1.42090289e-03 -6.71395244e+00] [ 5.01274392e-03 -1.34604452e-04 9.99987427e-01 -5.00697661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.62538475 meters 0.05436913659214562 Centerline is valid? [True, True] Translation: X:36.68, Y:-6.72, Z:-0.50 [[ 9.65388454e-01 2.60788765e-01 -3.78845462e-03 3.66779691e+01] [-2.60786387e-01 9.65395883e-01 1.11735515e-03 -6.71696213e+00] [ 3.94875216e-03 -9.07043652e-05 9.99992200e-01 -5.02117127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.65538475 meters 0.054323072291706784 Centerline is valid? [True, True] Translation: X:36.71, Y:-6.72, Z:-0.50 [[ 9.65106358e-01 2.61823395e-01 -4.26943023e-03 3.67105173e+01] [-2.61820362e-01 9.65115796e-01 1.26431010e-03 -6.72429958e+00] [ 4.45152052e-03 -1.02369949e-04 9.99990087e-01 -5.02761179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.685384750000004 meters 0.05450067737666707 Centerline is valid? [True, True] Translation: X:36.74, Y:-6.73, Z:-0.51 [[ 9.65054736e-01 2.61995950e-01 -5.24209298e-03 3.67396595e+01] [-2.61991383e-01 9.65068965e-01 1.55188393e-03 -6.73352991e+00] [ 5.46556855e-03 -1.24269745e-04 9.99985056e-01 -5.05174515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.71538475 meters 0.05506519200661272 Centerline is valid? [True, True] Translation: X:36.77, Y:-6.74, Z:-0.51 [[ 9.65204802e-01 2.61445512e-01 -5.09267043e-03 3.67688031e+01] [-2.61441187e-01 9.65218228e-01 1.50898216e-03 -6.74311467e+00] [ 5.31005495e-03 -1.25043021e-04 9.99985894e-01 -5.06292904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.74538475 meters 0.05465749941049987 Centerline is valid? [True, True] Translation: X:36.80, Y:-6.75, Z:-0.50 [[ 9.65276635e-01 2.61205015e-01 -3.59973803e-03 3.67999447e+01] [-2.61202844e-01 9.65283343e-01 1.06901303e-03 -6.75143479e+00] [ 3.75399873e-03 -9.16314885e-05 9.99992950e-01 -5.04868713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.77538475 meters 0.0551481883676972 Centerline is valid? [True, True] Translation: X:36.83, Y:-6.76, Z:-0.51 [[ 9.65263660e-01 2.61259621e-01 -3.07856268e-03 3.68299282e+01] [-2.61258035e-01 9.65268566e-01 9.13611632e-04 -6.76090391e+00] [ 3.21032961e-03 -7.75768703e-05 9.99994844e-01 -5.07471777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.80538475 meters 0.0551481883676972 Centerline is valid? [True, True] Translation: X:36.86, Y:-6.77, Z:-0.51 [[ 9.65188755e-01 2.61536221e-01 -3.07774546e-03 3.68609111e+01] [-2.61534628e-01 9.65193659e-01 9.16369310e-04 -6.77023915e+00] [ 3.21028417e-03 -7.95323398e-05 9.99994844e-01 -5.07923120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.83538475 meters 0.054908721009192835 Centerline is valid? [True, True] Translation: X:36.89, Y:-6.78, Z:-0.51 [[ 9.65147403e-01 2.61694702e-01 -2.52455536e-03 3.68928119e+01] [-2.61693635e-01 9.65150703e-01 7.49834697e-04 -6.77735818e+00] [ 2.63280415e-03 -6.30409417e-05 9.99996532e-01 -5.08005413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.865384750000004 meters 0.054985890023011005 Centerline is valid? [True, True] Translation: X:36.92, Y:-6.78, Z:-0.51 [[ 9.64927100e-01 2.62516076e-01 -1.00064739e-03 3.69244595e+01] [-2.62515906e-01 9.64927618e-01 3.00670013e-04 -6.78432537e+00] [ 1.04448302e-03 -2.74387867e-05 9.99999454e-01 -5.07551111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.89538475 meters 0.05523137667241572 Centerline is valid? [True, True] Translation: X:36.95, Y:-6.79, Z:-0.51 [[ 9.64969256e-01 2.62362824e-01 -2.87951428e-04 3.69549802e+01] [-2.62362809e-01 9.64969299e-01 8.94914342e-05 -6.79324753e+00] [ 3.01343513e-04 -1.08087373e-05 9.99999955e-01 -5.08519820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.92538475 meters 0.05515070468803977 Centerline is valid? [True, True] Translation: X:36.99, Y:-6.80, Z:-0.51 [[ 9.64872064e-01 2.62718542e-01 9.31728041e-04 3.69872266e+01] [-2.62718400e-01 9.64872514e-01 -2.73267700e-04 -6.79649702e+00] [-9.70791268e-04 1.88862693e-05 9.99999529e-01 -5.09160004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.95538475 meters 0.05535043073316014 Centerline is valid? [True, True] Translation: X:37.02, Y:-6.80, Z:-0.51 [[ 9.64846966e-01 2.62807577e-01 1.58400697e-03 3.70195049e+01] [-2.62807164e-01 9.64848266e-01 -4.67220200e-04 -6.80448192e+00] [-1.65111539e-03 3.45076138e-05 9.99998636e-01 -5.10277979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.98538475 meters 0.05548938561825804 Centerline is valid? [True, True] Translation: X:37.05, Y:-6.81, Z:-0.51 [[ 9.65387167e-01 2.60815169e-01 1.75101373e-03 3.70509453e+01] [-2.60814658e-01 9.65388754e-01 -5.17910635e-04 -6.81205391e+00] [-1.82548791e-03 4.32942329e-05 9.99998333e-01 -5.10380183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.01538475 meters 0.05570419442682236 Centerline is valid? [True, True] Translation: X:37.08, Y:-6.82, Z:-0.51 [[ 9.65905965e-01 2.58889555e-01 1.36578887e-03 3.70814694e+01] [-2.58889243e-01 9.65906930e-01 -4.03456260e-04 -6.82142179e+00] [-1.42367555e-03 3.61127609e-05 9.99998986e-01 -5.10182715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.045384750000004 meters 0.05696692369191539 Centerline is valid? [True, True] Translation: X:37.11, Y:-6.83, Z:-0.51 [[ 9.67261902e-01 2.53774287e-01 1.73877319e-03 3.71092375e+01] [-2.53773766e-01 9.67263463e-01 -5.17722127e-04 -6.83438882e+00] [-1.81323634e-03 5.95178685e-05 9.99998354e-01 -5.12235075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.07538475 meters 0.05753799631881382 Centerline is valid? [True, True] Translation: X:37.14, Y:-6.84, Z:-0.51 [[ 9.68062110e-01 2.50700472e-01 2.24153004e-03 3.71390617e+01] [-2.50699602e-01 9.68064702e-01 -6.65811461e-04 -6.84483892e+00] [-2.33686536e-03 8.25961599e-05 9.99997266e-01 -5.13427680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.10538475 meters 0.05789074781441165 Centerline is valid? [True, True] Translation: X:37.17, Y:-6.85, Z:-0.51 [[ 9.69568945e-01 2.44804013e-01 2.65633529e-03 3.71691494e+01] [-2.44802764e-01 9.69572577e-01 -7.90749604e-04 -6.85327110e+00] [-2.76908853e-03 1.16408038e-04 9.99996159e-01 -5.12938897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.13538475 meters 0.059402618649915875 Centerline is valid? [True, True] Translation: X:37.20, Y:-6.87, Z:-0.51 [[ 9.70110027e-01 2.42643893e-01 3.23676546e-03 3.71972188e+01] [-2.42642018e-01 9.70115415e-01 -9.65964255e-04 -6.86592819e+00] [-3.37442140e-03 1.51716308e-04 9.99994295e-01 -5.13820311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.16538475 meters 0.05988187325903383 Centerline is valid? [True, True] Translation: X:37.23, Y:-6.87, Z:-0.51 [[ 9.71371830e-01 2.37498490e-01 5.58884322e-03 3.72270907e+01] [-2.37492807e-01 9.71387863e-01 -1.66894788e-03 -6.87493947e+00] [-5.82530708e-03 2.93858894e-04 9.99982990e-01 -5.12196754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.19538475 meters 0.06007942956615576 Centerline is valid? [True, True] Translation: X:37.26, Y:-6.88, Z:-0.51 [[ 9.71751301e-01 2.35939666e-01 5.64647802e-03 3.72582573e+01] [-2.35933826e-01 9.71767657e-01 -1.68846109e-03 -6.88400330e+00] [-5.88543966e-03 3.08569102e-04 9.99982633e-01 -5.11698420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.22538475 meters 0.06205801696340827 Centerline is valid? [True, True] Translation: X:37.29, Y:-6.89, Z:-0.51 [[ 9.72977235e-01 2.30843427e-01 5.15870277e-03 3.72870223e+01] [-2.30838479e-01 9.72990861e-01 -1.54286522e-03 -6.89346201e+00] [-5.37553094e-03 3.10345632e-04 9.99985504e-01 -5.13559009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.255384750000005 meters 0.06310931093288653 Centerline is valid? [True, True] Translation: X:37.32, Y:-6.90, Z:-0.51 [[ 9.73461429e-01 2.28789154e-01 5.32622084e-03 3.73158133e+01] [-2.28783846e-01 9.73475943e-01 -1.59363107e-03 -6.90311746e+00] [-5.54955336e-03 3.32785096e-04 9.99984546e-01 -5.13259314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.28538475 meters 0.06502669777570153 Centerline is valid? [True, True] Translation: X:37.34, Y:-6.91, Z:-0.51 [[ 9.74366366e-01 2.24895257e-01 5.68403487e-03 3.73446170e+01] [-2.24889140e-01 9.74382871e-01 -1.70162643e-03 -6.91294617e+00] [-5.92111393e-03 3.79729851e-04 9.99982398e-01 -5.11291851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.31538475 meters 0.06475577933083448 Centerline is valid? [True, True] Translation: X:37.38, Y:-6.92, Z:-0.51 [[ 9.74629207e-01 2.23777993e-01 4.61724494e-03 3.73758463e+01] [-2.23773954e-01 9.74640094e-01 -1.38017603e-03 -6.91848872e+00] [-4.80900506e-03 3.11940717e-04 9.99988388e-01 -5.11351948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.34538475 meters 0.06481867451935631 Centerline is valid? [True, True] Translation: X:37.41, Y:-6.92, Z:-0.51 [[ 9.75277617e-01 2.20943214e-01 4.20303148e-03 3.74080408e+01] [-2.20939829e-01 9.75286628e-01 -1.25910406e-03 -6.92026250e+00] [-4.37735090e-03 2.99358952e-04 9.99990375e-01 -5.12816420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.37538475 meters 0.06441989058744281 Centerline is valid? [True, True] Translation: X:37.44, Y:-6.92, Z:-0.51 [[ 9.75714540e-01 2.19007485e-01 4.10575103e-03 3.74396956e+01] [-2.19004237e-01 9.75723132e-01 -1.23014650e-03 -6.92416147e+00] [-4.27548755e-03 3.01094949e-04 9.99990815e-01 -5.13220213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.40538475 meters 0.06902707933263319 Centerline is valid? [True, True] Translation: X:37.47, Y:-6.94, Z:-0.51 [[ 9.76210505e-01 2.16793581e-01 3.68689973e-03 3.74665068e+01] [-2.16790945e-01 9.76217427e-01 -1.10512753e-03 -6.93807273e+00] [-3.83880032e-03 2.79550624e-04 9.99992593e-01 -5.14327096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.435384750000004 meters 0.06554974576098246 Centerline is valid? [True, True] Translation: X:37.50, Y:-6.93, Z:-0.51 [[ 9.77414112e-01 2.11267860e-01 5.24825657e-03 3.75014788e+01] [-2.11262440e-01 9.77428109e-01 -1.57284126e-03 -6.93090643e+00] [-5.46208430e-03 4.28557754e-04 9.99984991e-01 -5.12994513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.46538475 meters 0.0659097791912385 Centerline is valid? [True, True] Translation: X:37.53, Y:-6.93, Z:-0.51 [[ 9.78092773e-01 2.08116487e-01 4.69620811e-03 3.75346176e+01] [-2.08112110e-01 9.78103966e-01 -1.40762490e-03 -6.92959685e+00] [-4.88632972e-03 3.99449961e-04 9.99987982e-01 -5.13008019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.49538475 meters 0.06630214231106056 Centerline is valid? [True, True] Translation: X:37.57, Y:-6.93, Z:-0.51 [[ 9.78213498e-01 2.07551772e-01 4.54020360e-03 3.75670912e+01] [-2.07547685e-01 9.78223958e-01 -1.35870177e-03 -6.93370155e+00] [-4.72333689e-03 3.86791667e-04 9.99988770e-01 -5.12685627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.52538475 meters 0.06500764763225476 Centerline is valid? [True, True] Translation: X:37.60, Y:-6.93, Z:-0.51 [[ 9.77650804e-01 2.10165548e-01 5.41744059e-03 3.76012252e+01] [-2.10159744e-01 9.77665709e-01 -1.62572277e-03 -6.92702721e+00] [-5.63811681e-03 4.50861241e-04 9.99984004e-01 -5.10981488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.55538475 meters 0.06533374814379894 Centerline is valid? [True, True] Translation: X:37.63, Y:-6.93, Z:-0.51 [[ 9.77083544e-01 2.12743414e-01 6.92729664e-03 3.76327449e+01] [-2.12733986e-01 9.77107941e-01 -2.07899255e-03 -6.92847688e+00] [-7.21100853e-03 5.57677980e-04 9.99973845e-01 -5.10685113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.58538475 meters 0.06408118220849655 Centerline is valid? [True, True] Translation: X:37.67, Y:-6.93, Z:-0.51 [[ 9.76350241e-01 2.16023337e-01 8.60963855e-03 3.76657464e+01] [-2.16008900e-01 9.76387975e-01 -2.58393923e-03 -6.92679431e+00] [-8.96453873e-03 6.63071133e-04 9.99959598e-01 -5.10552217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.615384750000004 meters 0.062186112117883566 Centerline is valid? [True, True] Translation: X:37.70, Y:-6.92, Z:-0.51 [[ 9.75138142e-01 2.21447387e-01 8.16444296e-03 3.77018812e+01] [-2.21434590e-01 9.75172147e-01 -2.45070050e-03 -6.91586913e+00] [-8.50443859e-03 5.81881448e-04 9.99963667e-01 -5.10272975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.64538475 meters 0.061948281602244394 Centerline is valid? [True, True] Translation: X:37.74, Y:-6.91, Z:-0.51 [[ 9.75009382e-01 2.22053592e-01 6.99330989e-03 3.77367226e+01] [-2.22044229e-01 9.75034338e-01 -2.09784739e-03 -6.90998572e+00] [-7.28455182e-03 4.92596787e-04 9.99973346e-01 -5.10470303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.67538475 meters 0.059987447578061764 Centerline is valid? [True, True] Translation: X:37.77, Y:-6.91, Z:-0.51 [[ 9.75268675e-01 2.20928424e-01 6.45320283e-03 3.77707112e+01] [-2.20920416e-01 9.75289914e-01 -1.93745931e-03 -6.90716913e+00] [-6.72178346e-03 4.63899119e-04 9.99977301e-01 -5.09549606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.70538475 meters 0.06082257638913981 Centerline is valid? [True, True] Translation: X:37.80, Y:-6.91, Z:-0.51 [[ 9.75522331e-01 2.19830905e-01 5.52762646e-03 3.78017336e+01] [-2.19825000e-01 9.75537907e-01 -1.66167261e-03 -6.91168057e+00] [-5.75769614e-03 4.05888259e-04 9.99983342e-01 -5.10755599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.73538475 meters 0.06190558711738421 Centerline is valid? [True, True] Translation: X:37.84, Y:-6.91, Z:-0.51 [[ 9.76927578e-01 2.13564709e-01 1.61961715e-03 3.78356332e+01] [-2.13564193e-01 9.76928912e-01 -4.86964625e-04 -6.90755066e+00] [-1.68624927e-03 1.29836942e-04 9.99998570e-01 -5.11201887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.76538475 meters 0.06402479616619523 Centerline is valid? [True, True] Translation: X:37.87, Y:-6.91, Z:-0.51 [[ 9.77656643e-01 2.10207681e-01 4.69060335e-04 3.78659025e+01] [-2.10207637e-01 9.77656754e-01 -1.41168841e-04 -6.91220173e+00] [-4.88254780e-04 3.94145900e-05 9.99999880e-01 -5.12082982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.795384750000004 meters 0.06531278621549283 Centerline is valid? [True, True] Translation: X:37.90, Y:-6.90, Z:-0.51 [[ 9.78844214e-01 2.04588873e-01 -2.71987777e-03 3.79005319e+01] [-2.04587380e-01 9.78847962e-01 8.19381460e-04 -6.90469331e+00] [ 2.82998314e-03 -2.45594135e-04 9.99995965e-01 -5.07427807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.82538475 meters 0.06712234346482171 Centerline is valid? [True, True] Translation: X:37.93, Y:-6.91, Z:-0.50 [[ 9.79257073e-01 2.02569336e-01 -4.60963652e-03 3.79320141e+01] [-2.02565024e-01 9.79267830e-01 1.38856369e-03 -6.90683392e+00] [ 4.79534918e-03 -4.26009679e-04 9.99988412e-01 -5.04258688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.85538475 meters 0.06665087890053109 Centerline is valid? [True, True] Translation: X:37.97, Y:-6.90, Z:-0.50 [[ 9.79709110e-01 2.00348308e-01 -5.53306249e-03 3.79682247e+01] [-2.00342061e-01 9.79724594e-01 1.66682756e-03 -6.89547512e+00] [ 5.75482349e-03 -5.24501001e-04 9.99983303e-01 -4.99040625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.88538475 meters 0.06717474677744306 Centerline is valid? [True, True] Translation: X:38.00, Y:-6.90, Z:-0.50 [[ 9.79506897e-01 2.01282014e-01 -7.19651520e-03 3.80011497e+01] [-2.01271430e-01 9.79533097e-01 2.17340866e-03 -6.89682424e+00] [ 7.48669289e-03 -6.80415868e-04 9.99971743e-01 -4.97985147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.91538475 meters 0.0770091234864484 Centerline is valid? [True, True] Translation: X:38.03, Y:-6.91, Z:-0.50 [[ 9.78062317e-01 2.08155383e-01 -8.08947777e-03 3.80305141e+01] [-2.08142279e-01 9.78095519e-01 2.43868621e-03 -6.90520145e+00] [ 8.41990762e-03 -7.01424747e-04 9.99964306e-01 -5.04144036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.94538475 meters 0.07405046352241784 Centerline is valid? [True, True] Translation: X:38.06, Y:-6.90, Z:-0.50 [[ 9.76862972e-01 2.13700587e-01 -8.41389653e-03 3.80640708e+01] [-2.13686611e-01 9.76898969e-01 2.53684991e-03 -6.90000916e+00] [ 8.76165317e-03 -6.80217703e-04 9.99961385e-01 -5.04163626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.97538475 meters 0.07428889609035526 Centerline is valid? [True, True] Translation: X:38.10, Y:-6.90, Z:-0.51 [[ 9.75482084e-01 2.19898420e-01 -8.90998529e-03 3.80951014e+01] [-2.19883009e-01 9.75522551e-01 2.68591353e-03 -6.89933888e+00] [ 9.28251972e-03 -6.60906157e-04 9.99956698e-01 -5.07081406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.005384750000005 meters 0.06727118516786991 Centerline is valid? [True, True] Translation: X:38.13, Y:-6.88, Z:-0.51 [[ 9.72320194e-01 2.33509080e-01 -8.18232977e-03 3.81328635e+01] [-2.33496560e-01 9.72354499e-01 2.46676894e-03 -6.87946447e+00] [ 8.53213810e-03 -4.87943398e-04 9.99963482e-01 -5.06194877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.03538475 meters 0.06144557635378013 Centerline is valid? [True, True] Translation: X:38.17, Y:-6.86, Z:-0.51 [[ 9.68908946e-01 2.47301651e-01 -7.57278381e-03 3.81705776e+01] [-2.47291343e-01 9.68938480e-01 2.28338230e-03 -6.86147791e+00] [ 7.90224585e-03 -3.39705664e-04 9.99968719e-01 -5.06283668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.06538475 meters 0.05644603880717062 Centerline is valid? [True, True] Translation: X:38.21, Y:-6.85, Z:-0.50 [[ 9.67410779e-01 2.53083130e-01 -8.08174546e-03 3.82071103e+01] [-2.53071572e-01 9.67444484e-01 2.43904660e-03 -6.84969916e+00] [ 8.43592162e-03 -3.14299939e-04 9.99964368e-01 -5.02241166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.09538475 meters 0.058136029604303176 Centerline is valid? [True, True] Translation: X:38.24, Y:-6.85, Z:-0.51 [[ 9.65541404e-01 2.60110749e-01 -8.49673636e-03 3.82387462e+01] [-2.60098249e-01 9.65578753e-01 2.56379467e-03 -6.85100848e+00] [ 8.87113865e-03 -2.65463654e-04 9.99960615e-01 -5.09936397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.12538475 meters 0.05756334323523177 Centerline is valid? [True, True] Translation: X:38.27, Y:-6.85, Z:-0.51 [[ 9.65028387e-01 2.61961855e-01 -9.80810083e-03 3.82716467e+01] [-2.61945200e-01 9.65078183e-01 2.96868034e-03 -6.85452942e+00] [ 1.02432651e-02 -2.95675867e-04 9.99947493e-01 -5.10484591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.15538475 meters 0.0588302478758923 Centerline is valid? [True, True] Translation: X:38.30, Y:-6.86, Z:-0.51 [[ 9.65660914e-01 2.59564649e-01 -1.11889292e-02 3.83025635e+01] [-2.59542791e-01 9.65725664e-01 3.38854424e-03 -6.85942631e+00] [ 1.16849824e-02 -3.68178814e-04 9.99931660e-01 -5.13481632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.185384750000004 meters 0.05951966781794829 Centerline is valid? [True, True] Translation: X:38.33, Y:-6.87, Z:-0.51 [[ 9.66395087e-01 2.56793227e-01 -1.17377506e-02 3.83329928e+01] [-2.56768971e-01 9.66466275e-01 3.55450401e-03 -6.86778393e+00] [ 1.22569126e-02 -4.21165077e-04 9.99924793e-01 -5.13705036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.21538475 meters 0.06304798162329595 Centerline is valid? [True, True] Translation: X:38.36, Y:-6.88, Z:-0.51 [[ 9.68753290e-01 2.47793717e-01 -1.07394811e-02 3.83601770e+01] [-2.47772885e-01 9.68812694e-01 3.24978689e-03 -6.88048286e+00] [ 1.12098224e-02 -4.87289532e-04 9.99937049e-01 -5.14541722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.24538475 meters 0.06505774844089054 Centerline is valid? [True, True] Translation: X:38.39, Y:-6.89, Z:-0.52 [[ 9.69870438e-01 2.43308590e-01 -1.23395399e-02 3.83890483e+01] [-2.43280705e-01 9.69948733e-01 3.73553803e-03 -6.89167892e+00] [ 1.28776096e-02 -6.21015947e-04 9.99916887e-01 -5.15745833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.27538475 meters 0.06685704242970704 Centerline is valid? [True, True] Translation: X:38.42, Y:-6.90, Z:-0.52 [[ 9.71046705e-01 2.38547176e-01 -1.27883405e-02 3.84184546e+01] [-2.38516814e-01 9.71130652e-01 3.87131196e-03 -6.90018663e+00] [ 1.33426400e-02 -7.08990488e-04 9.99910732e-01 -5.15333962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.30538475 meters 0.06758975108180201 Centerline is valid? [True, True] Translation: X:38.45, Y:-6.91, Z:-0.52 [[ 9.71163731e-01 2.38083205e-01 -1.25457399e-02 3.84480474e+01] [-2.38053887e-01 9.71244505e-01 3.80230620e-03 -6.90811828e+00] [ 1.30902462e-02 -7.06099728e-04 9.99914070e-01 -5.16255958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.33538475 meters 0.06667572291482056 Centerline is valid? [True, True] Translation: X:38.48, Y:-6.91, Z:-0.52 [[ 9.70338664e-01 2.41428851e-01 -1.24494102e-02 3.84808782e+01] [-2.41400250e-01 9.70418301e-01 3.77357164e-03 -6.90981840e+00] [ 1.29921845e-02 -6.56351736e-04 9.99915383e-01 -5.17241180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.365384750000004 meters 0.06529198800161368 Centerline is valid? [True, True] Translation: X:38.51, Y:-6.91, Z:-0.52 [[ 9.69678979e-01 2.43985876e-01 -1.39129595e-02 3.85136147e+01] [-2.43950297e-01 9.69778530e-01 4.22551741e-03 -6.91329285e+00] [ 1.45234560e-02 -7.03324797e-04 9.99894282e-01 -5.18027801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.39538475 meters 0.06358963230639558 Centerline is valid? [True, True] Translation: X:38.55, Y:-6.91, Z:-0.52 [[ 9.68353744e-01 2.49214376e-01 -1.35359050e-02 3.85456888e+01] [-2.49181266e-01 9.68448155e-01 4.10694050e-03 -6.91294761e+00] [ 1.41323308e-02 -6.04077267e-04 9.99899951e-01 -5.18530450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.42538475 meters 0.0637778300059306 Centerline is valid? [True, True] Translation: X:38.58, Y:-6.92, Z:-0.52 [[ 9.68001128e-01 2.50563195e-01 -1.38528627e-02 3.85760289e+01] [-2.50528527e-01 9.68100056e-01 4.21180895e-03 -6.91975717e+00] [ 1.44662814e-02 -6.06498529e-04 9.99895174e-01 -5.20529162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.45538475 meters 0.06422639713875156 Centerline is valid? [True, True] Translation: X:38.61, Y:-6.93, Z:-0.52 [[ 9.67814642e-01 2.51117902e-01 -1.65716253e-02 3.86071413e+01] [-2.51068281e-01 9.67956239e-01 5.04368345e-03 -6.92758199e+00] [ 1.73071673e-02 -7.20741229e-04 9.99849960e-01 -5.23479673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.48538475 meters 0.06415938968873633 Centerline is valid? [True, True] Translation: X:38.64, Y:-6.93, Z:-0.52 [[ 9.68318878e-01 2.49086285e-01 -1.77362197e-02 3.86387195e+01] [-2.49029095e-01 9.68480958e-01 5.39860228e-03 -6.93222167e+00] [ 1.85219088e-02 -8.10733760e-04 9.99828126e-01 -5.24825912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.51538475 meters 0.06704930169660751 Centerline is valid? [True, True] Translation: X:38.67, Y:-6.95, Z:-0.53 [[ 9.68806482e-01 2.47184227e-01 -1.77188486e-02 3.86673108e+01] [-2.47126768e-01 9.68968129e-01 5.39673512e-03 -6.94614142e+00] [ 1.85029874e-02 -8.49590179e-04 9.99828444e-01 -5.28200968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.545384750000004 meters 0.06865167430702364 Centerline is valid? [True, True] Translation: X:38.70, Y:-6.96, Z:-0.53 [[ 9.70433804e-01 2.40535862e-01 -2.00182746e-02 3.86959400e+01] [-2.40461151e-01 9.70639627e-01 6.09495543e-03 -6.95718595e+00] [ 2.08965860e-02 -1.10113342e-03 9.99781036e-01 -5.27001888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.57538475 meters 0.07272716864639758 Centerline is valid? [True, True] Translation: X:38.72, Y:-6.97, Z:-0.53 [[ 9.72603702e-01 2.31773712e-01 -1.79718150e-02 3.87232654e+01] [-2.31711991e-01 9.72769040e-01 5.47248222e-03 -6.97277851e+00] [ 1.87508027e-02 -1.15827142e-03 9.99823517e-01 -5.25103107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.60538475 meters 0.07423555733054961 Centerline is valid? [True, True] Translation: X:38.75, Y:-6.98, Z:-0.53 [[ 9.73431361e-01 2.28236209e-01 -1.84287216e-02 3.87521872e+01] [-2.28170670e-01 9.73604976e-01 5.61207615e-03 -6.98308539e+00] [ 1.92231740e-02 -1.25807718e-03 9.99814426e-01 -5.25221551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.63538475 meters 0.07472191211781272 Centerline is valid? [True, True] Translation: X:38.78, Y:-6.99, Z:-0.52 [[ 9.74127139e-01 2.25230146e-01 -1.86466576e-02 3.87821311e+01] [-2.25162463e-01 9.74304675e-01 5.68029318e-03 -6.99152813e+00] [ 1.94468989e-02 -1.33480040e-03 9.99810000e-01 -5.24510936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.66538475 meters 0.0767397801891961 Centerline is valid? [True, True] Translation: X:38.81, Y:-7.00, Z:-0.52 [[ 9.75143756e-01 2.20861000e-01 -1.77503161e-02 3.88121317e+01] [-2.20798949e-01 9.75304356e-01 5.40720173e-03 -6.99938918e+00] [ 1.85062006e-02 -1.35354788e-03 9.99827829e-01 -5.24017633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.69538475 meters 0.07753838650591238 Centerline is valid? [True, True] Translation: X:38.84, Y:-7.01, Z:-0.52 [[ 9.75072468e-01 2.21166959e-01 -1.78565990e-02 3.88426173e+01] [-2.21103989e-01 9.75235000e-01 5.45160117e-03 -7.00759773e+00] [ 1.86200944e-02 -1.36754094e-03 9.99825696e-01 -5.24816823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.72538475 meters 0.07753838650591238 Centerline is valid? [True, True] Translation: X:38.87, Y:-7.02, Z:-0.53 [[ 9.74986770e-01 2.21544621e-01 -1.78543914e-02 3.88736449e+01] [-2.21481583e-01 9.75149276e-01 5.45883082e-03 -7.01735310e+00] [ 1.86200714e-02 -1.36786897e-03 9.99825696e-01 -5.25270512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.755384750000005 meters 0.07428623698662862 Centerline is valid? [True, True] Translation: X:38.91, Y:-7.02, Z:-0.52 [[ 9.74182830e-01 2.24996013e-01 -1.85636246e-02 3.89069044e+01] [-2.24928569e-01 9.74358749e-01 5.67154241e-03 -7.01512848e+00] [ 1.93637045e-02 -1.34962972e-03 9.99811595e-01 -5.24567568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.78538475 meters 0.07064444932146045 Centerline is valid? [True, True] Translation: X:38.94, Y:-7.01, Z:-0.52 [[ 9.71848367e-01 2.34869144e-01 -1.86342864e-02 3.89400360e+01] [-2.34803003e-01 9.72026310e-01 5.69232866e-03 -7.01015220e+00] [ 1.94499690e-02 -1.15669390e-03 9.99810162e-01 -5.24341409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.81538475 meters 0.06740342358127203 Centerline is valid? [True, True] Translation: X:38.97, Y:-7.01, Z:-0.52 [[ 9.69986214e-01 2.42357662e-01 -1.97359586e-02 3.89726616e+01] [-2.42285006e-01 9.70186387e-01 6.02905348e-03 -7.00826933e+00] [ 2.06087457e-02 -1.06637191e-03 9.99787049e-01 -5.24873905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.84538475 meters 0.06389234361857365 Centerline is valid? [True, True] Translation: X:39.01, Y:-7.01, Z:-0.53 [[ 9.68021968e-01 2.50018146e-01 -2.06008823e-02 3.90062187e+01] [-2.49940693e-01 9.68240691e-01 6.29397799e-03 -7.00507176e+00] [ 2.15202212e-02 -9.43710154e-04 9.99767968e-01 -5.25229389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.87538475 meters 0.05988557644511804 Centerline is valid? [True, True] Translation: X:39.04, Y:-6.99, Z:-0.53 [[ 9.63981698e-01 2.65020496e-01 -2.24370643e-02 3.90401797e+01] [-2.64932689e-01 9.64242551e-01 6.85362824e-03 -6.99436817e+00] [ 2.34511240e-02 -6.62460421e-04 9.99724765e-01 -5.30042133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.90538475 meters 0.05803290834498529 Centerline is valid? [True, True] Translation: X:39.07, Y:-6.99, Z:-0.53 [[ 9.62275877e-01 2.70963647e-01 -2.45731255e-02 3.90732055e+01] [-2.70859882e-01 9.62589406e-01 7.52062716e-03 -6.99480887e+00] [ 2.56916468e-02 -5.81044235e-04 9.99669746e-01 -5.30127774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.935384750000004 meters 0.05711864588907107 Centerline is valid? [True, True] Translation: X:39.10, Y:-6.99, Z:-0.54 [[ 9.59419599e-01 2.80641761e-01 -2.74633291e-02 3.91049495e+01] [-2.80516225e-01 9.59812521e-01 8.40071269e-03 -6.99473861e+00] [ 2.87172379e-02 -3.55899008e-04 9.99587512e-01 -5.35233190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.96538475 meters 0.05697807691818618 Centerline is valid? [True, True] Translation: X:39.14, Y:-7.00, Z:-0.54 [[ 9.58374624e-01 2.84018499e-01 -2.91817262e-02 3.91351025e+01] [-2.83878333e-01 9.58818762e-01 8.92597964e-03 -7.00151017e+00] [ 3.05151299e-02 -2.70372594e-04 9.99534268e-01 -5.37150122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.99538475 meters 0.056595572370907274 Centerline is valid? [True, True] Translation: X:39.16, Y:-7.01, Z:-0.54 [[ 9.56814780e-01 2.89031225e-01 -3.10874140e-02 3.91646587e+01] [-2.88874864e-01 9.57319663e-01 9.50657365e-03 -7.00683724e+00] [ 3.25082893e-02 -1.15657670e-04 9.99471459e-01 -5.37766496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.02538475 meters 0.05647309033330278 Centerline is valid? [True, True] Translation: X:39.19, Y:-7.01, Z:-0.54 [[ 9.55951869e-01 2.91806539e-01 -3.17012357e-02 3.91934428e+01] [-2.91645520e-01 9.56477362e-01 9.69263348e-03 -7.01434465e+00] [ 3.31498882e-02 -2.01676957e-05 9.99450391e-01 -5.38381748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.05538475 meters 0.056728454384839026 Centerline is valid? [True, True] Translation: X:39.22, Y:-7.02, Z:-0.54 [[ 9.54633301e-01 2.95943311e-01 -3.30577970e-02 3.92201776e+01] [-2.95770787e-01 9.55205496e-01 1.01045363e-02 -7.02370701e+00] [ 3.45673593e-02 1.31403793e-04 9.99402362e-01 -5.40146906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.08538475 meters 0.056662710399866194 Centerline is valid? [True, True] Translation: X:39.25, Y:-7.03, Z:-0.54 [[ 9.54409768e-01 2.96600456e-01 -3.36179074e-02 3.92474951e+01] [-2.96422491e-01 9.55001646e-01 1.02743647e-02 -7.03450321e+00] [ 3.51525381e-02 1.59149797e-04 9.99381946e-01 -5.40667236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.115384750000004 meters 0.056882502705422014 Centerline is valid? [True, True] Translation: X:39.27, Y:-7.05, Z:-0.54 [[ 9.54045695e-01 2.97898029e-01 -3.24588345e-02 3.92737997e+01] [-2.97732895e-01 9.54597677e-01 9.91962031e-03 -7.04986978e+00] [ 3.39401634e-02 2.00291734e-04 9.99423847e-01 -5.41941162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.14538475 meters 0.056765063795951 Centerline is valid? [True, True] Translation: X:39.30, Y:-7.06, Z:-0.54 [[ 9.54106235e-01 2.97605251e-01 -3.33527625e-02 3.93017285e+01] [-2.97430619e-01 9.54688995e-01 1.01955733e-02 -7.06441824e+00] [ 3.48757714e-02 1.92472748e-04 9.99391637e-01 -5.40491785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.17538475 meters 0.05653169358265961 Centerline is valid? [True, True] Translation: X:39.33, Y:-7.09, Z:-0.54 [[ 9.54563898e-01 2.96241670e-01 -3.23826842e-02 3.93293822e+01] [-2.96076090e-01 9.55113007e-01 9.90423235e-03 -7.08587796e+00] [ 3.38631692e-02 1.33515875e-04 9.99426470e-01 -5.39117505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.20538475 meters 0.056341925977323806 Centerline is valid? [True, True] Translation: X:39.36, Y:-7.10, Z:-0.54 [[ 9.54515054e-01 2.96564052e-01 -3.08346356e-02 3.93580111e+01] [-2.96413644e-01 9.55012957e-01 9.44479393e-03 -7.10041082e+00] [ 3.22484628e-02 1.24608681e-04 9.99479875e-01 -5.38947867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.23538475 meters 0.05601642036608331 Centerline is valid? [True, True] Translation: X:39.39, Y:-7.12, Z:-0.54 [[ 9.54240434e-01 2.97441832e-01 -3.08796194e-02 3.93870423e+01] [-2.97291010e-01 9.54739931e-01 9.47200178e-03 -7.11939900e+00] [ 3.22993753e-02 1.41666150e-04 9.99478229e-01 -5.38201778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.26538475 meters 0.05618335879521644 Centerline is valid? [True, True] Translation: X:39.42, Y:-7.13, Z:-0.54 [[ 9.53756782e-01 2.99012149e-01 -3.06551007e-02 3.94165482e+01] [-2.98863961e-01 9.54249287e-01 9.41440988e-03 -7.13295894e+00] [ 3.20676309e-02 1.82647545e-04 9.99485685e-01 -5.40499187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.295384750000004 meters 0.054773822389098746 Centerline is valid? [True, True] Translation: X:39.44, Y:-7.15, Z:-0.53 [[ 9.52034266e-01 3.04435299e-01 -3.08205272e-02 3.94439863e+01] [-3.04288000e-01 9.52532950e-01 9.47585487e-03 -7.15433673e+00] [ 3.22423524e-02 3.56978038e-04 9.99480016e-01 -5.25494077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.32538475 meters 0.05507791321050221 Centerline is valid? [True, True] Translation: X:39.47, Y:-7.17, Z:-0.53 [[ 9.50796686e-01 3.08271274e-01 -3.08947004e-02 3.94725046e+01] [-3.08125040e-01 9.51298371e-01 9.50629923e-03 -7.16758159e+00] [ 3.23205971e-02 4.80872975e-04 9.99477437e-01 -5.26293956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.35538475 meters 0.055832175998021524 Centerline is valid? [True, True] Translation: X:39.50, Y:-7.18, Z:-0.53 [[ 9.47951510e-01 3.16954035e-01 -3.04643075e-02 3.94996985e+01] [-3.16816402e-01 9.48440588e-01 9.37113477e-03 -7.18397571e+00] [ 3.18638047e-02 7.68210913e-04 9.99491925e-01 -5.26314070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.38538475 meters 0.05624171658293843 Centerline is valid? [True, True] Translation: X:39.53, Y:-7.20, Z:-0.53 [[ 9.46344698e-01 3.21683783e-01 -3.08424591e-02 3.95279140e+01] [-3.21545194e-01 9.46846695e-01 9.48813497e-03 -7.19766281e+00] [ 3.22552596e-02 9.38198268e-04 9.99479223e-01 -5.26195701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.41538475 meters 0.05767658903147805 Centerline is valid? [True, True] Translation: X:39.55, Y:-7.21, Z:-0.53 [[ 9.43349771e-01 3.30218329e-01 -3.23583930e-02 3.95545977e+01] [-3.30070782e-01 9.43903698e-01 9.95428441e-03 -7.21407605e+00] [ 3.38302940e-02 1.29018818e-03 9.99426759e-01 -5.28515661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.44538475 meters 0.058407845473186656 Centerline is valid? [True, True] Translation: X:39.58, Y:-7.23, Z:-0.53 [[ 9.41932540e-01 3.34260813e-01 -3.21371932e-02 3.95830282e+01] [-3.34117556e-01 9.42479539e-01 9.88820247e-03 -7.22884588e+00] [ 3.35938856e-02 1.42358076e-03 9.99434552e-01 -5.28887552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.47538475 meters 0.05862890406963454 Centerline is valid? [True, True] Translation: X:39.61, Y:-7.25, Z:-0.53 [[ 9.41065898e-01 3.36730195e-01 -3.17450928e-02 3.96114867e+01] [-3.36591369e-01 9.41600013e-01 9.78093947e-03 -7.24588711e+00] [ 3.31847174e-02 1.48061564e-03 9.99448139e-01 -5.28082996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.505384750000005 meters 0.06026554145475312 Centerline is valid? [True, True] Translation: X:39.64, Y:-7.27, Z:-0.53 [[ 9.40281268e-01 3.39065588e-01 -3.00942583e-02 3.96366270e+01] [-3.38941913e-01 9.40761575e-01 9.27569579e-03 -7.26848026e+00] [ 3.14565911e-02 1.47844247e-03 9.99504026e-01 -5.30228894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.53538475 meters 0.05870958792883984 Centerline is valid? [True, True] Translation: X:39.66, Y:-7.30, Z:-0.53 [[ 9.40808457e-01 3.37694365e-01 -2.90165882e-02 3.96596789e+01] [-3.37578747e-01 9.41254805e-01 8.94329186e-03 -7.30061616e+00] [ 3.03321023e-02 1.38145886e-03 9.99538921e-01 -5.26238264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.56538475 meters 0.059402698740913834 Centerline is valid? [True, True] Translation: X:39.69, Y:-7.32, Z:-0.53 [[ 9.41233524e-01 3.36504825e-01 -2.90509062e-02 3.96873813e+01] [-3.36387987e-01 9.41680798e-01 8.96640665e-03 -7.31763892e+00] [ 3.03739196e-02 1.33289331e-03 9.99537717e-01 -5.29262503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.59538475 meters 0.05869548707848212 Centerline is valid? [True, True] Translation: X:39.71, Y:-7.34, Z:-0.53 [[ 9.41603238e-01 3.35595128e-01 -2.75545479e-02 3.97144703e+01] [-3.35489662e-01 9.42005509e-01 8.50338530e-03 -7.33797383e+00] [ 2.88102306e-02 1.23745085e-03 9.99584133e-01 -5.28870754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.62538475 meters 0.05925477337250081 Centerline is valid? [True, True] Translation: X:39.74, Y:-7.36, Z:-0.53 [[ 9.42482516e-01 3.33109335e-01 -2.76564378e-02 3.97381149e+01] [-3.33001889e-01 9.42887492e-01 8.53929804e-03 -7.36456555e+00] [ 2.89214292e-02 1.16150693e-03 9.99581013e-01 -5.34306198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.65538475 meters 0.0584270863952778 Centerline is valid? [True, True] Translation: X:39.76, Y:-7.39, Z:-0.54 [[ 9.43663745e-01 3.29862814e-01 -2.62537439e-02 3.97614494e+01] [-3.29764768e-01 9.44028339e-01 8.10509472e-03 -7.39318453e+00] [ 2.74578476e-02 1.00907571e-03 9.99622453e-01 -5.35038216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.685384750000004 meters 0.05842421727921116 Centerline is valid? [True, True] Translation: X:39.79, Y:-7.41, Z:-0.54 [[ 9.44150490e-01 3.28573852e-01 -2.48812396e-02 3.97883646e+01] [-3.28485305e-01 9.44477834e-01 7.68284550e-03 -7.41002583e+00] [ 2.60241614e-02 9.19359217e-04 9.99660891e-01 -5.36879042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.71538475 meters 0.057443396064821885 Centerline is valid? [True, True] Translation: X:39.81, Y:-7.44, Z:-0.54 [[ 9.45395683e-01 3.25202222e-01 -2.16914260e-02 3.98122939e+01] [-3.25134045e-01 9.45644222e-01 6.69757584e-03 -7.43593004e+00] [ 2.26904383e-02 7.20761814e-04 9.99742279e-01 -5.35463175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.74538475 meters 0.057573096966872406 Centerline is valid? [True, True] Translation: X:39.84, Y:-7.45, Z:-0.54 [[ 9.45917814e-01 3.23807342e-01 -1.97052067e-02 3.98392278e+01] [-3.23750764e-01 9.46122834e-01 6.08494773e-03 -7.45141318e+00] [ 2.06138968e-02 6.23715284e-04 9.99787317e-01 -5.37182637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.77538475 meters 0.056969521285643664 Centerline is valid? [True, True] Translation: X:39.87, Y:-7.47, Z:-0.54 [[ 9.46153955e-01 3.23129339e-01 -1.94967463e-02 3.98672729e+01] [-3.23073612e-01 9.46354626e-01 6.03014381e-03 -7.46951903e+00] [ 2.03993524e-02 5.93439838e-04 9.99791735e-01 -5.36314860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.80538475 meters 0.05673372667493682 Centerline is valid? [True, True] Translation: X:39.89, Y:-7.49, Z:-0.54 [[ 9.47028827e-01 3.20484256e-01 -2.06456637e-02 3.98931988e+01] [-3.20421011e-01 9.47253675e-01 6.39140519e-03 -7.49357389e+00] [ 2.16050256e-02 5.62459494e-04 9.99766426e-01 -5.38880095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.83538475 meters 0.05625079882656667 Centerline is valid? [True, True] Translation: X:39.92, Y:-7.52, Z:-0.54 [[ 9.48070214e-01 3.17507246e-01 -1.87621639e-02 3.99185907e+01] [-3.17454477e-01 9.48255738e-01 5.80608129e-03 -7.51771392e+00] [ 1.96348025e-02 4.51560200e-04 9.99807117e-01 -5.39710364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.865384750000004 meters 0.055917751738730676 Centerline is valid? [True, True] Translation: X:39.95, Y:-7.53, Z:-0.54 [[ 9.48884780e-01 3.15166559e-01 -1.69621495e-02 3.99461681e+01] [-3.15123042e-01 9.49036305e-01 5.24982598e-03 -7.53432614e+00] [ 1.77522653e-02 3.63684182e-04 9.99842350e-01 -5.39989251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.89538475 meters 0.05497969359568756 Centerline is valid? [True, True] Translation: X:39.97, Y:-7.56, Z:-0.54 [[ 9.51541186e-01 3.07093767e-01 -1.62107714e-02 3.99715089e+01] [-3.07052823e-01 9.51679241e-01 5.01862363e-03 -7.56067664e+00] [ 1.69686427e-02 2.02136047e-04 9.99856002e-01 -5.40743919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.92538475 meters 0.05461058369206887 Centerline is valid? [True, True] Translation: X:40.00, Y:-7.58, Z:-0.54 [[ 9.53324604e-01 3.01553283e-01 -1.54213307e-02 3.99981199e+01] [-3.01515390e-01 9.53449322e-01 4.78127178e-03 -7.57934045e+00] [ 1.61452655e-02 9.16645109e-05 9.99869653e-01 -5.41770888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.95538475 meters 0.05445401903831341 Centerline is valid? [True, True] Translation: X:40.02, Y:-7.61, Z:-0.54 [[ 9.57329439e-01 2.88759189e-01 -1.17676078e-02 4.00227097e+01] [-2.88736100e-01 9.57401755e-01 3.65296628e-03 -7.60908304e+00] [ 1.23211560e-02 -9.93589740e-05 9.99924087e-01 -5.38775688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.98538475 meters 0.05461354824674018 Centerline is valid? [True, True] Translation: X:40.05, Y:-7.63, Z:-0.54 [[ 9.59099315e-01 2.82910300e-01 -9.50086010e-03 4.00514734e+01] [-2.82894916e-01 9.59146361e-01 2.95383838e-03 -7.62845530e+00] [ 9.94838669e-03 -1.45279343e-04 9.99950503e-01 -5.37373668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.01538475 meters 0.05504789382639293 Centerline is valid? [True, True] Translation: X:40.08, Y:-7.65, Z:-0.54 [[ 9.60784715e-01 2.77177224e-01 -8.09424849e-03 4.00787022e+01] [-2.77165838e-01 9.60818794e-01 2.51848305e-03 -7.64651953e+00] [ 8.47517222e-03 -1.76270851e-04 9.99964070e-01 -5.36584007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.045384750000004 meters 0.056597117221549496 Centerline is valid? [True, True] Translation: X:40.10, Y:-7.67, Z:-0.54 [[ 9.63018265e-01 2.69371121e-01 -5.91773647e-03 4.01032197e+01] [-2.69364901e-01 9.63036431e-01 1.83908222e-03 -7.66940473e+00] [ 6.19439145e-03 -1.77039275e-04 9.99980799e-01 -5.37056988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.07538475 meters 0.05604249074639161 Centerline is valid? [True, True] Translation: X:40.13, Y:-7.68, Z:-0.53 [[ 9.64057428e-01 2.65681468e-01 -2.57543462e-03 4.01338664e+01] [-2.65680265e-01 9.64060864e-01 8.04873683e-04 -7.67944778e+00] [ 2.69671574e-03 -9.17023031e-05 9.99996360e-01 -5.33528907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.10538475 meters 0.056746049048164444 Centerline is valid? [True, True] Translation: X:40.16, Y:-7.69, Z:-0.53 [[ 9.64330452e-01 2.64695689e-01 -1.72368246e-03 4.01624826e+01] [-2.64695146e-01 9.64331991e-01 5.40120537e-04 -7.69105979e+00] [ 1.80516972e-03 -6.46043006e-05 9.99998369e-01 -5.34925396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.13538475 meters 0.05754232209574285 Centerline is valid? [True, True] Translation: X:40.19, Y:-7.70, Z:-0.53 [[ 9.64919900e-01 2.62544354e-01 -2.21322206e-04 4.01919469e+01] [-2.62544344e-01 9.64919925e-01 7.24009695e-05 -7.70207880e+00] [ 2.32566672e-04 -1.17542429e-05 9.99999973e-01 -5.34329100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.16538475 meters 0.056574771919330066 Centerline is valid? [True, True] Translation: X:40.22, Y:-7.71, Z:-0.53 [[ 9.65093073e-01 2.61905929e-01 8.03555353e-04 4.02235141e+01] [-2.61905814e-01 9.65093407e-01 -2.46668503e-04 -7.70806332e+00] [-8.40109917e-04 2.76022450e-05 9.99999647e-01 -5.32951690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.19538475 meters 0.056467197377854175 Centerline is valid? [True, True] Translation: X:40.25, Y:-7.71, Z:-0.53 [[ 9.65532525e-01 2.60282161e-01 3.74455781e-04 4.02547770e+01] [-2.60282136e-01 9.65532597e-01 -1.12901458e-04 -7.71472558e+00] [-3.90935498e-04 1.15458788e-05 9.99999924e-01 -5.32863957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.22538475 meters 0.056632440386502676 Centerline is valid? [True, True] Translation: X:40.29, Y:-7.72, Z:-0.53 [[ 9.65556798e-01 2.60190101e-01 1.08634822e-03 4.02864493e+01] [-2.60189889e-01 9.65557409e-01 -3.34921473e-04 -7.72288735e+00] [-1.13607482e-03 4.07288828e-05 9.99999354e-01 -5.33148621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.25538475 meters 0.05742954416695724 Centerline is valid? [True, True] Translation: X:40.32, Y:-7.73, Z:-0.54 [[ 9.65080565e-01 2.61953243e-01 -5.09400784e-05 4.03167880e+01] [-2.61953242e-01 9.65080566e-01 1.81844780e-05 -7.73044210e+00] [ 5.39247626e-05 -4.20556760e-06 9.99999999e-01 -5.36984423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.28538475 meters 0.05667572083534486 Centerline is valid? [True, True] Translation: X:40.35, Y:-7.73, Z:-0.54 [[ 9.64797129e-01 2.62994846e-01 -4.59840899e-04 4.03494556e+01] [-2.62994805e-01 9.64797238e-01 1.47829710e-04 -7.73442845e+00] [ 4.82531681e-04 -2.16899123e-05 9.99999883e-01 -5.37841435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.31538475 meters 0.0564703411315396 Centerline is valid? [True, True] Translation: X:40.38, Y:-7.74, Z:-0.54 [[ 9.63746293e-01 2.66820311e-01 7.13738262e-05 4.03798455e+01] [-2.66820310e-01 9.63746295e-01 -2.20559287e-05 -7.73821988e+00] [-7.46712305e-05 2.21233310e-06 9.99999997e-01 -5.39916785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.34538475 meters 0.05616155973050279 Centerline is valid? [True, True] Translation: X:40.41, Y:-7.75, Z:-0.54 [[ 9.63132900e-01 2.69025942e-01 2.42257144e-04 4.04113728e+01] [-2.69025933e-01 9.63132931e-01 -7.20004534e-05 -7.74505066e+00] [-2.52695823e-04 4.17255132e-06 9.99999968e-01 -5.41005152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.37538475 meters 0.05585843325426298 Centerline is valid? [True, True] Translation: X:40.44, Y:-7.75, Z:-0.54 [[ 9.61937576e-01 2.73256655e-01 -2.62691377e-03 4.04441306e+01] [-2.73255421e-01 9.61941160e-01 8.24577468e-04 -7.74970952e+00] [ 2.75225776e-03 -7.53736218e-05 9.99996210e-01 -5.42602977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.40538475 meters 0.05583672278658859 Centerline is valid? [True, True] Translation: X:40.47, Y:-7.76, Z:-0.54 [[ 9.61284706e-01 2.75536686e-01 -3.35395468e-03 4.04749317e+01] [-2.75534679e-01 9.61290553e-01 1.05550769e-03 -7.75648794e+00] [ 3.51495604e-03 -9.05125746e-05 9.99993818e-01 -5.44470183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.435384750000004 meters 0.05527543879175539 Centerline is valid? [True, True] Translation: X:40.51, Y:-7.76, Z:-0.54 [[ 9.60038862e-01 2.79844619e-01 -3.51735887e-03 4.05070047e+01] [-2.79842436e-01 9.60045303e-01 1.10818120e-03 -7.76020413e+00] [ 3.68694241e-03 -7.95907429e-05 9.99993200e-01 -5.43499324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.46538475 meters 0.05506992424959007 Centerline is valid? [True, True] Translation: X:40.54, Y:-7.76, Z:-0.54 [[ 9.58821885e-01 2.83991822e-01 -3.03937096e-03 4.05378200e+01] [-2.83990209e-01 9.58826701e-01 9.58650257e-04 -7.76495939e+00] [ 3.18647887e-03 -5.60232500e-05 9.99994922e-01 -5.44645332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.49538475 meters 0.05516247217327402 Centerline is valid? [True, True] Translation: X:40.57, Y:-7.77, Z:-0.55 [[ 9.58666478e-01 2.84527876e-01 -1.57203376e-03 4.05685192e+01] [-2.84527442e-01 9.58667767e-01 4.97948388e-04 -7.77132908e+00] [ 1.64873830e-03 -3.00796814e-05 9.99998640e-01 -5.46719337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.52538475 meters 0.05502888743161747 Centerline is valid? [True, True] Translation: X:40.60, Y:-7.78, Z:-0.55 [[ 9.58316834e-01 2.85703733e-01 -1.49059535e-03 4.06003050e+01] [-2.85703343e-01 9.58317993e-01 4.73084946e-04 -7.77830700e+00] [ 1.56362648e-03 -2.74971935e-05 9.99998777e-01 -5.46756138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.55538475 meters 0.055406513598363134 Centerline is valid? [True, True] Translation: X:40.63, Y:-7.79, Z:-0.55 [[ 9.58475905e-01 2.85167793e-01 -1.80819536e-03 4.06317566e+01] [-2.85167218e-01 9.58477610e-01 5.73611522e-04 -7.78599700e+00] [ 1.89669029e-03 -3.41547828e-05 9.99998201e-01 -5.47062238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.58538475 meters 0.05553491126801277 Centerline is valid? [True, True] Translation: X:40.66, Y:-7.80, Z:-0.55 [[ 9.58628159e-01 2.84653092e-01 -2.16098477e-03 4.06620061e+01] [-2.84652270e-01 9.58630594e-01 6.85361402e-04 -7.79609776e+00] [ 2.26667635e-03 -4.18775187e-05 9.99997430e-01 -5.47921332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.615384750000004 meters 0.05553491126801277 Centerline is valid? [True, True] Translation: X:40.69, Y:-7.81, Z:-0.55 [[ 9.58541462e-01 2.84944904e-01 -2.16061472e-03 4.06928499e+01] [-2.84944080e-01 9.58543896e-01 6.86532345e-04 -7.80596898e+00] [ 2.26666794e-03 -4.24153446e-05 9.99997430e-01 -5.48373527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.64538475 meters 0.05598041483498335 Centerline is valid? [True, True] Translation: X:40.72, Y:-7.82, Z:-0.55 [[ 9.59271263e-01 2.82473806e-01 -2.68206162e-03 4.07218891e+01] [-2.82472530e-01 9.59275010e-01 8.51005350e-04 -7.81693569e+00] [ 2.81322141e-03 -5.87362438e-05 9.99996041e-01 -5.49668091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.67538475 meters 0.05612094403126989 Centerline is valid? [True, True] Translation: X:40.75, Y:-7.83, Z:-0.55 [[ 9.60190617e-01 2.79343036e-01 -1.20279775e-03 4.07525212e+01] [-2.79342774e-01 9.60191370e-01 3.84334237e-04 -7.82533790e+00] [ 1.26227711e-03 -3.30412677e-05 9.99999203e-01 -5.50325054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.70538475 meters 0.05659769888698145 Centerline is valid? [True, True] Translation: X:40.78, Y:-7.84, Z:-0.55 [[ 9.60314068e-01 2.78920923e-01 1.00384694e-04 4.07825079e+01] [-2.78920922e-01 9.60314073e-01 -2.75884652e-05 -7.83538468e+00] [-1.04095835e-04 -1.50580009e-06 9.99999995e-01 -5.51158535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.73538475 meters 0.05620938546062567 Centerline is valid? [True, True] Translation: X:40.81, Y:-7.84, Z:-0.55 [[ 9.60319251e-01 2.78885873e-01 3.09942874e-03 4.08145515e+01] [-2.78884161e-01 9.60324249e-01 -9.80144360e-04 -7.84229677e+00] [-3.24980500e-03 7.68699114e-05 9.99994716e-01 -5.49510753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.76538475 meters 0.05599836834006681 Centerline is valid? [True, True] Translation: X:40.85, Y:-7.85, Z:-0.55 [[ 9.60177093e-01 2.79337562e-01 5.52058325e-03 4.08462139e+01] [-2.79332138e-01 9.60192954e-01 -1.74593396e-03 -7.84984283e+00] [-5.78853008e-03 1.34329472e-04 9.99983237e-01 -5.49273088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.795384750000004 meters 0.05600830961984758 Centerline is valid? [True, True] Translation: X:40.88, Y:-7.86, Z:-0.55 [[ 9.60341303e-01 2.78733733e-01 7.21714535e-03 4.08774833e+01] [-2.78724422e-01 9.60368405e-01 -2.28562179e-03 -7.85909766e+00] [-7.56819826e-03 1.83382343e-04 9.99971344e-01 -5.49377051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.82538475 meters 0.05614200250468869 Centerline is valid? [True, True] Translation: X:40.91, Y:-7.87, Z:-0.55 [[ 9.60473456e-01 2.78221444e-01 9.14153626e-03 4.09074467e+01] [-2.78206440e-01 9.60516928e-01 -2.89952033e-03 -7.86937601e+00] [-9.58730906e-03 2.41678054e-04 9.99954011e-01 -5.49559217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.85538475 meters 0.05614957934398775 Centerline is valid? [True, True] Translation: X:40.94, Y:-7.88, Z:-0.55 [[ 9.61062848e-01 2.76083595e-01 1.16641041e-02 4.09374734e+01] [-2.76058950e-01 9.61133566e-01 -3.70455759e-03 -7.87958528e+00] [-1.22335296e-02 3.40332328e-04 9.99925110e-01 -5.49054952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.88538475 meters 0.056576061876878 Centerline is valid? [True, True] Translation: X:40.97, Y:-7.89, Z:-0.55 [[ 9.61514810e-01 2.74504566e-01 1.16838906e-02 4.09663455e+01] [-2.74479677e-01 9.61585727e-01 -3.71441264e-03 -7.89020015e+00] [-1.22546857e-02 3.64472236e-04 9.99924842e-01 -5.49971380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.91538475 meters 0.057080142941760635 Centerline is valid? [True, True] Translation: X:41.00, Y:-7.90, Z:-0.55 [[ 9.62115342e-01 2.72434774e-01 1.06471533e-02 4.09966409e+01] [-2.72413950e-01 9.62174187e-01 -3.38740593e-03 -7.89976096e+00] [-1.11672632e-02 3.58642144e-04 9.99937580e-01 -5.53315059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.94538475 meters 0.05798289489766227 Centerline is valid? [True, True] Translation: X:41.03, Y:-7.91, Z:-0.55 [[ 9.62342017e-01 2.71674823e-01 9.52010295e-03 4.10252908e+01] [-2.71658112e-01 9.62389049e-01 -3.03133413e-03 -7.91127806e+00] [-9.98557999e-03 3.30967007e-04 9.99950088e-01 -5.54479690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.97538475 meters 0.057752255288674274 Centerline is valid? [True, True] Translation: X:41.06, Y:-7.92, Z:-0.56 [[ 9.62926867e-01 2.69632272e-01 8.38376771e-03 4.10570012e+01] [-2.69619219e-01 9.62963312e-01 -2.67134932e-03 -7.91575589e+00] [-8.79354271e-03 3.11889127e-04 9.99961287e-01 -5.55757252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.00538475 meters 0.05831216720820079 Centerline is valid? [True, True] Translation: X:41.09, Y:-7.93, Z:-0.56 [[ 9.63138636e-01 2.68891305e-01 7.83792404e-03 4.10868298e+01] [-2.68879856e-01 9.63170481e-01 -2.49936754e-03 -7.92563448e+00] [-8.22131527e-03 2.99777555e-04 9.99966159e-01 -5.57232397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.03538475 meters 0.05864550480526108 Centerline is valid? [True, True] Translation: X:41.12, Y:-7.93, Z:-0.56 [[ 9.63340846e-01 2.68203788e-01 6.41424631e-03 4.11179277e+01] [-2.68196098e-01 9.63362167e-01 -2.04635253e-03 -7.93260740e+00] [-6.72808173e-03 2.51059140e-04 9.99977335e-01 -5.58230373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.06538475 meters 0.05885023155297451 Centerline is valid? [True, True] Translation: X:41.15, Y:-7.94, Z:-0.56 [[ 9.63256252e-01 2.68533628e-01 5.20417820e-03 4.11487450e+01] [-2.68528568e-01 9.63270289e-01 -1.66093722e-03 -7.94113647e+00] [-5.45904774e-03 2.02437641e-04 9.99985079e-01 -5.59483034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.09538475 meters 0.057836026081808545 Centerline is valid? [True, True] Translation: X:41.18, Y:-7.94, Z:-0.56 [[ 9.62913471e-01 2.69794964e-01 2.88532916e-03 4.11824110e+01] [-2.69793417e-01 9.62917788e-01 -9.19900517e-04 -7.94084035e+00] [-3.02651930e-03 1.07341785e-04 9.99995414e-01 -5.59933089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.12538475 meters 0.05765618289300077 Centerline is valid? [True, True] Translation: X:41.21, Y:-7.95, Z:-0.56 [[ 9.62386805e-01 2.71662203e-01 3.35922452e-03 4.12135567e+01] [-2.71660111e-01 9.62392661e-01 -1.07271977e-03 -7.94774588e+00] [-3.52431044e-03 1.19804045e-04 9.99993782e-01 -5.61294450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.15538475 meters 0.05769412188028109 Centerline is valid? [True, True] Translation: X:41.24, Y:-7.95, Z:-0.56 [[ 9.61119266e-01 2.76133009e-01 5.62922363e-04 4.12437504e+01] [-2.76132951e-01 9.61119431e-01 -1.80177811e-04 -7.95259189e+00] [-5.90788662e-04 1.77309519e-05 9.99999825e-01 -5.62022096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.185384750000004 meters 0.057767464202604854 Centerline is valid? [True, True] Translation: X:41.27, Y:-7.96, Z:-0.56 [[ 9.60219051e-01 2.79247684e-01 3.24393949e-04 4.12742982e+01] [-2.79247666e-01 9.60219106e-01 -1.00061038e-04 -7.96040796e+00] [-3.39431080e-04 5.49426212e-06 9.99999942e-01 -5.62984194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.21538475 meters 0.057219817948416456 Centerline is valid? [True, True] Translation: X:41.31, Y:-7.96, Z:-0.56 [[ 9.57816164e-01 2.87380696e-01 -7.28779257e-04 4.13052233e+01] [-2.87380600e-01 9.57816441e-01 2.35474677e-04 -7.96192290e+00] [ 7.65707631e-04 -1.61044319e-05 9.99999707e-01 -5.64040247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.24538475 meters 0.05669587136265702 Centerline is valid? [True, True] Translation: X:41.34, Y:-7.97, Z:-0.56 [[ 9.56264093e-01 2.92501026e-01 -1.46098389e-03 4.13368677e+01] [-2.92500644e-01 9.56265209e-01 4.73302331e-04 -7.96691763e+00] [ 1.53552949e-03 -2.52632944e-05 9.99998821e-01 -5.64939231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.27538475 meters 0.05659440940678435 Centerline is valid? [True, True] Translation: X:41.37, Y:-7.97, Z:-0.57 [[ 9.53028032e-01 3.02823596e-01 -5.95321087e-03 4.13717337e+01] [-3.02817514e-01 9.53046625e-01 1.91934041e-03 -7.96626427e+00] [ 6.25490909e-03 -2.64486939e-05 9.99980438e-01 -5.67540956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.30538475 meters 0.05669348912541993 Centerline is valid? [True, True] Translation: X:41.40, Y:-7.97, Z:-0.57 [[ 9.51347070e-01 3.08051154e-01 -6.57569360e-03 4.14037430e+01] [-3.08043846e-01 9.51369795e-01 2.12190922e-03 -7.97309509e+00] [ 6.90957286e-03 6.92982231e-06 9.99976129e-01 -5.67879701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.33538475 meters 0.05696440103195372 Centerline is valid? [True, True] Translation: X:41.44, Y:-7.98, Z:-0.57 [[ 9.48639695e-01 3.16263051e-01 -7.77254037e-03 4.14355768e+01] [-3.16253107e-01 9.48671532e-01 2.50913836e-03 -7.97966076e+00] [ 8.16713553e-03 7.78217933e-05 9.99966645e-01 -5.68042524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.365384750000004 meters 0.0573391886370354 Centerline is valid? [True, True] Translation: X:41.47, Y:-7.99, Z:-0.57 [[ 9.47513403e-01 3.19600281e-01 -8.60296413e-03 4.14658334e+01] [-3.19588221e-01 9.47552451e-01 2.77889970e-03 -7.98771983e+00] [ 9.03989687e-03 1.16361284e-04 9.99959133e-01 -5.69643525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.39538475 meters 0.057597894970471415 Centerline is valid? [True, True] Translation: X:41.50, Y:-8.00, Z:-0.57 [[ 9.45853624e-01 3.24523488e-01 -6.74000283e-03 4.14960430e+01] [-3.24516189e-01 9.45877630e-01 2.18017997e-03 -7.99820520e+00] [ 7.08273751e-03 1.25108906e-04 9.99974909e-01 -5.68636233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.42538475 meters 0.0576560389021395 Centerline is valid? [True, True] Translation: X:41.53, Y:-8.01, Z:-0.57 [[ 9.44530528e-01 3.28383951e-01 -5.10514179e-03 4.15251538e+01] [-3.28379805e-01 9.44544318e-01 1.65399336e-03 -8.01265875e+00] [ 5.36517754e-03 1.14178247e-04 9.99985601e-01 -5.66060564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.45538475 meters 0.057769902312263366 Centerline is valid? [True, True] Translation: X:41.56, Y:-8.03, Z:-0.57 [[ 9.43893408e-01 3.30232766e-01 -3.39925051e-03 4.15557166e+01] [-3.30230929e-01 9.43899525e-01 1.10447156e-03 -8.02535016e+00] [ 3.57328365e-03 8.00342306e-05 9.99993613e-01 -5.65230031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.48538475 meters 0.058227594294396695 Centerline is valid? [True, True] Translation: X:41.59, Y:-8.04, Z:-0.57 [[ 9.43199334e-01 3.32226828e-01 -5.91724466e-04 4.15858306e+01] [-3.32226771e-01 9.43199520e-01 1.95984874e-04 -8.03602881e+00] [ 6.23225665e-04 1.17339057e-05 9.99999806e-01 -5.66290953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.51538475 meters 0.05827192337942603 Centerline is valid? [True, True] Translation: X:41.61, Y:-8.05, Z:-0.56 [[ 9.41909361e-01 3.35854346e-01 2.93505156e-03 4.16141172e+01] [-3.35853023e-01 9.41913929e-01 -9.47448810e-04 -8.05308102e+00] [-3.08277074e-03 -9.33350357e-05 9.99995244e-01 -5.63311185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.545384750000004 meters 0.058635732843400006 Centerline is valid? [True, True] Translation: X:41.64, Y:-8.07, Z:-0.56 [[ 9.41132466e-01 3.38024004e-01 3.07474469e-03 4.16443062e+01] [-3.38022559e-01 9.41137483e-01 -9.93689536e-04 -8.06522882e+00] [-3.22964840e-03 -1.04139587e-04 9.99994779e-01 -5.62698214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.57538475 meters 0.059892423787007494 Centerline is valid? [True, True] Translation: X:41.67, Y:-8.08, Z:-0.56 [[ 9.39081339e-01 3.43665517e-01 4.50023490e-03 4.16725608e+01] [-3.43662467e-01 9.39092105e-01 -1.45870636e-03 -8.07920996e+00] [-4.72744214e-03 -1.76717908e-04 9.99988810e-01 -5.64963433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.60538475 meters 0.06038072630837106 Centerline is valid? [True, True] Translation: X:41.70, Y:-8.09, Z:-0.57 [[ 9.38317701e-01 3.45752962e-01 3.84458874e-03 4.17019511e+01] [-3.45750748e-01 9.38325564e-01 -1.24733197e-03 -8.09287094e+00] [-4.03874462e-03 -1.58875768e-04 9.99991832e-01 -5.66351328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.63538475 meters 0.06280033349611766 Centerline is valid? [True, True] Translation: X:41.73, Y:-8.11, Z:-0.57 [[ 9.36782717e-01 3.49910494e-01 8.87911693e-04 4.17288958e+01] [-3.49910379e-01 9.36783136e-01 -2.87101293e-04 -8.10771652e+00] [-9.32240456e-04 -4.17379872e-05 9.99999565e-01 -5.69635374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.66538475 meters 0.06320258593730202 Centerline is valid? [True, True] Translation: X:41.76, Y:-8.13, Z:-0.57 [[ 9.35561067e-01 3.53157573e-01 -2.28447889e-03 4.17553448e+01] [-3.53156809e-01 9.35563849e-01 7.42775845e-04 -8.12740444e+00] [ 2.39959278e-03 1.11867114e-04 9.99997115e-01 -5.73723796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.69538475 meters 0.06362509765426916 Centerline is valid? [True, True] Translation: X:41.78, Y:-8.14, Z:-0.58 [[ 9.34927582e-01 3.54818257e-01 -3.79750836e-03 4.17840287e+01] [-3.54816159e-01 9.34935275e-01 1.23518932e-03 -8.14226269e+00] [ 3.98869224e-03 1.92604768e-04 9.99992027e-01 -5.75660281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.72538475 meters 0.06432345623981121 Centerline is valid? [True, True] Translation: X:41.81, Y:-8.16, Z:-0.58 [[ 9.34485846e-01 3.55943541e-01 -6.35603604e-03 4.18120416e+01] [-3.55937684e-01 9.34507404e-01 2.06827953e-03 -8.15660578e+00] [ 6.67595347e-03 3.29574799e-04 9.99977661e-01 -5.77829420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.75538475 meters 0.06506830017363648 Centerline is valid? [True, True] Translation: X:41.84, Y:-8.18, Z:-0.58 [[ 9.33340954e-01 3.58831911e-01 -1.06921817e-02 4.18375561e+01] [-3.58815544e-01 9.33402009e-01 3.47773955e-03 -8.17780965e+00] [ 1.12280278e-02 5.90604220e-04 9.99936789e-01 -5.80759012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.78538475 meters 0.06650095859861785 Centerline is valid? [True, True] Translation: X:41.87, Y:-8.19, Z:-0.58 [[ 9.33010645e-01 3.59653222e-01 -1.18615672e-02 4.18660080e+01] [-3.59633132e-01 9.33085804e-01 3.85911994e-03 -8.18966873e+00] [ 1.24558048e-02 6.65212565e-04 9.99922202e-01 -5.83869187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.81538475 meters 0.06720534700543206 Centerline is valid? [True, True] Translation: X:41.89, Y:-8.21, Z:-0.59 [[ 9.32724755e-01 3.60416675e-01 -1.11512865e-02 4.18934406e+01] [-3.60398897e-01 9.32791201e-01 3.63454540e-03 -8.20805417e+00] [ 1.17117727e-02 6.28880905e-04 9.99931217e-01 -5.86459387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.84538475 meters 0.0662987479653539 Centerline is valid? [True, True] Translation: X:41.92, Y:-8.23, Z:-0.58 [[ 9.33644232e-01 3.58087175e-01 -9.05666804e-03 4.19188569e+01] [-3.58075364e-01 9.33688029e-01 2.94921076e-03 -8.23093073e+00] [ 9.51217708e-03 4.89456096e-04 9.99954638e-01 -5.83780517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.87538475 meters 0.06477670023355034 Centerline is valid? [True, True] Translation: X:41.95, Y:-8.25, Z:-0.58 [[ 9.34144930e-01 3.56796404e-01 -8.34116152e-03 4.19462526e+01] [-3.56786321e-01 9.34182067e-01 2.71775482e-03 -8.24981866e+00] [ 8.76184866e-03 4.37235446e-04 9.99961519e-01 -5.80552982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.90538475 meters 0.06413533680068273 Centerline is valid? [True, True] Translation: X:41.97, Y:-8.27, Z:-0.58 [[ 9.34896102e-01 3.54847782e-01 -7.23396146e-03 4.19732675e+01] [-3.54840138e-01 9.34924018e-01 2.35726309e-03 -8.27022470e+00] [ 7.59967389e-03 3.63103801e-04 9.99971056e-01 -5.78702921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.935384750000004 meters 0.06408620678964277 Centerline is valid? [True, True] Translation: X:42.00, Y:-8.28, Z:-0.58 [[ 9.35414377e-01 3.53500267e-01 -6.12409705e-03 4.20009659e+01] [-3.53494749e-01 9.35434377e-01 1.99726030e-03 -8.28340344e+00] [ 6.43472296e-03 2.96570150e-04 9.99979253e-01 -5.78874007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.96538475 meters 0.06432013621382339 Centerline is valid? [True, True] Translation: X:42.03, Y:-8.30, Z:-0.58 [[ 9.36011979e-01 3.51931832e-01 -5.05586086e-03 4.20288076e+01] [-3.51928047e-01 9.36025603e-01 1.64911050e-03 -8.29589620e+00] [ 5.31278969e-03 2.35712054e-04 9.99985859e-01 -5.79686120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.99538475 meters 0.06288418085401366 Centerline is valid? [True, True] Translation: X:42.06, Y:-8.32, Z:-0.58 [[ 9.37054758e-01 3.49153678e-01 -4.48221741e-03 4.20555610e+01] [-3.49150671e-01 9.37065457e-01 1.46209140e-03 -8.31667627e+00] [ 4.71062570e-03 1.94909514e-04 9.99988886e-01 -5.79435805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.02538475 meters 0.06264302686257017 Centerline is valid? [True, True] Translation: X:42.08, Y:-8.33, Z:-0.58 [[ 9.38166996e-01 3.46151400e-01 -4.67923509e-03 4.20818901e+01] [-3.46148086e-01 9.38178647e-01 1.52625619e-03 -8.33331474e+00] [ 4.91827416e-03 1.87825084e-04 9.99987888e-01 -5.82473373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.05538475 meters 0.06140210509859718 Centerline is valid? [True, True] Translation: X:42.11, Y:-8.35, Z:-0.58 [[ 9.38887103e-01 3.44191678e-01 -4.80600754e-03 4.21103735e+01] [-3.44188149e-01 9.38899386e-01 1.56895337e-03 -8.35141131e+00] [ 5.05237822e-03 1.81100754e-04 9.99987220e-01 -5.80125152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.08538475 meters 0.06069261269569921 Centerline is valid? [True, True] Translation: X:42.14, Y:-8.37, Z:-0.58 [[ 9.40968244e-01 3.38441861e-01 -5.98929950e-03 4.21365478e+01] [-3.38436248e-01 9.40987286e-01 1.95777644e-03 -8.37024309e+00] [ 6.29844819e-03 1.84790596e-04 9.99980148e-01 -5.80793302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.115384750000004 meters 0.060000756545811294 Centerline is valid? [True, True] Translation: X:42.17, Y:-8.39, Z:-0.58 [[ 9.41867102e-01 3.35925341e-01 -6.36612533e-03 4.21651901e+01] [-3.35918925e-01 9.41888600e-01 2.08356546e-03 -8.38634275e+00] [ 6.69610331e-03 1.76060211e-04 9.99977565e-01 -5.80549694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.14538475 meters 0.059809308020785414 Centerline is valid? [True, True] Translation: X:42.19, Y:-8.40, Z:-0.58 [[ 9.42660031e-01 3.33693657e-01 -6.37255322e-03 4.21933332e+01] [-3.33687168e-01 9.42681557e-01 2.08707258e-03 -8.40013359e+00] [ 6.70373127e-03 1.59039329e-04 9.99977517e-01 -5.80744618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.17538475 meters 0.0594882138913657 Centerline is valid? [True, True] Translation: X:42.22, Y:-8.42, Z:-0.58 [[ 9.44082493e-01 3.29638162e-01 -6.85041650e-03 4.22197013e+01] [-3.29630546e-01 9.44107336e-01 2.24509727e-03 -8.41830200e+00] [ 7.20759821e-03 1.38549503e-04 9.99974015e-01 -5.81640252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.20538475 meters 0.059132001573284916 Centerline is valid? [True, True] Translation: X:42.25, Y:-8.44, Z:-0.58 [[ 9.45410408e-01 3.25819917e-01 -6.36721015e-03 4.22470698e+01] [-3.25813236e-01 9.45431844e-01 2.08901114e-03 -8.43667914e+00] [ 6.70040467e-03 9.95484640e-05 9.99977547e-01 -5.82605194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.23538475 meters 0.05890106726354367 Centerline is valid? [True, True] Translation: X:42.28, Y:-8.45, Z:-0.58 [[ 9.46315309e-01 3.23184350e-01 -6.26192921e-03 4.22759705e+01] [-3.23177818e-01 9.46336024e-01 2.05625802e-03 -8.45082048e+00] [ 6.59043960e-03 7.78481698e-05 9.99978280e-01 -5.83382480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.26538475 meters 0.05837950883300596 Centerline is valid? [True, True] Translation: X:42.30, Y:-8.47, Z:-0.58 [[ 9.48845520e-01 3.15711342e-01 -4.30436610e-03 4.23030945e+01] [-3.15708185e-01 9.48855283e-01 1.41194340e-03 -8.47067893e+00] [ 4.52998706e-03 1.92074405e-05 9.99989739e-01 -5.82555230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.295384750000004 meters 0.058113375162242464 Centerline is valid? [True, True] Translation: X:42.33, Y:-8.49, Z:-0.58 [[ 9.50243038e-01 3.11469036e-01 -5.02083916e-03 4.23316489e+01] [-3.11464658e-01 9.50256302e-01 1.65146205e-03 -8.48715137e+00] [ 5.28546334e-03 -5.47636374e-06 9.99986032e-01 -5.82584193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.32538475 meters 0.05817661279016115 Centerline is valid? [True, True] Translation: X:42.36, Y:-8.50, Z:-0.58 [[ 9.51888159e-01 3.06410037e-01 -4.67133598e-03 4.23603770e+01] [-3.06406176e-01 9.51899621e-01 1.53847380e-03 -8.50464011e+00] [ 4.91804676e-03 -3.31288011e-05 9.99987906e-01 -5.83174717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.35538475 meters 0.05903486672208083 Centerline is valid? [True, True] Translation: X:42.39, Y:-8.53, Z:-0.58 [[ 9.55290415e-01 2.95621754e-01 -5.29170482e-03 4.23861910e+01] [-2.95616635e-01 9.55305066e-01 1.74268549e-03 -8.52739973e+00] [ 5.57036817e-03 -1.00454776e-04 9.99984480e-01 -5.84000529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.38538475 meters 0.05969164416669895 Centerline is valid? [True, True] Translation: X:42.41, Y:-8.54, Z:-0.58 [[ 9.57072503e-01 2.89810677e-01 -4.68987419e-03 4.24145563e+01] [-2.89806589e-01 9.57083987e-01 1.54386897e-03 -8.54270849e+00] [ 4.93603320e-03 -1.18438094e-04 9.99987811e-01 -5.84020126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.41538475 meters 0.060762962496933005 Centerline is valid? [True, True] Translation: X:42.44, Y:-8.56, Z:-0.58 [[ 9.60050860e-01 2.79799466e-01 -3.82175599e-03 4.24417224e+01] [-2.79796660e-01 9.60058456e-01 1.26094504e-03 -8.55992046e+00] [ 4.02192091e-03 -1.41256805e-04 9.99991902e-01 -5.83703898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.44538475 meters 0.06161922888482956 Centerline is valid? [True, True] Translation: X:42.47, Y:-8.57, Z:-0.58 [[ 9.62081662e-01 2.72748396e-01 -2.68101301e-03 4.24705587e+01] [-2.72746991e-01 9.62085390e-01 8.83305758e-04 -8.57431393e+00] [ 2.82028368e-03 -1.18574039e-04 9.99996016e-01 -5.83347985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.47538475 meters 0.06266575435516529 Centerline is valid? [True, True] Translation: X:42.50, Y:-8.59, Z:-0.58 [[ 9.62766887e-01 2.70313863e-01 -3.21513290e-03 4.24987253e+01] [-2.70311826e-01 9.62772243e-01 1.06056051e-03 -8.58637312e+00] [ 3.38212493e-03 -1.51984100e-04 9.99994269e-01 -5.84258230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.50538475 meters 0.06266575435516529 Centerline is valid? [True, True] Translation: X:42.53, Y:-8.60, Z:-0.58 [[ 9.62690067e-01 2.70587331e-01 -3.21414921e-03 4.25294220e+01] [-2.70585284e-01 9.62695421e-01 1.06354563e-03 -8.59664634e+00] [ 3.38202870e-03 -1.54163341e-04 9.99994269e-01 -5.84709655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.53538475 meters 0.06402744799674799 Centerline is valid? [True, True] Translation: X:42.56, Y:-8.61, Z:-0.59 [[ 9.63003427e-01 2.69458369e-01 -4.07283337e-03 4.25583176e+01] [-2.69455086e-01 9.63012019e-01 1.34480013e-03 -8.60886337e+00] [ 4.28455514e-03 -1.97601472e-04 9.99990802e-01 -5.86949319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.56538475 meters 0.06204163783526039 Centerline is valid? [True, True] Translation: X:42.59, Y:-8.61, Z:-0.59 [[ 9.62382111e-01 2.71609926e-01 -6.98003914e-03 4.25920696e+01] [-2.71600320e-01 9.62407368e-01 2.30728017e-03 -8.60792685e+00] [ 7.34432130e-03 -3.24704296e-04 9.99972977e-01 -5.86877533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.59538475 meters 0.060879474225296264 Centerline is valid? [True, True] Translation: X:42.62, Y:-8.61, Z:-0.59 [[ 9.60672248e-01 2.77583250e-01 -7.50802387e-03 4.26248700e+01] [-2.77572341e-01 9.60701541e-01 2.47879938e-03 -8.60850580e+00] [ 7.90104329e-03 -2.97294009e-04 9.99968742e-01 -5.87062596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.62538475 meters 0.0600082867967919 Centerline is valid? [True, True] Translation: X:42.66, Y:-8.61, Z:-0.59 [[ 9.59406494e-01 2.81891761e-01 -8.73008135e-03 4.26566265e+01] [-2.81877184e-01 9.59446164e-01 2.88294711e-03 -8.61260744e+00] [ 9.18872211e-03 -3.05107440e-04 9.99957736e-01 -5.88205592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.65538475 meters 0.059304611547673414 Centerline is valid? [True, True] Translation: X:42.69, Y:-8.62, Z:-0.59 [[ 9.58001735e-01 2.86625216e-01 -8.86918712e-03 4.26883385e+01] [-2.86610362e-01 9.58042753e-01 2.93001555e-03 -8.61627474e+00] [ 9.33687678e-03 -2.64959054e-04 9.99956375e-01 -5.88883720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.685384750000004 meters 0.058726788937296145 Centerline is valid? [True, True] Translation: X:42.72, Y:-8.62, Z:-0.59 [[ 9.55906649e-01 2.93489597e-01 -1.03118542e-02 4.27200935e+01] [-2.93469922e-01 9.55962240e-01 3.40606414e-03 -8.61574734e+00] [ 1.08573876e-02 -2.29660325e-04 9.99941030e-01 -5.92912318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.71538475 meters 0.05869515725550175 Centerline is valid? [True, True] Translation: X:42.75, Y:-8.62, Z:-0.60 [[ 9.55173657e-01 2.95812587e-01 -1.17557402e-02 4.27520007e+01] [-2.95787101e-01 9.55245966e-01 3.89034035e-03 -8.62230226e+00] [ 1.23804351e-02 -2.38754301e-04 9.99923331e-01 -5.95045606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.74538475 meters 0.05844183107601541 Centerline is valid? [True, True] Translation: X:42.78, Y:-8.63, Z:-0.60 [[ 9.54330097e-01 2.98533745e-01 -1.14746805e-02 4.27836260e+01] [-2.98509626e-01 9.54399058e-01 3.80005321e-03 -8.62808355e+00] [ 1.20858684e-02 -2.01202554e-04 9.99926943e-01 -5.95991703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.77538475 meters 0.05833068922231211 Centerline is valid? [True, True] Translation: X:42.81, Y:-8.64, Z:-0.59 [[ 9.54415093e-01 2.98309432e-01 -1.01642828e-02 4.28142899e+01] [-2.98290460e-01 9.54469198e-01 3.36931750e-03 -8.63874589e+00] [ 1.07065941e-02 -1.83818876e-04 9.99942666e-01 -5.93288518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.80538475 meters 0.058115851029638496 Centerline is valid? [True, True] Translation: X:42.85, Y:-8.65, Z:-0.59 [[ 9.54619945e-01 2.97667354e-01 -9.74199295e-03 4.28460172e+01] [-2.97649852e-01 9.54669635e-01 3.23330421e-03 -8.64869036e+00] [ 1.02628340e-02 -1.86873932e-04 9.99947318e-01 -5.90288346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.83538475 meters 0.058036017607449246 Centerline is valid? [True, True] Translation: X:42.88, Y:-8.66, Z:-0.59 [[ 9.54649501e-01 2.97610847e-01 -8.49201847e-03 4.28754724e+01] [-2.97597529e-01 9.54687256e-01 2.82038160e-03 -8.65810106e+00] [ 8.94659797e-03 -1.65272180e-04 9.99959965e-01 -5.90769551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.865384750000004 meters 0.058060188962768884 Centerline is valid? [True, True] Translation: X:42.91, Y:-8.66, Z:-0.59 [[ 9.54336956e-01 2.98573988e-01 -9.72359284e-03 4.29075115e+01] [-2.98556551e-01 9.54386474e-01 3.23187395e-03 -8.66437830e+00] [ 1.02450190e-02 -1.81254409e-04 9.99947502e-01 -5.91779376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.89538475 meters 0.05800266397313237 Centerline is valid? [True, True] Translation: X:42.94, Y:-8.67, Z:-0.59 [[ 9.53797377e-01 3.00272407e-01 -1.03462773e-02 4.29394125e+01] [-3.00252725e-01 9.53853474e-01 3.44251911e-03 -8.67232832e+00] [ 1.09025260e-02 -1.76967765e-04 9.99940550e-01 -5.92993456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.92538475 meters 0.057879006839237385 Centerline is valid? [True, True] Translation: X:42.97, Y:-8.68, Z:-0.59 [[ 9.52627173e-01 3.03941077e-01 -1.10132068e-02 4.29714237e+01] [-3.03918994e-01 9.52690821e-01 3.66667031e-03 -8.67853536e+00] [ 1.16066328e-02 -1.45847040e-04 9.99932630e-01 -5.93933824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.95538475 meters 0.057840562420667326 Centerline is valid? [True, True] Translation: X:43.00, Y:-8.69, Z:-0.60 [[ 9.51780659e-01 3.06603764e-01 -1.03782647e-02 4.30011064e+01] [-3.06584284e-01 9.51837234e-01 3.45788313e-03 -8.68632221e+00] [ 1.09386188e-02 -1.09333421e-04 9.99940166e-01 -5.95216282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.98538475 meters 0.05753023086561969 Centerline is valid? [True, True] Translation: X:43.03, Y:-8.69, Z:-0.59 [[ 9.50134786e-01 3.11657213e-01 -1.06616467e-02 4.30331925e+01] [-3.11636937e-01 9.50194600e-01 3.55541590e-03 -8.69101886e+00] [ 1.12387101e-02 -5.55614162e-05 9.99936842e-01 -5.94844153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.01538475 meters 0.05743382212635985 Centerline is valid? [True, True] Translation: X:43.07, Y:-8.70, Z:-0.59 [[ 9.49142024e-01 3.14660752e-01 -1.08640932e-02 4.30654701e+01] [-3.14639848e-01 9.49204198e-01 3.62710713e-03 -8.69878572e+00] [ 1.14535511e-02 -2.43631688e-05 9.99934406e-01 -5.93950776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.045384750000004 meters 0.057535872002931136 Centerline is valid? [True, True] Translation: X:43.10, Y:-8.70, Z:-0.60 [[ 9.46447495e-01 3.22630235e-01 -1.21190492e-02 4.30969619e+01] [-3.22604891e-01 9.46525079e-01 4.04469269e-03 -8.70104035e+00] [ 1.27759242e-02 8.15752939e-05 9.99918381e-01 -5.95884102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.07538475 meters 0.05782677761880658 Centerline is valid? [True, True] Translation: X:43.13, Y:-8.71, Z:-0.60 [[ 9.44825500e-01 3.27382317e-01 -1.12068030e-02 4.31284805e+01] [-3.27360917e-01 9.44891952e-01 3.74550743e-03 -8.70775577e+00] [ 1.18154309e-02 1.29818393e-04 9.99930187e-01 -5.97161432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.10538475 meters 0.0580679360484459 Centerline is valid? [True, True] Translation: X:43.16, Y:-8.72, Z:-0.60 [[ 9.43592163e-01 3.30935994e-01 -1.07329886e-02 4.31596453e+01] [-3.30916558e-01 9.43653189e-01 3.59037075e-03 -8.71523901e+00] [ 1.13164019e-02 1.63877958e-04 9.99935954e-01 -5.96672565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.13538475 meters 0.058663528651069045 Centerline is valid? [True, True] Translation: X:43.19, Y:-8.72, Z:-0.60 [[ 9.41148545e-01 3.37838272e-01 -1.02331946e-02 4.31904551e+01] [-3.37820981e-01 9.41204148e-01 3.42587416e-03 -8.72271723e+00] [ 1.07889166e-02 2.32731354e-04 9.99941771e-01 -5.95182379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.16538475 meters 0.05914977490768193 Centerline is valid? [True, True] Translation: X:43.22, Y:-8.73, Z:-0.59 [[ 9.39430367e-01 3.42656288e-01 -7.56662032e-03 4.32208535e+01] [-3.42646963e-01 9.39460816e-01 2.53663418e-03 -8.73242049e+00] [ 7.97773695e-03 2.09688293e-04 9.99968155e-01 -5.94257560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.19538475 meters 0.059857115754328796 Centerline is valid? [True, True] Translation: X:43.25, Y:-8.74, Z:-0.60 [[ 9.38830255e-01 3.44309552e-01 -6.97738771e-03 4.32512384e+01] [-3.44301655e-01 9.38856161e-01 2.34098737e-03 -8.74065045e+00] [ 7.35678775e-03 2.04536369e-04 9.99972918e-01 -5.96846239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.22538475 meters 0.06023252291519152 Centerline is valid? [True, True] Translation: X:43.28, Y:-8.75, Z:-0.60 [[ 9.37668320e-01 3.47468099e-01 -6.63643113e-03 4.32805288e+01] [-3.47461045e-01 9.37691779e-01 2.22485279e-03 -8.75377691e+00] [ 6.99599228e-03 2.19727319e-04 9.99975504e-01 -5.96889817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.25538475 meters 0.06035175931163762 Centerline is valid? [True, True] Translation: X:43.31, Y:-8.77, Z:-0.60 [[ 9.37301260e-01 3.48478909e-01 -5.36638206e-03 4.33113231e+01] [-3.48474284e-01 9.37316605e-01 1.80430884e-03 -8.76570191e+00] [ 5.65876260e-03 1.78865193e-04 9.99983973e-01 -5.97665097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.28538475 meters 0.06006454587275065 Centerline is valid? [True, True] Translation: X:43.34, Y:-8.78, Z:-0.60 [[ 9.36985397e-01 3.49346475e-01 -3.92511355e-03 4.33393991e+01] [-3.49343997e-01 9.36993609e-01 1.32237640e-03 -8.78413878e+00] [ 4.13977384e-03 1.32167481e-04 9.99991422e-01 -5.95872659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.31538475 meters 0.060428709834852976 Centerline is valid? [True, True] Translation: X:43.37, Y:-8.80, Z:-0.60 [[ 9.37019747e-01 3.49258880e-01 -3.49679239e-03 4.33678093e+01] [-3.49256911e-01 9.37026265e-01 1.17865013e-03 -8.79656020e+00] [ 3.68824034e-03 1.16860457e-04 9.99993192e-01 -5.95975678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.34538475 meters 0.060575762150639624 Centerline is valid? [True, True] Translation: X:43.40, Y:-8.81, Z:-0.60 [[ 9.37109912e-01 3.49023202e-01 -2.79607566e-03 4.33959002e+01] [-3.49021936e-01 9.37114079e-01 9.44215710e-04 -8.81296287e+00] [ 2.94979505e-03 9.10578395e-05 9.99995645e-01 -5.96591990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.37538475 meters 0.06067669179798401 Centerline is valid? [True, True] Translation: X:43.42, Y:-8.83, Z:-0.60 [[ 9.36837748e-01 3.49751170e-01 -3.02537337e-03 4.34249692e+01] [-3.49749697e-01 9.36842628e-01 1.02007625e-03 -8.82560763e+00] [ 3.19107160e-03 1.02477480e-04 9.99994903e-01 -5.97252770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.40538475 meters 0.0609364502222317 Centerline is valid? [True, True] Translation: X:43.45, Y:-8.84, Z:-0.60 [[ 9.36564075e-01 3.50486884e-01 -2.58410323e-03 4.34547515e+01] [-3.50485804e-01 9.36567636e-01 8.74699523e-04 -8.84022818e+00] [ 2.72675816e-03 8.64793485e-05 9.99996279e-01 -5.97332333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.435384750000004 meters 0.061022893220672544 Centerline is valid? [True, True] Translation: X:43.48, Y:-8.85, Z:-0.60 [[ 9.36108276e-01 3.51707089e-01 -1.84907555e-03 4.34844651e+01] [-3.51706535e-01 9.36110100e-01 6.27171519e-04 -8.85304519e+00] [ 1.95151896e-03 6.32315043e-05 9.99998094e-01 -5.96788506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.46538475 meters 0.061696413755686956 Centerline is valid? [True, True] Translation: X:43.51, Y:-8.87, Z:-0.60 [[ 9.35289670e-01 3.53877090e-01 -2.05875894e-03 4.35140331e+01] [-3.53876409e-01 9.35291933e-01 6.98389507e-04 -8.86617024e+00] [ 2.17268467e-03 7.53497284e-05 9.99997637e-01 -5.97282312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.49538475 meters 0.061954750786609475 Centerline is valid? [True, True] Translation: X:43.54, Y:-8.88, Z:-0.60 [[ 9.34733902e-01 3.55343133e-01 -1.94703035e-03 4.35440130e+01] [-3.55342525e-01 9.34735927e-01 6.61280054e-04 -8.87800299e+00] [ 2.05494054e-03 7.37417950e-05 9.99997886e-01 -5.98025046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.52538475 meters 0.06271991326440184 Centerline is valid? [True, True] Translation: X:43.57, Y:-8.89, Z:-0.60 [[ 9.33960109e-01 3.57376701e-01 -6.38787417e-04 4.35736147e+01] [-3.57376636e-01 9.33960327e-01 2.17124126e-04 -8.89044305e+00] [ 6.74197209e-04 2.55024257e-05 9.99999772e-01 -5.98556939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.55538475 meters 0.06274662303265892 Centerline is valid? [True, True] Translation: X:43.60, Y:-8.90, Z:-0.60 [[ 9.33624577e-01 3.58252772e-01 -3.15668913e-04 4.36032720e+01] [-3.58252755e-01 9.33624631e-01 1.10577065e-04 -8.90406256e+00] [ 3.34330812e-04 9.85179170e-06 9.99999944e-01 -5.98962075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.58538475 meters 0.06369629481876707 Centerline is valid? [True, True] Translation: X:43.63, Y:-8.92, Z:-0.60 [[ 9.33518294e-01 3.58529042e-01 -7.21616576e-04 4.36317507e+01] [-3.58528957e-01 9.33518572e-01 2.48288124e-04 -8.91834688e+00] [ 7.62660979e-04 2.69389331e-05 9.99999709e-01 -6.01695757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.615384750000004 meters 0.06363985276436154 Centerline is valid? [True, True] Translation: X:43.66, Y:-8.93, Z:-0.60 [[ 9.33973720e-01 3.57340675e-01 -8.55793382e-04 4.36604885e+01] [-3.57340556e-01 9.33974112e-01 2.93530876e-04 -8.93258760e+00] [ 9.04179385e-04 3.16595585e-05 9.99999591e-01 -6.02853094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.64538475 meters 0.06341400135940167 Centerline is valid? [True, True] Translation: X:43.69, Y:-8.95, Z:-0.60 [[ 9.34198454e-01 3.56744816e-01 -2.52676011e-03 4.36889393e+01] [-3.56743791e-01 9.34201866e-01 8.60840374e-04 -8.95175834e+00] [ 2.66760435e-03 9.72102342e-05 9.99996437e-01 -6.04361702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.67538475 meters 0.06336583260202128 Centerline is valid? [True, True] Translation: X:43.72, Y:-8.97, Z:-0.61 [[ 9.34469810e-01 3.56021459e-01 -3.85941874e-03 4.37179402e+01] [-3.56019067e-01 9.34477768e-01 1.31317172e-03 -8.96656890e+00] [ 4.07405832e-03 1.46907331e-04 9.99991690e-01 -6.05485221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.70538475 meters 0.06241951746587072 Centerline is valid? [True, True] Translation: X:43.74, Y:-8.99, Z:-0.61 [[ 9.35815102e-01 3.52479403e-01 -2.89224323e-03 4.37443118e+01] [-3.52478049e-01 9.35819566e-01 9.82258794e-04 -8.98784749e+00] [ 3.05284380e-03 1.00239638e-04 9.99995335e-01 -6.05713509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.73538475 meters 0.06118469905076019 Centerline is valid? [True, True] Translation: X:43.77, Y:-9.01, Z:-0.61 [[ 9.37646405e-01 3.47581376e-01 -2.53096735e-03 4.37722421e+01] [-3.47580320e-01 9.37649818e-01 8.59821777e-04 -9.00526412e+00] [ 2.67201911e-03 7.35056437e-05 9.99996427e-01 -6.05181974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.76538475 meters 0.06007445975079924 Centerline is valid? [True, True] Translation: X:43.80, Y:-9.03, Z:-0.61 [[ 9.39637929e-01 3.42163487e-01 -2.17020658e-03 4.37990245e+01] [-3.42162696e-01 9.39640434e-01 7.37511361e-04 -9.02506197e+00] [ 2.29156331e-03 4.95700857e-05 9.99997373e-01 -6.06163735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.795384750000004 meters 0.059648933205391795 Centerline is valid? [True, True] Translation: X:43.83, Y:-9.04, Z:-0.61 [[ 9.40310441e-01 3.40304882e-01 -2.97699871e-03 4.38278451e+01] [-3.40303373e-01 9.40315151e-01 1.01527182e-03 -9.04003983e+00] [ 3.14481895e-03 5.84120075e-05 9.99995053e-01 -6.07570304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.82538475 meters 0.05952226256616096 Centerline is valid? [True, True] Translation: X:43.86, Y:-9.05, Z:-0.61 [[ 9.41078678e-01 3.38187416e-01 -4.39455148e-04 4.38571803e+01] [-3.38187383e-01 9.41078781e-01 1.50705340e-04 -9.05499916e+00] [ 4.64528564e-04 6.79260455e-06 9.99999892e-01 -6.07581486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.85538475 meters 0.05932473920011251 Centerline is valid? [True, True] Translation: X:43.89, Y:-9.07, Z:-0.61 [[ 9.41391025e-01 3.37314958e-01 1.24831128e-03 4.38853077e+01] [-3.37314696e-01 9.41391852e-01 -4.21067800e-04 -9.06786952e+00] [-1.31718253e-03 -2.46842917e-05 9.99999132e-01 -6.06305374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.88538475 meters 0.059276102259714754 Centerline is valid? [True, True] Translation: X:43.91, Y:-9.08, Z:-0.60 [[ 9.41576517e-01 3.36791647e-01 2.24702618e-03 4.39149759e+01] [-3.36790789e-01 9.41579198e-01 -7.61164344e-04 -9.08103562e+00] [-2.37210690e-03 -4.00832485e-05 9.99997186e-01 -6.04577460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.91538475 meters 0.05874037305509346 Centerline is valid? [True, True] Translation: X:43.94, Y:-9.10, Z:-0.60 [[ 9.43161123e-01 3.32290243e-01 5.50376045e-03 4.39418073e+01] [-3.32284979e-01 9.43177179e-01 -1.87143117e-03 -9.09996981e+00] [-5.81287957e-03 -6.37557981e-05 9.99983103e-01 -6.01054595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.94538475 meters 0.058506942853924396 Centerline is valid? [True, True] Translation: X:43.97, Y:-9.12, Z:-0.60 [[ 9.45480434e-01 3.25616005e-01 6.40045098e-03 4.39685743e+01] [-3.25608719e-01 9.45502098e-01 -2.17852179e-03 -9.11914992e+00] [-6.76100139e-03 -2.42929124e-05 9.99977144e-01 -6.00090767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.97538475 meters 0.05855208480531364 Centerline is valid? [True, True] Translation: X:44.00, Y:-9.13, Z:-0.60 [[ 9.46809343e-01 3.21690530e-01 8.20187573e-03 4.39968154e+01] [-3.21678385e-01 9.46844868e-01 -2.79525628e-03 -9.13385873e+00] [-8.66511141e-03 8.20862708e-06 9.99962457e-01 -6.00281435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.00538475 meters 0.05915164707636833 Centerline is valid? [True, True] Translation: X:44.02, Y:-9.15, Z:-0.60 [[ 9.49247775e-01 3.14403579e-01 8.89108425e-03 4.40241695e+01] [-3.14388962e-01 9.49289409e-01 -3.03276875e-03 -9.15138585e+00] [-9.39372546e-03 8.35902416e-05 9.99955874e-01 -6.00207386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.03538475 meters 0.059568100674050654 Centerline is valid? [True, True] Translation: X:44.05, Y:-9.16, Z:-0.60 [[ 9.50431682e-01 3.10787378e-01 9.53014600e-03 4.40532693e+01] [-3.10770375e-01 9.50479452e-01 -3.25348620e-03 -9.16485257e+00] [-1.00693504e-02 1.30529307e-04 9.99949294e-01 -5.99643495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.06538475 meters 0.059997098799320574 Centerline is valid? [True, True] Translation: X:44.08, Y:-9.18, Z:-0.60 [[ 9.51972753e-01 3.06041986e-01 9.28330290e-03 4.40798869e+01] [-3.06025598e-01 9.52017999e-01 -3.17211132e-03 -9.18117904e+00] [-9.80867070e-03 1.78835220e-04 9.99951878e-01 -5.99364417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.09538475 meters 0.06027737229149387 Centerline is valid? [True, True] Translation: X:44.11, Y:-9.19, Z:-0.60 [[ 9.52553128e-01 3.04205724e-01 1.00705017e-02 4.41094456e+01] [-3.04186313e-01 9.52606336e-01 -3.44331087e-03 -9.19363994e+00] [-1.06406986e-02 2.16627755e-04 9.99943363e-01 -5.99647721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.12538475 meters 0.060683373013119137 Centerline is valid? [True, True] Translation: X:44.14, Y:-9.20, Z:-0.60 [[ 9.53239612e-01 3.02073890e-01 9.25246490e-03 4.41395115e+01] [-3.02057381e-01 9.53284488e-01 -3.16590635e-03 -9.20416258e+00] [-9.77656892e-03 2.23092020e-04 9.99952183e-01 -6.01587228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.15538475 meters 0.061043403783013345 Centerline is valid? [True, True] Translation: X:44.17, Y:-9.21, Z:-0.60 [[ 9.53468645e-01 3.01356373e-01 9.04868408e-03 4.41687315e+01] [-3.01340522e-01 9.53511554e-01 -3.09925734e-03 -9.21452573e+00] [-9.56200577e-03 2.28309513e-04 9.99954257e-01 -6.03053726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.185384750000004 meters 0.061619246479429866 Centerline is valid? [True, True] Translation: X:44.20, Y:-9.22, Z:-0.61 [[ 9.53410432e-01 3.01605034e-01 6.55367727e-03 4.41974476e+01] [-3.01596727e-01 9.53432943e-01 -2.24444300e-03 -9.22487843e+00] [-6.92542712e-03 1.63307759e-04 9.99976006e-01 -6.06847918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.21538475 meters 0.06118770795027476 Centerline is valid? [True, True] Translation: X:44.23, Y:-9.23, Z:-0.61 [[ 9.52907661e-01 3.03195735e-01 6.27185802e-03 4.42289353e+01] [-3.03188152e-01 9.52928289e-01 -2.14928738e-03 -9.23230979e+00] [-6.62828570e-03 1.46519367e-04 9.99978022e-01 -6.06955433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.24538475 meters 0.06083706006003462 Centerline is valid? [True, True] Translation: X:44.26, Y:-9.24, Z:-0.61 [[ 9.51915918e-01 3.06289123e-01 6.56186758e-03 4.42596312e+01] [-3.06280882e-01 9.51938525e-01 -2.25073693e-03 -9.23990729e+00] [-6.93587079e-03 1.32737723e-04 9.99975938e-01 -6.07792144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.27538475 meters 0.06088060447546149 Centerline is valid? [True, True] Translation: X:44.29, Y:-9.25, Z:-0.61 [[ 9.51473246e-01 3.07647871e-01 7.17279581e-03 4.42894287e+01] [-3.07638043e-01 9.51500273e-01 -2.46283229e-03 -9.24978602e+00] [-7.58260228e-03 1.36694170e-04 9.99971242e-01 -6.08818982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.30538475 meters 0.06015588236522294 Centerline is valid? [True, True] Translation: X:44.32, Y:-9.25, Z:-0.61 [[ 9.50261322e-01 3.11402082e-01 5.67119447e-03 4.43222400e+01] [-3.11395993e-01 9.50278241e-01 -1.94919104e-03 -9.25448029e+00] [-5.99619486e-03 8.62536226e-05 9.99982019e-01 -6.11557144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.33538475 meters 0.0602080353589083 Centerline is valid? [True, True] Translation: X:44.35, Y:-9.26, Z:-0.61 [[ 9.49563853e-01 3.13527959e-01 5.35805050e-03 4.43521797e+01] [-3.13522562e-01 9.49578967e-01 -1.84077774e-03 -9.26216309e+00] [-5.66502735e-03 6.80662826e-05 9.99983951e-01 -6.12060689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.365384750000004 meters 0.06012192326263346 Centerline is valid? [True, True] Translation: X:44.38, Y:-9.27, Z:-0.61 [[ 9.47978647e-01 3.18268284e-01 6.46407866e-03 4.43829851e+01] [-3.18260519e-01 9.48000684e-01 -2.22387560e-03 -9.26698384e+00] [-6.83574006e-03 5.09255607e-05 9.99976635e-01 -6.13095333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.39538475 meters 0.06012192326263346 Centerline is valid? [True, True] Translation: X:44.41, Y:-9.28, Z:-0.61 [[ 9.47889292e-01 3.18534309e-01 6.46407899e-03 4.44134913e+01] [-3.18526550e-01 9.47911331e-01 -2.22387551e-03 -9.27767966e+00] [-6.83575436e-03 4.90070009e-05 9.99976635e-01 -6.13546367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.42538475 meters 0.05967769676211852 Centerline is valid? [True, True] Translation: X:44.44, Y:-9.28, Z:-0.61 [[ 9.46874808e-01 3.21528005e-01 6.91661085e-03 4.44445090e+01] [-3.21519181e-01 9.46900069e-01 -2.38221569e-03 -9.28466695e+00] [-7.31528835e-03 3.18369662e-05 9.99973242e-01 -6.13324505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.45538475 meters 0.05974994628785378 Centerline is valid? [True, True] Translation: X:44.48, Y:-9.29, Z:-0.61 [[ 9.44734302e-01 3.27766188e-01 6.81349465e-03 4.44759804e+01] [-3.27757773e-01 9.44758872e-01 -2.34871538e-03 -9.28903386e+00] [-7.20693901e-03 -1.42638460e-05 9.99974030e-01 -6.13846967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.48538475 meters 0.05982532840554322 Centerline is valid? [True, True] Translation: X:44.51, Y:-9.30, Z:-0.61 [[ 9.43619040e-01 3.30974215e-01 6.25905765e-03 4.45070814e+01] [-3.30967177e-01 9.43639798e-01 -2.15881304e-03 -9.29616285e+00] [-6.62080735e-03 -3.44455525e-05 9.99978082e-01 -6.14689208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.51538475 meters 0.060292694060916155 Centerline is valid? [True, True] Translation: X:44.54, Y:-9.30, Z:-0.62 [[ 9.41500883e-01 3.36969462e-01 5.26017029e-03 4.45384373e+01] [-3.36964574e-01 9.41515575e-01 -1.81606538e-03 -9.29882530e+00] [-5.56449083e-03 -6.26638855e-05 9.99984516e-01 -6.17695248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.545384750000004 meters 0.06035852029295438 Centerline is valid? [True, True] Translation: X:44.57, Y:-9.31, Z:-0.62 [[ 9.40890693e-01 3.38669950e-01 5.23146402e-03 4.45689916e+01] [-3.38665142e-01 9.40905234e-01 -1.80608723e-03 -9.30790537e+00] [-5.53397935e-03 -7.23838415e-05 9.99984685e-01 -6.19157958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.57538475 meters 0.06007833359556931 Centerline is valid? [True, True] Translation: X:44.60, Y:-9.32, Z:-0.62 [[ 9.41100798e-01 3.38048179e-01 7.26060508e-03 4.45981335e+01] [-3.38038872e-01 9.41128801e-01 -2.51008001e-03 -9.32122926e+00] [-7.68169253e-03 -9.21284527e-05 9.99970491e-01 -6.17644436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.60538475 meters 0.06028577352142719 Centerline is valid? [True, True] Translation: X:44.63, Y:-9.33, Z:-0.62 [[ 9.40782806e-01 3.38941311e-01 6.81904824e-03 4.46285784e+01] [-3.38933113e-01 9.40807515e-01 -2.35909258e-03 -9.33123748e+00] [-7.21500575e-03 -9.18075121e-05 9.99973967e-01 -6.17456331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.63538475 meters 0.06013525168964253 Centerline is valid? [True, True] Translation: X:44.66, Y:-9.34, Z:-0.62 [[ 9.41009750e-01 3.38279139e-01 8.23855124e-03 4.46580885e+01] [-3.38267117e-01 9.41045808e-01 -2.85375146e-03 -9.34378744e+00] [-8.71821870e-03 -1.01423032e-04 9.99961990e-01 -6.17023746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.66538475 meters 0.05966126501584396 Centerline is valid? [True, True] Translation: X:44.69, Y:-9.36, Z:-0.62 [[ 9.41736784e-01 3.36235247e-01 8.81410128e-03 4.46868930e+01] [-3.36221371e-01 9.41778027e-01 -3.05586210e-03 -9.35955655e+00] [-9.32841545e-03 -8.56714635e-05 9.99956486e-01 -6.15772739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.69538475 meters 0.059114482302670926 Centerline is valid? [True, True] Translation: X:44.71, Y:-9.37, Z:-0.61 [[ 9.43178576e-01 3.32099367e-01 1.11438069e-02 4.47143995e+01] [-3.32076845e-01 9.43244405e-01 -3.86796719e-03 -9.37461375e+00] [-1.17958829e-02 -5.24164346e-05 9.99930425e-01 -6.13612017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.72538475 meters 0.05916370792590993 Centerline is valid? [True, True] Translation: X:44.74, Y:-9.39, Z:-0.61 [[ 9.43779006e-01 3.30371028e-01 1.16693034e-02 4.47444670e+01] [-3.30346159e-01 9.43851145e-01 -4.05366653e-03 -9.38706048e+00] [-1.23532994e-02 -2.91441989e-05 9.99923695e-01 -6.13816790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.75538475 meters 0.059402582955704074 Centerline is valid? [True, True] Translation: X:44.78, Y:-9.40, Z:-0.62 [[ 9.43533234e-01 3.31104755e-01 1.07087898e-02 4.47752165e+01] [-3.31083821e-01 9.43594002e-01 -3.72337154e-03 -9.39797571e+00] [-1.13375758e-02 -3.23822430e-05 9.99935727e-01 -6.17010361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.78538475 meters 0.05937221788978955 Centerline is valid? [True, True] Translation: X:44.81, Y:-9.41, Z:-0.62 [[ 9.43180837e-01 3.32123287e-01 1.01995504e-02 4.48061028e+01] [-3.32104335e-01 9.43235984e-01 -3.54819034e-03 -9.40872339e+00] [-1.07990196e-02 -4.07297779e-05 9.99941688e-01 -6.17536916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.81538475 meters 0.059391975980109014 Centerline is valid? [True, True] Translation: X:44.84, Y:-9.42, Z:-0.62 [[ 9.42820582e-01 3.33128164e-01 1.07227215e-02 4.48357480e+01] [-3.33107240e-01 9.42881553e-01 -3.73402456e-03 -9.41938074e+00] [-1.13541651e-02 -5.13009679e-05 9.99935538e-01 -6.15729819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.84538475 meters 0.05949516796408972 Centerline is valid? [True, True] Translation: X:44.87, Y:-9.43, Z:-0.62 [[ 9.42700950e-01 3.33539723e-01 8.13463149e-03 4.48666455e+01] [-3.33527684e-01 9.42736045e-01 -2.83417208e-03 -9.42917949e+00] [-8.61411929e-03 -4.13480913e-05 9.99962897e-01 -6.19023446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.87538475 meters 0.0596420474100656 Centerline is valid? [True, True] Translation: X:44.90, Y:-9.44, Z:-0.62 [[ 9.42584966e-01 3.33905558e-01 6.37652405e-03 4.48968132e+01] [-3.33898160e-01 9.42606533e-01 -2.22296556e-03 -9.43843358e+00] [-6.75281379e-03 -3.37757330e-05 9.99977199e-01 -6.21310021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.90538475 meters 0.059874756255608105 Centerline is valid? [True, True] Translation: X:44.93, Y:-9.45, Z:-0.62 [[ 9.42558713e-01 3.33972128e-01 6.75940480e-03 4.49282170e+01] [-3.33963801e-01 9.42582949e-01 -2.35862028e-03 -9.44886178e+00] [-7.15901315e-03 -3.42584182e-05 9.99974373e-01 -6.23908493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.935384750000004 meters 0.05964821487771435 Centerline is valid? [True, True] Translation: X:44.96, Y:-9.46, Z:-0.62 [[ 9.43269284e-01 3.31962850e-01 6.61236778e-03 4.49573661e+01] [-3.31954816e-01 9.43292461e-01 -2.30954406e-03 -9.46095947e+00] [-7.00407951e-03 -1.64853562e-05 9.99975471e-01 -6.23341002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.96538475 meters 0.05953104623404621 Centerline is valid? [True, True] Translation: X:44.99, Y:-9.47, Z:-0.62 [[ 9.43466960e-01 3.31407990e-01 6.23214110e-03 4.49883023e+01] [-3.31400831e-01 9.43487543e-01 -2.17827244e-03 -9.47315758e+00] [-6.60184439e-03 -1.02086648e-05 9.99978208e-01 -6.23543502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.99538475 meters 0.059479967160473796 Centerline is valid? [True, True] Translation: X:45.02, Y:-9.48, Z:-0.62 [[ 9.43652256e-01 3.30881762e-01 6.13837496e-03 4.50188546e+01] [-3.30874794e-01 9.43672220e-01 -2.14727508e-03 -9.48435162e+00] [-6.50310809e-03 -4.75257806e-06 9.99978855e-01 -6.22678144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.02538475 meters 0.0594903238403201 Centerline is valid? [True, True] Translation: X:45.05, Y:-9.49, Z:-0.62 [[ 9.43788540e-01 3.30502551e-01 5.59057097e-03 4.50488166e+01] [-3.30496750e-01 9.43805098e-01 -1.95816576e-03 -9.49442121e+00] [-5.92358816e-03 4.28871503e-07 9.99982455e-01 -6.23594534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.05538475 meters 0.05960890006360659 Centerline is valid? [True, True] Translation: X:45.08, Y:-9.50, Z:-0.62 [[ 9.43733238e-01 3.30631529e-01 7.09700709e-03 4.50795480e+01] [-3.30622170e-01 9.43759923e-01 -2.48762624e-03 -9.50375306e+00] [-7.52035853e-03 1.22767765e-06 9.99971722e-01 -6.22206563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.08538475 meters 0.059434783970380836 Centerline is valid? [True, True] Translation: X:45.11, Y:-9.52, Z:-0.62 [[ 9.43776939e-01 3.30484037e-01 8.08645630e-03 4.51104942e+01] [-3.30471859e-01 9.43811581e-01 -2.83715560e-03 -9.51545217e+00] [-8.56972574e-03 5.29577935e-06 9.99963279e-01 -6.22468458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.115384750000004 meters 0.05925848466047565 Centerline is valid? [True, True] Translation: X:45.14, Y:-9.53, Z:-0.62 [[ 9.44531836e-01 3.28288583e-01 9.28536747e-03 4.51401155e+01] [-3.28272382e-01 9.44577475e-01 -3.26155499e-03 -9.52889258e+00] [-9.84148022e-03 3.25128284e-05 9.99951571e-01 -6.19868953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.14538475 meters 0.05911698455220468 Centerline is valid? [True, True] Translation: X:45.17, Y:-9.54, Z:-0.62 [[ 9.45070546e-01 3.26725836e-01 9.58600152e-03 4.51705403e+01] [-3.26708455e-01 9.45119159e-01 -3.37046022e-03 -9.54104896e+00] [-1.01611301e-02 5.34949301e-05 9.99948373e-01 -6.19075728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.17538475 meters 0.05909450710382225 Centerline is valid? [True, True] Translation: X:45.20, Y:-9.55, Z:-0.62 [[ 9.45680616e-01 3.24930543e-01 1.04073836e-02 4.51995674e+01] [-3.24909905e-01 9.45737879e-01 -3.66316381e-03 -9.55332914e+00] [-1.10329307e-02 8.27209867e-05 9.99939132e-01 -6.19032490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.20538475 meters 0.05937300224732323 Centerline is valid? [True, True] Translation: X:45.23, Y:-9.57, Z:-0.62 [[ 9.46717040e-01 3.21890824e-01 1.06368780e-02 4.52292884e+01] [-3.21869034e-01 9.46776786e-01 -3.74735597e-03 -9.56572662e+00] [-1.12769887e-02 1.24004097e-04 9.99936405e-01 -6.18936030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.23538475 meters 0.05975390152080426 Centerline is valid? [True, True] Translation: X:45.26, Y:-9.58, Z:-0.62 [[ 9.47925921e-01 3.18311441e-01 1.06899002e-02 4.52583370e+01] [-3.18289171e-01 9.47986180e-01 -3.76912532e-03 -9.57889642e+00] [-1.13336334e-02 1.70372108e-04 9.99935758e-01 -6.20716263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.26538475 meters 0.06001450843688819 Centerline is valid? [True, True] Translation: X:45.29, Y:-9.59, Z:-0.62 [[ 9.48594008e-01 3.16309279e-01 1.08557813e-02 4.52874089e+01] [-3.16286145e-01 9.48656102e-01 -3.83075710e-03 -9.59147271e+00] [-1.15101072e-02 2.00300008e-04 9.99933736e-01 -6.21970105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.295384750000004 meters 0.06043122947000815 Centerline is valid? [True, True] Translation: X:45.32, Y:-9.61, Z:-0.62 [[ 9.49902044e-01 3.12406531e-01 9.39498114e-03 4.53155356e+01] [-3.12388991e-01 9.49948479e-01 -3.31749695e-03 -9.60507385e+00] [-9.96115576e-03 2.16408454e-04 9.99950363e-01 -6.21569734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.32538475 meters 0.06047669594030768 Centerline is valid? [True, True] Translation: X:45.35, Y:-9.62, Z:-0.62 [[ 9.50081933e-01 3.11828546e-01 1.03574988e-02 4.53461731e+01] [-3.11807161e-01 9.50138356e-01 -3.66033827e-03 -9.61579239e+00] [-1.09824548e-02 2.48078984e-04 9.99939660e-01 -6.22672350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.35538475 meters 0.06073088174906977 Centerline is valid? [True, True] Translation: X:45.38, Y:-9.63, Z:-0.62 [[ 9.50236919e-01 3.11379950e-01 9.60859642e-03 4.53757648e+01] [-3.11361498e-01 9.50285468e-01 -3.39815026e-03 -9.62673489e+00] [-1.01890254e-02 2.37300856e-04 9.99948062e-01 -6.23861383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.38538475 meters 0.06062377446009339 Centerline is valid? [True, True] Translation: X:45.41, Y:-9.64, Z:-0.63 [[ 9.50224181e-01 3.11475210e-01 7.56308459e-03 4.54059243e+01] [-3.11463770e-01 9.50254260e-01 -2.67607650e-03 -9.63661341e+00] [-8.02038484e-03 1.87245765e-04 9.99967819e-01 -6.25739116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.41538475 meters 0.06032631541796736 Centerline is valid? [True, True] Translation: X:45.44, Y:-9.64, Z:-0.63 [[ 9.49316332e-01 3.14264550e-01 6.02453889e-03 4.54360005e+01] [-3.14257340e-01 9.49335439e-01 -2.13280245e-03 -9.64492175e+00] [-6.38957247e-03 1.31448628e-04 9.99979578e-01 -6.28325902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.44538475 meters 0.06017477048720238 Centerline is valid? [True, True] Translation: X:45.47, Y:-9.65, Z:-0.63 [[ 9.48551821e-01 3.16564971e-01 6.00517739e-03 4.54670560e+01] [-3.16557844e-01 9.48570823e-01 -2.12739051e-03 -9.65321288e+00] [-6.36979337e-03 1.16954135e-04 9.99979706e-01 -6.30085502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.47538475 meters 0.05949717479796936 Centerline is valid? [True, True] Translation: X:45.50, Y:-9.66, Z:-0.63 [[ 9.46762963e-01 3.21870541e-01 6.26477195e-03 4.54996917e+01] [-3.21862879e-01 9.46783686e-01 -2.22260862e-03 -9.65722297e+00] [-6.64677611e-03 8.78859924e-05 9.99977906e-01 -6.30475903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.50538475 meters 0.059119746176574 Centerline is valid? [True, True] Translation: X:45.53, Y:-9.66, Z:-0.63 [[ 9.45691382e-01 3.25011652e-01 5.93606144e-03 4.55308851e+01] [-3.25004842e-01 9.45710010e-01 -2.10496303e-03 -9.66489317e+00] [-6.29793023e-03 6.13966875e-05 9.99980166e-01 -6.30889534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.53538475 meters 0.05885885482189504 Centerline is valid? [True, True] Translation: X:45.56, Y:-9.67, Z:-0.63 [[ 9.44698259e-01 3.27897108e-01 5.35586238e-03 4.55620638e+01] [-3.27891604e-01 9.44713441e-01 -1.90030957e-03 -9.67159804e+00] [-5.68286119e-03 3.90768391e-05 9.99983852e-01 -6.31384046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.56538475 meters 0.05863226960217614 Centerline is valid? [True, True] Translation: X:45.59, Y:-9.68, Z:-0.63 [[ 9.42677124e-01 3.33668999e-01 4.98385145e-03 4.55943067e+01] [-3.33664307e-01 9.42690299e-01 -1.76944727e-03 -9.67533514e+00] [-5.28863811e-03 5.08412574e-06 9.99986015e-01 -6.33412469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.59538475 meters 0.058530301882632925 Centerline is valid? [True, True] Translation: X:45.63, Y:-9.68, Z:-0.63 [[ 9.41075520e-01 3.38171440e-01 4.11608684e-03 4.56260297e+01] [-3.38168281e-01 9.41084522e-01 -1.46170941e-03 -9.68131244e+00] [-4.36789399e-03 -1.63510711e-05 9.99990461e-01 -6.33755879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.62538475 meters 0.05859235543720548 Centerline is valid? [True, True] Translation: X:45.66, Y:-9.69, Z:-0.63 [[ 9.40348226e-01 3.40195297e-01 3.51770371e-03 4.56563907e+01] [-3.40193000e-01 9.40354805e-01 -1.25009390e-03 -9.68953299e+00] [-3.73316565e-03 -2.11746023e-05 9.99993031e-01 -6.34285442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.65538475 meters 0.05884172556690366 Centerline is valid? [True, True] Translation: X:45.69, Y:-9.70, Z:-0.64 [[ 9.39515372e-01 3.42491798e-01 3.19902158e-03 4.56877662e+01] [-3.42489912e-01 9.39520818e-01 -1.13716259e-03 -9.69816192e+00] [-3.39501624e-03 -2.72508857e-05 9.99994237e-01 -6.36274343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.685384750000004 meters 0.058668854703354194 Centerline is valid? [True, True] Translation: X:45.72, Y:-9.71, Z:-0.64 [[ 9.39225496e-01 3.43285176e-01 3.27961004e-03 4.57182599e+01] [-3.43283196e-01 9.39231221e-01 -1.16622882e-03 -9.71025287e+00] [-3.48066121e-03 -3.04831737e-05 9.99993942e-01 -6.35619775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.71538475 meters 0.058722017519251025 Centerline is valid? [True, True] Translation: X:45.75, Y:-9.72, Z:-0.64 [[ 9.39275504e-01 3.43151077e-01 2.97744099e-03 4.57483974e+01] [-3.43149442e-01 9.39280223e-01 -1.05962000e-03 -9.72150852e+00] [-3.16026118e-03 -2.64321012e-05 9.99995006e-01 -6.36931374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.74538475 meters 0.058455334365854254 Centerline is valid? [True, True] Translation: X:45.78, Y:-9.73, Z:-0.64 [[ 9.39715105e-01 3.41948553e-01 2.59017025e-03 4.57784633e+01] [-3.41947311e-01 9.39718674e-01 -9.21917790e-04 -9.73451803e+00] [-2.74927981e-03 -1.93616815e-05 9.99996221e-01 -6.38608993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.77538475 meters 0.05814590492281074 Centerline is valid? [True, True] Translation: X:45.81, Y:-9.75, Z:-0.64 [[ 9.40509277e-01 3.39758028e-01 2.60423792e-03 4.58074403e+01] [-3.39756760e-01 9.40512883e-01 -9.28142164e-04 -9.74968832e+00] [-2.76466306e-03 -1.18811224e-05 9.99996178e-01 -6.36903398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.80538475 meters 0.058090187105254563 Centerline is valid? [True, True] Translation: X:45.84, Y:-9.76, Z:-0.64 [[ 9.40608101e-01 3.39478058e-01 3.32392643e-03 4.58371507e+01] [-3.39475984e-01 9.40613974e-01 -1.18665627e-03 -9.76255355e+00] [-3.52937541e-03 -1.22146894e-05 9.99993772e-01 -6.36223420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.83538475 meters 0.05795732062021561 Centerline is valid? [True, True] Translation: X:45.87, Y:-9.78, Z:-0.64 [[ 9.40346815e-01 3.40198054e-01 3.62657352e-03 4.58672057e+01] [-3.40195587e-01 9.40353808e-01 -1.29568807e-03 -9.77555383e+00] [-3.85105278e-03 -1.53481568e-05 9.99992585e-01 -6.35786214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.865384750000004 meters 0.05775775204683913 Centerline is valid? [True, True] Translation: X:45.90, Y:-9.79, Z:-0.64 [[ 9.41325606e-01 3.37459910e-01 5.18772682e-03 4.58956491e+01] [-3.37454799e-01 9.41339901e-01 -1.85728279e-03 -9.79019819e+00] [-5.51017274e-03 -2.31546220e-06 9.99984819e-01 -6.35102550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.89538475 meters 0.05737148179992785 Centerline is valid? [True, True] Translation: X:45.92, Y:-9.81, Z:-0.63 [[ 9.42282877e-01 3.34770987e-01 5.60062267e-03 4.59231351e+01] [-3.34764971e-01 9.42299520e-01 -2.00688700e-03 -9.80695313e+00] [-5.94931160e-03 1.61629711e-05 9.99982303e-01 -6.34510406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.92538475 meters 0.05733730209259817 Centerline is valid? [True, True] Translation: X:45.95, Y:-9.82, Z:-0.63 [[ 9.42578746e-01 3.33938542e-01 5.50973403e-03 4.59534331e+01] [-3.33932698e-01 9.42594849e-01 -1.97581438e-03 -9.82031661e+00] [-5.85324749e-03 2.24802951e-05 9.99982869e-01 -6.34646821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.95538475 meters 0.057407111154531294 Centerline is valid? [True, True] Translation: X:45.98, Y:-9.84, Z:-0.64 [[ 9.43694111e-01 3.30772890e-01 5.54263221e-03 4.59816637e+01] [-3.30766908e-01 9.43710386e-01 -1.98966201e-03 -9.83523072e+00] [-5.88876584e-03 4.43129972e-05 9.99982660e-01 -6.35913785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.98538475 meters 0.05755166139350774 Centerline is valid? [True, True] Translation: X:46.01, Y:-9.85, Z:-0.64 [[ 9.43556506e-01 3.31168589e-01 5.33728370e-03 4.60109139e+01] [-3.31163041e-01 9.43571600e-01 -1.91723607e-03 -9.84743204e+00] [-5.67103768e-03 4.15094584e-05 9.99983919e-01 -6.36914096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.01538475 meters 0.05760889676740119 Centerline is valid? [True, True] Translation: X:46.04, Y:-9.86, Z:-0.64 [[ 9.43924077e-01 3.30141179e-01 3.76012234e-03 4.60405171e+01] [-3.30138417e-01 9.43931566e-01 -1.35094286e-03 -9.86027037e+00] [-3.99530003e-03 3.38266586e-05 9.99992018e-01 -6.39626061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.045384750000004 meters 0.05770719979485653 Centerline is valid? [True, True] Translation: X:46.07, Y:-9.87, Z:-0.64 [[ 9.43648184e-01 3.30938956e-01 2.74106454e-03 4.60716890e+01] [-3.30937493e-01 9.43652164e-01 -9.84128259e-04 -9.87124663e+00] [-2.91229786e-03 2.15498173e-05 9.99995759e-01 -6.41214393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.07538475 meters 0.05775932145385204 Centerline is valid? [True, True] Translation: X:46.10, Y:-9.88, Z:-0.64 [[ 9.43615398e-01 3.31040775e-01 1.40912417e-03 4.61017283e+01] [-3.31040390e-01 9.43616450e-01 -5.05007221e-04 -9.88077785e+00] [-1.49685073e-03 1.00555762e-05 9.99998880e-01 -6.43569295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.10538475 meters 0.05771687948046948 Centerline is valid? [True, True] Translation: X:46.13, Y:-9.89, Z:-0.64 [[ 9.43690090e-01 3.30828885e-01 1.12406398e-03 4.61326097e+01] [-3.30828641e-01 9.43690759e-01 -4.01732731e-04 -9.89243396e+00] [-1.19367358e-03 7.23863917e-06 9.99999288e-01 -6.44334289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.13538475 meters 0.05780038633877824 Centerline is valid? [True, True] Translation: X:46.17, Y:-9.89, Z:-0.65 [[ 9.42812388e-01 3.33320368e-01 -1.52749801e-03 4.61656122e+01] [-3.33319905e-01 9.42813625e-01 5.55788637e-04 -9.89490381e+00] [ 1.62540161e-03 -1.48589196e-05 9.99998679e-01 -6.48313310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.16538475 meters 0.05809885046376272 Centerline is valid? [True, True] Translation: X:46.20, Y:-9.90, Z:-0.65 [[ 9.42464329e-01 3.34300968e-01 -1.96240704e-03 4.62000922e+01] [-3.34300206e-01 9.42466372e-01 7.14307171e-04 -9.89570396e+00] [ 2.08829623e-03 -1.71759506e-05 9.99997819e-01 -6.47091233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.19538475 meters 0.05804125821861615 Centerline is valid? [True, True] Translation: X:46.23, Y:-9.90, Z:-0.65 [[ 9.42081151e-01 3.35378327e-01 -2.11712903e-03 4.62302199e+01] [-3.35377442e-01 9.42083530e-01 7.70615005e-04 -9.90488799e+00] [ 2.25295996e-03 -1.59445522e-05 9.99997462e-01 -6.48457420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.22538475 meters 0.058028598811707015 Centerline is valid? [True, True] Translation: X:46.26, Y:-9.91, Z:-0.65 [[ 9.41526456e-01 3.36917572e-01 -3.80552404e-03 4.62624872e+01] [-3.36914736e-01 9.41534147e-01 1.38255050e-03 -9.91070708e+00] [ 4.04883639e-03 -1.95707447e-05 9.99991803e-01 -6.50153774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.25538475 meters 0.058176897485087614 Centerline is valid? [True, True] Translation: X:46.30, Y:-9.91, Z:-0.65 [[ 9.40164022e-01 3.40654747e-01 -6.77908588e-03 4.62966902e+01] [-3.40645851e-01 9.40188462e-01 2.46182678e-03 -9.90855878e+00] [ 7.21225131e-03 -5.25348748e-06 9.99973991e-01 -6.52290325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.28538475 meters 0.0582373764884884 Centerline is valid? [True, True] Translation: X:46.33, Y:-9.92, Z:-0.65 [[ 9.39458853e-01 3.42611344e-01 -5.87626508e-03 4.63277410e+01] [-3.42604698e-01 9.39477231e-01 2.13401292e-03 -9.91500117e+00] [ 6.25175428e-03 8.41869743e-06 9.99980458e-01 -6.53691364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.31538475 meters 0.0582373764884884 Centerline is valid? [True, True] Translation: X:46.36, Y:-9.93, Z:-0.65 [[ 9.39361018e-01 3.42879516e-01 -5.87498700e-03 4.63580842e+01] [-3.42872853e-01 9.39379390e-01 2.13753340e-03 -9.92619488e+00] [ 6.25175811e-03 6.45800445e-06 9.99980458e-01 -6.54142530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.34538475 meters 0.05800688508132872 Centerline is valid? [True, True] Translation: X:46.39, Y:-9.93, Z:-0.65 [[ 9.38066797e-01 3.46444394e-01 -2.63933814e-03 4.63911501e+01] [-3.46443056e-01 9.38070510e-01 9.62799255e-04 -9.93013557e+00] [ 2.80944168e-03 1.12103601e-05 9.99996053e-01 -6.52338085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.37538475 meters 0.05801163673396192 Centerline is valid? [True, True] Translation: X:46.42, Y:-9.94, Z:-0.65 [[ 9.37669442e-01 3.47525656e-01 -1.39170137e-03 4.64230935e+01] [-3.47525282e-01 9.37670474e-01 5.09792497e-04 -9.93698997e+00] [ 1.48212326e-03 5.63456525e-06 9.99998902e-01 -6.52806841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.40538475 meters 0.057769936773352626 Centerline is valid? [True, True] Translation: X:46.45, Y:-9.94, Z:-0.65 [[ 9.37325892e-01 3.48447619e-01 2.10466389e-03 4.64547686e+01] [-3.48446786e-01 9.37328254e-01 -7.62172661e-04 -9.94429180e+00] [-2.23833818e-03 -1.89591994e-05 9.99997495e-01 -6.49357126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.435384750000004 meters 0.05750919489970591 Centerline is valid? [True, True] Translation: X:46.48, Y:-9.95, Z:-0.65 [[ 9.37709344e-01 3.47395358e-01 4.20142635e-03 4.64845748e+01] [-3.47392000e-01 9.37718756e-01 -1.52772279e-03 -9.95426831e+00] [-4.47048009e-03 -2.69819704e-05 9.99990007e-01 -6.48717027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.46538475 meters 0.05748147810208172 Centerline is valid? [True, True] Translation: X:46.51, Y:-9.97, Z:-0.65 [[ 9.37831076e-01 3.47076528e-01 3.27969311e-03 4.65148200e+01] [-3.47074485e-01 9.37836811e-01 -1.19100420e-03 -9.96602399e+00] [-3.48918653e-03 -2.13370426e-05 9.99993913e-01 -6.48032970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.49538475 meters 0.057369183460103126 Centerline is valid? [True, True] Translation: X:46.54, Y:-9.98, Z:-0.65 [[ 9.37912867e-01 3.46852145e-01 3.61158267e-03 4.65447688e+01] [-3.46849655e-01 9.37919820e-01 -1.31437863e-03 -9.97622210e+00] [-3.84327002e-03 -1.99035732e-05 9.99992614e-01 -6.48981349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.52538475 meters 0.05732725509167428 Centerline is valid? [True, True] Translation: X:46.58, Y:-9.99, Z:-0.65 [[ 9.37428430e-01 3.48164095e-01 3.11462891e-03 4.65759739e+01] [-3.48162254e-01 9.37433604e-01 -1.13259181e-03 -9.98525437e+00] [-3.31408561e-03 -2.26724545e-05 9.99994508e-01 -6.50615140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.55538475 meters 0.05736371610230659 Centerline is valid? [True, True] Translation: X:46.61, Y:-10.00, Z:-0.65 [[ 9.37335710e-01 3.48412184e-01 3.27377336e-03 4.66067777e+01] [-3.48410147e-01 9.37341426e-01 -1.19167169e-03 -9.99564426e+00] [-3.48383632e-03 -2.36194228e-05 9.99993931e-01 -6.51970461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.58538475 meters 0.05769054579644097 Centerline is valid? [True, True] Translation: X:46.64, Y:-10.00, Z:-0.66 [[ 9.36520419e-01 3.50610469e-01 1.34298019e-03 4.66368440e+01] [-3.50610130e-01 9.36521382e-01 -4.87489651e-04 -1.00042533e+01] [-1.42864864e-03 -1.43184460e-05 9.99998979e-01 -6.55732109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.615384750000004 meters 0.05773713120369635 Centerline is valid? [True, True] Translation: X:46.67, Y:-10.02, Z:-0.66 [[ 9.36071310e-01 3.51809684e-01 6.69532899e-04 4.66656844e+01] [-3.51809600e-01 9.36071550e-01 -2.42838787e-04 -1.00156496e+01] [-7.12163735e-04 -8.23368011e-06 9.99999746e-01 -6.56620156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.64538475 meters 0.057611279346133984 Centerline is valid? [True, True] Translation: X:46.70, Y:-10.03, Z:-0.66 [[ 9.35995579e-01 3.52011565e-01 -3.67147052e-04 4.66951961e+01] [-3.52011537e-01 9.35995651e-01 1.38304557e-04 -1.00277160e+01] [ 3.92332847e-04 -2.12455271e-07 9.99999923e-01 -6.56149068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.67538475 meters 0.0577997087883634 Centerline is valid? [True, True] Translation: X:46.73, Y:-10.04, Z:-0.66 [[ 9.35444329e-01 3.53473965e-01 -2.52812847e-04 4.67250906e+01] [-3.53473951e-01 9.35444363e-01 9.68167725e-05 -1.00392698e+01] [ 2.70714561e-04 -1.20394487e-06 9.99999963e-01 -6.57979386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.70538475 meters 0.057817042963704095 Centerline is valid? [True, True] Translation: X:46.76, Y:-10.05, Z:-0.66 [[ 9.35148363e-01 3.54255472e-01 7.74981787e-04 4.67556070e+01] [-3.54255361e-01 9.35148684e-01 -2.79820448e-04 -1.00514937e+01] [-8.23851123e-04 -1.28678188e-05 9.99999661e-01 -6.58265852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.73538475 meters 0.05807224865491809 Centerline is valid? [True, True] Translation: X:46.78, Y:-10.06, Z:-0.66 [[ 9.34101750e-01 3.57005778e-01 -8.91314847e-04 4.67846888e+01] [-3.57005625e-01 9.34102176e-01 3.30921699e-04 -1.00622425e+01] [ 9.50720096e-04 9.08987574e-06 9.99999548e-01 -6.59378276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.76538475 meters 0.05822129966074825 Centerline is valid? [True, True] Translation: X:46.82, Y:-10.07, Z:-0.66 [[ 9.33288435e-01 3.59127630e-01 2.04863116e-04 4.68156403e+01] [-3.59127623e-01 9.33288458e-01 -7.08721518e-05 -1.00734826e+01] [-2.16648529e-04 -7.42784396e-06 9.99999977e-01 -6.59211125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.795384750000004 meters 0.058488792749842596 Centerline is valid? [True, True] Translation: X:46.85, Y:-10.08, Z:-0.66 [[ 9.32513203e-01 3.61135868e-01 -1.08738313e-04 4.68455241e+01] [-3.61135865e-01 9.32513209e-01 4.35341903e-05 -1.00834856e+01] [ 1.17121671e-04 -1.32690242e-06 9.99999993e-01 -6.59712186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.82538475 meters 0.05888053821398253 Centerline is valid? [True, True] Translation: X:46.87, Y:-10.09, Z:-0.66 [[ 9.31655988e-01 3.63341519e-01 -2.44389774e-04 4.68744364e+01] [-3.63341507e-01 9.31656020e-01 9.34415674e-05 -1.00937375e+01] [ 2.61638405e-04 1.74155295e-06 9.99999966e-01 -6.63013117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.85538475 meters 0.05817991801286198 Centerline is valid? [True, True] Translation: X:46.90, Y:-10.11, Z:-0.66 [[ 9.33213014e-01 3.59322936e-01 7.06176801e-04 4.69017550e+01] [-3.59322844e-01 9.33213281e-01 -2.56381122e-04 -1.01115263e+01] [-7.51137187e-04 -1.44872574e-05 9.99999718e-01 -6.61699146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.88538475 meters 0.05809330857758191 Centerline is valid? [True, True] Translation: X:46.93, Y:-10.13, Z:-0.66 [[ 9.33498717e-01 3.58580656e-01 2.41469453e-04 4.69315842e+01] [-3.58580647e-01 9.33498748e-01 -8.45911643e-05 -1.01258745e+01] [-2.55744187e-04 -7.62052915e-06 9.99999967e-01 -6.61513158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.91538475 meters 0.05813101809448282 Centerline is valid? [True, True] Translation: X:46.96, Y:-10.14, Z:-0.66 [[ 9.33493464e-01 3.58594034e-01 -5.21459924e-04 4.69615505e+01] [-3.58593980e-01 9.33493609e-01 1.96797013e-04 -1.01392126e+01] [ 5.57349741e-04 3.28366485e-06 9.99999845e-01 -6.61984450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.94538475 meters 0.058420720805782395 Centerline is valid? [True, True] Translation: X:46.99, Y:-10.15, Z:-0.66 [[ 9.33094460e-01 3.59625683e-01 -2.02381746e-03 4.69912206e+01] [-3.59624900e-01 9.33096655e-01 7.50985055e-04 -1.01507643e+01] [ 2.15849082e-03 2.70751591e-05 9.99997670e-01 -6.63921644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.97538475 meters 0.05868780518375526 Centerline is valid? [True, True] Translation: X:47.02, Y:-10.16, Z:-0.66 [[ 9.32650090e-01 3.60771660e-01 -2.76011781e-03 4.70197234e+01] [-3.60770211e-01 9.32654174e-01 1.02326085e-03 -1.01627205e+01] [ 2.94339892e-03 4.14239571e-05 9.99995667e-01 -6.64757312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.00538475 meters 0.0588405674166096 Centerline is valid? [True, True] Translation: X:47.05, Y:-10.17, Z:-0.67 [[ 9.32245704e-01 3.61809561e-01 -3.43357037e-03 4.70492251e+01] [-3.61807324e-01 9.32252025e-01 1.27331456e-03 -1.01742845e+01] [ 3.66165031e-03 5.52488804e-05 9.99993295e-01 -6.65431985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.03538475 meters 0.0589305620311156 Centerline is valid? [True, True] Translation: X:47.08, Y:-10.19, Z:-0.67 [[ 9.31991338e-01 3.62466176e-01 -3.22752333e-03 4.70793217e+01] [-3.62464197e-01 9.31996925e-01 1.19883201e-03 -1.01864610e+01] [ 3.44257787e-03 5.25606048e-05 9.99994073e-01 -6.65325382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.06538475 meters 0.05875221792503239 Centerline is valid? [True, True] Translation: X:47.11, Y:-10.20, Z:-0.66 [[ 9.32101991e-01 3.62174338e-01 -3.95314394e-03 4.71089936e+01] [-3.62171365e-01 9.32110372e-01 1.46872328e-03 -1.01998614e+01] [ 4.21670035e-03 6.27156444e-05 9.99991108e-01 -6.64686114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.09538475 meters 0.05876575812252655 Centerline is valid? [True, True] Translation: X:47.14, Y:-10.21, Z:-0.67 [[ 9.32532074e-01 3.61063103e-01 -4.16725717e-03 4.71386946e+01] [-3.61059788e-01 9.32541384e-01 1.54831367e-03 -1.02100671e+01] [ 4.44517871e-03 6.07768370e-05 9.99990118e-01 -6.66778776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.12538475 meters 0.059277454930326476 Centerline is valid? [True, True] Translation: X:47.17, Y:-10.22, Z:-0.67 [[ 9.31968696e-01 3.62466250e-01 -7.25032406e-03 4.71695855e+01] [-3.62456294e-01 9.31996890e-01 2.68926028e-03 -1.02187750e+01] [ 7.73204556e-03 1.21619198e-04 9.99970100e-01 -6.69230574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.15538475 meters 0.05954252729336481 Centerline is valid? [True, True] Translation: X:47.20, Y:-10.23, Z:-0.67 [[ 9.31409960e-01 3.63858513e-01 -9.08119734e-03 4.71996940e+01] [-3.63842910e-01 9.31454216e-01 3.37351434e-03 -1.02291392e+01] [ 9.68620146e-03 1.62004410e-04 9.99953075e-01 -6.69798858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.185384750000004 meters 0.05934499074322405 Centerline is valid? [True, True] Translation: X:47.23, Y:-10.24, Z:-0.67 [[ 9.31592690e-01 3.63390055e-01 -9.09553066e-03 4.72299329e+01] [-3.63374354e-01 9.31637078e-01 3.38151638e-03 -1.02409706e+01] [ 9.70254302e-03 1.54886640e-04 9.99952917e-01 -6.69785748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.21538475 meters 0.059345925224461665 Centerline is valid? [True, True] Translation: X:47.26, Y:-10.25, Z:-0.67 [[ 9.31417304e-01 3.63827807e-01 -9.54631172e-03 4.72599978e+01] [-3.63810507e-01 9.31466210e-01 3.55184759e-03 -1.02515852e+01] [ 1.01843277e-02 1.64796199e-04 9.99948125e-01 -6.68552651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.24538475 meters 0.06006757525963413 Centerline is valid? [True, True] Translation: X:47.29, Y:-10.26, Z:-0.67 [[ 9.30768499e-01 3.65468093e-01 -1.01525193e-02 4.72908541e+01] [-3.65448599e-01 9.30823848e-01 3.77965616e-03 -1.02575505e+01] [ 1.08315508e-02 1.92239055e-04 9.99941319e-01 -6.72127010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.27538475 meters 0.06010850538761041 Centerline is valid? [True, True] Translation: X:47.32, Y:-10.27, Z:-0.67 [[ 9.30298551e-01 3.66635504e-01 -1.10911341e-02 4.73210048e+01] [-3.66612285e-01 9.30364637e-01 4.13218212e-03 -1.02680979e+01] [ 1.18338036e-02 2.21982966e-04 9.99929953e-01 -6.72833589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.30538475 meters 0.06017784243251996 Centerline is valid? [True, True] Translation: X:47.35, Y:-10.28, Z:-0.67 [[ 9.29677886e-01 3.68200731e-01 -1.12805433e-02 4.73515293e+01] [-3.68176785e-01 9.29746290e-01 4.20616355e-03 -1.02781638e+01] [ 1.20367558e-02 2.42856930e-04 9.99927526e-01 -6.72570698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.33538475 meters 0.06015960630027898 Centerline is valid? [True, True] Translation: X:47.38, Y:-10.29, Z:-0.67 [[ 9.29533470e-01 3.68584271e-01 -1.06377866e-02 4.73807531e+01] [-3.68562969e-01 9.29594310e-01 3.96939457e-03 -1.02890807e+01] [ 1.13518823e-02 2.31009102e-04 9.99935539e-01 -6.72215354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.365384750000004 meters 0.060224293095935924 Centerline is valid? [True, True] Translation: X:47.41, Y:-10.30, Z:-0.67 [[ 9.28967724e-01 3.70030370e-01 -9.82312769e-03 4.74114565e+01] [-3.70012240e-01 9.29019631e-01 3.66984023e-03 -1.03009980e+01] [ 1.04838308e-02 2.25514352e-04 9.99945018e-01 -6.70439887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.39538475 meters 0.06014538745588035 Centerline is valid? [True, True] Translation: X:47.44, Y:-10.31, Z:-0.67 [[ 9.28459087e-01 3.71292078e-01 -1.02915802e-02 4.74418305e+01] [-3.71272230e-01 9.28516091e-01 3.84718990e-03 -1.03113941e+01] [ 1.09843289e-02 2.49019493e-04 9.99939639e-01 -6.70924893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.42538475 meters 0.0602074413649312 Centerline is valid? [True, True] Translation: X:47.47, Y:-10.32, Z:-0.67 [[ 9.28145171e-01 3.72086199e-01 -9.91977656e-03 4.74727960e+01] [-3.72067761e-01 9.28198147e-01 3.71228054e-03 -1.03221385e+01] [ 1.05888066e-02 2.45293788e-04 9.99943907e-01 -6.72637717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.45538475 meters 0.06042325764416486 Centerline is valid? [True, True] Translation: X:47.50, Y:-10.33, Z:-0.67 [[ 9.28000330e-01 3.72443044e-01 -1.00780240e-02 4.75025676e+01] [-3.72424030e-01 9.28055017e-01 3.77186729e-03 -1.03324688e+01] [ 1.07577665e-02 2.53004225e-04 9.99942102e-01 -6.73547448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.48538475 meters 0.06055397917761605 Centerline is valid? [True, True] Translation: X:47.53, Y:-10.35, Z:-0.67 [[ 9.27369289e-01 3.73955995e-01 -1.19630869e-02 4.75315740e+01] [-3.73929323e-01 9.27446393e-01 4.47774490e-03 -1.03452541e+01] [ 1.27696013e-02 3.20825872e-04 9.99918414e-01 -6.72875324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.51538475 meters 0.0613427251347254 Centerline is valid? [True, True] Translation: X:47.56, Y:-10.35, Z:-0.68 [[ 9.26628852e-01 3.75756075e-01 -1.28973675e-02 4.75611932e+01] [-3.75725179e-01 9.26718531e-01 4.83256042e-03 -1.03542430e+01] [ 1.37680934e-02 3.67875803e-04 9.99905148e-01 -6.76676316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.545384750000004 meters 0.06189237611909397 Centerline is valid? [True, True] Translation: X:47.59, Y:-10.36, Z:-0.68 [[ 9.26074307e-01 3.77115693e-01 -1.30434632e-02 4.75901460e+01] [-3.77084196e-01 9.26166077e-01 4.88959220e-03 -1.03640135e+01] [ 1.39243551e-02 3.90358137e-04 9.99902975e-01 -6.77710540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.57538475 meters 0.06135987351223068 Centerline is valid? [True, True] Translation: X:47.62, Y:-10.38, Z:-0.68 [[ 9.25094191e-01 3.79527632e-01 -1.26298659e-02 4.76192396e+01] [-3.79498257e-01 9.25180312e-01 4.73954722e-03 -1.03781798e+01] [ 1.34836924e-02 4.08484485e-04 9.99909007e-01 -6.75732263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.60538475 meters 0.06215852730904732 Centerline is valid? [True, True] Translation: X:47.65, Y:-10.39, Z:-0.68 [[ 9.24542204e-01 3.80853745e-01 -1.31201096e-02 4.76489603e+01] [-3.80822134e-01 9.24635187e-01 4.92674983e-03 -1.03863026e+01] [ 1.40076861e-02 4.41439973e-04 9.99901790e-01 -6.78157599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.63538475 meters 0.06267169608553648 Centerline is valid? [True, True] Translation: X:47.68, Y:-10.40, Z:-0.68 [[ 9.24265855e-01 3.81536281e-01 -1.27552252e-02 4.76791521e+01] [-3.81506406e-01 9.24353762e-01 4.79429801e-03 -1.03962606e+01] [ 1.36195391e-02 4.34994182e-04 9.99907155e-01 -6.79890041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.66538475 meters 0.06225129870970486 Centerline is valid? [True, True] Translation: X:47.71, Y:-10.41, Z:-0.68 [[ 9.24034573e-01 3.82096893e-01 -1.27307426e-02 4.77098075e+01] [-3.82067121e-01 9.24122163e-01 4.78983405e-03 -1.04085749e+01] [ 1.35949421e-02 4.38025920e-04 9.99907489e-01 -6.79157785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.69538475 meters 0.06331791028415559 Centerline is valid? [True, True] Translation: X:47.74, Y:-10.42, Z:-0.68 [[ 9.23723462e-01 3.82809211e-01 -1.38590969e-02 4.77399648e+01] [-3.82773969e-01 9.23827296e-01 5.21691040e-03 -1.04174809e+01] [ 1.48004933e-02 4.85918986e-04 9.99890349e-01 -6.82764455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.72538475 meters 0.06327023057339112 Centerline is valid? [True, True] Translation: X:47.77, Y:-10.43, Z:-0.68 [[ 9.23301892e-01 3.83726234e-01 -1.63644130e-02 4.77695402e+01] [-3.83677273e-01 9.23446710e-01 6.15823528e-03 -1.04294728e+01] [ 1.74747398e-02 5.92743078e-04 9.99847129e-01 -6.84995608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.75538475 meters 0.0608951429052498 Centerline is valid? [True, True] Translation: X:47.80, Y:-10.45, Z:-0.68 [[ 9.26248017e-01 3.76683646e-01 -1.31924716e-02 4.77955016e+01] [-3.76651025e-01 9.26341890e-01 4.97068233e-03 -1.04490795e+01] [ 1.40931139e-02 3.64873315e-04 9.99900621e-01 -6.79760806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.78538475 meters 0.059557043725136545 Centerline is valid? [True, True] Translation: X:47.82, Y:-10.47, Z:-0.68 [[ 9.27000005e-01 3.74820365e-01 -1.34419118e-02 4.78237160e+01] [-3.74786237e-01 9.27097395e-01 5.06929684e-03 -1.04650620e+01] [ 1.43620371e-02 3.38605340e-04 9.99896803e-01 -6.76399225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.81538475 meters 0.05956119032810505 Centerline is valid? [True, True] Translation: X:47.85, Y:-10.48, Z:-0.68 [[ 9.27628434e-01 3.73247108e-01 -1.38594842e-02 4.78523347e+01] [-3.73210599e-01 9.27731908e-01 5.23020527e-03 -1.04759254e+01] [ 1.48100448e-02 3.20819300e-04 9.99890274e-01 -6.78424111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.84538475 meters 0.06016469173524565 Centerline is valid? [True, True] Translation: X:47.88, Y:-10.48, Z:-0.68 [[ 9.27818387e-01 3.72771690e-01 -1.39394354e-02 4.78824810e+01] [-3.72734649e-01 9.27923041e-01 5.26411575e-03 -1.04823862e+01] [ 1.48970366e-02 3.11567185e-04 9.99888984e-01 -6.83881389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.87538475 meters 0.06037492317563288 Centerline is valid? [True, True] Translation: X:47.91, Y:-10.49, Z:-0.69 [[ 9.27654931e-01 3.73207882e-01 -1.31226901e-02 4.79122142e+01] [-3.73175049e-01 9.27747697e-01 4.95923964e-03 -1.04915629e+01] [ 1.40253729e-02 2.96597415e-04 9.99901596e-01 -6.85329740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.90538475 meters 0.06016191210038595 Centerline is valid? [True, True] Translation: X:47.94, Y:-10.51, Z:-0.68 [[ 9.27161397e-01 3.74386924e-01 -1.43588036e-02 4.79408471e+01] [-3.74347696e-01 9.27272514e-01 5.43019941e-03 -1.05050222e+01] [ 1.53475196e-02 3.40513778e-04 9.99882162e-01 -6.82185163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.935384750000004 meters 0.05978970867566561 Centerline is valid? [True, True] Translation: X:47.97, Y:-10.52, Z:-0.68 [[ 9.26984117e-01 3.74907317e-01 -1.20394999e-02 4.79713723e+01] [-3.74879787e-01 9.27062251e-01 4.55275128e-03 -1.05164759e+01] [ 1.28682257e-02 2.93037047e-04 9.99917158e-01 -6.79650930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.96538475 meters 0.05987898158924626 Centerline is valid? [True, True] Translation: X:48.00, Y:-10.53, Z:-0.68 [[ 9.26520934e-01 3.76074820e-01 -1.12556408e-02 4.80018954e+01] [-3.76050767e-01 9.26589256e-01 4.26278483e-03 -1.05272518e+01] [ 1.20324819e-02 2.83132964e-04 9.99927567e-01 -6.78868101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.99538475 meters 0.0601000443541015 Centerline is valid? [True, True] Translation: X:48.03, Y:-10.54, Z:-0.68 [[ 9.26247697e-01 3.76747320e-01 -1.12543178e-02 4.80326967e+01] [-3.76723280e-01 9.26316022e-01 4.26581798e-03 -1.05370925e+01] [ 1.20321904e-02 2.88559414e-04 9.99927569e-01 -6.80994677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.02538475 meters 0.06051100398685732 Centerline is valid? [True, True] Translation: X:48.06, Y:-10.55, Z:-0.68 [[ 9.25586628e-01 3.78337990e-01 -1.22376452e-02 4.80628932e+01] [-3.78309672e-01 9.25667464e-01 4.64092007e-03 -1.05463465e+01] [ 1.30838264e-02 3.34045984e-04 9.99914347e-01 -6.82223996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.05538475 meters 0.06056909522779388 Centerline is valid? [True, True] Translation: X:48.09, Y:-10.56, Z:-0.68 [[ 9.25430453e-01 3.78757541e-01 -1.10091898e-02 4.80936635e+01] [-3.78734607e-01 9.25495885e-01 4.17891098e-03 -1.05555976e+01] [ 1.17717539e-02 3.02269673e-04 9.99930665e-01 -6.84249380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.08538475 meters 0.060585631008837945 Centerline is valid? [True, True] Translation: X:48.12, Y:-10.57, Z:-0.69 [[ 9.25432140e-01 3.78759755e-01 -1.07889866e-02 4.81223672e+01] [-3.78737698e-01 9.25494982e-01 4.09803363e-03 -1.05661214e+01] [ 1.15373232e-02 2.93743930e-04 9.99933400e-01 -6.85059235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.115384750000004 meters 0.060261674766489956 Centerline is valid? [True, True] Translation: X:48.15, Y:-10.58, Z:-0.68 [[ 9.25129727e-01 3.79476376e-01 -1.15181763e-02 4.81516784e+01] [-3.79451250e-01 9.25201371e-01 4.37851114e-03 -1.05794841e+01] [ 1.23181740e-02 3.19895577e-04 9.99924077e-01 -6.84562406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.14538475 meters 0.06036898398998399 Centerline is valid? [True, True] Translation: X:48.18, Y:-10.59, Z:-0.69 [[ 9.24868515e-01 3.80123804e-01 -1.11410952e-02 4.81817777e+01] [-3.80100296e-01 9.24935563e-01 4.23907020e-03 -1.05895899e+01] [ 1.19161666e-02 3.14151018e-04 9.99928951e-01 -6.86264274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.17538475 meters 0.060206176369686164 Centerline is valid? [True, True] Translation: X:48.21, Y:-10.60, Z:-0.69 [[ 9.24580446e-01 3.80820889e-01 -1.12449584e-02 4.82103728e+01] [-3.80796963e-01 9.24648769e-01 4.28103520e-03 -1.06004012e+01] [ 1.20279445e-02 3.23884558e-04 9.99927609e-01 -6.86899281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.20538475 meters 0.060206176369686164 Centerline is valid? [True, True] Translation: X:48.24, Y:-10.61, Z:-0.69 [[ 9.24469921e-01 3.81089163e-01 -1.12434562e-02 4.82405551e+01] [-3.81065209e-01 9.24538234e-01 4.28498125e-03 -1.06120771e+01] [ 1.20279650e-02 3.23153693e-04 9.99927609e-01 -6.87351468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.23538475 meters 0.05932715332857882 Centerline is valid? [True, True] Translation: X:48.27, Y:-10.63, Z:-0.68 [[ 9.24378389e-01 3.81340077e-01 -1.02146644e-02 4.82691484e+01] [-3.81320287e-01 9.24434779e-01 3.89603854e-03 -1.06259457e+01] [ 1.09285067e-02 2.93644937e-04 9.99940239e-01 -6.84556659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.26538475 meters 0.059231393796632 Centerline is valid? [True, True] Translation: X:48.30, Y:-10.64, Z:-0.68 [[ 9.24059493e-01 3.82151375e-01 -8.62443169e-03 4.82994154e+01] [-3.82137273e-01 9.24099704e-01 3.29268166e-03 -1.06364552e+01] [ 9.22813759e-03 2.53083060e-04 9.99957388e-01 -6.84306500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.295384750000004 meters 0.0593629702858418 Centerline is valid? [True, True] Translation: X:48.33, Y:-10.65, Z:-0.69 [[ 9.23676294e-01 3.83083099e-01 -8.33322845e-03 4.83295267e+01] [-3.83069948e-01 9.23713850e-01 3.18415322e-03 -1.06467973e+01] [ 8.91731382e-03 2.51082542e-04 9.99960208e-01 -6.85313575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.32538475 meters 0.059371364425037654 Centerline is valid? [True, True] Translation: X:48.36, Y:-10.66, Z:-0.69 [[ 9.23317587e-01 3.83924792e-01 -9.29455087e-03 4.83590516e+01] [-3.83908451e-01 9.23364322e-01 3.55382312e-03 -1.06591421e+01] [ 9.94665746e-03 2.86949237e-04 9.99950490e-01 -6.85319477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.35538475 meters 0.058671982714299666 Centerline is valid? [True, True] Translation: X:48.39, Y:-10.68, Z:-0.68 [[ 9.24280375e-01 3.81608747e-01 -8.97508959e-03 4.83875630e+01] [-3.81593414e-01 9.24323915e-01 3.43025461e-03 -1.06760886e+01] [ 9.60490511e-03 2.54318057e-04 9.99953839e-01 -6.83780922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.38538475 meters 0.05820862108651057 Centerline is valid? [True, True] Translation: X:48.42, Y:-10.69, Z:-0.68 [[ 9.24910626e-01 3.80065721e-01 -9.50696305e-03 4.84164530e+01] [-3.80048383e-01 9.24959451e-01 3.63873172e-03 -1.06894414e+01] [ 1.01765125e-02 2.47604307e-04 9.99948187e-01 -6.84883622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.41538475 meters 0.05754393840016955 Centerline is valid? [True, True] Translation: X:48.44, Y:-10.70, Z:-0.69 [[ 9.26356516e-01 3.76547384e-01 -8.69900557e-03 4.84447854e+01] [-3.76532732e-01 9.26397339e-01 3.32742286e-03 -1.07041187e+01] [ 9.31166798e-03 1.93080483e-04 9.99956627e-01 -6.86223098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.44538475 meters 0.057525540755058995 Centerline is valid? [True, True] Translation: X:48.47, Y:-10.72, Z:-0.69 [[ 9.26193944e-01 3.76922051e-01 -9.72345687e-03 4.84731464e+01] [-3.76903720e-01 9.26244957e-01 3.72355910e-03 -1.07154520e+01] [ 1.04097944e-02 2.16069184e-04 9.99945793e-01 -6.87133719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.47538475 meters 0.057465247377458284 Centerline is valid? [True, True] Translation: X:48.50, Y:-10.73, Z:-0.69 [[ 9.25916200e-01 3.77597264e-01 -9.97476584e-03 4.85028046e+01] [-3.77577973e-01 9.25969900e-01 3.82358788e-03 -1.07272394e+01] [ 1.06801092e-02 2.25929900e-04 9.99942940e-01 -6.85893389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.50538475 meters 0.05792631904791868 Centerline is valid? [True, True] Translation: X:48.53, Y:-10.74, Z:-0.69 [[ 9.24946806e-01 3.80002514e-01 -8.45546987e-03 4.85321514e+01] [-3.79988724e-01 9.24985429e-01 3.24428091e-03 -1.07367031e+01] [ 9.05402133e-03 2.12195933e-04 9.99958989e-01 -6.86402561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.53538475 meters 0.05781021632844675 Centerline is valid? [True, True] Translation: X:48.56, Y:-10.75, Z:-0.69 [[ 9.24691745e-01 3.80622150e-01 -8.48262525e-03 4.85624174e+01] [-3.80608266e-01 9.24730627e-01 3.25816898e-03 -1.07497867e+01] [ 9.08427465e-03 2.15755331e-04 9.99958714e-01 -6.86030087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.56538475 meters 0.05745083676646012 Centerline is valid? [True, True] Translation: X:48.59, Y:-10.76, Z:-0.69 [[ 9.25228124e-01 3.79316813e-01 -8.46610197e-03 4.85916985e+01] [-3.79302910e-01 9.25266835e-01 3.25374704e-03 -1.07638191e+01] [ 9.06760433e-03 2.00758849e-04 9.99958868e-01 -6.85070379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.59538475 meters 0.057457184471656604 Centerline is valid? [True, True] Translation: X:48.62, Y:-10.77, Z:-0.69 [[ 9.25259355e-01 3.79239202e-01 -8.52951881e-03 4.86216379e+01] [-3.79225061e-01 9.25298648e-01 3.28106663e-03 -1.07746758e+01] [ 9.13666131e-03 1.98769694e-04 9.99958240e-01 -6.86759790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.62538475 meters 0.05764112911791733 Centerline is valid? [True, True] Translation: X:48.65, Y:-10.79, Z:-0.69 [[ 9.25004198e-01 3.79856868e-01 -8.71741677e-03 4.86520860e+01] [-3.79842104e-01 9.25045251e-01 3.35546316e-03 -1.07859760e+01] [ 9.33860071e-03 2.07424417e-04 9.99956373e-01 -6.87669075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.65538475 meters 0.058618101743251085 Centerline is valid? [True, True] Translation: X:48.68, Y:-10.79, Z:-0.69 [[ 9.23740881e-01 3.82909722e-01 -9.10661361e-03 4.86821744e+01] [-3.82893766e-01 9.23785734e-01 3.50442102e-03 -1.07943835e+01] [ 9.75443662e-03 2.49688626e-04 9.99952393e-01 -6.89848110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.68538475 meters 0.05783960480818468 Centerline is valid? [True, True] Translation: X:48.71, Y:-10.81, Z:-0.69 [[ 9.23747372e-01 3.82903276e-01 -8.71053769e-03 4.87110425e+01] [-3.82888633e-01 9.23788410e-01 3.35679930e-03 -1.08087856e+01] [ 9.33202321e-03 2.34331335e-04 9.99956428e-01 -6.86891881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.71538475 meters 0.058322722732561255 Centerline is valid? [True, True] Translation: X:48.74, Y:-10.82, Z:-0.69 [[ 9.23851760e-01 3.82673869e-01 -7.65734881e-03 4.87407818e+01] [-3.82662526e-01 9.23883472e-01 2.95322101e-03 -1.08187327e+01] [ 8.20461851e-03 2.01842007e-04 9.99966321e-01 -6.87668179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.74538475 meters 0.05763490633415017 Centerline is valid? [True, True] Translation: X:48.77, Y:-10.83, Z:-0.69 [[ 9.23731137e-01 3.82959622e-01 -7.91927526e-03 4.87704421e+01] [-3.82947471e-01 9.23765059e-01 3.05768791e-03 -1.08324317e+01] [ 8.48652079e-03 2.08184904e-04 9.99963967e-01 -6.86576942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.77538475 meters 0.05841158399716641 Centerline is valid? [True, True] Translation: X:48.80, Y:-10.84, Z:-0.69 [[ 9.23292494e-01 3.83978859e-01 -9.55023286e-03 4.88004362e+01] [-3.83961234e-01 9.23341848e-01 3.68823490e-03 -1.08409953e+01] [ 1.02343339e-02 2.61599601e-04 9.99947594e-01 -6.89706630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.80538475 meters 0.05870894109202862 Centerline is valid? [True, True] Translation: X:48.83, Y:-10.85, Z:-0.69 [[ 9.22761845e-01 3.85262640e-01 -9.12559024e-03 4.88306678e+01] [-3.85246610e-01 9.22806929e-01 3.52435483e-03 -1.08513440e+01] [ 9.77896015e-03 2.63462535e-04 9.99952150e-01 -6.91027041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.83538475 meters 0.0586883545042481 Centerline is valid? [True, True] Translation: X:48.86, Y:-10.86, Z:-0.69 [[ 9.22536036e-01 3.85808221e-01 -8.90385348e-03 4.88616507e+01] [-3.85792933e-01 9.22578967e-01 3.44425941e-03 -1.08630561e+01] [ 9.54333154e-03 2.57590323e-04 9.99954428e-01 -6.91565506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.865384750000004 meters 0.05867577545531175 Centerline is valid? [True, True] Translation: X:48.89, Y:-10.87, Z:-0.69 [[ 9.22668754e-01 3.85523578e-01 -7.34445461e-03 4.88909564e+01] [-3.85513148e-01 9.22697961e-01 2.84341580e-03 -1.08745142e+01] [ 7.87291712e-03 2.07852903e-04 9.99968987e-01 -6.91724089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.89538475 meters 0.058129283608768435 Centerline is valid? [True, True] Translation: X:48.92, Y:-10.89, Z:-0.69 [[ 9.22500636e-01 3.85897630e-01 -8.69455176e-03 4.89196822e+01] [-3.85883011e-01 9.22541575e-01 3.36818255e-03 -1.08882930e+01] [ 9.32085914e-03 2.47929269e-04 9.99956529e-01 -6.91148815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.92538475 meters 0.05880092787417483 Centerline is valid? [True, True] Translation: X:48.95, Y:-10.90, Z:-0.69 [[ 9.22303159e-01 3.86354822e-01 -9.31852593e-03 4.89493550e+01] [-3.86338031e-01 9.22350194e-01 3.61198048e-03 -1.08972831e+01] [ 9.99045026e-03 2.68759951e-04 9.99950058e-01 -6.94643651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.95538475 meters 0.05920083602775736 Centerline is valid? [True, True] Translation: X:48.98, Y:-10.91, Z:-0.70 [[ 9.21605281e-01 3.88027300e-01 -8.86119387e-03 4.89793206e+01] [-3.88012167e-01 9.21647840e-01 3.43752889e-03 -1.09076701e+01] [ 9.50075525e-03 2.70206258e-04 9.99954830e-01 -6.95462597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.98538475 meters 0.059006248242455824 Centerline is valid? [True, True] Translation: X:49.01, Y:-10.92, Z:-0.69 [[ 9.20745456e-01 3.90073879e-01 -8.37704730e-03 4.90100137e+01] [-3.90060413e-01 9.20783522e-01 3.25255079e-03 -1.09177250e+01] [ 8.98218222e-03 2.72783171e-04 9.99959622e-01 -6.94310415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.01538475 meters 0.05831033057177184 Centerline is valid? [True, True] Translation: X:49.04, Y:-10.93, Z:-0.69 [[ 9.20676257e-01 3.90252979e-01 -7.60545037e-03 4.90392659e+01] [-3.90241863e-01 9.20707636e-01 2.95582083e-03 -1.09306751e+01] [ 8.15591411e-03 2.46611064e-04 9.99966710e-01 -6.91352376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.045384750000004 meters 0.05764582316775514 Centerline is valid? [True, True] Translation: X:49.07, Y:-10.94, Z:-0.69 [[ 9.21820049e-01 3.87572474e-01 -5.94766143e-03 4.90667616e+01] [-3.87565615e-01 9.21839220e-01 2.31225686e-03 -1.09434231e+01] [ 6.37895468e-03 1.73624331e-04 9.99979639e-01 -6.89379116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.07538475 meters 0.05733893199300309 Centerline is valid? [True, True] Translation: X:49.10, Y:-10.95, Z:-0.69 [[ 9.22565244e-01 3.85787811e-01 -6.41370748e-03 4.90964983e+01] [-3.85779772e-01 9.22587522e-01 2.49640323e-03 -1.09543782e+01] [ 6.88028842e-03 1.71183759e-04 9.99976316e-01 -6.90383731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.10538475 meters 0.05735179503064564 Centerline is valid? [True, True] Translation: X:49.13, Y:-10.97, Z:-0.69 [[ 9.22503574e-01 3.85929711e-01 -6.73904658e-03 4.91276375e+01] [-3.85920820e-01 9.22528171e-01 2.62565753e-03 -1.09654572e+01] [ 7.23027957e-03 1.78559931e-04 9.99973845e-01 -6.92202122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.13538475 meters 0.057476350326394685 Centerline is valid? [True, True] Translation: X:49.16, Y:-10.98, Z:-0.69 [[ 9.22522303e-01 3.85857176e-01 -8.17556579e-03 4.91582518e+01] [-3.85844080e-01 9.22558504e-01 3.18632503e-03 -1.09762466e+01] [ 8.77190413e-03 2.15037750e-04 9.99961503e-01 -6.94564847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.16538475 meters 0.057618876128020725 Centerline is valid? [True, True] Translation: X:49.19, Y:-10.99, Z:-0.70 [[ 9.22275909e-01 3.86420352e-01 -9.29836156e-03 4.91873926e+01] [-3.86403422e-01 9.22322747e-01 3.62565096e-03 -1.09866146e+01] [ 9.97711570e-03 2.49068196e-04 9.99950196e-01 -6.96655756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.19538475 meters 0.05764175172233103 Centerline is valid? [True, True] Translation: X:49.22, Y:-11.00, Z:-0.70 [[ 9.22189434e-01 3.86635532e-01 -8.92266313e-03 4.92176886e+01] [-3.86619924e-01 9.22232567e-01 3.48221257e-03 -1.09982689e+01] [ 9.57511764e-03 2.38419712e-04 9.99954129e-01 -6.97400147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.22538475 meters 0.05803709565426522 Centerline is valid? [True, True] Translation: X:49.25, Y:-11.01, Z:-0.70 [[ 9.22038811e-01 3.87033062e-01 -7.05974207e-03 4.92474109e+01] [-3.87023300e-01 9.22065818e-01 2.75551476e-03 -1.10073636e+01] [ 7.57602216e-03 1.91593113e-04 9.99971283e-01 -6.98213315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.25538475 meters 0.057443662737367 Centerline is valid? [True, True] Translation: X:49.28, Y:-11.02, Z:-0.70 [[ 9.21895219e-01 3.87387764e-01 -6.31870507e-03 4.92764013e+01] [-3.87379926e-01 9.21916857e-01 2.47020130e-03 -1.10206601e+01] [ 6.78224648e-03 1.70472734e-04 9.99976986e-01 -6.95757694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.28538475 meters 0.057483774979306804 Centerline is valid? [True, True] Translation: X:49.31, Y:-11.03, Z:-0.69 [[ 9.21500012e-01 3.88364886e-01 -3.23158735e-03 4.93072361e+01] [-3.88362842e-01 9.21505674e-01 1.26307838e-03 -1.10314120e+01] [ 3.46846137e-03 9.11017057e-05 9.99993981e-01 -6.94122520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.31538475 meters 0.05758062891284137 Centerline is valid? [True, True] Translation: X:49.34, Y:-11.04, Z:-0.69 [[ 9.21328564e-01 3.88775823e-01 -2.65265491e-03 4.93375842e+01] [-3.88774437e-01 9.21332380e-01 1.04070925e-03 -1.10421723e+01] [ 2.84857946e-03 7.24492587e-05 9.99995940e-01 -6.93725413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.34538475 meters 0.05769952515783941 Centerline is valid? [True, True] Translation: X:49.37, Y:-11.05, Z:-0.69 [[ 9.21318260e-01 3.88807752e-01 -1.09372181e-03 4.93679573e+01] [-3.88807517e-01 9.21318908e-01 4.28859889e-04 -1.10540739e+01] [ 1.17441063e-03 3.01308141e-05 9.99999310e-01 -6.93349553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.37538475 meters 0.05745294055902856 Centerline is valid? [True, True] Translation: X:49.40, Y:-11.07, Z:-0.69 [[ 9.21503636e-01 3.88368923e-01 -7.92605565e-04 4.93968639e+01] [-3.88368797e-01 9.21503977e-01 3.13935476e-04 -1.10675532e+01] [ 8.52311963e-04 1.85305867e-05 9.99999637e-01 -6.92855126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.40538475 meters 0.05726897908126366 Centerline is valid? [True, True] Translation: X:49.43, Y:-11.08, Z:-0.69 [[ 9.21664467e-01 3.87987480e-01 -5.71141850e-04 4.94260426e+01] [-3.87987414e-01 9.21664643e-01 2.27574897e-04 -1.10812341e+01] [ 6.14697460e-04 1.18481537e-05 9.99999811e-01 -6.92921074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.43538475 meters 0.05736835753338783 Centerline is valid? [True, True] Translation: X:49.45, Y:-11.09, Z:-0.69 [[ 9.21845431e-01 3.87557706e-01 1.63446387e-04 4.94547117e+01] [-3.87557701e-01 9.21845445e-01 -6.03411193e-05 -1.10930151e+01] [-1.74057973e-04 -7.71972098e-06 9.99999985e-01 -6.94968616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.46538475 meters 0.05760921143190399 Centerline is valid? [True, True] Translation: X:49.48, Y:-11.11, Z:-0.70 [[ 9.21573538e-01 3.88203038e-01 -7.84286159e-04 4.94847025e+01] [-3.88202914e-01 9.21573872e-01 3.11346452e-04 -1.11051679e+01] [ 8.43643271e-04 1.75335214e-05 9.99999644e-01 -6.96855334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.49538475 meters 0.06403325210718395 Centerline is valid? [True, True] Translation: X:49.52, Y:-11.10, Z:-0.71 [[ 9.21120312e-01 3.89268316e-01 -2.74766397e-03 4.95194070e+01] [-3.89266820e-01 9.21124407e-01 1.08153337e-03 -1.11012186e+01] [ 2.95194702e-03 7.33520600e-05 9.99995640e-01 -7.10564238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.52538475 meters 0.057575874295101144 Centerline is valid? [True, True] Translation: X:49.54, Y:-11.13, Z:-0.70 [[ 9.21526600e-01 3.88314449e-01 7.83364371e-04 4.95419312e+01] [-3.88314331e-01 9.21526933e-01 -3.03703459e-04 -1.11312606e+01] [-8.39823808e-04 -2.43207957e-05 9.99999647e-01 -6.98299881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.55538475 meters 0.057439743762836004 Centerline is valid? [True, True] Translation: X:49.57, Y:-11.14, Z:-0.70 [[ 9.21628696e-01 3.88069496e-01 1.61647379e-03 4.95718467e+01] [-3.88068981e-01 9.21630113e-01 -6.33443135e-04 -1.11442951e+01] [-1.73561088e-03 -4.35039650e-05 9.99998493e-01 -6.98463491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.58538475 meters 0.05718851918465623 Centerline is valid? [True, True] Translation: X:49.60, Y:-11.16, Z:-0.70 [[ 9.21359267e-01 3.88703761e-01 2.54702902e-03 4.96020466e+01] [-3.88702490e-01 9.21362785e-01 -9.96657687e-04 -1.11576705e+01] [-2.73414234e-03 -7.17567250e-05 9.99996260e-01 -6.96831082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.615384750000004 meters 0.057745682867303263 Centerline is valid? [True, True] Translation: X:49.63, Y:-11.17, Z:-0.70 [[ 9.20852960e-01 3.89896898e-01 3.19906757e-03 4.96312151e+01] [-3.89894890e-01 9.20858513e-01 -1.25471188e-03 -1.11670197e+01] [-3.43509687e-03 -9.18949496e-05 9.99994096e-01 -6.99131951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.64538475 meters 0.057514505518842046 Centerline is valid? [True, True] Translation: X:49.66, Y:-11.18, Z:-0.70 [[ 9.20556154e-01 3.90598848e-01 2.98458658e-03 4.96609137e+01] [-3.90597103e-01 9.20560988e-01 -1.17097216e-03 -1.11798868e+01] [-3.20487435e-03 -8.78252421e-05 9.99994861e-01 -6.99201658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.67538475 meters 0.057781374622422235 Centerline is valid? [True, True] Translation: X:49.69, Y:-11.19, Z:-0.70 [[ 9.20306938e-01 3.91187889e-01 2.67883348e-03 4.96915658e+01] [-3.91186485e-01 9.20310833e-01 -1.05099621e-03 -1.11925809e+01] [-2.87649646e-03 -8.06843489e-05 9.99995860e-01 -7.00685893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.70538475 meters 0.05776008007335863 Centerline is valid? [True, True] Translation: X:49.72, Y:-11.21, Z:-0.70 [[ 9.20324818e-01 3.91148326e-01 2.28404603e-03 4.97223493e+01] [-3.91147300e-01 9.20327650e-01 -8.98316095e-04 -1.12053913e+01] [-2.45344555e-03 -6.66558439e-05 9.99996988e-01 -7.01495198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.73538475 meters 0.0576433118195582 Centerline is valid? [True, True] Translation: X:49.75, Y:-11.22, Z:-0.70 [[ 9.20647576e-01 3.90391217e-01 1.65501783e-03 4.97507095e+01] [-3.90390681e-01 9.20649062e-01 -6.48929276e-04 -1.12199772e+01] [-1.77702691e-03 -4.86683744e-05 9.99998420e-01 -7.01776777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.76538475 meters 0.057352292618220564 Centerline is valid? [True, True] Translation: X:49.78, Y:-11.23, Z:-0.70 [[ 9.21130068e-01 3.89253198e-01 1.15969126e-03 4.97805857e+01] [-3.89252932e-01 9.21130798e-01 -4.56188451e-04 -1.12330817e+01] [-1.24580015e-03 -3.12043256e-05 9.99999224e-01 -7.02366697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.795384750000004 meters 0.0572917444641686 Centerline is valid? [True, True] Translation: X:49.81, Y:-11.25, Z:-0.70 [[ 9.21343625e-01 3.88749094e-01 2.57984709e-04 4.98101293e+01] [-3.88749082e-01 9.21343661e-01 -9.74207653e-05 -1.12470543e+01] [-2.75564811e-04 -1.05333176e-05 9.99999962e-01 -7.02899649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.82538475 meters 0.05716322144623993 Centerline is valid? [True, True] Translation: X:49.84, Y:-11.26, Z:-0.70 [[ 9.21494897e-01 3.88389936e-01 6.41504821e-04 4.98387089e+01] [-3.88389856e-01 9.21495121e-01 -2.49916783e-04 -1.12592064e+01] [-6.88208725e-04 -1.88569248e-05 9.99999763e-01 -7.03201827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.85538475 meters 0.05638299086145991 Centerline is valid? [True, True] Translation: X:49.87, Y:-11.27, Z:-0.70 [[ 9.22032847e-01 3.87098078e-01 3.24140445e-03 4.98670640e+01] [-3.87095975e-01 9.22038542e-01 -1.27803246e-03 -1.12743060e+01] [-3.48342374e-03 -7.63467121e-05 9.99993930e-01 -6.99837610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.88538475 meters 0.0562843592668724 Centerline is valid? [True, True] Translation: X:49.90, Y:-11.29, Z:-0.70 [[ 9.21788711e-01 3.87677902e-01 3.37877481e-03 4.98969792e+01] [-3.87675619e-01 9.21794900e-01 -1.33295182e-03 -1.12872936e+01] [-3.63129336e-03 -8.11686744e-05 9.99993404e-01 -6.98527138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.91538475 meters 0.056224695757251385 Centerline is valid? [True, True] Translation: X:49.93, Y:-11.30, Z:-0.70 [[ 9.21545137e-01 3.88229320e-01 5.70572759e-03 4.99259786e+01] [-3.88222785e-01 9.21562791e-01 -2.25652642e-03 -1.12991783e+01] [-6.13423595e-03 -1.35602508e-04 9.99981176e-01 -6.96883675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.94538475 meters 0.0559840635446979 Centerline is valid? [True, True] Translation: X:49.96, Y:-11.31, Z:-0.70 [[ 9.21469794e-01 3.88425630e-01 4.35309874e-03 4.99562372e+01] [-3.88421830e-01 9.21480070e-01 -1.72135798e-03 -1.13115371e+01] [-4.67991329e-03 -1.04659198e-04 9.99989044e-01 -6.96965426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.97538475 meters 0.056298792955151555 Centerline is valid? [True, True] Translation: X:49.98, Y:-11.32, Z:-0.70 [[ 9.21206811e-01 3.89066031e-01 2.37366170e-03 4.99849043e+01] [-3.89064902e-01 9.21209867e-01 -9.39491092e-04 -1.13221212e+01] [-2.55216465e-03 -5.80428639e-05 9.99996742e-01 -6.99082961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.00538475 meters 0.05603056151087117 Centerline is valid? [True, True] Translation: X:50.01, Y:-11.34, Z:-0.70 [[ 9.21534646e-01 3.88291418e-01 1.91612758e-03 5.00139037e+01] [-3.88290683e-01 9.21536637e-01 -7.56697311e-04 -1.13358324e+01] [-2.05960084e-03 -4.66917004e-05 9.99997878e-01 -7.00043261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.03538475 meters 0.05582622399581217 Centerline is valid? [True, True] Translation: X:50.04, Y:-11.35, Z:-0.70 [[ 9.22316700e-01 3.86432533e-01 -1.34240033e-03 5.00419789e+01] [-3.86432160e-01 9.22317677e-01 5.37312173e-04 -1.13504435e+01] [ 1.44575446e-03 2.31746696e-05 9.99998955e-01 -7.02209662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.06538475 meters 0.055344201176060225 Centerline is valid? [True, True] Translation: X:50.07, Y:-11.37, Z:-0.70 [[ 9.23479698e-01 3.83640678e-01 -2.25331832e-03 5.00692814e+01] [-3.83639626e-01 9.23482447e-01 8.99158731e-04 -1.13653836e+01] [ 2.42585378e-03 3.41073630e-05 9.99997057e-01 -7.04077072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.09538475 meters 0.05501565669551701 Centerline is valid? [True, True] Translation: X:50.10, Y:-11.38, Z:-0.70 [[ 9.24017777e-01 3.82343656e-01 -2.11559307e-03 5.00978677e+01] [-3.82342723e-01 9.24020199e-01 8.45257183e-04 -1.13790401e+01] [ 2.27802945e-03 2.78489537e-05 9.99997405e-01 -7.04504695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.12538475 meters 0.054753462275647174 Centerline is valid? [True, True] Translation: X:50.13, Y:-11.39, Z:-0.70 [[ 9.24405595e-01 3.81405212e-01 -2.08793769e-03 5.01258727e+01] [-3.81404299e-01 9.24407953e-01 8.34917631e-04 -1.13941554e+01] [ 2.24854814e-03 2.45458792e-05 9.99997472e-01 -7.04798527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.15538475 meters 0.054753462275647174 Centerline is valid? [True, True] Translation: X:50.16, Y:-11.41, Z:-0.71 [[ 9.24295830e-01 3.81671141e-01 -2.08751441e-03 5.01558454e+01] [-3.81670227e-01 9.24298187e-01 8.35979142e-04 -1.14062928e+01] [ 2.24855490e-03 2.40500631e-05 9.99997472e-01 -7.05250614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.18538475 meters 0.05478280777042368 Centerline is valid? [True, True] Translation: X:50.19, Y:-11.42, Z:-0.70 [[ 9.24218790e-01 3.81856555e-01 -2.28008733e-03 5.01854067e+01] [-3.81855463e-01 9.24221603e-01 9.13447561e-04 -1.14195510e+01] [ 2.45611191e-03 2.64384054e-05 9.99996983e-01 -7.04675759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.21538475 meters 0.05464668054202001 Centerline is valid? [True, True] Translation: X:50.21, Y:-11.43, Z:-0.71 [[ 9.24048578e-01 3.82264886e-01 -2.78963998e-03 5.02146152e+01] [-3.82263255e-01 9.24052788e-01 1.11719692e-03 -1.14317965e+01] [ 3.00483976e-03 3.40326339e-05 9.99995485e-01 -7.05136583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.24538475 meters 0.05495463156031523 Centerline is valid? [True, True] Translation: X:50.24, Y:-11.44, Z:-0.71 [[ 9.23046907e-01 3.84651622e-01 -5.24762274e-03 5.02443253e+01] [-3.84645904e-01 9.23061820e-01 2.09886505e-03 -1.14427679e+01] [ 5.65121204e-03 8.11257049e-05 9.99984028e-01 -7.05400371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.27538475 meters 0.05490606170929949 Centerline is valid? [True, True] Translation: X:50.27, Y:-11.45, Z:-0.71 [[ 9.22217133e-01 3.86633244e-01 -5.50404363e-03 5.02734857e+01] [-3.86626980e-01 9.22233553e-01 2.20282928e-03 -1.14547493e+01] [ 5.92770074e-03 9.65248627e-05 9.99982426e-01 -7.05369643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.30538475 meters 0.054618778151321205 Centerline is valid? [True, True] Translation: X:50.30, Y:-11.47, Z:-0.70 [[ 9.22296639e-01 3.86451426e-01 -4.91979721e-03 5.03028106e+01] [-3.86446408e-01 9.22309757e-01 1.97112626e-03 -1.14682479e+01] [ 5.29932152e-03 8.32748305e-05 9.99985955e-01 -7.04145752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.33538475 meters 0.05458895327553452 Centerline is valid? [True, True] Translation: X:50.33, Y:-11.48, Z:-0.70 [[ 9.21971679e-01 3.87225654e-01 -4.95135829e-03 5.03324005e+01] [-3.87220574e-01 9.21984970e-01 1.98551557e-03 -1.14795679e+01] [ 5.33392049e-03 8.66786773e-05 9.99985771e-01 -7.04921174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.365384750000004 meters 0.05402606551301276 Centerline is valid? [True, True] Translation: X:50.36, Y:-11.49, Z:-0.70 [[ 9.22631735e-01 3.85646464e-01 -5.24271494e-03 5.03608889e+01] [-3.85640736e-01 9.22646627e-01 2.10350258e-03 -1.14942841e+01] [ 5.64838159e-03 8.10462105e-05 9.99984044e-01 -7.04432376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.39538475 meters 0.05384229125129034 Centerline is valid? [True, True] Translation: X:50.39, Y:-11.51, Z:-0.71 [[ 9.23255148e-01 3.84145086e-01 -5.69948684e-03 5.03892427e+01] [-3.84138282e-01 9.23272737e-01 2.28770089e-03 -1.15059137e+01] [ 6.14098987e-03 7.72594601e-05 9.99981141e-01 -7.06993324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.42538475 meters 0.05361716589074702 Centerline is valid? [True, True] Translation: X:50.42, Y:-11.52, Z:-0.71 [[ 9.23494996e-01 3.83530260e-01 -7.84420741e-03 5.04178085e+01] [-3.83517338e-01 9.23528305e-01 3.14982565e-03 -1.15198702e+01] [ 8.45240102e-03 9.95413188e-05 9.99964273e-01 -7.06952744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.45538475 meters 0.05366498102571858 Centerline is valid? [True, True] Translation: X:50.45, Y:-11.53, Z:-0.71 [[ 9.23401257e-01 3.83736437e-01 -8.74448658e-03 5.04467166e+01] [-3.83720396e-01 9.23442653e-01 3.51053671e-03 -1.15301200e+01] [ 9.42215274e-03 1.13803838e-04 9.99955604e-01 -7.08386321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.48538475 meters 0.053939017490520096 Centerline is valid? [True, True] Translation: X:50.48, Y:-11.54, Z:-0.71 [[ 9.22338367e-01 3.86266352e-01 -9.49960126e-03 5.04771198e+01] [-3.86247512e-01 9.22387274e-01 3.81791599e-03 -1.15399798e+01] [ 1.02370438e-02 1.47786946e-04 9.99947589e-01 -7.09937528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.51538475 meters 0.05391011299207179 Centerline is valid? [True, True] Translation: X:50.51, Y:-11.55, Z:-0.71 [[ 9.21925769e-01 3.87262879e-01 -8.96322427e-03 5.05076741e+01] [-3.87246117e-01 9.21969328e-01 3.60606262e-03 -1.15512938e+01] [ 9.66031204e-03 1.46451739e-04 9.99953327e-01 -7.10131430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.545384750000004 meters 0.05344489292830741 Centerline is valid? [True, True] Translation: X:50.54, Y:-11.57, Z:-0.71 [[ 9.22385325e-01 3.86171391e-01 -8.77320463e-03 5.05360932e+01] [-3.86155262e-01 9.22427038e-01 3.53179753e-03 -1.15657831e+01] [ 9.45652033e-03 1.30140920e-04 9.99955278e-01 -7.06523214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.57538475 meters 0.05346654760946254 Centerline is valid? [True, True] Translation: X:50.57, Y:-11.58, Z:-0.71 [[ 9.22234079e-01 3.86499114e-01 -1.01360401e-02 5.05662982e+01] [-3.86477579e-01 9.22289766e-01 4.08276554e-03 -1.15774256e+01] [ 1.09263513e-02 1.52086708e-04 9.99940294e-01 -7.07071326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.60538475 meters 0.053468923338486546 Centerline is valid? [True, True] Translation: X:50.60, Y:-11.59, Z:-0.71 [[ 9.21964056e-01 3.87130748e-01 -1.05860014e-02 5.05957152e+01] [-3.87107265e-01 9.22024814e-01 4.26710227e-03 -1.15890626e+01] [ 1.14124824e-02 1.63803116e-04 9.99934862e-01 -7.06787917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.63538475 meters 0.05367633127437643 Centerline is valid? [True, True] Translation: X:50.63, Y:-11.60, Z:-0.71 [[ 9.22152769e-01 3.86679468e-01 -1.06423127e-02 5.06252260e+01] [-3.86655704e-01 9.22214164e-01 4.28985190e-03 -1.15998562e+01] [ 1.14732891e-02 1.59012092e-04 9.99934167e-01 -7.09557149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.66538475 meters 0.053134032850000894 Centerline is valid? [True, True] Translation: X:50.65, Y:-11.61, Z:-0.71 [[ 9.22604063e-01 3.85616619e-01 -1.00779689e-02 5.06535380e+01] [-3.85595194e-01 9.22659095e-01 4.06706665e-03 -1.16148613e+01] [ 1.08668582e-02 1.33724155e-04 9.99940945e-01 -7.08432426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.69538475 meters 0.052662159259256706 Centerline is valid? [True, True] Translation: X:50.68, Y:-11.63, Z:-0.71 [[ 9.23361008e-01 3.83824193e-01 -9.13439804e-03 5.06821406e+01] [-3.83806475e-01 9.23406183e-01 3.68934949e-03 -1.16304521e+01] [ 9.85082122e-03 9.92396467e-05 9.99951475e-01 -7.07030639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.72538475 meters 0.052242553291394746 Centerline is valid? [True, True] Translation: X:50.71, Y:-11.65, Z:-0.71 [[ 9.24530710e-01 3.81007219e-01 -8.74443658e-03 5.07090719e+01] [-3.80990833e-01 9.24572061e-01 3.53410525e-03 -1.16462862e+01] [ 9.43138136e-03 6.41613407e-05 9.99955521e-01 -7.07267758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.75538475 meters 0.052078388266353956 Centerline is valid? [True, True] Translation: X:50.74, Y:-11.66, Z:-0.71 [[ 9.24938479e-01 3.80016251e-01 -8.74412644e-03 5.07392502e+01] [-3.79999786e-01 9.24979809e-01 3.53775829e-03 -1.16602804e+01] [ 9.43254604e-03 5.05574047e-05 9.99955511e-01 -7.08502291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.78538475 meters 0.05209489979083693 Centerline is valid? [True, True] Translation: X:50.77, Y:-11.67, Z:-0.71 [[ 9.24429378e-01 3.81258236e-01 -8.51365702e-03 5.07694779e+01] [-3.81242651e-01 9.24468579e-01 3.44771346e-03 -1.16721018e+01] [ 9.18507756e-03 5.86015608e-05 9.99957815e-01 -7.09007698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.81538475 meters 0.05196531804275285 Centerline is valid? [True, True] Translation: X:50.80, Y:-11.68, Z:-0.71 [[ 9.24650643e-01 3.80746498e-01 -7.30015581e-03 5.07984387e+01] [-3.80735006e-01 9.24679459e-01 2.95849943e-03 -1.16844664e+01] [ 7.87674242e-03 4.38464597e-05 9.99968977e-01 -7.10507249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.84538475 meters 0.05165642846295455 Centerline is valid? [True, True] Translation: X:50.83, Y:-11.70, Z:-0.71 [[ 9.25141013e-01 3.79592438e-01 -4.86702156e-03 5.08266558e+01] [-3.79587299e-01 9.25153815e-01 1.97519120e-03 -1.16998440e+01] [ 5.25251121e-03 2.01291806e-05 9.99986205e-01 -7.07306080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.87538475 meters 0.0514989824737354 Centerline is valid? [True, True] Translation: X:50.86, Y:-11.71, Z:-0.71 [[ 9.25334219e-01 3.79132481e-01 -3.89173776e-03 5.08565643e+01] [-3.79129183e-01 9.25342403e-01 1.58141135e-03 -1.17118772e+01] [ 4.20075438e-03 1.21373216e-05 9.99991177e-01 -7.07768212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.90538475 meters 0.05182763899885698 Centerline is valid? [True, True] Translation: X:50.89, Y:-11.72, Z:-0.71 [[ 9.25459896e-01 3.78806931e-01 -5.41198150e-03 5.08852016e+01] [-3.78800549e-01 9.25475720e-01 2.19883844e-03 -1.17236517e+01] [ 5.84159272e-03 1.51247714e-05 9.99982938e-01 -7.12554291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.93538475 meters 0.0519983844784935 Centerline is valid? [True, True] Translation: X:50.91, Y:-11.74, Z:-0.71 [[ 9.25545606e-01 3.78590574e-01 -5.87447508e-03 5.09141330e+01] [-3.78583040e-01 9.25564248e-01 2.38833535e-03 -1.17356724e+01] [ 6.34140536e-03 1.34633478e-05 9.99979893e-01 -7.14950817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.96538475 meters 0.052023094219459665 Centerline is valid? [True, True] Translation: X:50.94, Y:-11.75, Z:-0.72 [[ 9.25255762e-01 3.79305706e-01 -5.38113848e-03 5.09438998e+01] [-3.79299386e-01 9.25271410e-01 2.18959172e-03 -1.17468496e+01] [ 5.80953822e-03 1.51301625e-05 9.99983124e-01 -7.16051523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.99538475 meters 0.05215814052881534 Centerline is valid? [True, True] Translation: X:50.97, Y:-11.76, Z:-0.71 [[ 9.24975755e-01 3.79984429e-01 -5.62906306e-03 5.09737087e+01] [-3.79977511e-01 9.24992883e-01 2.29305790e-03 -1.17600616e+01] [ 6.07816956e-03 1.78944093e-05 9.99981528e-01 -7.13024196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.02538475 meters 0.05215814052881534 Centerline is valid? [True, True] Translation: X:51.00, Y:-11.77, Z:-0.71 [[ 9.24860872e-01 3.80263972e-01 -5.62836478e-03 5.10035787e+01] [-3.80257048e-01 9.24877998e-01 2.29477302e-03 -1.17724106e+01] [ 6.07817025e-03 1.78796004e-05 9.99981528e-01 -7.13476593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.05538475 meters 0.052187893926847875 Centerline is valid? [True, True] Translation: X:51.03, Y:-11.78, Z:-0.71 [[ 9.24149299e-01 3.81995440e-01 -5.24943905e-03 5.10337770e+01] [-3.81989436e-01 9.24164208e-01 2.14198810e-03 -1.17824188e+01] [ 5.66957337e-03 2.57134618e-05 9.99983928e-01 -7.13127167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.08538475 meters 0.05225190516028587 Centerline is valid? [True, True] Translation: X:51.06, Y:-11.79, Z:-0.71 [[ 9.23972456e-01 3.82437826e-01 -4.02612020e-03 5.10629514e+01] [-3.82434299e-01 9.23981228e-01 1.64250408e-03 -1.17929862e+01] [ 4.34821517e-03 2.20979287e-05 9.99990546e-01 -7.13733091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.115384750000004 meters 0.052223278495000795 Centerline is valid? [True, True] Translation: X:51.09, Y:-11.80, Z:-0.71 [[ 9.23777126e-01 3.82923808e-01 -2.27550070e-03 5.10931658e+01] [-3.82922675e-01 9.23779929e-01 9.31525870e-04 -1.18030139e+01] [ 2.45876531e-03 1.08185254e-05 9.99996977e-01 -7.13239321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.14538475 meters 0.052524016926201976 Centerline is valid? [True, True] Translation: X:51.12, Y:-11.81, Z:-0.71 [[ 9.23222613e-01 3.84262359e-01 -1.56417109e-03 5.11248529e+01] [-3.84261821e-01 9.23223938e-01 6.42857868e-04 -1.18131912e+01] [ 1.69110628e-03 7.55031307e-06 9.99998570e-01 -7.11591990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.17538475 meters 0.0524694517391504 Centerline is valid? [True, True] Translation: X:51.15, Y:-11.83, Z:-0.71 [[ 9.23231162e-01 3.84242821e-01 -1.29439433e-03 5.11549823e+01] [-3.84242452e-01 9.23232069e-01 5.33137620e-04 -1.18254955e+01] [ 1.39988065e-03 5.15198452e-06 9.99999020e-01 -7.11883110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.20538475 meters 0.05273978079412179 Centerline is valid? [True, True] Translation: X:51.18, Y:-11.84, Z:-0.71 [[ 9.22731658e-01 3.85437788e-01 -1.99963483e-03 5.11844898e+01] [-3.85436915e-01 9.22733825e-01 8.20845957e-04 -1.18352024e+01] [ 2.16151574e-03 1.33125272e-05 9.99997664e-01 -7.14459736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.23538475 meters 0.052798288110991506 Centerline is valid? [True, True] Translation: X:51.21, Y:-11.85, Z:-0.71 [[ 9.22454218e-01 3.86102527e-01 -1.74748289e-03 5.12146645e+01] [-3.86101857e-01 9.22455874e-01 7.19221553e-04 -1.18469514e+01] [ 1.88966911e-03 1.12574336e-05 9.99998215e-01 -7.14776137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.26538475 meters 0.052834663325336845 Centerline is valid? [True, True] Translation: X:51.25, Y:-11.86, Z:-0.71 [[ 9.22112976e-01 3.86919138e-01 -1.11397169e-03 5.12453268e+01] [-3.86918864e-01 9.22113648e-01 4.60600708e-04 -1.18595209e+01] [ 1.20542373e-03 6.29077359e-06 9.99999273e-01 -7.14648473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.295384750000004 meters 0.052734767983891394 Centerline is valid? [True, True] Translation: X:51.27, Y:-11.87, Z:-0.71 [[ 9.22417592e-01 3.86193622e-01 -5.22678503e-04 5.12741199e+01] [-3.86193560e-01 9.22417740e-01 2.17822615e-04 -1.18717127e+01] [ 5.66249628e-04 9.31659925e-07 9.99999840e-01 -7.14416824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.32538475 meters 0.05338129239621654 Centerline is valid? [True, True] Translation: X:51.30, Y:-11.88, Z:-0.72 [[ 9.22182391e-01 3.86746162e-01 -2.65418087e-03 5.13034118e+01] [-3.86744627e-01 9.22186210e-01 1.08984095e-03 -1.18831014e+01] [ 2.86914080e-03 2.14580552e-05 9.99995884e-01 -7.18314301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.35538475 meters 0.05341280111718437 Centerline is valid? [True, True] Translation: X:51.33, Y:-11.90, Z:-0.72 [[ 9.22184980e-01 3.86732860e-01 -3.54377749e-03 5.13329957e+01] [-3.86730115e-01 9.22191788e-01 1.45747557e-03 -1.18958289e+01] [ 3.83169619e-03 2.64233980e-05 9.99992659e-01 -7.18786503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.38538475 meters 0.053705096762089795 Centerline is valid? [True, True] Translation: X:51.36, Y:-11.91, Z:-0.72 [[ 9.22522615e-01 3.85913052e-01 -4.81061734e-03 5.13613585e+01] [-3.85907983e-01 9.22535157e-01 1.97808737e-03 -1.19086934e+01] [ 5.20133335e-03 3.16253020e-05 9.99986472e-01 -7.21090102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.41538475 meters 0.053650552341100895 Centerline is valid? [True, True] Translation: X:51.39, Y:-11.92, Z:-0.72 [[ 9.22706172e-01 3.85470127e-01 -5.10889416e-03 5.13907566e+01] [-3.85464404e-01 9.22720315e-01 2.10074712e-03 -1.19218435e+01] [ 5.52385569e-03 3.09245037e-05 9.99984743e-01 -7.21682894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.44538475 meters 0.054036190163801956 Centerline is valid? [True, True] Translation: X:51.42, Y:-11.93, Z:-0.72 [[ 9.22351418e-01 3.86321350e-01 -4.86587627e-03 5.14213160e+01] [-3.86316153e-01 9.22364252e-01 2.00407312e-03 -1.19338850e+01] [ 5.26232656e-03 3.13069224e-05 9.99986153e-01 -7.21574596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.47538475 meters 0.05432255181892048 Centerline is valid? [True, True] Translation: X:51.45, Y:-11.94, Z:-0.72 [[ 9.21916840e-01 3.87348955e-01 -5.48882022e-03 5.14507385e+01] [-3.87342360e-01 9.21933178e-01 2.26071941e-03 -1.19448528e+01] [ 5.93601277e-03 4.18572847e-05 9.99982381e-01 -7.22640822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.50538475 meters 0.054354342548179224 Centerline is valid? [True, True] Translation: X:51.48, Y:-11.96, Z:-0.72 [[ 9.21338921e-01 3.88748602e-01 -3.01929956e-03 5.14798645e+01] [-3.88746605e-01 9.21343868e-01 1.24649222e-03 -1.19579816e+01] [ 3.26638524e-03 2.53006576e-05 9.99994665e-01 -7.19206647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.53538475 meters 0.05411381039691904 Centerline is valid? [True, True] Translation: X:51.51, Y:-11.97, Z:-0.72 [[ 9.21753152e-01 3.87772739e-01 -1.85209205e-03 5.15096469e+01] [-3.87771985e-01 9.21755012e-01 7.64672307e-04 -1.19712963e+01] [ 2.00369420e-03 1.33503010e-05 9.99997993e-01 -7.18115359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.56538475 meters 0.05418239169083683 Centerline is valid? [True, True] Translation: X:51.54, Y:-11.98, Z:-0.72 [[ 9.21978966e-01 3.87239438e-01 6.35487821e-04 5.15382505e+01] [-3.87239352e-01 9.21979185e-01 -2.58171702e-04 -1.19843601e+01] [-6.85880808e-04 -8.05701280e-06 9.99999765e-01 -7.18687650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.59538475 meters 0.05424211887393586 Centerline is valid? [True, True] Translation: X:51.57, Y:-12.00, Z:-0.72 [[ 9.21930518e-01 3.87354414e-01 8.22890758e-04 5.15687682e+01] [-3.87354270e-01 9.21930885e-01 -3.34954713e-04 -1.19976770e+01] [-8.88394592e-04 -9.94527648e-06 9.99999605e-01 -7.18699615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.62538475 meters 0.05450518101712795 Centerline is valid? [True, True] Translation: X:51.60, Y:-12.01, Z:-0.72 [[ 9.21686746e-01 3.87930282e-01 1.90733309e-03 5.15969947e+01] [-3.87929491e-01 9.21688720e-01 -7.83496845e-04 -1.20099839e+01] [-2.06190955e-03 -1.77720971e-05 9.99997874e-01 -7.18962411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.65538475 meters 0.054581277043891464 Centerline is valid? [True, True] Translation: X:51.63, Y:-12.02, Z:-0.72 [[ 9.21490814e-01 3.88390877e-01 2.68460390e-03 5.16264622e+01] [-3.88389308e-01 9.21494724e-01 -1.10417309e-03 -1.20234508e+01] [-2.90269908e-03 -2.51860924e-05 9.99995787e-01 -7.18964564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.68538475 meters 0.054516670032496106 Centerline is valid? [True, True] Translation: X:51.65, Y:-12.04, Z:-0.72 [[ 9.23390861e-01 3.83834682e-01 4.50052548e-03 5.16527752e+01] [-3.83830194e-01 9.23401828e-01 -1.85622179e-03 -1.20412219e+01] [-4.86827575e-03 -1.34193354e-05 9.99988150e-01 -7.17379397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.71538475 meters 0.054580873770809744 Centerline is valid? [True, True] Translation: X:51.68, Y:-12.06, Z:-0.72 [[ 9.24032567e-01 3.82285202e-01 4.67334672e-03 5.16815510e+01] [-3.82280339e-01 9.24044384e-01 -1.92829179e-03 -1.20564163e+01] [-5.05553721e-03 -4.72415584e-06 9.99987221e-01 -7.16632120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.74538475 meters 0.054939368937391 Centerline is valid? [True, True] Translation: X:51.71, Y:-12.07, Z:-0.72 [[ 9.25013938e-01 3.79900219e-01 5.00373614e-03 5.17095739e+01] [-3.79894596e-01 9.25027472e-01 -2.06690506e-03 -1.20707338e+01] [-5.41381107e-03 1.10236711e-05 9.99985345e-01 -7.19759411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.77538475 meters 0.055443637324162465 Centerline is valid? [True, True] Translation: X:51.74, Y:-12.08, Z:-0.72 [[ 9.25405488e-01 3.78930926e-01 6.00300784e-03 5.17388082e+01] [-3.78922795e-01 9.25424958e-01 -2.48253647e-03 -1.20840587e+01] [-6.49604313e-03 2.26763691e-05 9.99978900e-01 -7.22010119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.80538475 meters 0.05554938609997725 Centerline is valid? [True, True] Translation: X:51.77, Y:-12.10, Z:-0.72 [[ 9.25367660e-01 3.78997693e-01 7.44597709e-03 5.17679866e+01] [-3.78985156e-01 9.25397616e-01 -3.08284122e-03 -1.20969250e+01] [-8.05887915e-03 3.08467761e-05 9.99967526e-01 -7.22582004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.83538475 meters 0.05564077096168761 Centerline is valid? [True, True] Translation: X:51.80, Y:-12.11, Z:-0.72 [[ 9.25243990e-01 3.79286477e-01 8.08257655e-03 5.17979001e+01] [-3.79271693e-01 9.25279291e-01 -3.34894000e-03 -1.21101768e+01] [-8.74884836e-03 3.30941122e-05 9.99961728e-01 -7.22075878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.865384750000004 meters 0.05574950975249327 Centerline is valid? [True, True] Translation: X:51.83, Y:-12.12, Z:-0.72 [[ 9.25242030e-01 3.79242177e-01 1.01271058e-02 5.18281353e+01] [-3.79218914e-01 9.25297449e-01 -4.20068003e-03 -1.21232724e+01] [-1.09636602e-02 4.62556449e-05 9.99939896e-01 -7.20449031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.89538475 meters 0.05574667598359314 Centerline is valid? [True, True] Translation: X:51.86, Y:-12.14, Z:-0.72 [[ 9.24683781e-01 3.80557524e-01 1.16565958e-02 5.18579506e+01] [-3.80526749e-01 9.24757249e-01 -4.83982314e-03 -1.21355984e+01] [-1.26213526e-02 3.96594663e-05 9.99920347e-01 -7.20457854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.92538475 meters 0.05599327013054055 Centerline is valid? [True, True] Translation: X:51.89, Y:-12.15, Z:-0.72 [[ 9.24120810e-01 3.81912929e-01 1.19684398e-02 5.18893260e+01] [-3.81880545e-01 9.24198309e-01 -4.97342630e-03 -1.21469760e+01] [-1.29606276e-02 2.55324280e-05 9.99916007e-01 -7.21410001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.95538475 meters 0.055944802973808924 Centerline is valid? [True, True] Translation: X:51.92, Y:-12.16, Z:-0.73 [[ 9.22842710e-01 3.84970616e-01 1.26078515e-02 5.19207331e+01] [-3.84934939e-01 9.22928830e-01 -5.24102368e-03 -1.21556888e+01] [-1.36537898e-02 -1.65620587e-05 9.99906783e-01 -7.25178824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.98538475 meters 0.05616274317253035 Centerline is valid? [True, True] Translation: X:51.95, Y:-12.17, Z:-0.73 [[ 9.22624410e-01 3.85441812e-01 1.40998896e-02 5.19516633e+01] [-3.85397163e-01 9.22732144e-01 -5.86664597e-03 -1.21680184e+01] [-1.52716720e-02 -2.13466759e-05 9.99883381e-01 -7.25035126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.01538475 meters 0.05614009590024686 Centerline is valid? [True, True] Translation: X:51.98, Y:-12.18, Z:-0.73 [[ 9.22439296e-01 3.85931789e-01 1.27435740e-02 5.19816018e+01] [-3.85895309e-01 9.22527318e-01 -5.30630551e-03 -1.21815653e+01] [-1.38041672e-02 -2.29407220e-05 9.99904718e-01 -7.26579612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.045384750000004 meters 0.05614009590024686 Centerline is valid? [True, True] Translation: X:52.01, Y:-12.19, Z:-0.73 [[ 9.22324612e-01 3.86205842e-01 1.27419870e-02 5.20113655e+01] [-3.86169335e-01 9.22412623e-01 -5.31011373e-03 -1.21941586e+01] [-1.38041666e-02 -2.29160582e-05 9.99904718e-01 -7.27031942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.07538475 meters 0.05640373384589134 Centerline is valid? [True, True] Translation: X:52.04, Y:-12.21, Z:-0.73 [[ 9.22143235e-01 3.86668550e-01 1.18019671e-02 5.20409633e+01] [-3.86637220e-01 9.22218755e-01 -4.92217954e-03 -1.22068499e+01] [-1.27872475e-02 -2.41252110e-05 9.99918240e-01 -7.28448086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.10538475 meters 0.056396478181977135 Centerline is valid? [True, True] Translation: X:52.07, Y:-12.22, Z:-0.73 [[ 9.22064863e-01 3.86847241e-01 1.20665365e-02 5.20703971e+01] [-3.86814454e-01 9.22143813e-01 -5.03653301e-03 -1.22192492e+01] [-1.30754508e-02 -2.35005910e-05 9.99914512e-01 -7.28489504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.13538475 meters 0.05646534360288789 Centerline is valid? [True, True] Translation: X:52.10, Y:-12.23, Z:-0.73 [[ 9.21630232e-01 3.87854411e-01 1.29101519e-02 5.20996506e+01] [-3.87816915e-01 9.21720649e-01 -5.39310144e-03 -1.22306625e+01] [-1.39912917e-02 -3.63299449e-05 9.99902116e-01 -7.28417382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.16538475 meters 0.05637023249191973 Centerline is valid? [True, True] Translation: X:52.13, Y:-12.24, Z:-0.73 [[ 9.21891607e-01 3.87208374e-01 1.36212808e-02 5.21298512e+01] [-3.87166496e-01 9.21992231e-01 -5.69475256e-03 -1.22434056e+01] [-1.47637709e-02 -2.37589506e-05 9.99891009e-01 -7.28654903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.19538475 meters 0.05681986341197247 Centerline is valid? [True, True] Translation: X:52.16, Y:-12.25, Z:-0.73 [[ 9.21768079e-01 3.87443924e-01 1.51925995e-02 5.21595511e+01] [-3.87391766e-01 9.21893272e-01 -6.35726779e-03 -1.22546015e+01] [-1.64690400e-02 -2.55614111e-05 9.99864376e-01 -7.29124797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.22538475 meters 0.05670938021853733 Centerline is valid? [True, True] Translation: X:52.19, Y:-12.27, Z:-0.73 [[ 9.21691082e-01 3.87656601e-01 1.44190420e-02 5.21903060e+01] [-3.87609576e-01 9.21803862e-01 -6.03796477e-03 -1.22672755e+01] [-1.56321855e-02 -2.38204646e-05 9.99877810e-01 -7.29775152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.25538475 meters 0.05686325562517712 Centerline is valid? [True, True] Translation: X:52.22, Y:-12.28, Z:-0.73 [[ 9.21043610e-01 3.89246174e-01 1.28873572e-02 5.22209973e+01] [-3.89208710e-01 9.21133766e-01 -5.40057588e-03 -1.22780899e+01] [-1.39731334e-02 -4.17057663e-05 9.99902370e-01 -7.31481234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.28538475 meters 0.05709153959489541 Centerline is valid? [True, True] Translation: X:52.25, Y:-12.28, Z:-0.73 [[ 9.19374486e-01 3.93167873e-01 1.30222149e-02 5.22514661e+01] [-3.93129949e-01 9.19466701e-01 -5.46159537e-03 -1.22847886e+01] [-1.41208168e-02 -9.81712331e-05 9.99900291e-01 -7.32624868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.31538475 meters 0.05718808897970201 Centerline is valid? [True, True] Translation: X:52.28, Y:-12.30, Z:-0.73 [[ 9.18656696e-01 3.94840601e-01 1.30680685e-02 5.22824151e+01] [-3.94802527e-01 9.18749631e-01 -5.48446877e-03 -1.22965014e+01] [-1.41717740e-02 -1.20962499e-04 9.99899568e-01 -7.32847896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.34538475 meters 0.05731192225792636 Centerline is valid? [True, True] Translation: X:52.31, Y:-12.31, Z:-0.73 [[ 9.17593642e-01 3.97323914e-01 1.24745802e-02 5.23118276e+01] [-3.97289391e-01 9.17678422e-01 -5.23967450e-03 -1.23058732e+01] [-1.35295010e-02 -1.48126355e-04 9.99908461e-01 -7.33082671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.37538475 meters 0.057342766971286666 Centerline is valid? [True, True] Translation: X:52.34, Y:-12.32, Z:-0.74 [[ 9.17240421e-01 3.98185327e-01 1.08836945e-02 5.23419513e+01] [-3.98159095e-01 9.17304980e-01 -4.57264901e-03 -1.23185946e+01] [-1.18044289e-02 -1.39223467e-04 9.99930316e-01 -7.35225450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.40538475 meters 0.05727399037959556 Centerline is valid? [True, True] Translation: X:52.37, Y:-12.33, Z:-0.74 [[ 9.17670020e-01 3.97180271e-01 1.13826993e-02 5.23707384e+01] [-3.97151448e-01 9.17740604e-01 -4.78659008e-03 -1.23317579e+01] [-1.23475044e-02 -1.28145278e-04 9.99923758e-01 -7.37024778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.43538475 meters 0.057412836607484384 Centerline is valid? [True, True] Translation: X:52.40, Y:-12.34, Z:-0.74 [[ 9.17458407e-01 3.97729491e-01 9.01798550e-03 5.24014011e+01] [-3.97711409e-01 9.17502720e-01 -3.79398172e-03 -1.23442248e+01] [-9.78300464e-03 -1.05735291e-04 9.99952140e-01 -7.39433515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.46538475 meters 0.05749473718167959 Centerline is valid? [True, True] Translation: X:52.43, Y:-12.36, Z:-0.74 [[ 9.17689280e-01 3.97215324e-01 8.14692477e-03 5.24316003e+01] [-3.97200525e-01 9.17725437e-01 -3.42993706e-03 -1.23576201e+01] [-8.83906366e-03 -8.83463272e-05 9.99960931e-01 -7.42174674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.49538475 meters 0.05753277153040445 Centerline is valid? [True, True] Translation: X:52.46, Y:-12.37, Z:-0.74 [[ 9.17488976e-01 3.97693967e-01 7.31352910e-03 5.24611879e+01] [-3.97682039e-01 9.17518121e-01 -3.08130083e-03 -1.23704867e+01] [-7.93571023e-03 -8.13996216e-05 9.99968508e-01 -7.43920245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.52538475 meters 0.05768961874877564 Centerline is valid? [True, True] Translation: X:52.49, Y:-12.38, Z:-0.75 [[ 9.17051946e-01 3.98727938e-01 5.63557631e-03 5.24908505e+01] [-3.98720868e-01 9.17069260e-01 -2.37543088e-03 -1.23830022e+01] [-6.11536445e-03 -6.86283626e-05 9.99981299e-01 -7.45894265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.55538475 meters 0.05753431302950332 Centerline is valid? [True, True] Translation: X:52.52, Y:-12.40, Z:-0.75 [[ 9.17487857e-01 3.97736768e-01 4.63635517e-03 5.25197892e+01] [-3.97731968e-01 9.17499570e-01 -1.95454884e-03 -1.23977806e+01] [-5.03124982e-03 -5.07518401e-05 9.99987342e-01 -7.46382001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.58538475 meters 0.05764039962556783 Centerline is valid? [True, True] Translation: X:52.55, Y:-12.41, Z:-0.75 [[ 9.17409255e-01 3.97919171e-01 4.53795789e-03 5.25503388e+01] [-3.97914568e-01 9.17420477e-01 -1.91452122e-03 -1.24100100e+01] [-4.92504018e-03 -4.93200656e-05 9.99987871e-01 -7.46680771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.615384750000004 meters 0.05758321437793964 Centerline is valid? [True, True] Translation: X:52.58, Y:-12.42, Z:-0.75 [[ 9.17347979e-01 3.98059754e-01 4.59538716e-03 5.25802116e+01] [-3.98055028e-01 9.17359488e-01 -1.94039088e-03 -1.24231771e+01] [-4.98801353e-03 -4.92033140e-05 9.99987559e-01 -7.46271593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.64538475 meters 0.057481608317033354 Centerline is valid? [True, True] Translation: X:52.61, Y:-12.43, Z:-0.75 [[ 9.16899826e-01 3.99067564e-01 6.30779930e-03 5.26117934e+01] [-3.99058656e-01 9.16921520e-01 -2.66740805e-03 -1.24339060e+01] [-6.84823295e-03 -7.14359288e-05 9.99976548e-01 -7.45464943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.67538475 meters 0.05832461600619204 Centerline is valid? [True, True] Translation: X:52.64, Y:-12.44, Z:-0.75 [[ 9.14558745e-01 4.04439904e-01 3.26586952e-03 5.26435681e+01] [-4.04437552e-01 9.14564574e-01 -1.38068670e-03 -1.24385155e+01] [-3.54525336e-03 -5.81211804e-05 9.99993714e-01 -7.48984255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.70538475 meters 0.05880922971749675 Centerline is valid? [True, True] Translation: X:52.67, Y:-12.45, Z:-0.75 [[ 9.13913973e-01 4.05897477e-01 2.91330920e-03 5.26732520e+01] [-4.05895611e-01 9.13918615e-01 -1.23209316e-03 -1.24488855e+01] [-3.16263102e-03 -5.64722607e-05 9.99994997e-01 -7.49980226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.73538475 meters 0.05882057984368237 Centerline is valid? [True, True] Translation: X:52.70, Y:-12.46, Z:-0.75 [[ 9.13293487e-01 4.07290226e-01 3.11098334e-03 5.27039512e+01] [-4.07288103e-01 9.13298783e-01 -1.31663060e-03 -1.24579481e+01] [-3.37750807e-03 -6.45963502e-05 9.99994294e-01 -7.50342058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.76538475 meters 0.059110445312817006 Centerline is valid? [True, True] Translation: X:52.73, Y:-12.47, Z:-0.75 [[ 9.12775478e-01 4.08449624e-01 3.13541342e-03 5.27337140e+01] [-4.08447470e-01 9.12780861e-01 -1.32816511e-03 -1.24685981e+01] [-3.40443390e-03 -6.83351362e-05 9.99994203e-01 -7.51253731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.795384750000004 meters 0.05876323760643528 Centerline is valid? [True, True] Translation: X:52.76, Y:-12.48, Z:-0.75 [[ 9.12690972e-01 4.08639521e-01 2.98860094e-03 5.27632163e+01] [-4.08637565e-01 9.12695863e-01 -1.26583530e-03 -1.24830205e+01] [-3.24495405e-03 -6.59381660e-05 9.99994733e-01 -7.50258277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.82538475 meters 0.05878372812804874 Centerline is valid? [True, True] Translation: X:52.79, Y:-12.49, Z:-0.75 [[ 9.12632943e-01 4.08757407e-01 4.30041184e-03 5.27923417e+01] [-4.08753340e-01 9.12643070e-01 -1.82560632e-03 -1.24935551e+01] [-4.67097117e-03 -9.16992341e-05 9.99989087e-01 -7.51293642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.85538475 meters 0.05896554565734492 Centerline is valid? [True, True] Translation: X:52.82, Y:-12.50, Z:-0.75 [[ 9.12288604e-01 4.09525345e-01 4.30056286e-03 5.28222241e+01] [-4.09521283e-01 9.12298735e-01 -1.82657244e-03 -1.25042010e+01] [-4.67142577e-03 -9.48107989e-05 9.99989084e-01 -7.52167492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.88538475 meters 0.05858624587922373 Centerline is valid? [True, True] Translation: X:52.85, Y:-12.52, Z:-0.75 [[ 9.12021948e-01 4.10117176e-01 4.45736808e-03 5.28521362e+01] [-4.10112812e-01 9.12032835e-01 -1.89453624e-03 -1.25179362e+01] [-4.84224790e-03 -1.00165129e-04 9.99988271e-01 -7.52270703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.91538475 meters 0.05877972151639959 Centerline is valid? [True, True] Translation: X:52.88, Y:-12.53, Z:-0.75 [[ 9.12440611e-01 4.09172246e-01 5.49591623e-03 5.28807415e+01] [-4.09165574e-01 9.12457155e-01 -2.33950537e-03 -1.25289658e+01] [-5.97204876e-03 -1.14080009e-04 9.99982161e-01 -7.52834582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.94538475 meters 0.05799103524404546 Centerline is valid? [True, True] Translation: X:52.91, Y:-12.54, Z:-0.75 [[ 9.13808994e-01 4.06102842e-01 5.79690735e-03 5.29095037e+01] [-4.06095337e-01 9.13827376e-01 -2.47075458e-03 -1.25447292e+01] [-6.30075308e-03 -9.62992890e-05 9.99980145e-01 -7.51246686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.97538475 meters 0.057911010385682575 Centerline is valid? [True, True] Translation: X:52.94, Y:-12.56, Z:-0.75 [[ 9.14137074e-01 4.05390624e-01 3.44260182e-03 5.29393453e+01] [-4.05387982e-01 9.14143555e-01 -1.46489389e-03 -1.25585554e+01] [-3.74088652e-03 -5.64755894e-05 9.99993001e-01 -7.54696523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.00538475 meters 0.05802993543126574 Centerline is valid? [True, True] Translation: X:52.97, Y:-12.57, Z:-0.76 [[ 9.13688085e-01 4.06414506e-01 1.15391486e-03 5.29688132e+01] [-4.06414213e-01 9.13688814e-01 -4.88775969e-04 -1.25715277e+01] [-1.25296474e-03 -2.23786196e-05 9.99999215e-01 -7.55287351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.03538475 meters 0.05824679768308312 Centerline is valid? [True, True] Translation: X:53.00, Y:-12.58, Z:-0.76 [[ 9.13299843e-01 4.07286951e-01 8.58189280e-04 5.29982973e+01] [-4.07286790e-01 9.13300246e-01 -3.63048754e-04 -1.25817204e+01] [-9.31649500e-04 -1.79567864e-05 9.99999566e-01 -7.58000142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.06538475 meters 0.059371217185662996 Centerline is valid? [True, True] Translation: X:53.03, Y:-12.59, Z:-0.76 [[ 9.11232869e-01 4.11891167e-01 -5.70138651e-04 5.30289882e+01] [-4.11891093e-01 9.11233047e-01 2.46961428e-04 -1.25875104e+01] [ 6.21250411e-04 9.79566158e-06 9.99999807e-01 -7.61109482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.09538475 meters 0.05904913938476847 Centerline is valid? [True, True] Translation: X:53.06, Y:-12.60, Z:-0.76 [[ 9.10902162e-01 4.12620353e-01 -1.30205769e-03 5.30577908e+01] [-4.12619972e-01 9.10903092e-01 5.61277084e-04 -1.26017741e+01] [ 1.41764272e-03 2.59864978e-05 9.99998995e-01 -7.60353053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.12538475 meters 0.05867362219862562 Centerline is valid? [True, True] Translation: X:53.09, Y:-12.62, Z:-0.76 [[ 9.11666664e-01 4.10928306e-01 -1.34963216e-03 5.30860799e+01] [-4.10927895e-01 9.11667662e-01 5.82044102e-04 -1.26171503e+01] [ 1.46959439e-03 2.39712990e-05 9.99998920e-01 -7.60121968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.15538475 meters 0.058072181798328695 Centerline is valid? [True, True] Translation: X:53.11, Y:-12.63, Z:-0.76 [[ 9.12989779e-01 4.07981519e-01 -8.62185030e-04 5.31145613e+01] [-4.07981348e-01 9.12990186e-01 3.73550430e-04 -1.26326105e+01] [ 9.39568142e-04 1.07076863e-05 9.99999559e-01 -7.58109564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.18538475 meters 0.058051490436420425 Centerline is valid? [True, True] Translation: X:53.14, Y:-12.64, Z:-0.76 [[ 9.13014969e-01 4.07923864e-01 -1.33715019e-03 5.31437426e+01] [-4.07923456e-01 9.13015948e-01 5.77795969e-04 -1.26445184e+01] [ 1.45653622e-03 1.79185592e-05 9.99998939e-01 -7.60150536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.21538475 meters 0.058638710450694034 Centerline is valid? [True, True] Translation: X:53.17, Y:-12.65, Z:-0.76 [[ 9.11917823e-01 4.10357914e-01 -3.50237405e-03 5.31742279e+01] [-4.10355151e-01 9.11924546e-01 1.50736700e-03 -1.26542980e+01] [ 3.81246084e-03 6.26223967e-05 9.99992731e-01 -7.63666762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.24538475 meters 0.058736700146200985 Centerline is valid? [True, True] Translation: X:53.20, Y:-12.67, Z:-0.77 [[ 9.11256396e-01 4.11828658e-01 -2.98940417e-03 5.32034921e+01] [-4.11826648e-01 9.11261298e-01 1.28777612e-03 -1.26659713e+01] [ 3.25447144e-03 5.76220720e-05 9.99994703e-01 -7.65019523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.27538475 meters 0.05827493865666811 Centerline is valid? [True, True] Translation: X:53.23, Y:-12.68, Z:-0.76 [[ 9.11736283e-01 4.10765382e-01 -2.95811149e-03 5.32322815e+01] [-4.10763415e-01 9.11741080e-01 1.27236715e-03 -1.26817724e+01] [ 3.21967614e-03 5.50206775e-05 9.99994815e-01 -7.61354349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.30538475 meters 0.0579415383843684 Centerline is valid? [True, True] Translation: X:53.26, Y:-12.69, Z:-0.76 [[ 9.12118704e-01 4.09922132e-01 -1.82069452e-03 5.32602316e+01] [-4.09921379e-01 9.12120521e-01 7.86421262e-04 -1.26946852e+01] [ 1.98306432e-03 2.90320662e-05 9.99998033e-01 -7.60958239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.33538475 meters 0.05775565227773242 Centerline is valid? [True, True] Translation: X:53.29, Y:-12.71, Z:-0.76 [[ 9.12372660e-01 4.09359493e-01 -9.67002497e-04 5.32900590e+01] [-4.09359277e-01 9.12373172e-01 4.19988341e-04 -1.27074749e+01] [ 1.05419335e-03 1.26655639e-05 9.99999444e-01 -7.59763209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.365384750000004 meters 0.058295307137542086 Centerline is valid? [True, True] Translation: X:53.32, Y:-12.72, Z:-0.76 [[ 9.11990453e-01 4.10208885e-01 -1.44375581e-03 5.33198381e+01] [-4.10208409e-01 9.11991596e-01 6.25197691e-04 -1.27164629e+01] [ 1.57315481e-03 2.20664489e-05 9.99998762e-01 -7.62996896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.39538475 meters 0.05807436388081721 Centerline is valid? [True, True] Translation: X:53.35, Y:-12.73, Z:-0.76 [[ 9.12101853e-01 4.09963402e-01 4.66968721e-04 5.33490716e+01] [-4.09963355e-01 9.12101973e-01 -1.97260836e-04 -1.27292570e+01] [-5.06792815e-04 -1.15180895e-05 9.99999872e-01 -7.61513609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.42538475 meters 0.058185410114637355 Centerline is valid? [True, True] Translation: X:53.38, Y:-12.74, Z:-0.76 [[ 9.11975380e-01 4.10241427e-01 1.69657797e-03 5.33782802e+01] [-4.10240782e-01 9.11976957e-01 -7.27801515e-04 -1.27401764e+01] [-1.84581435e-03 -3.22684097e-05 9.99998296e-01 -7.59374340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.45538475 meters 0.05774965875261278 Centerline is valid? [True, True] Translation: X:53.41, Y:-12.75, Z:-0.76 [[ 9.12098561e-01 4.09953141e-01 3.82597926e-03 5.34085489e+01] [-4.09949839e-01 9.12106583e-01 -1.64673919e-03 -1.27516624e+01] [-4.16478677e-03 -6.64711387e-05 9.99991325e-01 -7.55091094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.48538475 meters 0.057824122897276155 Centerline is valid? [True, True] Translation: X:53.44, Y:-12.76, Z:-0.76 [[ 9.12564313e-01 4.08932689e-01 6.56616844e-04 5.34378987e+01] [-4.08932594e-01 9.12564549e-01 -2.79891529e-04 -1.27623221e+01] [-7.13662049e-04 -1.30930085e-05 9.99999745e-01 -7.57853783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.51538475 meters 0.05780004623222761 Centerline is valid? [True, True] Translation: X:53.47, Y:-12.77, Z:-0.76 [[ 9.12798880e-01 4.08409247e-01 -3.02047361e-04 5.34686420e+01] [-4.08409225e-01 9.12798930e-01 1.34956890e-04 -1.27746720e+01] [ 3.30826149e-04 1.70429954e-07 9.99999945e-01 -7.60092652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.545384750000004 meters 0.058076863781063505 Centerline is valid? [True, True] Translation: X:53.50, Y:-12.78, Z:-0.76 [[ 9.12664929e-01 4.08707141e-01 -1.09572364e-03 5.34983766e+01] [-4.08706864e-01 9.12665586e-01 4.75713210e-04 -1.27846736e+01] [ 1.19445665e-03 1.36630122e-05 9.99999287e-01 -7.62949278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.57538475 meters 0.05855974569514536 Centerline is valid? [True, True] Translation: X:53.53, Y:-12.79, Z:-0.77 [[ 9.12278312e-01 4.09562841e-01 -2.56129387e-03 5.35285058e+01] [-4.09561334e-01 9.12281907e-01 1.11128305e-03 -1.27932429e+01] [ 2.79176230e-03 3.52075055e-05 9.99996102e-01 -7.67664295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.60538475 meters 0.058459023541293835 Centerline is valid? [True, True] Translation: X:53.56, Y:-12.81, Z:-0.76 [[ 9.11525674e-01 4.11231747e-01 -3.06537990e-03 5.35577262e+01] [-4.11229597e-01 9.11530827e-01 1.33067703e-03 -1.28073183e+01] [ 3.34140491e-03 4.76286626e-05 9.99994416e-01 -7.64537718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.63538475 meters 0.05853904136362297 Centerline is valid? [True, True] Translation: X:53.59, Y:-12.82, Z:-0.76 [[ 9.09768037e-01 4.15116993e-01 2.15254502e-05 5.35886031e+01] [-4.15116993e-01 9.09768037e-01 -5.36024073e-06 -1.28176687e+01] [-2.18082937e-05 -4.05900446e-06 1.00000000e+00 -7.61288878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.66538475 meters 0.0590198200756939 Centerline is valid? [True, True] Translation: X:53.62, Y:-12.83, Z:-0.76 [[ 9.08508309e-01 4.17866762e-01 -1.46185617e-04 5.36193238e+01] [-4.17866757e-01 9.08508321e-01 6.72998770e-05 -1.28268744e+01] [ 1.60933231e-04 -5.63879771e-08 9.99999987e-01 -7.62142423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.69538475 meters 0.0599393635329745 Centerline is valid? [True, True] Translation: X:53.65, Y:-12.83, Z:-0.76 [[ 9.06680517e-01 4.21817897e-01 3.19345486e-04 5.36503638e+01] [-4.21817876e-01 9.06680573e-01 -1.34862435e-04 -1.28328224e+01] [-3.46431737e-04 -1.24284925e-05 9.99999940e-01 -7.64305097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.72538475 meters 0.06022050981090448 Centerline is valid? [True, True] Translation: X:53.68, Y:-12.84, Z:-0.77 [[ 9.05825798e-01 4.23650313e-01 -1.90448457e-04 5.36798392e+01] [-4.23650304e-01 9.05825818e-01 8.47156298e-05 -1.28440341e+01] [ 2.08402932e-04 3.94594382e-06 9.99999978e-01 -7.65647416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.75538475 meters 0.06067582005250038 Centerline is valid? [True, True] Translation: X:53.71, Y:-12.85, Z:-0.77 [[ 9.05604957e-01 4.24121732e-01 -6.47536809e-04 5.37087794e+01] [-4.24121636e-01 9.05605188e-01 2.84817559e-04 -1.28541454e+01] [ 7.07210009e-04 1.67021780e-05 9.99999750e-01 -7.65425665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.78538475 meters 0.06032947013509877 Centerline is valid? [True, True] Translation: X:53.74, Y:-12.87, Z:-0.77 [[ 9.05401824e-01 4.24555206e-01 -6.43699844e-04 5.37387688e+01] [-4.24555111e-01 9.05402053e-01 2.84260287e-04 -1.28686718e+01] [ 7.03491345e-04 1.59162760e-05 9.99999752e-01 -7.65056551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.81538475 meters 0.06069894448515448 Centerline is valid? [True, True] Translation: X:53.77, Y:-12.88, Z:-0.76 [[ 9.05107143e-01 4.25183537e-01 -1.40867662e-04 5.37677680e+01] [-4.25183532e-01 9.05107154e-01 6.55085718e-05 -1.28807289e+01] [ 1.55353495e-04 6.02333981e-07 9.99999988e-01 -7.64908795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.84538475 meters 0.060128101469500636 Centerline is valid? [True, True] Translation: X:53.80, Y:-12.89, Z:-0.76 [[ 9.05474984e-01 4.24399006e-01 7.32328467e-04 5.37961600e+01] [-4.24398891e-01 9.05475280e-01 -3.14645816e-04 -1.28947544e+01] [-7.96640696e-04 -2.58954741e-05 9.99999682e-01 -7.64387834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.87538475 meters 0.059264484334617264 Centerline is valid? [True, True] Translation: X:53.82, Y:-12.91, Z:-0.76 [[ 9.08436832e-01 4.18016897e-01 2.09663286e-03 5.38228116e+01] [-4.18015909e-01 9.08439250e-01 -9.10212586e-04 -1.29094251e+01] [-2.28514783e-03 -4.95552536e-05 9.99997388e-01 -7.63977270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.90538475 meters 0.058880171375641034 Centerline is valid? [True, True] Translation: X:53.85, Y:-12.92, Z:-0.76 [[ 9.09394932e-01 4.15930307e-01 1.68449402e-03 5.38516877e+01] [-4.15929668e-01 9.09396491e-01 -7.30004675e-04 -1.29239171e+01] [-1.83550402e-03 -3.67684862e-05 9.99998315e-01 -7.64909060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.93538475 meters 0.058880171375641034 Centerline is valid? [True, True] Translation: X:53.88, Y:-12.94, Z:-0.77 [[ 9.09272963e-01 4.16196877e-01 1.68448374e-03 5.38812742e+01] [-4.16196239e-01 9.09274523e-01 -7.30029559e-04 -1.29369894e+01] [-1.83549418e-03 -3.72796582e-05 9.99998315e-01 -7.65361165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.96538475 meters 0.05897485061946285 Centerline is valid? [True, True] Translation: X:53.91, Y:-12.95, Z:-0.77 [[ 9.09923306e-01 4.14775859e-01 7.50768657e-04 5.39108860e+01] [-4.14775731e-01 9.09923616e-01 -3.26050452e-04 -1.29505664e+01] [-8.18379987e-04 -1.47197133e-05 9.99999665e-01 -7.68236434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.99538475 meters 0.05904298951600666 Centerline is valid? [True, True] Translation: X:53.94, Y:-12.96, Z:-0.77 [[ 9.10597674e-01 4.13292920e-01 -9.15861490e-04 5.39407095e+01] [-4.13292723e-01 9.10598134e-01 4.04304974e-04 -1.29649062e+01] [ 1.00107815e-03 1.03597202e-05 9.99999499e-01 -7.70593146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.02538475 meters 0.05898347445720886 Centerline is valid? [True, True] Translation: X:53.97, Y:-12.98, Z:-0.77 [[ 9.11192949e-01 4.11977664e-01 -1.34686993e-03 5.39696599e+01] [-4.11977239e-01 9.11193944e-01 5.92232216e-04 -1.29780614e+01] [ 1.47124617e-03 1.52419366e-05 9.99998918e-01 -7.70891371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.05538475 meters 0.05913614100367127 Centerline is valid? [True, True] Translation: X:54.00, Y:-12.99, Z:-0.77 [[ 9.11300718e-01 4.11740514e-01 -8.66301505e-04 5.39982024e+01] [-4.11740336e-01 9.11301130e-01 3.82247532e-04 -1.29905386e+01] [ 9.46848335e-04 8.34882227e-06 9.99999552e-01 -7.71796933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.08538475 meters 0.059171684382064195 Centerline is valid? [True, True] Translation: X:54.03, Y:-13.00, Z:-0.77 [[ 9.11247383e-01 4.11852128e-01 -2.45586695e-03 5.40269686e+01] [-4.11850718e-01 9.11250692e-01 1.07797934e-03 -1.30047157e+01] [ 2.68187855e-03 2.91447123e-05 9.99996403e-01 -7.72073061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.115384750000004 meters 0.05930676870491181 Centerline is valid? [True, True] Translation: X:54.06, Y:-13.02, Z:-0.77 [[ 9.11086096e-01 4.12210210e-01 -2.20662400e-03 5.40566217e+01] [-4.12209069e-01 9.11088768e-01 9.69942807e-04 -1.30169946e+01] [ 2.41025066e-03 2.58890178e-05 9.99997095e-01 -7.72383198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.14538475 meters 0.059444513090745894 Centerline is valid? [True, True] Translation: X:54.09, Y:-13.03, Z:-0.77 [[ 9.10871186e-01 4.12685083e-01 -2.16882689e-03 5.40871088e+01] [-4.12683981e-01 9.10873768e-01 9.54265724e-04 -1.30296645e+01] [ 2.36933876e-03 2.58269640e-05 9.99997193e-01 -7.72797562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.17538475 meters 0.05930346648108663 Centerline is valid? [True, True] Translation: X:54.12, Y:-13.04, Z:-0.77 [[ 9.11682000e-01 4.10896442e-01 -2.09625786e-04 5.41151647e+01] [-4.10896431e-01 9.11682025e-01 9.52785980e-05 -1.30429090e+01] [ 2.30261697e-04 -7.29295693e-07 9.99999973e-01 -7.72429403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.20538475 meters 0.059081850592968305 Centerline is valid? [True, True] Translation: X:54.14, Y:-13.06, Z:-0.77 [[ 9.13712244e-01 4.06361606e-01 -4.25112623e-04 5.41418671e+01] [-4.06361562e-01 9.13712342e-01 1.90317292e-04 -1.30613189e+01] [ 4.65768291e-04 -1.14581057e-06 9.99999892e-01 -7.69820068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.23538475 meters 0.05890853574184458 Centerline is valid? [True, True] Translation: X:54.17, Y:-13.08, Z:-0.77 [[ 9.15188066e-01 4.03026122e-01 8.65413202e-04 5.41698859e+01] [-4.03025947e-01 9.15188475e-01 -3.75956289e-04 -1.30773337e+01] [-9.43536394e-04 -4.71326634e-06 9.99999555e-01 -7.69137294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.26538475 meters 0.05877413837943683 Centerline is valid? [True, True] Translation: X:54.20, Y:-13.09, Z:-0.77 [[ 9.16514931e-01 3.99995045e-01 2.08438488e-03 5.41978332e+01] [-3.99994006e-01 9.16517301e-01 -9.11629432e-04 -1.30931846e+01] [-2.27502206e-03 1.78052890e-06 9.99997412e-01 -7.68161319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.295384750000004 meters 0.05914814281255737 Centerline is valid? [True, True] Translation: X:54.22, Y:-13.11, Z:-0.77 [[ 9.19589502e-01 3.92862818e-01 3.73542437e-03 5.42233713e+01] [-3.92859405e-01 9.19597088e-01 -1.63813380e-03 -1.31113703e+01] [-4.07864724e-03 3.89140513e-05 9.99991682e-01 -7.67939890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.32538475 meters 0.059659488852244535 Centerline is valid? [True, True] Translation: X:54.25, Y:-13.13, Z:-0.77 [[ 9.22263783e-01 3.86528750e-01 5.00398783e-03 5.42493685e+01] [-3.86522517e-01 9.22277353e-01 -2.19708351e-03 -1.31289531e+01] [-5.46430059e-03 9.21365832e-05 9.99985066e-01 -7.68265261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.35538475 meters 0.059901732245228746 Centerline is valid? [True, True] Translation: X:54.28, Y:-13.14, Z:-0.77 [[ 9.23110014e-01 3.84509476e-01 4.51282722e-03 5.42782483e+01] [-3.84504378e-01 9.23121040e-01 -1.98211379e-03 -1.31430627e+01] [-4.92802729e-03 9.45072632e-05 9.99987853e-01 -7.69533403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.38538475 meters 0.060620423009548584 Centerline is valid? [True, True] Translation: X:54.31, Y:-13.16, Z:-0.77 [[ 9.24326788e-01 3.81561125e-01 5.57647340e-03 5.43056868e+01] [-3.81553271e-01 9.24343599e-01 -2.45205454e-03 -1.31584766e+01] [-6.09018618e-03 1.38778028e-04 9.99981445e-01 -7.72168017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.41538475 meters 0.0611964881878086 Centerline is valid? [True, True] Translation: X:54.33, Y:-13.17, Z:-0.77 [[ 9.25009677e-01 3.79894247e-01 6.12029921e-03 5.43344577e+01] [-3.79884736e-01 9.25029909e-01 -2.69330778e-03 -1.31699228e+01] [-6.68463195e-03 1.66327510e-04 9.99977644e-01 -7.74592096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.44538475 meters 0.061266090246219415 Centerline is valid? [True, True] Translation: X:54.37, Y:-13.18, Z:-0.78 [[ 9.25059531e-01 3.79787993e-01 5.09349170e-03 5.43652074e+01] [-3.79781400e-01 9.25073544e-01 -2.24210042e-03 -1.31797210e+01] [-5.56337724e-03 1.39662952e-04 9.99984515e-01 -7.75248976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.47538475 meters 0.06056914145773474 Centerline is valid? [True, True] Translation: X:54.40, Y:-13.19, Z:-0.78 [[ 9.24469417e-01 3.81229796e-01 4.48765269e-03 5.43964861e+01] [-3.81224692e-01 9.24480302e-01 -1.97613167e-03 -1.31874446e+01] [-4.90210679e-03 1.16069275e-04 9.99987978e-01 -7.75277676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.50538475 meters 0.060223453073144105 Centerline is valid? [True, True] Translation: X:54.43, Y:-13.19, Z:-0.78 [[ 9.23370898e-01 3.83892503e-01 3.56810352e-03 5.44290238e+01] [-3.83889295e-01 9.23377788e-01 -1.57151321e-03 -1.31938208e+01] [-3.89799967e-03 8.13328248e-05 9.99992399e-01 -7.77091931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.53538475 meters 0.06070407198528469 Centerline is valid? [True, True] Translation: X:54.46, Y:-13.21, Z:-0.78 [[ 9.22959649e-01 3.84876330e-01 3.96195967e-03 5.44579725e+01] [-3.84872372e-01 9.22968148e-01 -1.74774440e-03 -1.32054827e+01] [-4.32942803e-03 8.82487359e-05 9.99990624e-01 -7.77989352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.56538475 meters 0.06002520039839111 Centerline is valid? [True, True] Translation: X:54.49, Y:-13.21, Z:-0.78 [[ 9.22284087e-01 3.86498743e-01 3.28411636e-03 5.44904903e+01] [-3.86496037e-01 9.22289931e-01 -1.44771150e-03 -1.32106464e+01] [-3.58844612e-03 6.59033236e-05 9.99993559e-01 -7.78488052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.59538475 meters 0.05986902192152736 Centerline is valid? [True, True] Translation: X:54.52, Y:-13.22, Z:-0.78 [[ 9.22015455e-01 3.87139731e-01 3.21384340e-03 5.45225691e+01] [-3.87137142e-01 9.22021054e-01 -1.41713971e-03 -1.32186445e+01] [-3.51186237e-03 6.24265686e-05 9.99993831e-01 -7.79103149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.62538475 meters 0.06004483923487402 Centerline is valid? [True, True] Translation: X:54.55, Y:-13.23, Z:-0.78 [[ 9.22165441e-01 3.86776687e-01 3.83325535e-03 5.45529060e+01] [-3.86772991e-01 9.22173405e-01 -1.69248290e-03 -1.32309605e+01] [-4.18953907e-03 7.81496034e-05 9.99991221e-01 -7.78885855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.65538475 meters 0.059963234563965316 Centerline is valid? [True, True] Translation: X:54.58, Y:-13.24, Z:-0.78 [[ 9.22612528e-01 3.85708942e-01 3.83866012e-03 5.45824535e+01] [-3.85705221e-01 9.22620510e-01 -1.69654654e-03 -1.32426009e+01] [-4.19599972e-03 8.46638422e-05 9.99991193e-01 -7.78343465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.68538475 meters 0.06048312064796489 Centerline is valid? [True, True] Translation: X:54.61, Y:-13.26, Z:-0.78 [[ 9.24421271e-01 3.81334178e-01 5.43674812e-03 5.46101123e+01] [-3.81326614e-01 9.24437246e-01 -2.40664265e-03 -1.32552956e+01] [-5.94366756e-03 1.51574903e-04 9.99982325e-01 -7.77908807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.71538475 meters 0.06097992534410897 Centerline is valid? [True, True] Translation: X:54.64, Y:-13.27, Z:-0.78 [[ 9.25170596e-01 3.79518257e-01 5.02600900e-03 5.46380434e+01] [-3.79511762e-01 9.25184236e-01 -2.22549214e-03 -1.32690878e+01] [-5.49459919e-03 1.51530362e-04 9.99984893e-01 -7.77960764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.74538475 meters 0.06108124103097722 Centerline is valid? [True, True] Translation: X:54.67, Y:-13.28, Z:-0.78 [[ 9.26486906e-01 3.76280005e-01 5.94735434e-03 5.46686351e+01] [-3.76270829e-01 9.26505972e-01 -2.63573443e-03 -1.32781196e+01] [-6.50203348e-03 2.04157491e-04 9.99978841e-01 -7.76256740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.77538475 meters 0.0609737639243594 Centerline is valid? [True, True] Translation: X:54.70, Y:-13.29, Z:-0.78 [[ 9.26614989e-01 3.75978702e-01 4.96769572e-03 5.46989221e+01] [-3.75972292e-01 9.26628289e-01 -2.20222049e-03 -1.32898192e+01] [-5.43119539e-03 1.72894567e-04 9.99985236e-01 -7.76443633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.80538475 meters 0.06152442728205893 Centerline is valid? [True, True] Translation: X:54.73, Y:-13.30, Z:-0.78 [[ 9.26952388e-01 3.75160800e-01 3.69390719e-03 5.47290583e+01] [-3.75157244e-01 9.26959738e-01 -1.63899751e-03 -1.32980778e+01] [-4.03899086e-03 1.33476617e-04 9.99991834e-01 -7.78016707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.83538475 meters 0.0612027284365084 Centerline is valid? [True, True] Translation: X:54.76, Y:-13.31, Z:-0.78 [[ 9.26797021e-01 3.75542480e-01 3.88950959e-03 5.47607142e+01] [-3.75538544e-01 9.26805172e-01 -1.72485155e-03 -1.33076071e+01] [-4.25257263e-03 1.37926510e-04 9.99990948e-01 -7.78169508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.865384750000004 meters 0.0610554145377865 Centerline is valid? [True, True] Translation: X:54.79, Y:-13.31, Z:-0.78 [[ 9.26628738e-01 3.75956995e-01 3.93955951e-03 5.47933192e+01] [-3.75952955e-01 9.26637102e-01 -1.74848320e-03 -1.33146209e+01] [-4.30789649e-03 1.39105745e-04 9.99990711e-01 -7.79379740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.89538475 meters 0.06157082811871523 Centerline is valid? [True, True] Translation: X:54.82, Y:-13.33, Z:-0.78 [[ 9.26412298e-01 3.76488351e-01 4.09580778e-03 5.48218530e+01] [-3.76483979e-01 9.26421341e-01 -1.82006405e-03 -1.33259964e+01] [-4.47967665e-03 1.44123706e-04 9.99989956e-01 -7.79934916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.92538475 meters 0.061079593012216514 Centerline is valid? [True, True] Translation: X:54.85, Y:-13.34, Z:-0.78 [[ 9.26145774e-01 3.77152951e-01 3.10756083e-03 5.48535710e+01] [-3.77150441e-01 9.26150981e-01 -1.38026194e-03 -1.33350937e+01] [-3.39864038e-03 1.06305825e-04 9.99994219e-01 -7.79659335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.95538475 meters 0.061330811112252075 Centerline is valid? [True, True] Translation: X:54.88, Y:-13.34, Z:-0.78 [[ 9.25609860e-01 3.78466083e-01 3.13231134e-03 5.48835558e+01] [-3.78463533e-01 9.25615154e-01 -1.39306621e-03 -1.33435546e+01] [-3.42654316e-03 1.03970201e-04 9.99994124e-01 -7.80751325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.98538475 meters 0.06068950678120164 Centerline is valid? [True, True] Translation: X:54.91, Y:-13.35, Z:-0.78 [[ 9.25155984e-01 3.79580091e-01 2.31487841e-03 5.49147791e+01] [-3.79578704e-01 9.25158878e-01 -1.02894340e-03 -1.33520932e+01] [-2.53219674e-03 7.32546007e-05 9.99996791e-01 -7.81731713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.01538475 meters 0.060884698196562705 Centerline is valid? [True, True] Translation: X:54.94, Y:-13.36, Z:-0.78 [[ 9.23848089e-01 3.82757532e-01 1.17481177e-03 5.49446876e+01] [-3.82757179e-01 9.23848835e-01 -5.20879962e-04 -1.33602784e+01] [-1.28471922e-03 3.15463169e-05 9.99999174e-01 -7.84468388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.045384750000004 meters 0.06054392257218447 Centerline is valid? [True, True] Translation: X:54.98, Y:-13.37, Z:-0.78 [[ 9.22621914e-01 3.85703754e-01 1.19077398e-03 5.49757370e+01] [-3.85703393e-01 9.22622682e-01 -5.28181728e-04 -1.33694260e+01] [-1.30235676e-03 2.80264710e-05 9.99999152e-01 -7.84872443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.07538475 meters 0.05978713762028389 Centerline is valid? [True, True] Translation: X:55.01, Y:-13.37, Z:-0.79 [[ 9.20289576e-01 3.91237575e-01 5.05740426e-04 5.50081710e+01] [-3.91237512e-01 9.20289715e-01 -2.23013297e-04 -1.33737439e+01] [-5.52678895e-04 7.37218643e-06 9.99999847e-01 -7.85539236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.10538475 meters 0.05962389177674553 Centerline is valid? [True, True] Translation: X:55.04, Y:-13.38, Z:-0.79 [[ 9.18869509e-01 3.94561030e-01 6.47054279e-04 5.50375928e+01] [-3.94560926e-01 9.18869737e-01 -2.85782717e-04 -1.33835049e+01] [-7.07317318e-04 7.29469003e-06 9.99999750e-01 -7.88047574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.13538475 meters 0.059491285009717974 Centerline is valid? [True, True] Translation: X:55.07, Y:-13.39, Z:-0.79 [[ 9.15469325e-01 4.02382944e-01 -1.97003838e-03 5.50698863e+01] [-4.02381970e-01 9.15471445e-01 8.85732700e-04 -1.33888116e+01] [ 2.15991761e-03 -1.81531941e-05 9.99997667e-01 -7.90691473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.16538475 meters 0.05937899396373805 Centerline is valid? [True, True] Translation: X:55.10, Y:-13.40, Z:-0.79 [[ 9.12488186e-01 4.09086684e-01 -3.65993327e-03 5.51028718e+01] [-4.09083380e-01 9.12495526e-01 1.64407622e-03 -1.33963319e+01] [ 4.01224243e-03 -2.98224788e-06 9.99991951e-01 -7.92631916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.19538475 meters 0.05939787755241157 Centerline is valid? [True, True] Translation: X:55.13, Y:-13.41, Z:-0.79 [[ 9.10732318e-01 4.12974385e-01 -4.33619561e-03 5.51327577e+01] [-4.12969794e-01 9.10742640e-01 1.94739827e-03 -1.34064325e+01] [ 4.75338384e-03 1.71592663e-05 9.99988702e-01 -7.93579114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.22538475 meters 0.05950937112945217 Centerline is valid? [True, True] Translation: X:55.16, Y:-13.42, Z:-0.79 [[ 9.09117828e-01 4.16523534e-01 -3.59455710e-03 5.51640332e+01] [-4.16520396e-01 9.09124933e-01 1.61708668e-03 -1.34174388e+01] [ 3.94145615e-03 2.70840197e-05 9.99992232e-01 -7.92993338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.25538475 meters 0.05954293215457695 Centerline is valid? [True, True] Translation: X:55.19, Y:-13.43, Z:-0.79 [[ 9.06852534e-01 4.21436636e-01 -3.10552773e-03 5.51947737e+01] [-4.21434318e-01 9.06857850e-01 1.39819873e-03 -1.34264037e+01] [ 3.40552437e-03 4.08158986e-05 9.99994200e-01 -7.92874492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.28538475 meters 0.05960760629087103 Centerline is valid? [True, True] Translation: X:55.22, Y:-13.44, Z:-0.79 [[ 9.05777318e-01 4.23739855e-01 -3.46213606e-03 5.52239828e+01] [-4.23736989e-01 9.05783932e-01 1.55956520e-03 -1.34401624e+01] [ 3.79679715e-03 5.44163284e-05 9.99992791e-01 -7.91084997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.31538475 meters 0.05975733592065765 Centerline is valid? [True, True] Translation: X:55.25, Y:-13.45, Z:-0.79 [[ 9.05738102e-01 4.23831813e-01 -2.25491421e-03 5.52520963e+01] [-4.23830593e-01 9.05740908e-01 1.01754162e-03 -1.34521743e+01] [ 2.47363455e-03 3.40754123e-05 9.99996940e-01 -7.93467049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.34538475 meters 0.05910502936025231 Centerline is valid? [True, True] Translation: X:55.28, Y:-13.47, Z:-0.79 [[ 9.06283553e-01 4.22667925e-01 -1.39563033e-03 5.52786591e+01] [-4.22667453e-01 9.06284627e-01 6.31934893e-04 -1.34709127e+01] [ 1.53193692e-03 1.71753161e-05 9.99998826e-01 -7.89885636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.37538475 meters 0.058863255860443386 Centerline is valid? [True, True] Translation: X:55.31, Y:-13.49, Z:-0.79 [[ 9.06765123e-01 4.21635473e-01 7.34312058e-04 5.53069284e+01] [-4.21635347e-01 9.06765420e-01 -3.26568287e-04 -1.34865704e+01] [-8.03541556e-04 -1.34911861e-05 9.99999677e-01 -7.89494786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.40538475 meters 0.05850007261409887 Centerline is valid? [True, True] Translation: X:55.33, Y:-13.51, Z:-0.79 [[ 9.08390569e-01 4.18112310e-01 2.94459058e-03 5.53333584e+01] [-4.18110213e-01 9.08395341e-01 -1.32456863e-03 -1.35071046e+01] [-3.22867082e-03 -2.79377389e-05 9.99994787e-01 -7.88431602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.43538475 meters 0.05835633704591105 Centerline is valid? [True, True] Translation: X:55.36, Y:-13.52, Z:-0.79 [[ 9.09116068e-01 4.16533714e-01 2.76398107e-03 5.53597984e+01] [-4.16531863e-01 9.09120270e-01 -1.24178422e-03 -1.35228596e+01] [-3.03003621e-03 -2.23601933e-05 9.99995409e-01 -7.89549682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.46538475 meters 0.05840641862294276 Centerline is valid? [True, True] Translation: X:55.39, Y:-13.54, Z:-0.79 [[ 9.09576435e-01 4.15526670e-01 2.88030332e-03 5.53879970e+01] [-4.15524654e-01 9.09580995e-01 -1.29434522e-03 -1.35399831e+01] [-3.15770411e-03 -1.95311298e-05 9.99995014e-01 -7.89649692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.49538475 meters 0.05838551764518641 Centerline is valid? [True, True] Translation: X:55.41, Y:-13.56, Z:-0.79 [[ 9.09614691e-01 4.15438718e-01 3.43312238e-03 5.54141280e+01] [-4.15435845e-01 9.09621169e-01 -1.54512781e-03 -1.35587023e+01] [-3.76474671e-03 -2.07711443e-05 9.99992913e-01 -7.91045241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.52538475 meters 0.0586017559334271 Centerline is valid? [True, True] Translation: X:55.44, Y:-13.57, Z:-0.79 [[ 9.08998916e-01 4.16791915e-01 2.33888511e-03 5.54423154e+01] [-4.16790587e-01 9.09001925e-01 -1.05234488e-03 -1.35734283e+01] [-2.56465991e-03 -1.82449375e-05 9.99996711e-01 -7.92438916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.55538475 meters 0.05900360858408602 Centerline is valid? [True, True] Translation: X:55.47, Y:-13.59, Z:-0.80 [[ 9.07274862e-01 4.20538126e-01 9.95040376e-05 5.54697302e+01] [-4.20538124e-01 9.07274867e-01 -4.26074194e-05 -1.35867069e+01] [-1.08195557e-04 -3.18860069e-06 9.99999994e-01 -7.96717898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.58538475 meters 0.05939889539233515 Centerline is valid? [True, True] Translation: X:55.50, Y:-13.60, Z:-0.80 [[ 9.06064954e-01 4.23133746e-01 -2.03262696e-03 5.54979309e+01] [-4.23132741e-01 9.06067234e-01 9.22531017e-04 -1.35996404e+01] [ 2.23205069e-03 2.41979935e-05 9.99997509e-01 -7.99099242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.61538475 meters 0.060436915015342596 Centerline is valid? [True, True] Translation: X:55.53, Y:-13.61, Z:-0.80 [[ 9.03358829e-01 4.28846745e-01 -5.77019006e-03 5.55264237e+01] [-4.28838814e-01 9.03377250e-01 2.61072391e-03 -1.36132593e+01] [ 6.33225888e-03 1.16060968e-04 9.99979944e-01 -8.02711937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.64538475 meters 0.06141800907797273 Centerline is valid? [True, True] Translation: X:55.56, Y:-13.63, Z:-0.81 [[ 9.01035828e-01 4.33664447e-01 -8.34167105e-03 5.55553815e+01] [-4.33648081e-01 9.01074414e-01 3.77384826e-03 -1.36271556e+01] [ 9.15305017e-03 2.16977150e-04 9.99958086e-01 -8.06459348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.67538475 meters 0.062100663556427 Centerline is valid? [True, True] Translation: X:55.58, Y:-13.64, Z:-0.81 [[ 8.99697350e-01 4.36399707e-01 -9.99867450e-03 5.55832702e+01] [-4.36376322e-01 8.99752861e-01 4.52704211e-03 -1.36396761e+01] [ 1.09719358e-02 2.90217011e-04 9.99939764e-01 -8.08171523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.70538475 meters 0.06245928850900962 Centerline is valid? [True, True] Translation: X:55.61, Y:-13.66, Z:-0.81 [[ 8.98222592e-01 4.39495384e-01 -6.32324000e-03 5.56110869e+01] [-4.39486074e-01 8.98244825e-01 2.86789345e-03 -1.36567799e+01] [ 6.94024354e-03 2.02969232e-04 9.99975896e-01 -8.06548109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.73538475 meters 0.0622709208973266 Centerline is valid? [True, True] Translation: X:55.64, Y:-13.67, Z:-0.80 [[ 8.97655463e-01 4.40673657e-01 -4.62582476e-03 5.56396939e+01] [-4.40668675e-01 8.97667369e-01 2.10095745e-03 -1.36735362e+01] [ 5.07828854e-03 1.52520133e-04 9.99987094e-01 -8.04787026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.76538475 meters 0.06220141677527376 Centerline is valid? [True, True] Translation: X:55.67, Y:-13.69, Z:-0.80 [[ 8.97216308e-01 4.41573806e-01 -3.93328095e-03 5.56687424e+01] [-4.41570203e-01 8.97224920e-01 1.78856316e-03 -1.36900066e+01] [ 4.31882033e-03 1.32091630e-04 9.99990665e-01 -8.03772000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.795384750000004 meters 0.0630519125701135 Centerline is valid? [True, True] Translation: X:55.70, Y:-13.71, Z:-0.80 [[ 8.96895998e-01 4.42236955e-01 -2.01110686e-03 5.56952276e+01] [-4.42236011e-01 8.96898250e-01 9.16433078e-04 -1.37062357e+01] [ 2.20903880e-03 6.74387165e-05 9.99997558e-01 -8.04841633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.82538475 meters 0.0630519125701135 Centerline is valid? [True, True] Translation: X:55.72, Y:-13.72, Z:-0.81 [[ 8.96768845e-01 4.42494741e-01 -2.01057754e-03 5.57246382e+01] [-4.42493795e-01 8.96771096e-01 9.17597754e-04 -1.37197680e+01] [ 2.20906000e-03 6.67950076e-05 9.99997558e-01 -8.05293868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.85538475 meters 0.0625737872745228 Centerline is valid? [True, True] Translation: X:55.75, Y:-13.74, Z:-0.80 [[ 8.97052622e-01 4.41922325e-01 -1.11878126e-03 5.57517585e+01] [-4.41922029e-01 8.97053319e-01 5.12386278e-04 -1.37375035e+01] [ 1.23004138e-03 3.47766301e-05 9.99999243e-01 -8.04432667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.88538475 meters 0.0616287920312477 Centerline is valid? [True, True] Translation: X:55.78, Y:-13.76, Z:-0.80 [[ 8.98251324e-01 4.39481985e-01 3.78051589e-04 5.57766414e+01] [-4.39481952e-01 8.98251404e-01 -1.70920325e-04 -1.37595070e+01] [-4.14701774e-04 -1.26174425e-05 9.99999914e-01 -8.02720674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.91538475 meters 0.06088844088724177 Centerline is valid? [True, True] Translation: X:55.80, Y:-13.78, Z:-0.80 [[ 9.00030555e-01 4.35825901e-01 -8.85749915e-04 5.58023118e+01] [-4.35825714e-01 9.00030990e-01 4.04018848e-04 -1.37814789e+01] [ 9.73284252e-04 2.24032814e-05 9.99999526e-01 -8.04357737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.94538475 meters 0.06083432225728601 Centerline is valid? [True, True] Translation: X:55.83, Y:-13.80, Z:-0.81 [[ 9.01167872e-01 4.33466777e-01 -1.73770641e-03 5.58291588e+01] [-4.33466050e-01 9.01169547e-01 7.94543568e-04 -1.37983768e+01] [ 1.91037634e-03 3.72195986e-05 9.99998175e-01 -8.06326384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.97538475 meters 0.06037130836056253 Centerline is valid? [True, True] Translation: X:55.86, Y:-13.82, Z:-0.81 [[ 9.02396951e-01 4.30897110e-01 -2.72467101e-03 5.58552468e+01] [-4.30895316e-01 9.02401063e-01 1.24428093e-03 -1.38170605e+01] [ 2.99490307e-03 5.12126574e-05 9.99995514e-01 -8.07602463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.00538475 meters 0.05940250340039883 Centerline is valid? [True, True] Translation: X:55.88, Y:-13.85, Z:-0.81 [[ 9.06248690e-01 4.22730803e-01 -3.46124231e-03 5.58778894e+01] [-4.22727861e-01 9.06255299e-01 1.57737747e-03 -1.38452840e+01] [ 3.80357523e-03 3.36672926e-05 9.99992766e-01 -8.06142708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.03538475 meters 0.05919465345980775 Centerline is valid? [True, True] Translation: X:55.90, Y:-13.87, Z:-0.81 [[ 9.08195114e-01 4.18532639e-01 -3.47361242e-03 5.59041208e+01] [-4.18529631e-01 9.08201756e-01 1.58677703e-03 -1.38655590e+01] [ 3.81885888e-03 1.27065803e-05 9.99992708e-01 -8.06150019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.06538475 meters 0.05909222583021972 Centerline is valid? [True, True] Translation: X:55.93, Y:-13.89, Z:-0.81 [[ 9.11658385e-01 4.10935751e-01 -3.28593940e-03 5.59282155e+01] [-4.10933003e-01 9.11664307e-01 1.50295577e-03 -1.38926408e+01] [ 3.61329192e-03 -1.98812825e-05 9.99993472e-01 -8.05422664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.09538475 meters 0.05932482481465441 Centerline is valid? [True, True] Translation: X:55.96, Y:-13.91, Z:-0.81 [[ 9.12864537e-01 4.08235945e-01 -4.66373991e-03 5.59551454e+01] [-4.08230380e-01 9.12876449e-01 2.13211439e-03 -1.39116347e+01] [ 5.12782406e-03 -4.24513037e-05 9.99986852e-01 -8.06059738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.12538475 meters 0.05975368949363126 Centerline is valid? [True, True] Translation: X:55.98, Y:-13.93, Z:-0.81 [[ 9.15049775e-01 4.03294431e-01 -6.12460597e-03 5.59803656e+01] [-4.03284723e-01 9.15070267e-01 2.79987345e-03 -1.39328144e+01] [ 6.73361819e-03 -9.20635525e-05 9.99977325e-01 -8.08168932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.15538475 meters 0.059996655114232224 Centerline is valid? [True, True] Translation: X:56.01, Y:-13.95, Z:-0.81 [[ 9.15548182e-01 4.02149508e-01 -6.87741867e-03 5.60082350e+01] [-4.02137217e-01 9.15574006e-01 3.14619129e-03 -1.39494126e+01] [ 7.56202504e-03 -1.14823707e-04 9.99971401e-01 -8.08892985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.18538475 meters 0.06051828678190737 Centerline is valid? [True, True] Translation: X:56.03, Y:-13.97, Z:-0.81 [[ 9.16685377e-01 3.99576428e-01 -5.15726698e-03 5.60342115e+01] [-3.99569476e-01 9.16699879e-01 2.35934903e-03 -1.39678934e+01] [ 5.67040627e-03 -1.02094292e-04 9.99983918e-01 -8.08398686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.21538475 meters 0.06022640849548891 Centerline is valid? [True, True] Translation: X:56.06, Y:-13.98, Z:-0.81 [[ 9.16732425e-01 3.99470329e-01 -5.01175103e-03 5.60642697e+01] [-3.99463739e-01 9.16746118e-01 2.29695087e-03 -1.39820927e+01] [ 5.51206702e-03 -1.03676535e-04 9.99984803e-01 -8.07370293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.24538475 meters 0.06022020403630013 Centerline is valid? [True, True] Translation: X:56.09, Y:-14.00, Z:-0.81 [[ 9.16896966e-01 3.99101699e-01 -4.21743736e-03 5.60935077e+01] [-3.99097018e-01 9.16906661e-01 1.93518477e-03 -1.39963896e+01] [ 4.63933194e-03 -9.11983724e-05 9.99989234e-01 -8.05417314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.27538475 meters 0.06012965107302858 Centerline is valid? [True, True] Translation: X:56.12, Y:-14.01, Z:-0.81 [[ 9.16296632e-01 4.00487001e-01 -3.26251928e-03 5.61221280e+01] [-4.00484204e-01 9.16302438e-01 1.49807734e-03 -1.40092419e+01] [ 3.58941487e-03 -6.60957867e-05 9.99993556e-01 -8.05802460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.30538475 meters 0.059774072005627905 Centerline is valid? [True, True] Translation: X:56.15, Y:-14.02, Z:-0.80 [[ 9.15193283e-01 4.03008135e-01 -2.38709893e-03 5.61533949e+01] [-4.03006641e-01 9.15196395e-01 1.09817077e-03 -1.40183170e+01] [ 2.62723609e-03 -4.30217882e-05 9.99996548e-01 -8.04363873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.33538475 meters 0.05971564363509973 Centerline is valid? [True, True] Translation: X:56.18, Y:-14.03, Z:-0.81 [[ 9.14347353e-01 4.04926755e-01 -1.80055689e-03 5.61829415e+01] [-4.04925906e-01 9.14349125e-01 8.29827562e-04 -1.40295785e+01] [ 1.98235700e-03 -2.96585052e-05 9.99998035e-01 -8.05129312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.36538475 meters 0.05941437694902635 Centerline is valid? [True, True] Translation: X:56.22, Y:-14.04, Z:-0.80 [[ 9.12224431e-01 4.09689390e-01 -1.09177360e-03 5.62156100e+01] [-4.09689082e-01 9.12225084e-01 5.02308968e-04 -1.40364805e+01] [ 1.20173392e-03 -1.09307892e-05 9.99999278e-01 -8.04861558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.39538475 meters 0.059362759814057066 Centerline is valid? [True, True] Translation: X:56.25, Y:-14.05, Z:-0.81 [[ 9.10954945e-01 4.12504214e-01 -1.16680078e-03 5.62454391e+01] [-4.12503862e-01 9.10955692e-01 5.39274458e-04 -1.40458722e+01] [ 1.28535680e-03 -9.94490524e-06 9.99999174e-01 -8.05574134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.42538475 meters 0.059286791571595256 Centerline is valid? [True, True] Translation: X:56.28, Y:-14.06, Z:-0.81 [[ 9.10113858e-01 4.14355281e-01 -1.57087550e-03 5.62759010e+01] [-4.14354645e-01 9.10115213e-01 7.25824287e-04 -1.40559474e+01] [ 1.73042681e-03 -9.68318368e-06 9.99998503e-01 -8.06923316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.45538475 meters 0.05966188631166977 Centerline is valid? [True, True] Translation: X:56.31, Y:-14.07, Z:-0.81 [[ 9.09668373e-01 4.15333622e-01 -1.19683396e-03 5.63069154e+01] [-4.15333252e-01 9.09669161e-01 5.54720237e-04 -1.40660359e+01] [ 1.31911691e-03 -7.52651656e-06 9.99999130e-01 -8.06660520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.48538475 meters 0.0599308252796939 Centerline is valid? [True, True] Translation: X:56.34, Y:-14.08, Z:-0.81 [[ 9.11399160e-01 4.11512302e-01 -3.03246291e-03 5.63358186e+01] [-4.11509925e-01 9.11404205e-01 1.39905741e-03 -1.40804862e+01] [ 3.33952878e-03 -2.72111636e-05 9.99994423e-01 -8.06706105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.51538475 meters 0.060171612407299305 Centerline is valid? [True, True] Translation: X:56.36, Y:-14.09, Z:-0.81 [[ 9.12615098e-01 4.08803888e-01 -3.61457415e-03 5.63643574e+01] [-4.08800487e-01 9.12622255e-01 1.66802437e-03 -1.40947587e+01] [ 3.98063565e-03 -4.46245478e-05 9.99992076e-01 -8.07720643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.545384750000004 meters 0.0608671817070747 Centerline is valid? [True, True] Translation: X:56.39, Y:-14.11, Z:-0.81 [[ 9.15644209e-01 4.01966763e-01 -4.28995292e-03 5.63922814e+01] [-4.01961894e-01 9.15654254e-01 1.98038157e-03 -1.41107155e+01] [ 4.72416121e-03 -8.89273111e-05 9.99988837e-01 -8.08206150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.57538475 meters 0.06148034790354154 Centerline is valid? [True, True] Translation: X:56.42, Y:-14.13, Z:-0.81 [[ 9.17036713e-01 3.98782763e-01 -3.99686968e-03 5.64190477e+01] [-3.98778511e-01 9.17045418e-01 1.84397208e-03 -1.41257831e+01] [ 4.40065531e-03 -9.71243577e-05 9.99990312e-01 -8.09593166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.60538475 meters 0.062337520709757274 Centerline is valid? [True, True] Translation: X:56.45, Y:-14.14, Z:-0.81 [[ 9.19269596e-01 3.93605442e-01 -4.26205740e-03 5.64467668e+01] [-3.93600551e-01 9.19279467e-01 1.96644142e-03 -1.41412558e+01] [ 4.69202390e-03 -1.30141665e-04 9.99988984e-01 -8.10411634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.63538475 meters 0.06390936564075697 Centerline is valid? [True, True] Translation: X:56.47, Y:-14.16, Z:-0.81 [[ 9.20404143e-01 3.90936783e-01 -4.96435661e-03 5.64733443e+01] [-3.90930093e-01 9.20417515e-01 2.29350344e-03 -1.41582339e+01] [ 5.46589563e-03 -1.70233681e-04 9.99985047e-01 -8.13349295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.66538475 meters 0.06297815224289781 Centerline is valid? [True, True] Translation: X:56.51, Y:-14.17, Z:-0.81 [[ 9.21312359e-01 3.88808255e-01 -3.41738745e-03 5.65055819e+01] [-3.88805060e-01 9.21318688e-01 1.58140018e-03 -1.41653815e+01] [ 3.76336437e-03 -1.28265993e-04 9.99992910e-01 -8.10584713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.69538475 meters 0.06300396155423285 Centerline is valid? [True, True] Translation: X:56.54, Y:-14.18, Z:-0.81 [[ 9.21281534e-01 3.88890173e-01 -2.18365492e-03 5.65360891e+01] [-3.88888871e-01 9.21284118e-01 1.00961213e-03 -1.41770619e+01] [ 2.40439483e-03 -8.09379129e-05 9.99997106e-01 -8.10653137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.72538475 meters 0.062536030289896 Centerline is valid? [True, True] Translation: X:56.57, Y:-14.18, Z:-0.81 [[ 9.20225189e-01 3.91388083e-01 -9.84551771e-04 5.65666335e+01] [-3.91387817e-01 9.20225715e-01 4.57821714e-04 -1.41841539e+01] [ 1.08519582e-03 -3.59575049e-05 9.99999411e-01 -8.10849300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.75538475 meters 0.062189181915050754 Centerline is valid? [True, True] Translation: X:56.60, Y:-14.19, Z:-0.81 [[ 9.18907548e-01 3.94472931e-01 -1.58897488e-04 5.65972319e+01] [-3.94472923e-01 9.18907562e-01 7.69284765e-05 -1.41929172e+01] [ 1.76358305e-04 -8.00940107e-06 9.99999984e-01 -8.11519204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.78538475 meters 0.061224642187870194 Centerline is valid? [True, True] Translation: X:56.63, Y:-14.20, Z:-0.81 [[ 9.15677691e-01 4.01912250e-01 9.53536529e-04 5.66304298e+01] [-4.01912012e-01 9.15678188e-01 -4.37659238e-04 -1.41950101e+01] [-1.04903321e-03 1.75170164e-05 9.99999450e-01 -8.10924490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.81538475 meters 0.060918632189918644 Centerline is valid? [True, True] Translation: X:56.66, Y:-14.20, Z:-0.81 [[ 9.13805932e-01 4.06149090e-01 1.27897849e-03 5.66622321e+01] [-4.06148665e-01 9.13806827e-01 -5.88025055e-04 -1.42026104e+01] [-1.40756511e-03 1.78853786e-05 9.99999009e-01 -8.11423517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.84538475 meters 0.06037889691956402 Centerline is valid? [True, True] Translation: X:56.70, Y:-14.20, Z:-0.81 [[ 9.09825180e-01 4.14988363e-01 1.67364466e-03 5.66956162e+01] [-4.14987645e-01 9.09826719e-01 -7.71611205e-04 -1.42039880e+01] [-1.84293630e-03 7.48944880e-06 9.99998302e-01 -8.12474312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.87538475 meters 0.06016418447968376 Centerline is valid? [True, True] Translation: X:56.73, Y:-14.21, Z:-0.81 [[ 9.08370088e-01 4.18166823e-01 5.39814228e-04 5.67277217e+01] [-4.18166751e-01 9.08370248e-01 -2.45542914e-04 -1.42123610e+01] [-5.93029084e-04 -2.68852360e-06 9.99999824e-01 -8.11832733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.90538475 meters 0.06017202558293053 Centerline is valid? [True, True] Translation: X:56.76, Y:-14.22, Z:-0.81 [[ 9.07066263e-01 4.20987478e-01 5.81771793e-04 5.67582850e+01] [-4.20987394e-01 9.07066449e-01 -2.65510242e-04 -1.42220063e+01] [-6.39482162e-04 -4.08320820e-06 9.99999796e-01 -8.12918544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.93538475 meters 0.0603385407051499 Centerline is valid? [True, True] Translation: X:56.79, Y:-14.23, Z:-0.81 [[ 9.05437836e-01 4.24478886e-01 -8.42206563e-06 5.67891705e+01] [-4.24478886e-01 9.05437836e-01 7.57161441e-06 -1.42295688e+01] [ 1.08396471e-05 -3.28063713e-06 1.00000000e+00 -8.13848801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.96538475 meters 0.06034213921375466 Centerline is valid? [True, True] Translation: X:56.82, Y:-14.24, Z:-0.81 [[ 9.05165318e-01 4.25059262e-01 6.08820107e-04 5.68193687e+01] [-4.25059171e-01 9.05165523e-01 -2.78204596e-04 -1.42420446e+01] [-6.69336411e-04 -6.96341824e-06 9.99999776e-01 -8.13301972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.99538475 meters 0.0602254679239951 Centerline is valid? [True, True] Translation: X:56.85, Y:-14.25, Z:-0.81 [[ 9.04503751e-01 4.26465302e-01 -5.58145597e-04 5.68489286e+01] [-4.26465220e-01 9.04503923e-01 2.63022426e-04 -1.42518805e+01] [ 6.17014820e-04 1.24913831e-07 9.99999810e-01 -8.13318231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.02538475 meters 0.06024516712798294 Centerline is valid? [True, True] Translation: X:56.88, Y:-14.27, Z:-0.81 [[ 9.05160409e-01 4.25070048e-01 -2.96123806e-04 5.68780176e+01] [-4.25070025e-01 9.05160458e-01 1.41694531e-04 -1.42650038e+01] [ 3.28269660e-04 -2.38292575e-06 9.99999946e-01 -8.12975917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.05538475 meters 0.06012885813197634 Centerline is valid? [True, True] Translation: X:56.91, Y:-14.28, Z:-0.81 [[ 9.05517520e-01 4.24308792e-01 -2.65068150e-04 5.69063283e+01] [-4.24308773e-01 9.05517559e-01 1.27601658e-04 -1.42788329e+01] [ 2.94166370e-04 -3.07479502e-06 9.99999957e-01 -8.13770986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.08538475 meters 0.06010332688130206 Centerline is valid? [True, True] Translation: X:56.94, Y:-14.29, Z:-0.81 [[ 9.06207871e-01 4.22832458e-01 -8.00820676e-05 5.69358221e+01] [-4.22832456e-01 9.06207875e-01 4.18169703e-05 -1.42940864e+01] [ 9.02525724e-05 -4.03357028e-06 9.99999996e-01 -8.12928146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.11538475 meters 0.05993153925282866 Centerline is valid? [True, True] Translation: X:56.96, Y:-14.31, Z:-0.81 [[ 9.07719340e-01 4.19576842e-01 9.34227359e-04 5.69636542e+01] [-4.19576621e-01 9.07719821e-01 -4.31377625e-04 -1.43109060e+01] [-1.02901275e-03 -4.10144667e-07 9.99999471e-01 -8.12420102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.14538475 meters 0.059928027066824 Centerline is valid? [True, True] Translation: X:56.99, Y:-14.33, Z:-0.81 [[ 9.09293405e-01 4.16147473e-01 2.60480454e-03 5.69915749e+01] [-4.16145713e-01 9.09297135e-01 -1.21053778e-03 -1.43269241e+01] [-2.87230354e-03 1.67557798e-05 9.99995875e-01 -8.12627989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.17538475 meters 0.059851551688804405 Centerline is valid? [True, True] Translation: X:57.02, Y:-14.34, Z:-0.81 [[ 9.09904481e-01 4.14808028e-01 2.85241837e-03 5.70212256e+01] [-4.14805907e-01 9.09908951e-01 -1.32678759e-03 -1.43416682e+01] [-3.14580315e-03 2.40499842e-05 9.99995052e-01 -8.12925361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.20538475 meters 0.06040466934746465 Centerline is valid? [True, True] Translation: X:57.05, Y:-14.36, Z:-0.82 [[ 9.12115818e-01 4.09927611e-01 2.02222702e-03 5.70466119e+01] [-4.09926532e-01 9.12118059e-01 -9.40779058e-04 -1.43605900e+01] [-2.23016110e-03 2.91349502e-05 9.99997513e-01 -8.16349915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.23538475 meters 0.060616773260926654 Centerline is valid? [True, True] Translation: X:57.07, Y:-14.38, Z:-0.82 [[ 9.13029708e-01 4.07891676e-01 1.06407802e-03 5.70744270e+01] [-4.07891378e-01 9.13030328e-01 -4.93439887e-04 -1.43762578e+01] [-1.17280553e-03 1.64970274e-05 9.99999312e-01 -8.16573823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.26538475 meters 0.06043825222085237 Centerline is valid? [True, True] Translation: X:57.10, Y:-14.39, Z:-0.82 [[ 9.13545086e-01 4.06737360e-01 3.11085739e-04 5.71028338e+01] [-4.06737335e-01 9.13545139e-01 -1.41503978e-04 -1.43908438e+01] [-3.41745819e-04 2.74007894e-06 9.99999942e-01 -8.17116714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.295384750000004 meters 0.06070582151648752 Centerline is valid? [True, True] Translation: X:57.13, Y:-14.40, Z:-0.82 [[ 9.14186526e-01 4.05289035e-01 -1.94769311e-03 5.71314326e+01] [-4.05288004e-01 9.14188600e-01 9.15418019e-04 -1.44047028e+01] [ 2.15156772e-03 -4.74861651e-05 9.99997684e-01 -8.19102009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.32538475 meters 0.06071985832154469 Centerline is valid? [True, True] Translation: X:57.16, Y:-14.42, Z:-0.82 [[ 9.13927280e-01 4.05870652e-01 -2.43739422e-03 5.71596622e+01] [-4.05869039e-01 9.13930528e-01 1.14565273e-03 -1.44186789e+01] [ 2.69259580e-03 -5.77804306e-05 9.99996373e-01 -8.21735598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.35538475 meters 0.0603619502893843 Centerline is valid? [True, True] Translation: X:57.19, Y:-14.43, Z:-0.82 [[ 9.12644710e-01 4.08748034e-01 -2.16301787e-03 5.71891405e+01] [-4.08746771e-01 9.12647272e-01 1.01710311e-03 -1.44293618e+01] [ 2.38981126e-03 -4.41272044e-05 9.99997143e-01 -8.22204333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.38538475 meters 0.06000523204432484 Centerline is valid? [True, True] Translation: X:57.22, Y:-14.44, Z:-0.82 [[ 9.11794590e-01 4.10640160e-01 -2.29899163e-03 5.72195948e+01] [-4.10638737e-01 9.11797487e-01 1.08184495e-03 -1.44405203e+01] [ 2.54046377e-03 -4.23653548e-05 9.99996772e-01 -8.22179985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.41538475 meters 0.05934414936451763 Centerline is valid? [True, True] Translation: X:57.25, Y:-14.45, Z:-0.82 [[ 9.09898384e-01 4.14830402e-01 -8.17517553e-04 5.72515270e+01] [-4.14830221e-01 9.09898751e-01 3.87474408e-04 -1.44480720e+01] [ 9.04594364e-04 -1.34313510e-05 9.99999591e-01 -8.21032975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.44538475 meters 0.05918394837675137 Centerline is valid? [True, True] Translation: X:57.28, Y:-14.46, Z:-0.82 [[ 9.09082089e-01 4.16616524e-01 -6.53150777e-04 5.72806679e+01] [-4.16616409e-01 9.09082324e-01 3.10235582e-04 -1.44583108e+01] [ 7.23017096e-04 -9.91627958e-06 9.99999739e-01 -8.21925323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.47538475 meters 0.058786518438270936 Centerline is valid? [True, True] Translation: X:57.31, Y:-14.47, Z:-0.82 [[ 9.07700903e-01 4.19615563e-01 1.36008354e-03 5.73115533e+01] [-4.19615082e-01 9.07701922e-01 -6.35348679e-04 -1.44660330e+01] [-1.50115264e-03 5.99500298e-06 9.99998873e-01 -8.22433825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.50538475 meters 0.0583177167962747 Centerline is valid? [True, True] Translation: X:57.34, Y:-14.48, Z:-0.82 [[ 9.07315401e-01 4.20443674e-01 2.42479598e-03 5.73422876e+01] [-4.20442139e-01 9.07318641e-01 -1.13597958e-03 -1.44770559e+01] [-2.67767802e-03 1.12053581e-05 9.99996415e-01 -8.22203349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.53538475 meters 0.05812287775074854 Centerline is valid? [True, True] Translation: X:57.37, Y:-14.49, Z:-0.82 [[ 9.07166388e-01 4.20771173e-01 8.74877207e-04 5.73718749e+01] [-4.20770975e-01 9.07166810e-01 -4.07573764e-04 -1.44895101e+01] [-9.65154855e-04 1.61428354e-06 9.99999534e-01 -8.21039341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.56538475 meters 0.058044662866119055 Centerline is valid? [True, True] Translation: X:57.40, Y:-14.50, Z:-0.82 [[ 9.07004520e-01 4.21119282e-01 1.16220831e-03 5.74015891e+01] [-4.21118933e-01 9.07005265e-01 -5.42564740e-04 -1.45029590e+01] [-1.28261353e-03 2.68074756e-06 9.99999177e-01 -8.21201761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.59538475 meters 0.057992001449611516 Centerline is valid? [True, True] Translation: X:57.43, Y:-14.52, Z:-0.82 [[ 9.07602264e-01 4.19830247e-01 8.33050747e-04 5.74294385e+01] [-4.19830066e-01 9.07602646e-01 -3.90122777e-04 -1.45171929e+01] [-9.19864405e-04 4.33656573e-06 9.99999577e-01 -8.22802779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.62538475 meters 0.05784533928880499 Centerline is valid? [True, True] Translation: X:57.46, Y:-14.53, Z:-0.82 [[ 9.08218172e-01 4.18496996e-01 1.29534393e-04 5.74588307e+01] [-4.18496992e-01 9.08218181e-01 -5.69655000e-05 -1.45308445e+01] [-1.41485381e-04 -2.47265157e-06 9.99999990e-01 -8.21498091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.65538475 meters 0.05783542964498905 Centerline is valid? [True, True] Translation: X:57.49, Y:-14.55, Z:-0.82 [[ 9.10017066e-01 4.14570789e-01 2.77844048e-05 5.74863451e+01] [-4.14570789e-01 9.10017066e-01 -9.04095617e-06 -1.45473593e+01] [-2.90323991e-05 -3.29117820e-06 1.00000000e+00 -8.22007415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.68538475 meters 0.05847867227625462 Centerline is valid? [True, True] Translation: X:57.51, Y:-14.57, Z:-0.83 [[ 9.12203262e-01 4.09733033e-01 -2.01244223e-03 5.75122156e+01] [-4.09731932e-01 9.12205481e-01 9.51149764e-04 -1.45650246e+01] [ 2.22547831e-03 -4.30800760e-05 9.99997523e-01 -8.25480445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.71538475 meters 0.059088798535416785 Centerline is valid? [True, True] Translation: X:57.54, Y:-14.58, Z:-0.83 [[ 9.13968217e-01 4.05780458e-01 -2.07819907e-03 5.75381470e+01] [-4.05779270e-01 9.13970578e-01 9.83438919e-04 -1.45818753e+01] [ 2.29847310e-03 -5.55418149e-05 9.99997357e-01 -8.26204928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.74538475 meters 0.059088798535416785 Centerline is valid? [True, True] Translation: X:57.57, Y:-14.60, Z:-0.83 [[ 9.13851868e-01 4.06042423e-01 -2.07725837e-03 5.75673480e+01] [-4.06041231e-01 9.13854227e-01 9.85430715e-04 -1.45958276e+01] [ 2.29843801e-03 -5.70851549e-05 9.99997357e-01 -8.26656523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.77538475 meters 0.059121764444290834 Centerline is valid? [True, True] Translation: X:57.60, Y:-14.61, Z:-0.83 [[ 9.15428637e-01 4.02475372e-01 -1.99626554e-03 5.75951304e+01] [-4.02474268e-01 9.15430812e-01 9.45001847e-04 -1.46110653e+01] [ 2.20778296e-03 -6.16362407e-05 9.99997561e-01 -8.26118960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.80538475 meters 0.060260721972735756 Centerline is valid? [True, True] Translation: X:57.62, Y:-14.63, Z:-0.82 [[ 9.18750206e-01 3.94837988e-01 1.01155960e-03 5.76198209e+01] [-3.94837704e-01 9.18750762e-01 -4.74929223e-04 -1.46313977e+01] [-1.11689125e-03 3.69394512e-05 9.99999376e-01 -8.24231903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.83538475 meters 0.06118326360537691 Centerline is valid? [True, True] Translation: X:57.65, Y:-14.65, Z:-0.82 [[ 9.20113944e-01 3.91650328e-01 -5.91593024e-04 5.76462131e+01] [-3.91650227e-01 9.20114134e-01 2.82846099e-04 -1.46477948e+01] [ 6.55109870e-04 -2.85530979e-05 9.99999785e-01 -8.23984683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.86538475 meters 0.06132454637372446 Centerline is valid? [True, True] Translation: X:57.68, Y:-14.66, Z:-0.82 [[ 9.21972754e-01 3.87253646e-01 -9.24149450e-04 5.76754698e+01] [-3.87253398e-01 9.21973216e-01 4.41034441e-04 -1.46599386e+01] [ 1.02283324e-03 -4.87417240e-05 9.99999476e-01 -8.22639590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.89538475 meters 0.061478547152969264 Centerline is valid? [True, True] Translation: X:57.71, Y:-14.67, Z:-0.82 [[ 9.22757604e-01 3.85380835e-01 -1.28562297e-04 5.77052478e+01] [-3.85380830e-01 9.22757613e-01 6.26326170e-05 -1.46726482e+01] [ 1.42769248e-04 -8.24927910e-06 9.99999990e-01 -8.22604179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.92538475 meters 0.0620425061318014 Centerline is valid? [True, True] Translation: X:57.73, Y:-14.69, Z:-0.82 [[ 9.24029597e-01 3.82320933e-01 9.37132777e-05 5.77341663e+01] [-3.82320931e-01 9.24029601e-01 -4.26742734e-05 -1.46854024e+01] [-1.02909111e-04 3.60374408e-06 9.99999995e-01 -8.20937957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.95538475 meters 0.06292651539704622 Centerline is valid? [True, True] Translation: X:57.76, Y:-14.70, Z:-0.82 [[ 9.24449777e-01 3.81303734e-01 -2.69329201e-04 5.77633020e+01] [-3.81303713e-01 9.24449816e-01 1.29613169e-04 -1.46959439e+01] [ 2.98403315e-04 -1.71246409e-05 9.99999955e-01 -8.22255163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.98538475 meters 0.06178079765700228 Centerline is valid? [True, True] Translation: X:57.79, Y:-14.70, Z:-0.82 [[ 9.24352182e-01 3.81537797e-01 -1.39738838e-03 5.77948919e+01] [-3.81537224e-01 9.24353235e-01 6.66445003e-04 -1.47032715e+01] [ 1.54595442e-03 -8.28742106e-05 9.99998802e-01 -8.22348428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.01538475 meters 0.06297106765278719 Centerline is valid? [True, True] Translation: X:57.83, Y:-14.71, Z:-0.82 [[ 9.23897135e-01 3.82639396e-01 -1.08478844e-03 5.78251587e+01] [-3.82639050e-01 9.23897770e-01 5.18278253e-04 -1.47122684e+01] [ 1.20054730e-03 -6.37533756e-05 9.99999277e-01 -8.24047081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.045384750000004 meters 0.06229301312352656 Centerline is valid? [True, True] Translation: X:57.86, Y:-14.72, Z:-0.82 [[ 9.23646550e-01 3.83241494e-01 -1.73426431e-03 5.78573397e+01] [-3.83240620e-01 9.23648173e-01 8.24154924e-04 -1.47205430e+01] [ 1.91770042e-03 -9.65873236e-05 9.99998157e-01 -8.23417961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.07538475 meters 0.06202915964113916 Centerline is valid? [True, True] Translation: X:57.89, Y:-14.73, Z:-0.82 [[ 9.23347520e-01 3.83957220e-01 -2.49219777e-03 5.78881955e+01] [-3.83955411e-01 9.23350872e-01 1.18710601e-03 -1.47293603e+01] [ 2.75697090e-03 -1.39218571e-04 9.99996190e-01 -8.23121083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.10538475 meters 0.06262040083632878 Centerline is valid? [True, True] Translation: X:57.92, Y:-14.74, Z:-0.82 [[ 9.23404437e-01 3.83814226e-01 -3.29941917e-03 5.79195837e+01] [-3.83811055e-01 9.23410313e-01 1.57096406e-03 -1.47360828e+01] [ 3.64967604e-03 -1.84281624e-04 9.99993323e-01 -8.23169321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.13538475 meters 0.06345116455327243 Centerline is valid? [True, True] Translation: X:57.95, Y:-14.74, Z:-0.82 [[ 9.23858198e-01 3.82727360e-01 -2.40801383e-03 5.79503102e+01] [-3.82725663e-01 9.23861325e-01 1.14818612e-03 -1.47440529e+01] [ 2.66411309e-03 -1.39152467e-04 9.99996442e-01 -8.22177929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.16538475 meters 0.06375827540820772 Centerline is valid? [True, True] Translation: X:57.98, Y:-14.75, Z:-0.82 [[ 9.23918999e-01 3.82579969e-01 -2.49991569e-03 5.79810929e+01] [-3.82578137e-01 9.23922370e-01 1.19287853e-03 -1.47544591e+01] [ 2.76609946e-03 -1.45710048e-04 9.99996164e-01 -8.22413392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.19538475 meters 0.06487162916118207 Centerline is valid? [True, True] Translation: X:58.01, Y:-14.76, Z:-0.82 [[ 9.24841679e-01 3.80337507e-01 -3.35405564e-03 5.80121729e+01] [-3.80334208e-01 9.24847739e-01 1.59683272e-03 -1.47612689e+01] [ 3.70932615e-03 -2.01155354e-04 9.99993100e-01 -8.23839978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.22538475 meters 0.06418365535542454 Centerline is valid? [True, True] Translation: X:58.04, Y:-14.77, Z:-0.82 [[ 9.25415868e-01 3.78937627e-01 -3.42721300e-03 5.80439708e+01] [-3.78934172e-01 9.25422190e-01 1.63181646e-03 -1.47697123e+01] [ 3.78997562e-03 -2.11420728e-04 9.99992796e-01 -8.23148270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.25538475 meters 0.06692737204731218 Centerline is valid? [True, True] Translation: X:58.07, Y:-14.78, Z:-0.83 [[ 9.26130576e-01 3.77178431e-01 -4.31134923e-03 5.80729276e+01] [-3.77172930e-01 9.26140569e-01 2.05605456e-03 -1.47804990e+01] [ 4.76841486e-03 -2.78050772e-04 9.99988592e-01 -8.25011761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.28538475 meters 0.06450746950786958 Centerline is valid? [True, True] Translation: X:58.11, Y:-14.78, Z:-0.82 [[ 9.26386705e-01 3.76561864e-01 -2.97242805e-03 5.81066310e+01] [-3.76559238e-01 9.26391453e-01 1.42011367e-03 -1.47846144e+01] [ 3.28839259e-03 -1.96279187e-04 9.99994574e-01 -8.23532033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.31538475 meters 0.06479078118159351 Centerline is valid? [True, True] Translation: X:58.14, Y:-14.79, Z:-0.82 [[ 9.26353693e-01 3.76650143e-01 -1.87219250e-03 5.81396198e+01] [-3.76649096e-01 9.26355576e-01 8.97188677e-04 -1.47906875e+01] [ 2.07224221e-03 -1.25954432e-04 9.99997845e-01 -8.22948186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.34538475 meters 0.06481313947393198 Centerline is valid? [True, True] Translation: X:58.17, Y:-14.80, Z:-0.82 [[ 9.26115609e-01 3.77234785e-01 -1.94807286e-03 5.81708044e+01] [-3.77233653e-01 9.26117649e-01 9.33382437e-04 -1.47998169e+01] [ 2.15624898e-03 -1.29541401e-04 9.99997667e-01 -8.22968834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.37538475 meters 0.06321426898993644 Centerline is valid? [True, True] Translation: X:58.21, Y:-14.80, Z:-0.82 [[ 9.25627062e-01 3.78435328e-01 -1.11586215e-03 5.82062130e+01] [-3.78434954e-01 9.25627731e-01 5.36841291e-04 -1.47995516e+01] [ 1.23603266e-03 -7.46335850e-05 9.99999233e-01 -8.21921699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.40538475 meters 0.06563642068139709 Centerline is valid? [True, True] Translation: X:58.23, Y:-14.81, Z:-0.82 [[ 9.25138745e-01 3.79624672e-01 -1.84684247e-03 5.82341627e+01] [-3.79623656e-01 9.25140581e-01 8.86054325e-04 -1.48129353e+01] [ 2.04495700e-03 -1.18618095e-04 9.99997902e-01 -8.24386578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.43538475 meters 0.06332107324080412 Centerline is valid? [True, True] Translation: X:58.27, Y:-14.81, Z:-0.82 [[ 9.24485220e-01 3.81200080e-01 -3.68466124e-03 5.82710676e+01] [-3.81196060e-01 9.24492535e-01 1.76551275e-03 -1.48104035e+01] [ 4.07945541e-03 -2.27612093e-04 9.99991653e-01 -8.24569127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.46538475 meters 0.06389779458869438 Centerline is valid? [True, True] Translation: X:58.30, Y:-14.82, Z:-0.83 [[ 9.24411797e-01 3.81374603e-01 -4.03006146e-03 5.83022067e+01] [-3.81369790e-01 9.24420548e-01 1.93229119e-03 -1.48199885e+01] [ 4.46239841e-03 -2.49289081e-04 9.99990012e-01 -8.25334370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.49538475 meters 0.06355205586062991 Centerline is valid? [True, True] Translation: X:58.34, Y:-14.82, Z:-0.83 [[ 9.24049284e-01 3.82229298e-01 -5.80388959e-03 5.83372955e+01] [-3.82219327e-01 9.24067443e-01 2.78336050e-03 -1.48220303e+01] [ 6.42706734e-03 -3.53603499e-04 9.99979284e-01 -8.27031967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.52538475 meters 0.06289034300790855 Centerline is valid? [True, True] Translation: X:58.37, Y:-14.83, Z:-0.83 [[ 9.23939742e-01 3.82451240e-01 -8.14878342e-03 5.83693013e+01] [-3.82431591e-01 9.23975543e-01 3.90824478e-03 -1.48286224e+01] [ 9.02398965e-03 -4.94630468e-04 9.99959161e-01 -8.27017192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.55538475 meters 0.06301778325513345 Centerline is valid? [True, True] Translation: X:58.40, Y:-14.83, Z:-0.83 [[ 9.23128449e-01 3.84371433e-01 -9.61604275e-03 5.84036680e+01] [-3.84344148e-01 9.23178360e-01 4.61437784e-03 -1.48316883e+01] [ 1.06509576e-02 -5.63793702e-04 9.99943118e-01 -8.29565471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.58538475 meters 0.06377218629287983 Centerline is valid? [True, True] Translation: X:58.43, Y:-14.84, Z:-0.83 [[ 9.22508315e-01 3.85866912e-01 -9.22683497e-03 5.84328748e+01] [-3.85841838e-01 9.22554307e-01 4.43027781e-03 -1.48417593e+01] [ 1.02217540e-02 -5.26869152e-04 9.99947618e-01 -8.30179550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.61538475 meters 0.06174794831435365 Centerline is valid? [True, True] Translation: X:58.47, Y:-14.84, Z:-0.83 [[ 9.20784977e-01 3.89969129e-01 -8.89408783e-03 5.84688740e+01] [-3.89946048e-01 9.20827815e-01 4.26784980e-03 -1.48401031e+01] [ 9.85425314e-03 -4.61557582e-04 9.99951339e-01 -8.27761659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.64538475 meters 0.06160614507499492 Centerline is valid? [True, True] Translation: X:58.50, Y:-14.85, Z:-0.83 [[ 9.20072352e-01 3.91658948e-01 -8.37468584e-03 5.85007506e+01] [-3.91638494e-01 9.20110368e-01 4.02502467e-03 -1.48483153e+01] [ 9.28207219e-03 -4.23464559e-04 9.99956831e-01 -8.26616449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.67538475 meters 0.06147286154434307 Centerline is valid? [True, True] Translation: X:58.53, Y:-14.86, Z:-0.83 [[ 9.19241169e-01 3.93612094e-01 -8.07419264e-03 5.85314003e+01] [-3.93593136e-01 9.19276545e-01 3.88290501e-03 -1.48561517e+01] [ 8.95077428e-03 -3.91379347e-04 9.99959864e-01 -8.26269872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.70538475 meters 0.060473661172785215 Centerline is valid? [True, True] Translation: X:58.57, Y:-14.86, Z:-0.82 [[ 9.18197242e-01 3.95985063e-01 -1.04716651e-02 5.85670167e+01] [-3.95953293e-01 9.18256826e-01 5.03885874e-03 -1.48551523e+01] [ 1.16109908e-02 -4.80375906e-04 9.99932475e-01 -8.23969977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.73538475 meters 0.060904982703708546 Centerline is valid? [True, True] Translation: X:58.60, Y:-14.86, Z:-0.82 [[ 9.18059469e-01 3.96225764e-01 -1.31131585e-02 5.85994543e+01] [-3.96175920e-01 9.18152919e-01 6.31332518e-03 -1.48620172e+01] [ 1.45413869e-02 -6.00890337e-04 9.99894088e-01 -8.22229449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.76538475 meters 0.06095089413827099 Centerline is valid? [True, True] Translation: X:58.63, Y:-14.87, Z:-0.82 [[ 9.18199924e-01 3.95880330e-01 -1.36990801e-02 5.86302625e+01] [-3.95825823e-01 9.18301888e-01 6.59998748e-03 -1.48729344e+01] [ 1.51926964e-02 -6.37658325e-04 9.99884381e-01 -8.21087141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.795384750000004 meters 0.06108381021343084 Centerline is valid? [True, True] Translation: X:58.66, Y:-14.88, Z:-0.82 [[ 9.18043105e-01 3.96199812e-01 -1.49186700e-02 5.86608199e+01] [-3.96135131e-01 9.18164053e-01 7.19226310e-03 -1.48840549e+01] [ 1.65473598e-02 -6.92998234e-04 9.99862843e-01 -8.21017964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.82538475 meters 0.0611338429038859 Centerline is valid? [True, True] Translation: X:58.69, Y:-14.89, Z:-0.82 [[ 9.17749991e-01 3.96876143e-01 -1.49760235e-02 5.86929253e+01] [-3.96810970e-01 9.17871916e-01 7.22497515e-03 -1.48909265e+01] [ 1.66134917e-02 -6.88070447e-04 9.99861750e-01 -8.22193982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.85538475 meters 0.06076128309163467 Centerline is valid? [True, True] Translation: X:58.73, Y:-14.90, Z:-0.82 [[ 9.16587977e-01 3.99487384e-01 -1.66225733e-02 5.87253565e+01] [-3.99407422e-01 9.16738413e-01 8.02459652e-03 -1.48977335e+01] [ 1.84442765e-02 -7.16069544e-04 9.99829633e-01 -8.21804103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.88538475 meters 0.060978224504538124 Centerline is valid? [True, True] Translation: X:58.76, Y:-14.91, Z:-0.82 [[ 9.16317536e-01 4.00086218e-01 -1.71228348e-02 5.87556375e+01] [-4.00001352e-01 9.16477214e-01 8.27251829e-03 -1.49092913e+01] [ 1.90024085e-02 -7.31096500e-04 9.99819171e-01 -8.23737709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.91538475 meters 0.060849269201429544 Centerline is valid? [True, True] Translation: X:58.79, Y:-14.92, Z:-0.83 [[ 9.15853932e-01 4.01097640e-01 -1.82279487e-02 5.87867168e+01] [-4.01001521e-01 9.16034989e-01 8.81351606e-03 -1.49204621e+01] [ 2.02325193e-02 -7.62458179e-04 9.99795011e-01 -8.25253109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.94538475 meters 0.061540728781559396 Centerline is valid? [True, True] Translation: X:58.82, Y:-14.93, Z:-0.83 [[ 9.15462927e-01 4.01861936e-01 -2.08473871e-02 5.88160672e+01] [-4.01736399e-01 9.15699873e-01 1.00801164e-02 -1.49298506e+01] [ 2.31407648e-02 -8.52818700e-04 9.99731853e-01 -8.28185099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.97538475 meters 0.061071890582251806 Centerline is valid? [True, True] Translation: X:58.85, Y:-14.94, Z:-0.83 [[ 9.15244771e-01 4.02267945e-01 -2.25279805e-02 5.88462886e+01] [-4.02121250e-01 9.15521522e-01 1.09015362e-02 -1.49398591e+01] [ 2.50101896e-02 -9.18594350e-04 9.99686774e-01 -8.27037370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.00538475 meters 0.06085161952260775 Centerline is valid? [True, True] Translation: X:58.88, Y:-14.95, Z:-0.83 [[ 9.15501338e-01 4.01769947e-01 -2.09334887e-02 5.88777153e+01] [-4.01642976e-01 9.15740218e-01 1.01376797e-02 -1.49493871e+01] [ 2.32426525e-02 -8.73270604e-04 9.99729472e-01 -8.26131473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.03538475 meters 0.060733161712820005 Centerline is valid? [True, True] Translation: X:58.91, Y:-14.96, Z:-0.83 [[ 9.15660075e-01 4.01480892e-01 -1.94864184e-02 5.89075922e+01] [-4.01370655e-01 9.15867027e-01 9.44385677e-03 -1.49607851e+01] [ 2.16384961e-02 -8.26086077e-04 9.99765519e-01 -8.26027355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.06538475 meters 0.06489821467396135 Centerline is valid? [True, True] Translation: X:58.93, Y:-14.98, Z:-0.84 [[ 9.16345705e-01 3.99901576e-01 -1.97301090e-02 5.89340922e+01] [-3.99788191e-01 9.16557671e-01 9.56232189e-03 -1.49793255e+01] [ 2.19077703e-02 -8.74528020e-04 9.99759614e-01 -8.35570522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.09538475 meters 0.06668296935022658 Centerline is valid? [True, True] Translation: X:58.96, Y:-14.99, Z:-0.84 [[ 9.16720566e-01 3.99036999e-01 -1.98211281e-02 5.89610692e+01] [-3.98922134e-01 9.16934375e-01 9.61683157e-03 -1.49946590e+01] [ 2.20121453e-02 -9.08860558e-04 9.99757290e-01 -8.38397539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.12538475 meters 0.06722301878097732 Centerline is valid? [True, True] Translation: X:58.99, Y:-15.01, Z:-0.84 [[ 9.18001726e-01 3.96158414e-01 -1.82028007e-02 5.89910661e+01] [-3.96060819e-01 9.18181731e-01 8.83948701e-03 -1.50070416e+01] [ 2.02153162e-02 -9.05248182e-04 9.99795240e-01 -8.36255848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.15538475 meters 0.06698984185473719 Centerline is valid? [True, True] Translation: X:59.02, Y:-15.02, Z:-0.84 [[ 9.18498245e-01 3.94994582e-01 -1.84459842e-02 5.90207618e+01] [-3.94893969e-01 9.18682958e-01 8.96528286e-03 -1.50185931e+01] [ 2.04872494e-02 -9.50388670e-04 9.99789663e-01 -8.35721096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.18538475 meters 0.06805209560642729 Centerline is valid? [True, True] Translation: X:59.05, Y:-15.03, Z:-0.84 [[ 9.19061893e-01 3.93690857e-01 -1.82413199e-02 5.90506447e+01] [-3.93592074e-01 9.19242383e-01 8.87240712e-03 -1.50287350e+01] [ 2.02611799e-02 -9.74652353e-04 9.99794246e-01 -8.38359993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.21538475 meters 0.06871368073444574 Centerline is valid? [True, True] Translation: X:59.08, Y:-15.04, Z:-0.84 [[ 9.19227483e-01 3.93279098e-01 -1.87719093e-02 5.90803424e+01] [-3.93174237e-01 9.19418572e-01 9.13825500e-03 -1.50412201e+01] [ 2.08531267e-02 -1.01950404e-03 9.99782030e-01 -8.40101634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.24538475 meters 0.07223041827150123 Centerline is valid? [True, True] Translation: X:59.11, Y:-15.06, Z:-0.84 [[ 9.19866391e-01 3.91826057e-01 -1.78371342e-02 5.91068131e+01] [-3.91730980e-01 9.20038765e-01 8.68968884e-03 -1.50576263e+01] [ 1.98157014e-02 -1.00599465e-03 9.99803144e-01 -8.42339501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.27538475 meters 0.06863694134371974 Centerline is valid? [True, True] Translation: X:59.14, Y:-15.06, Z:-0.84 [[ 9.20326564e-01 3.90736674e-01 -1.79962826e-02 5.91398617e+01] [-3.90639541e-01 9.20501906e-01 8.77439911e-03 -1.50620225e+01] [ 1.99940920e-02 -1.04525300e-03 9.99799552e-01 -8.36464704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.30538475 meters 0.0711600667907825 Centerline is valid? [True, True] Translation: X:59.17, Y:-15.08, Z:-0.84 [[ 9.20292730e-01 3.90858201e-01 -1.70633816e-02 5.91663735e+01] [-3.90770770e-01 9.20450367e-01 8.32633010e-03 -1.50774153e+01] [ 1.89604103e-02 -9.94790284e-04 9.99819740e-01 -8.40026365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.33538475 meters 0.07110405035459313 Centerline is valid? [True, True] Translation: X:59.20, Y:-15.09, Z:-0.84 [[ 9.20132410e-01 3.91244319e-01 -1.68591491e-02 5.91967139e+01] [-3.91158907e-01 9.20286325e-01 8.23341166e-03 -1.50892357e+01] [ 1.87365199e-02 -9.81222567e-04 9.99823975e-01 -8.40355086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.36538475 meters 0.07038236652381323 Centerline is valid? [True, True] Translation: X:59.23, Y:-15.10, Z:-0.84 [[ 9.19519565e-01 3.92801386e-01 -1.38145094e-02 5.92274999e+01] [-3.92744243e-01 9.19623004e-01 6.74471258e-03 -1.50991997e+01] [ 1.53534730e-02 -7.76326161e-04 9.99881827e-01 -8.38723604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.39538475 meters 0.06732307663373877 Centerline is valid? [True, True] Translation: X:59.26, Y:-15.11, Z:-0.84 [[ 9.18689043e-01 3.94794528e-01 -1.21541810e-02 5.92592026e+01] [-3.94750452e-01 9.18769205e-01 5.93535292e-03 -1.51064890e+01] [ 1.35101321e-02 -6.54875249e-04 9.99908520e-01 -8.35584344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.42538475 meters 0.06718973581315804 Centerline is valid? [True, True] Translation: X:59.29, Y:-15.12, Z:-0.84 [[ 9.16624556e-01 3.99604252e-01 -1.07640358e-02 5.92878258e+01] [-3.99570025e-01 9.16687610e-01 5.25550806e-03 -1.51152922e+01] [ 1.19673816e-02 -5.16341702e-04 9.99928255e-01 -8.38264886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.45538475 meters 0.06577356111839136 Centerline is valid? [True, True] Translation: X:59.32, Y:-15.12, Z:-0.84 [[ 9.15323064e-01 4.02562271e-01 -1.12830247e-02 5.93194431e+01] [-4.02524771e-01 9.15392462e-01 5.51813764e-03 -1.51240855e+01] [ 1.25497898e-02 -5.09181722e-04 9.99921119e-01 -8.39531610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.48538475 meters 0.06277798316875294 Centerline is valid? [True, True] Translation: X:59.35, Y:-15.13, Z:-0.84 [[ 9.11962770e-01 4.10042787e-01 -1.37411059e-02 5.93529979e+01] [-4.09988091e-01 9.12066156e-01 6.71512915e-03 -1.51260476e+01] [ 1.52862879e-02 -4.90258025e-04 9.99883038e-01 -8.42095995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.51538475 meters 0.06142970089454229 Centerline is valid? [True, True] Translation: X:59.38, Y:-15.13, Z:-0.84 [[ 9.09557675e-01 4.15352594e-01 -1.36769331e-02 5.93841513e+01] [-4.15298989e-01 9.09660410e-01 6.68488866e-03 -1.51337337e+01] [ 1.52179504e-02 -4.00275310e-04 9.99884120e-01 -8.43979374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.545384750000004 meters 0.05940596809754978 Centerline is valid? [True, True] Translation: X:59.42, Y:-15.14, Z:-0.85 [[ 9.05053096e-01 4.25089034e-01 -1.33494089e-02 5.94161735e+01] [-4.25039039e-01 9.05151512e-01 6.52340423e-03 -1.51354244e+01] [ 1.48562652e-02 -2.30007272e-04 9.99889613e-01 -8.45694273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.57538475 meters 0.05855258900102809 Centerline is valid? [True, True] Translation: X:59.45, Y:-15.14, Z:-0.85 [[ 9.02715803e-01 4.30031202e-01 -1.33170854e-02 5.94473411e+01] [-4.29981834e-01 9.02814012e-01 6.51785106e-03 -1.51442006e+01] [ 1.48257307e-02 -1.57662333e-04 9.99890080e-01 -8.45783840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.60538475 meters 0.0580269549053627 Centerline is valid? [True, True] Translation: X:59.48, Y:-15.15, Z:-0.85 [[ 8.97622147e-01 4.40546665e-01 -1.38966259e-02 5.94802952e+01] [-4.40494093e-01 8.97729712e-01 6.80578655e-03 -1.51471709e+01] [ 1.54736805e-02 1.23568753e-05 9.99880275e-01 -8.49231688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.63538475 meters 0.0580269549053627 Centerline is valid? [True, True] Translation: X:59.51, Y:-15.16, Z:-0.85 [[ 8.97468548e-01 4.40859576e-01 -1.38938581e-02 5.95093230e+01] [-4.40806953e-01 8.97576088e-01 6.81143766e-03 -1.51616695e+01] [ 1.54736823e-02 1.14581883e-05 9.99880275e-01 -8.49683978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.66538475 meters 0.05748002725692534 Centerline is valid? [True, True] Translation: X:59.54, Y:-15.17, Z:-0.84 [[ 8.93249955e-01 4.49306586e-01 -1.51033190e-02 5.95412880e+01] [-4.49245513e-01 8.93377615e-01 7.40979556e-03 -1.51703353e+01] [ 1.68222370e-02 1.66298730e-04 9.99858482e-01 -8.40951136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.69538475 meters 0.05757455527890643 Centerline is valid? [True, True] Translation: X:59.57, Y:-15.18, Z:-0.84 [[ 8.91231651e-01 4.53299359e-01 -1.50278006e-02 5.95701014e+01] [-4.53239382e-01 8.91358309e-01 7.37746425e-03 -1.51836500e+01] [ 1.67393548e-02 2.36161417e-04 9.99859859e-01 -8.41567822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.72538475 meters 0.05797019993051588 Centerline is valid? [True, True] Translation: X:59.60, Y:-15.20, Z:-0.84 [[ 8.90041956e-01 4.55622863e-01 -1.52683674e-02 5.95984291e+01] [-4.55561213e-01 8.90172864e-01 7.50016653e-03 -1.51971968e+01] [ 1.70087337e-02 2.80213078e-04 9.99855302e-01 -8.44988149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.75538475 meters 0.05768191479507728 Centerline is valid? [True, True] Translation: X:59.62, Y:-15.22, Z:-0.84 [[ 8.89586759e-01 4.56589649e-01 -1.27000047e-02 5.96232472e+01] [-4.56547019e-01 8.89677376e-01 6.24389081e-03 -1.52194525e+01] [ 1.41498028e-02 2.43666696e-04 9.99899857e-01 -8.42023633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.78538475 meters 0.05800107356771025 Centerline is valid? [True, True] Translation: X:59.65, Y:-15.24, Z:-0.84 [[ 8.89434100e-01 4.56900656e-01 -1.21972023e-02 5.96503333e+01] [-4.56861305e-01 8.89517698e-01 6.00103660e-03 -1.52359858e+01] [ 1.35915048e-02 2.34903158e-04 9.99907604e-01 -8.44281927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.81538475 meters 0.05770763822242238 Centerline is valid? [True, True] Translation: X:59.68, Y:-15.26, Z:-0.84 [[ 8.89257626e-01 4.57304034e-01 -9.68995057e-03 5.96760739e+01] [-4.57279179e-01 8.89310399e-01 4.77142419e-03 -1.52565695e+01] [ 1.07993653e-02 1.87987295e-04 9.99941667e-01 -8.43054465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.84538475 meters 0.05772084915933666 Centerline is valid? [True, True] Translation: X:59.70, Y:-15.28, Z:-0.84 [[ 8.88166037e-01 4.59461538e-01 -7.49575974e-03 5.97014195e+01] [-4.59446711e-01 8.88197652e-01 3.69467487e-03 -1.52775012e+01] [ 8.35527720e-03 1.62417422e-04 9.99965081e-01 -8.41675167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.87538475 meters 0.058081848819610135 Centerline is valid? [True, True] Translation: X:59.73, Y:-15.29, Z:-0.84 [[ 8.87335021e-01 4.61065273e-01 -7.44146851e-03 5.97282895e+01] [-4.61050700e-01 8.87366206e-01 3.66997723e-03 -1.52939981e+01] [ 8.29540673e-03 1.74394947e-04 9.99965577e-01 -8.42860605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.90538475 meters 0.05850164608609692 Centerline is valid? [True, True] Translation: X:59.75, Y:-15.32, Z:-0.84 [[ 8.85504273e-01 4.64541239e-01 -9.14440318e-03 5.97532625e+01] [-4.64519397e-01 8.85551452e-01 4.51178715e-03 -1.53151283e+01] [ 1.01937507e-02 2.52545850e-04 9.99948010e-01 -8.42391011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.93538475 meters 0.05891989829153261 Centerline is valid? [True, True] Translation: X:59.78, Y:-15.33, Z:-0.84 [[ 8.84056512e-01 4.67288138e-01 -9.26712989e-03 5.97806620e+01] [-4.67265821e-01 8.84105036e-01 4.57574826e-03 -1.53323278e+01] [ 1.03313091e-02 2.84993020e-04 9.99946590e-01 -8.42985843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.96538475 meters 0.060202124244310484 Centerline is valid? [True, True] Translation: X:59.81, Y:-15.35, Z:-0.84 [[ 8.81223038e-01 4.72566899e-01 -1.12465009e-02 5.98055111e+01] [-4.72534516e-01 8.81294698e-01 5.54849441e-03 -1.53514594e+01] [ 1.25335164e-02 4.24898740e-04 9.99921362e-01 -8.44214033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.99538475 meters 0.06009826641354438 Centerline is valid? [True, True] Translation: X:59.83, Y:-15.37, Z:-0.84 [[ 8.80026348e-01 4.74780058e-01 -1.17270313e-02 5.98320276e+01] [-4.74745016e-01 8.80104353e-01 5.78769251e-03 -1.53711561e+01] [ 1.30688923e-02 4.74027786e-04 9.99914486e-01 -8.44255177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.02538475 meters 0.06093925400855916 Centerline is valid? [True, True] Translation: X:59.86, Y:-15.39, Z:-0.85 [[ 8.78273750e-01 4.77958811e-01 -1.38055872e-02 5.98556708e+01] [-4.77910650e-01 8.78382034e-01 6.81271652e-03 -1.53931047e+01] [ 1.53827777e-02 6.14407074e-04 9.99881489e-01 -8.47941429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.05538475 meters 0.06311541144419987 Centerline is valid? [True, True] Translation: X:59.88, Y:-15.41, Z:-0.85 [[ 8.77140204e-01 4.79988055e-01 -1.53795336e-02 5.98793191e+01] [-4.79928591e-01 8.77274725e-01 7.58976700e-03 -1.54139841e+01] [ 1.71350736e-02 7.23788113e-04 9.99852922e-01 -8.54195899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.08538475 meters 0.06263012337370895 Centerline is valid? [True, True] Translation: X:59.90, Y:-15.44, Z:-0.85 [[ 8.76480045e-01 4.81193835e-01 -1.53369814e-02 5.99035843e+01] [-4.81134724e-01 8.76613911e-01 7.57812945e-03 -1.54368343e+01] [ 1.70911604e-02 7.37075073e-04 9.99853664e-01 -8.54492350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.11538475 meters 0.06334259454506051 Centerline is valid? [True, True] Translation: X:59.93, Y:-15.46, Z:-0.86 [[ 8.75751000e-01 4.82552614e-01 -1.42534120e-02 5.99290886e+01] [-4.82501668e-01 8.75866700e-01 7.04725205e-03 -1.54560485e+01] [ 1.58847588e-02 7.05657016e-04 9.99873580e-01 -8.56648932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.14538475 meters 0.06434725253061356 Centerline is valid? [True, True] Translation: X:59.95, Y:-15.48, Z:-0.86 [[ 8.75216518e-01 4.83632299e-01 -9.79015727e-03 5.99517404e+01] [-4.83608278e-01 8.75271133e-01 4.84532603e-03 -1.54813937e+01] [ 1.09123982e-02 4.93891733e-04 9.99940336e-01 -8.56659420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.17538475 meters 0.06386530556268631 Centerline is valid? [True, True] Translation: X:59.98, Y:-15.50, Z:-0.86 [[ 8.74997088e-01 4.84066120e-01 -7.75156113e-03 5.99766460e+01] [-4.84051050e-01 8.75031335e-01 3.83982785e-03 -1.55028594e+01] [ 8.64158945e-03 3.92313118e-04 9.99962584e-01 -8.56097666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.20538475 meters 0.06343785597642923 Centerline is valid? [True, True] Translation: X:60.00, Y:-15.53, Z:-0.85 [[ 8.75802447e-01 4.82644822e-01 -4.90404585e-03 5.99987809e+01] [-4.82638776e-01 8.75816144e-01 2.42787697e-03 -1.55299583e+01] [ 5.46684478e-03 2.40542099e-04 9.99985028e-01 -8.54861017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.23538475 meters 0.06307317136691024 Centerline is valid? [True, True] Translation: X:60.02, Y:-15.55, Z:-0.85 [[ 8.76122077e-01 4.82076372e-01 -3.53246032e-03 6.00243872e+01] [-4.82073225e-01 8.76129181e-01 1.75010381e-03 -1.55515631e+01] [ 3.93857526e-03 1.69599951e-04 9.99992229e-01 -8.54471220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.26538475 meters 0.06254633244342014 Centerline is valid? [True, True] Translation: X:60.05, Y:-15.58, Z:-0.85 [[ 8.77678104e-01 4.79246307e-01 -2.03068773e-03 6.00458703e+01] [-4.79245259e-01 8.77680448e-01 1.00625022e-03 -1.55798735e+01] [ 2.26453661e-03 9.00336793e-05 9.99997432e-01 -8.54658827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.295384750000004 meters 0.061254744096960745 Centerline is valid? [True, True] Translation: X:60.07, Y:-15.60, Z:-0.85 [[ 8.78576618e-01 4.77600347e-01 -1.01705150e-03 6.00695204e+01] [-4.77600080e-01 8.78577206e-01 5.06903607e-04 -1.56030747e+01] [ 1.13565561e-03 4.03902229e-05 9.99999354e-01 -8.53601091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.32538475 meters 0.0605490063235996 Centerline is valid? [True, True] Translation: X:60.09, Y:-15.63, Z:-0.85 [[ 8.80515109e-01 4.74016837e-01 1.08680017e-03 6.00910916e+01] [-4.74016534e-01 8.80515778e-01 -5.37560120e-04 -1.56307883e+01] [-1.21175724e-03 -4.18314409e-05 9.99999265e-01 -8.53642305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.35538475 meters 0.06024555593432635 Centerline is valid? [True, True] Translation: X:60.12, Y:-15.65, Z:-0.85 [[ 8.81554711e-01 4.72080562e-01 1.11065396e-03 6.01159038e+01] [-4.72080246e-01 8.81555410e-01 -5.48016765e-04 -1.56502699e+01] [-1.23781107e-03 -4.12110347e-05 9.99999233e-01 -8.54986988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.38538475 meters 0.05962402874280955 Centerline is valid? [True, True] Translation: X:60.14, Y:-15.68, Z:-0.86 [[ 8.83898221e-01 4.67678369e-01 -9.37590858e-04 6.01373627e+01] [-4.67678138e-01 8.83898718e-01 4.65629643e-04 -1.56781295e+01] [ 1.04650027e-03 2.69215336e-05 9.99999452e-01 -8.57063432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.41538475 meters 0.05914086014668054 Centerline is valid? [True, True] Translation: X:60.16, Y:-15.70, Z:-0.86 [[ 8.85049040e-01 4.65495514e-01 -1.45691688e-03 6.01624424e+01] [-4.65494948e-01 8.85050239e-01 7.26768051e-04 -1.56996641e+01] [ 1.62775190e-03 3.49620813e-05 9.99998675e-01 -8.57415429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.44538475 meters 0.05842723050464579 Centerline is valid? [True, True] Translation: X:60.18, Y:-15.73, Z:-0.86 [[ 8.87368595e-01 4.61060394e-01 -5.37923165e-04 6.01838354e+01] [-4.61060316e-01 8.87368758e-01 2.67608081e-04 -1.57264384e+01] [ 6.00719698e-04 1.05480170e-05 9.99999820e-01 -8.57588393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.47538475 meters 0.05830882691284812 Centerline is valid? [True, True] Translation: X:60.21, Y:-15.75, Z:-0.86 [[ 8.88241545e-01 4.59376261e-01 -6.39543563e-04 6.02092247e+01] [-4.59376149e-01 8.88241775e-01 3.19734766e-04 -1.57459407e+01] [ 7.14947871e-04 9.78935671e-06 9.99999744e-01 -8.58457740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.50538475 meters 0.05767501493419931 Centerline is valid? [True, True] Translation: X:60.23, Y:-15.77, Z:-0.86 [[ 8.90330980e-01 4.55313759e-01 -3.57303912e-04 6.02319726e+01] [-4.55313722e-01 8.90331051e-01 1.81503829e-04 -1.57721304e+01] [ 4.00759958e-04 1.08689259e-06 9.99999920e-01 -8.57346955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.53538475 meters 0.05760197292889896 Centerline is valid? [True, True] Translation: X:60.26, Y:-15.79, Z:-0.86 [[ 8.90654754e-01 4.54680144e-01 -2.74571157e-04 6.02584748e+01] [-4.54680122e-01 8.90654797e-01 1.40486195e-04 -1.57909422e+01] [ 3.08424401e-04 -2.82650341e-07 9.99999952e-01 -8.57728535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.56538475 meters 0.05724638910929799 Centerline is valid? [True, True] Translation: X:60.28, Y:-15.81, Z:-0.86 [[ 8.91692193e-01 4.52638726e-01 -1.79354298e-03 6.02832538e+01] [-4.52637838e-01 8.91693996e-01 8.96679189e-04 -1.58139417e+01] [ 2.00516324e-03 1.22635878e-05 9.99997990e-01 -8.58548634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.59538475 meters 0.057499921133439096 Centerline is valid? [True, True] Translation: X:60.31, Y:-15.83, Z:-0.86 [[ 8.91423549e-01 4.53164749e-01 -2.40127165e-03 6.03107985e+01] [-4.53163163e-01 8.91426783e-01 1.19910167e-03 -1.58315854e+01] [ 2.68394847e-03 1.92603927e-05 9.99996398e-01 -8.59006403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.62538475 meters 0.05745338547716297 Centerline is valid? [True, True] Translation: X:60.34, Y:-15.85, Z:-0.86 [[ 8.91249389e-01 4.53505990e-01 -2.61597318e-03 6.03372606e+01] [-4.53504107e-01 8.91253228e-01 1.30713987e-03 -1.58495511e+01] [ 2.92429030e-03 2.13669704e-05 9.99995724e-01 -8.59643515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.65538475 meters 0.057377076560695926 Centerline is valid? [True, True] Translation: X:60.37, Y:-15.87, Z:-0.86 [[ 8.91151333e-01 4.53694989e-01 -3.18732675e-03 6.03655161e+01] [-4.53692192e-01 8.91157033e-01 1.59314312e-03 -1.58658091e+01] [ 3.56320970e-03 2.63336410e-05 9.99993651e-01 -8.61314087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.68538475 meters 0.057525524037824204 Centerline is valid? [True, True] Translation: X:60.39, Y:-15.88, Z:-0.86 [[ 8.91254803e-01 4.53477748e-01 -4.77576427e-03 6.03915720e+01] [-4.53471476e-01 8.91267598e-01 2.38529145e-03 -1.58833725e+01] [ 5.33816055e-03 3.97704081e-05 9.99985751e-01 -8.62986926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.71538475 meters 0.057381456784666024 Centerline is valid? [True, True] Translation: X:60.42, Y:-15.90, Z:-0.86 [[ 8.91608372e-01 4.52775826e-01 -5.34437408e-03 6.04199363e+01] [-4.52767946e-01 8.91624388e-01 2.67163948e-03 -1.59009426e+01] [ 5.97482805e-03 3.77051491e-05 9.99982150e-01 -8.63587836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.74538475 meters 0.05734184484009855 Centerline is valid? [True, True] Translation: X:60.45, Y:-15.92, Z:-0.86 [[ 8.92985945e-01 4.50045941e-01 -5.89513726e-03 6.04456591e+01] [-4.50036285e-01 8.93005403e-01 2.94819818e-03 -1.59201266e+01] [ 6.59121405e-03 2.03261372e-05 9.99978278e-01 -8.64947100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.77538475 meters 0.057293076783723494 Centerline is valid? [True, True] Translation: X:60.47, Y:-15.94, Z:-0.86 [[ 8.93662300e-01 4.48709085e-01 -5.27734288e-03 6.04732984e+01] [-4.48701312e-01 8.93677882e-01 2.64114793e-03 -1.59370386e+01] [ 5.90135168e-03 7.65634415e-06 9.99982587e-01 -8.63378466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.80538475 meters 0.05715199658293905 Centerline is valid? [True, True] Translation: X:60.50, Y:-15.95, Z:-0.86 [[ 8.94885316e-01 4.46269940e-01 -4.83850367e-03 6.05007392e+01] [-4.46263360e-01 8.94898397e-01 2.42344051e-03 -1.59548840e+01] [ 5.41147783e-03 -9.45441602e-06 9.99985358e-01 -8.61408820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.83538475 meters 0.05708495239749858 Centerline is valid? [True, True] Translation: X:60.53, Y:-15.97, Z:-0.86 [[ 8.95344059e-01 4.45356537e-01 -4.07080622e-03 6.05283229e+01] [-4.45351861e-01 8.95353313e-01 2.04097162e-03 -1.59710489e+01] [ 4.55376989e-03 -1.44306899e-05 9.99989631e-01 -8.60572106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.86538475 meters 0.056952177008274596 Centerline is valid? [True, True] Translation: X:60.55, Y:-15.99, Z:-0.86 [[ 8.96204357e-01 4.43617886e-01 -4.57404579e-03 6.05538961e+01] [-4.43611968e-01 8.96216029e-01 2.29145424e-03 -1.59884546e+01] [ 5.11586324e-03 -2.45098223e-05 9.99986914e-01 -8.59156937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.89538475 meters 0.05676786828555087 Centerline is valid? [True, True] Translation: X:60.58, Y:-16.00, Z:-0.86 [[ 8.96327099e-01 4.43378357e-01 -3.65564820e-03 6.05817676e+01] [-4.43374561e-01 8.96334553e-01 1.83497814e-03 -1.60041548e+01] [ 4.09027338e-03 -2.39192166e-05 9.99991635e-01 -8.57549429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.92538475 meters 0.056546640822600816 Centerline is valid? [True, True] Translation: X:60.61, Y:-16.02, Z:-0.86 [[ 8.96202685e-01 4.43636222e-01 -2.76589813e-03 6.06101642e+01] [-4.43634044e-01 8.96206953e-01 1.39022059e-03 -1.60193678e+01] [ 3.09556934e-03 -1.88728541e-05 9.99995209e-01 -8.56472446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.95538475 meters 0.05659030756968341 Centerline is valid? [True, True] Translation: X:60.64, Y:-16.03, Z:-0.86 [[ 8.95813160e-01 4.44423607e-01 -2.53786680e-03 6.06400403e+01] [-4.44421771e-01 8.95816754e-01 1.27746380e-03 -1.60340345e+01] [ 2.84119867e-03 -1.64856289e-05 9.99995964e-01 -8.57008649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.98538475 meters 0.05662753832418545 Centerline is valid? [True, True] Translation: X:60.67, Y:-16.05, Z:-0.86 [[ 8.95660349e-01 4.44734723e-01 -1.88837151e-03 6.06686103e+01] [-4.44733704e-01 8.95662339e-01 9.51903758e-04 -1.60482176e+01] [ 2.11468790e-03 -1.27599945e-05 9.99997764e-01 -8.57160362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.01538475 meters 0.05682141433472282 Centerline is valid? [True, True] Translation: X:60.70, Y:-16.06, Z:-0.86 [[ 8.96018786e-01 4.44007924e-01 -2.70151449e-03 6.06955331e+01] [-4.44005840e-01 8.96022858e-01 1.36051011e-03 -1.60638187e+01] [ 3.02469600e-03 -1.95544100e-05 9.99995425e-01 -8.60135943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.045384750000004 meters 0.05686524190050831 Centerline is valid? [True, True] Translation: X:60.72, Y:-16.08, Z:-0.86 [[ 8.97885809e-01 4.40208743e-01 -4.16379856e-03 6.07217892e+01] [-4.40203753e-01 8.97895462e-01 2.09662874e-03 -1.60825878e+01] [ 4.66161013e-03 -4.96134370e-05 9.99989133e-01 -8.60034807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.07538475 meters 0.05750951303922401 Centerline is valid? [True, True] Translation: X:60.75, Y:-16.10, Z:-0.86 [[ 8.99410601e-01 4.37070223e-01 -5.49461370e-03 6.07471044e+01] [-4.37061474e-01 8.99427380e-01 2.76677369e-03 -1.61011766e+01] [ 6.15128040e-03 -8.69816291e-05 9.99981077e-01 -8.64218731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.10538475 meters 0.0587550556599595 Centerline is valid? [True, True] Translation: X:60.77, Y:-16.12, Z:-0.87 [[ 9.02491271e-01 4.30671426e-01 -5.62385131e-03 6.07718797e+01] [-4.30662130e-01 9.02508783e-01 2.83297314e-03 -1.61213672e+01] [ 6.29565579e-03 -1.34753747e-04 9.99980173e-01 -8.66850555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.13538475 meters 0.058741490018385634 Centerline is valid? [True, True] Translation: X:60.80, Y:-16.14, Z:-0.87 [[ 9.03592039e-01 4.28355572e-01 -5.73859480e-03 6.08001442e+01] [-4.28345831e-01 9.03610247e-01 2.89307802e-03 -1.61358816e+01] [ 6.42471916e-03 -1.56059106e-04 9.99979349e-01 -8.65245588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.16538475 meters 0.0587271491764304 Centerline is valid? [True, True] Translation: X:60.83, Y:-16.15, Z:-0.86 [[ 9.04173754e-01 4.27123674e-01 -5.93207068e-03 6.08285192e+01] [-4.27113225e-01 9.04193197e-01 2.99254812e-03 -1.61505206e+01] [ 6.64192610e-03 -1.72117632e-04 9.99977927e-01 -8.64966085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.19538475 meters 0.058632238367760665 Centerline is valid? [True, True] Translation: X:60.86, Y:-16.16, Z:-0.87 [[ 9.04026707e-01 4.27438814e-01 -5.63670262e-03 6.08581082e+01] [-4.27429368e-01 9.04044265e-01 2.84644182e-03 -1.61641350e+01] [ 6.31250840e-03 -1.63967187e-04 9.99980062e-01 -8.66162513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.22538475 meters 0.05853067502582651 Centerline is valid? [True, True] Translation: X:60.89, Y:-16.17, Z:-0.87 [[ 9.02690032e-01 4.30279052e-01 -3.26238514e-03 6.08875855e+01] [-4.30275902e-01 9.02695923e-01 1.64855247e-03 -1.61741653e+01] [ 3.65427936e-03 -8.44061725e-05 9.99993320e-01 -8.66311517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.25538475 meters 0.05812909542769557 Centerline is valid? [True, True] Translation: X:60.92, Y:-16.19, Z:-0.87 [[ 9.01838608e-01 4.32064763e-01 -2.67677357e-03 6.09180990e+01] [-4.32062643e-01 9.01842578e-01 1.35504674e-03 -1.61852348e+01] [ 2.99949633e-03 -6.54996035e-05 9.99995499e-01 -8.66015440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.28538475 meters 0.057728544195141 Centerline is valid? [True, True] Translation: X:60.95, Y:-16.19, Z:-0.86 [[ 8.99906296e-01 4.36080697e-01 -1.51150535e-03 6.09499347e+01] [-4.36080029e-01 8.99907565e-01 7.63873457e-04 -1.61929621e+01] [ 1.69332556e-03 -2.82772377e-05 9.99998566e-01 -8.64597107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.31538475 meters 0.05756638687570872 Centerline is valid? [True, True] Translation: X:60.98, Y:-16.20, Z:-0.86 [[ 8.98787053e-01 4.38383910e-01 -1.17489127e-03 6.09794213e+01] [-4.38383504e-01 8.98787821e-01 5.97199491e-04 -1.62038415e+01] [ 1.31778061e-03 -2.17022187e-05 9.99999131e-01 -8.64664240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.34538475 meters 0.05714290060828563 Centerline is valid? [True, True] Translation: X:61.01, Y:-16.21, Z:-0.86 [[ 8.96240866e-01 4.43567696e-01 9.85407901e-05 6.10106916e+01] [-4.43567694e-01 8.96240871e-01 -4.60786787e-05 -1.62111368e+01] [-1.08755297e-04 -2.41191611e-06 9.99999994e-01 -8.64385528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.37538475 meters 0.056981857226203796 Centerline is valid? [True, True] Translation: X:61.04, Y:-16.22, Z:-0.86 [[ 8.94843248e-01 4.46380167e-01 5.55827531e-04 6.10407229e+01] [-4.46380081e-01 8.94843420e-01 -2.77115279e-04 -1.62219028e+01] [-6.21077373e-04 -1.35601962e-07 9.99999807e-01 -8.64148004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.40538475 meters 0.05693268246189449 Centerline is valid? [True, True] Translation: X:61.07, Y:-16.23, Z:-0.86 [[ 8.93729737e-01 4.48604039e-01 1.25407717e-03 6.10708619e+01] [-4.48603596e-01 8.93730617e-01 -6.30546379e-04 -1.62327121e+01] [-1.40367282e-03 9.54520784e-07 9.99999015e-01 -8.64141727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.43538475 meters 0.05717104632270215 Centerline is valid? [True, True] Translation: X:61.10, Y:-16.24, Z:-0.87 [[ 8.92061513e-01 4.51908571e-01 2.21371002e-03 6.11009373e+01] [-4.51907191e-01 8.92064260e-01 -1.11715080e-03 -1.62421642e+01] [-2.47962161e-03 -3.82424651e-06 9.99996926e-01 -8.65749600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.46538475 meters 0.05729159127100497 Centerline is valid? [True, True] Translation: X:61.13, Y:-16.26, Z:-0.87 [[ 8.92034777e-01 4.51962787e-01 1.89640421e-03 6.11305041e+01] [-4.51961775e-01 8.92036793e-01 -9.56391059e-04 -1.62571993e+01] [-2.12391550e-03 -3.96812735e-06 9.99997744e-01 -8.66182903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.49538475 meters 0.05756878259703326 Centerline is valid? [True, True] Translation: X:61.16, Y:-16.27, Z:-0.87 [[ 8.92512279e-01 4.51020829e-01 1.42945984e-03 6.11595009e+01] [-4.51020254e-01 8.92513424e-01 -7.20200549e-04 -1.62731622e+01] [-1.60063754e-03 -1.92750386e-06 9.99998719e-01 -8.67228028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.52538475 meters 0.05770547589521127 Centerline is valid? [True, True] Translation: X:61.19, Y:-16.29, Z:-0.87 [[ 8.92957262e-01 4.50141383e-01 -2.51631293e-04 6.11861536e+01] [-4.50141364e-01 8.92957297e-01 1.30850424e-04 -1.62880355e+01] [ 2.83597190e-04 -3.57418314e-06 9.99999960e-01 -8.70415313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.55538475 meters 0.058041599119033054 Centerline is valid? [True, True] Translation: X:61.21, Y:-16.31, Z:-0.87 [[ 8.94574565e-01 4.46918649e-01 -2.62879783e-04 6.12129295e+01] [-4.46918628e-01 8.94574603e-01 1.37502021e-04 -1.63060030e+01] [ 2.96617795e-04 -5.51993892e-06 9.99999956e-01 -8.70027712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.58538475 meters 0.058041599119033054 Centerline is valid? [True, True] Translation: X:61.24, Y:-16.32, Z:-0.87 [[ 8.94442028e-01 4.47183842e-01 -2.62606116e-04 6.12417280e+01] [-4.47183821e-01 8.94442067e-01 1.38039708e-04 -1.63207878e+01] [ 2.96615084e-04 -6.03530982e-06 9.99999956e-01 -8.70479814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.61538475 meters 0.058006251867265914 Centerline is valid? [True, True] Translation: X:61.27, Y:-16.34, Z:-0.87 [[ 8.95205533e-01 4.45653483e-01 1.65978749e-04 6.12702925e+01] [-4.45653476e-01 8.95205548e-01 -7.95871943e-05 -1.63377697e+01] [-1.84053407e-04 -2.72210954e-06 9.99999983e-01 -8.69688930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.64538475 meters 0.05830948764101392 Centerline is valid? [True, True] Translation: X:61.30, Y:-16.35, Z:-0.87 [[ 8.95932400e-01 4.44190367e-01 -2.30077272e-04 6.12961985e+01] [-4.44190350e-01 8.95932429e-01 1.20911686e-04 -1.63545339e+01] [ 2.59841495e-04 -6.13059231e-06 9.99999966e-01 -8.72235283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.67538475 meters 0.058279163980470707 Centerline is valid? [True, True] Translation: X:61.33, Y:-16.37, Z:-0.87 [[ 8.96219081e-01 4.43611712e-01 -8.64626558e-05 6.13253779e+01] [-4.43611710e-01 8.96219085e-01 4.87737633e-05 -1.63692697e+01] [ 9.91260947e-05 -5.35613075e-06 9.99999995e-01 -8.72882491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.70538475 meters 0.058577866500074405 Centerline is valid? [True, True] Translation: X:61.35, Y:-16.39, Z:-0.87 [[ 8.96415022e-01 4.43214353e-01 1.07035964e-03 6.13536917e+01] [-4.43214020e-01 8.96415661e-01 -5.43580030e-04 -1.63855819e+01] [-1.20040961e-03 1.28749075e-05 9.99999279e-01 -8.73460849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.73538475 meters 0.05846396510849314 Centerline is valid? [True, True] Translation: X:61.38, Y:-16.40, Z:-0.87 [[ 8.96319152e-01 4.43405428e-01 1.89831828e-03 6.13810624e+01] [-4.43404382e-01 8.96321162e-01 -9.63449928e-04 -1.64003299e+01] [-2.12870178e-03 2.18359775e-05 9.99997734e-01 -8.73671145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.76538475 meters 0.05822620264286563 Centerline is valid? [True, True] Translation: X:61.41, Y:-16.41, Z:-0.87 [[ 8.95831166e-01 4.44388898e-01 2.24268216e-03 6.14096242e+01] [-4.44387434e-01 8.95833973e-01 -1.14085648e-03 -1.64137725e+01] [-2.51605482e-03 2.53950190e-05 9.99996834e-01 -8.73837791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.795384750000004 meters 0.058165174853740106 Centerline is valid? [True, True] Translation: X:61.44, Y:-16.43, Z:-0.87 [[ 8.95142401e-01 4.45774115e-01 2.34949678e-03 6.14380753e+01] [-4.45772516e-01 8.95145484e-01 -1.19434930e-03 -1.64273704e+01] [-2.63555143e-03 2.17716045e-05 9.99996527e-01 -8.74354575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.82538475 meters 0.058102607197877916 Centerline is valid? [True, True] Translation: X:61.47, Y:-16.44, Z:-0.87 [[ 8.94312919e-01 4.47433423e-01 2.78126749e-03 6.14681457e+01] [-4.47431179e-01 8.94317243e-01 -1.41746159e-03 -1.64403078e+01] [-3.12155517e-03 2.32284237e-05 9.99995128e-01 -8.73298544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.85538475 meters 0.058169209974728256 Centerline is valid? [True, True] Translation: X:61.50, Y:-16.46, Z:-0.87 [[ 8.93870231e-01 4.48322779e-01 1.64204356e-03 6.14965382e+01] [-4.48322004e-01 8.93871739e-01 -8.33825143e-04 -1.64552358e+01] [-1.84159914e-03 9.16721285e-06 9.99998304e-01 -8.74626214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.88538475 meters 0.058196872488598915 Centerline is valid? [True, True] Translation: X:61.52, Y:-16.47, Z:-0.87 [[ 8.93295538e-01 4.49464902e-01 2.09353876e-03 6.15249506e+01] [-4.49463639e-01 8.93297992e-01 -1.06580768e-03 -1.64686454e+01] [-2.34919711e-03 1.11117028e-05 9.99997241e-01 -8.74846463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.91538475 meters 0.05838537711526369 Centerline is valid? [True, True] Translation: X:61.56, Y:-16.48, Z:-0.88 [[ 8.92000663e-01 4.52032074e-01 1.34941611e-03 6.15559431e+01] [-4.52031554e-01 8.92001684e-01 -6.85268011e-04 -1.64801608e+01] [-1.51344456e-03 1.28086074e-06 9.99998855e-01 -8.76598645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.94538475 meters 0.05844332072298024 Centerline is valid? [True, True] Translation: X:61.59, Y:-16.49, Z:-0.88 [[ 8.91100415e-01 4.53803252e-01 1.63081425e-03 6.15857913e+01] [-4.53802494e-01 8.91101907e-01 -8.29635535e-04 -1.64944950e+01] [-1.82971299e-03 -7.79004460e-07 9.99998326e-01 -8.75222401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.97538475 meters 0.05852031822060812 Centerline is valid? [True, True] Translation: X:61.61, Y:-16.51, Z:-0.88 [[ 8.89809652e-01 4.56331852e-01 1.56982553e-04 6.16145895e+01] [-4.56331845e-01 8.89809666e-01 -7.62317463e-05 -1.65086065e+01] [-1.74471567e-04 -3.80439468e-06 9.99999985e-01 -8.75656263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.00538474999999 meters 0.05855536461252922 Centerline is valid? [True, True] Translation: X:61.64, Y:-16.52, Z:-0.88 [[ 8.89759968e-01 4.56428121e-01 -7.54494379e-04 6.16423398e+01] [-4.56427956e-01 8.89760288e-01 3.88657957e-04 -1.65229320e+01] [ 8.48713557e-04 -1.43996437e-06 9.99999640e-01 -8.78303415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.03538474999999 meters 0.05873118209945539 Centerline is valid? [True, True] Translation: X:61.67, Y:-16.54, Z:-0.88 [[ 8.91951756e-01 4.52129469e-01 -1.00370062e-03 6.16680838e+01] [-4.52129172e-01 8.91952321e-01 5.18365965e-04 -1.65420430e+01] [ 1.12962163e-03 -8.55510116e-06 9.99999362e-01 -8.79428760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.06538474999999 meters 0.05886588289702928 Centerline is valid? [True, True] Translation: X:61.70, Y:-16.56, Z:-0.88 [[ 8.93113487e-01 4.49829888e-01 -1.17099482e-03 6.16956854e+01] [-4.49829482e-01 8.93114254e-01 6.04643422e-04 -1.65593756e+01] [ 1.31781885e-03 -1.32672012e-05 9.99999132e-01 -8.79479413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.09538475 meters 0.05944565132684471 Centerline is valid? [True, True] Translation: X:61.72, Y:-16.58, Z:-0.88 [[ 8.96208639e-01 4.43632286e-01 -6.85332501e-04 6.17197690e+01] [-4.43632144e-01 8.96208901e-01 3.55484096e-04 -1.65803632e+01] [ 7.71905309e-04 -1.45523914e-05 9.99999702e-01 -8.80751245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.12538475 meters 0.05983082193212025 Centerline is valid? [True, True] Translation: X:61.75, Y:-16.60, Z:-0.88 [[ 8.97699451e-01 4.40608325e-01 -2.15261454e-05 6.17472699e+01] [-4.40608325e-01 8.97699451e-01 1.52879810e-05 -1.65978151e+01] [ 2.60600204e-05 -4.23941324e-06 1.00000000e+00 -8.81046468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.15538475 meters 0.06087465276341007 Centerline is valid? [True, True] Translation: X:61.77, Y:-16.62, Z:-0.88 [[ 9.00512451e-01 4.34826251e-01 1.85904927e-03 6.17707850e+01] [-4.34825214e-01 9.00514369e-01 -9.51195213e-04 -1.66197601e+01] [-2.08770523e-03 4.82016375e-05 9.99997820e-01 -8.81537476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.18538475 meters 0.061312152625279726 Centerline is valid? [True, True] Translation: X:61.80, Y:-16.64, Z:-0.88 [[ 9.01716700e-01 4.32324626e-01 1.55275950e-03 6.17984027e+01] [-4.32323897e-01 9.01718035e-01 -7.95705525e-04 -1.66364184e+01] [-1.74415434e-03 4.62059211e-05 9.99998478e-01 -8.82063702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.21538475 meters 0.061631698658238455 Centerline is valid? [True, True] Translation: X:61.83, Y:-16.65, Z:-0.88 [[ 9.04109815e-01 4.27294175e-01 2.26498204e-03 6.18260872e+01] [-4.27292606e-01 9.04112648e-01 -1.16096585e-03 -1.66513808e+01] [-2.54387286e-03 8.18305414e-05 9.99996761e-01 -8.83683827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.24538475 meters 0.06326451181648765 Centerline is valid? [True, True] Translation: X:61.85, Y:-16.67, Z:-0.88 [[ 9.05559822e-01 4.24205459e-01 3.33709535e-03 6.18508817e+01] [-4.24202021e-01 9.05565961e-01 -1.71328905e-03 -1.66710325e+01] [-3.74874653e-03 1.35883136e-04 9.99992964e-01 -8.84895812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27538474999999 meters 0.06396619177180035 Centerline is valid? [True, True] Translation: X:61.88, Y:-16.69, Z:-0.88 [[ 9.09205598e-01 4.16331675e-01 3.62174383e-03 6.18785737e+01] [-4.16327555e-01 9.09212793e-01 -1.86122092e-03 -1.66867918e+01] [-4.06782105e-03 1.84400725e-04 9.99991709e-01 -8.84052966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.30538474999999 meters 0.06499491490367842 Centerline is valid? [True, True] Translation: X:61.91, Y:-16.70, Z:-0.88 [[ 9.11140441e-01 4.12073313e-01 4.32217640e-03 6.19064914e+01] [-4.12067382e-01 9.11150660e-01 -2.22451561e-03 -1.67026197e+01] [-4.85481740e-03 2.45818219e-04 9.99988185e-01 -8.83623322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33538474999999 meters 0.06617969610531851 Centerline is valid? [True, True] Translation: X:61.94, Y:-16.72, Z:-0.88 [[ 9.14776978e-01 4.03921675e-01 5.51002798e-03 6.19352176e+01] [-4.03911885e-01 9.14793498e-01 -2.83640276e-03 -1.67160668e+01] [-6.18622233e-03 3.69110155e-04 9.99980797e-01 -8.84486348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.36538474999999 meters 0.06778462864244969 Centerline is valid? [True, True] Translation: X:61.96, Y:-16.73, Z:-0.88 [[ 9.15960576e-01 4.01240852e-01 4.69052854e-03 6.19613903e+01] [-4.01233725e-01 9.15972527e-01 -2.41408762e-03 -1.67316496e+01] [-5.26502585e-03 3.29210845e-04 9.99986085e-01 -8.84530256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.39538474999999 meters 0.06765181591180537 Centerline is valid? [True, True] Translation: X:61.99, Y:-16.74, Z:-0.88 [[ 9.17606024e-01 3.97470071e-01 4.08983198e-03 6.19932312e+01] [-3.97464616e-01 9.17615088e-01 -2.10482919e-03 -1.67393074e+01] [-4.58949814e-03 3.05840454e-04 9.99989421e-01 -8.83602604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.42538474999999 meters 0.06775264854689368 Centerline is valid? [True, True] Translation: X:62.02, Y:-16.75, Z:-0.88 [[ 9.17927613e-01 3.96741694e-01 2.21937152e-03 6.20234203e+01] [-3.96740088e-01 9.17930281e-01 -1.14106613e-03 -1.67494360e+01] [-2.48993684e-03 1.66902454e-04 9.99996886e-01 -8.83797490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.45538475 meters 0.06885936950538815 Centerline is valid? [True, True] Translation: X:62.06, Y:-16.76, Z:-0.89 [[ 9.18468825e-01 3.95491436e-01 1.24152379e-03 6.20554550e+01] [-3.95490934e-01 9.18469660e-01 -6.37031723e-04 -1.67557370e+01] [-1.39224253e-03 9.40823744e-05 9.99999026e-01 -8.85009313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.48538475 meters 0.06764210513571806 Centerline is valid? [True, True] Translation: X:62.09, Y:-16.76, Z:-0.88 [[ 9.18658093e-01 3.95053363e-01 -3.84005626e-04 6.20875303e+01] [-3.95053313e-01 9.18658173e-01 2.02275328e-04 -1.67623181e+01] [ 4.32679456e-04 -3.41191726e-05 9.99999906e-01 -8.83879599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.51538475 meters 0.06807056554921952 Centerline is valid? [True, True] Translation: X:62.12, Y:-16.77, Z:-0.88 [[ 9.18876370e-01 3.94543406e-01 -1.31070290e-03 6.21181462e+01] [-3.94542833e-01 9.18877298e-01 6.81330295e-04 -1.67716759e+01] [ 1.47318951e-03 -1.08929874e-04 9.99998909e-01 -8.83925980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.54538475 meters 0.06937480785168595 Centerline is valid? [True, True] Translation: X:62.15, Y:-16.78, Z:-0.88 [[ 9.19901045e-01 3.92103398e-01 -6.08207578e-03 6.21500786e+01] [-3.92091110e-01 9.19921011e-01 3.14573678e-03 -1.67758521e+01] [ 6.82848338e-03 -5.09038714e-04 9.99976556e-01 -8.83411419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.57538475 meters 0.06919067214314659 Centerline is valid? [True, True] Translation: X:62.18, Y:-16.78, Z:-0.88 [[ 9.20659671e-01 3.90236380e-01 -1.00667335e-02 6.21839910e+01] [-3.90202558e-01 9.20714295e-01 5.21070296e-03 -1.67779501e+01] [ 1.13019913e-02 -8.69218903e-04 9.99935753e-01 -8.82634856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.60538475 meters 0.07052496130784897 Centerline is valid? [True, True] Translation: X:62.21, Y:-16.79, Z:-0.88 [[ 9.20747857e-01 3.89984312e-01 -1.16456385e-02 6.22133932e+01] [-3.89938984e-01 9.20820945e-01 6.03129427e-03 -1.67883325e+01] [ 1.30756579e-02 -1.01221285e-03 9.99913998e-01 -8.82214082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.63538475 meters 0.07025888006894374 Centerline is valid? [True, True] Translation: X:62.25, Y:-16.79, Z:-0.88 [[ 9.20803916e-01 3.89723889e-01 -1.53439755e-02 6.22485971e+01] [-3.89645118e-01 9.20930775e-01 7.94920128e-03 -1.67877733e+01] [ 1.72287329e-02 -1.34095052e-03 9.99850675e-01 -8.82289234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.66538474999999 meters 0.07151601673186443 Centerline is valid? [True, True] Translation: X:62.28, Y:-16.80, Z:-0.88 [[ 9.20311001e-01 3.90761556e-01 -1.82501187e-02 6.22783853e+01] [-3.90650207e-01 9.20490586e-01 9.46022938e-03 -1.67969156e+01] [ 2.04957564e-02 -1.57694052e-03 9.99788696e-01 -8.83418469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69538474999999 meters 0.06844160492575611 Centerline is valid? [True, True] Translation: X:62.32, Y:-16.79, Z:-0.88 [[ 9.18146583e-01 3.95552212e-01 -2.33516678e-02 6.23170973e+01] [-3.95371490e-01 9.18441569e-01 1.21024098e-02 -1.67909901e+01] [ 2.62342773e-02 -1.87920248e-03 9.99654056e-01 -8.80272416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.72538474999999 meters 0.06764523736892093 Centerline is valid? [True, True] Translation: X:62.35, Y:-16.80, Z:-0.88 [[ 9.16707987e-01 3.98731631e-01 -2.56817584e-02 6.23498903e+01] [-3.98514247e-01 9.17065546e-01 1.33109036e-02 -1.67952652e+01] [ 2.88593341e-02 -1.96766504e-03 9.99581546e-01 -8.78688295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.75538474999999 meters 0.06702109206863942 Centerline is valid? [True, True] Translation: X:62.39, Y:-16.79, Z:-0.88 [[ 9.12673391e-01 4.07583955e-01 -3.00433392e-02 6.23866276e+01] [-4.07291197e-01 9.13165603e-01 1.55711761e-02 -1.67900728e+01] [ 3.37811055e-02 -1.97501049e-03 9.99427304e-01 -8.77683068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.78538474999999 meters 0.06452138164411318 Centerline is valid? [True, True] Translation: X:62.42, Y:-16.79, Z:-0.87 [[ 9.10279605e-01 4.12802749e-01 -3.13836055e-02 6.24220103e+01] [-4.12486307e-01 9.10818545e-01 1.62672903e-02 -1.67902585e+01] [ 3.52999521e-02 -1.86247504e-03 9.99375027e-01 -8.74710776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.81538474999999 meters 0.06268602963465311 Centerline is valid? [True, True] Translation: X:62.46, Y:-16.78, Z:-0.88 [[ 9.05080046e-01 4.24007159e-01 -3.23734427e-02 6.24593127e+01] [-4.23677540e-01 9.05657641e-01 1.67803009e-02 -1.67841674e+01] [ 3.64342235e-02 -1.47161490e-03 9.99334970e-01 -8.75464169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.84538475 meters 0.062145128599053974 Centerline is valid? [True, True] Translation: X:62.49, Y:-16.79, Z:-0.88 [[ 9.02301072e-01 4.29778934e-01 -3.38059660e-02 6.24912366e+01] [-4.29423434e-01 9.02933214e-01 1.75250098e-02 -1.67891149e+01] [ 3.80564095e-02 -1.29576112e-03 9.99274752e-01 -8.79243816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.87538475 meters 0.06034342851412099 Centerline is valid? [True, True] Translation: X:62.53, Y:-16.79, Z:-0.88 [[ 8.97820072e-01 4.38617819e-01 -3.91602877e-02 6.25296311e+01] [-4.38148297e-01 8.98673040e-01 2.03183677e-02 -1.67852899e+01] [ 4.41042930e-02 -1.08422498e-03 9.99026344e-01 -8.79148963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.90538475 meters 0.06000386746344965 Centerline is valid? [True, True] Translation: X:62.56, Y:-16.79, Z:-0.88 [[ 8.95722171e-01 4.42813146e-01 -3.99788649e-02 6.25614215e+01] [-4.42327304e-01 8.96613457e-01 2.07572883e-02 -1.67940186e+01] [ 4.50371883e-02 -9.09019806e-04 9.98984897e-01 -8.80699917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.93538475 meters 0.06004850397464234 Centerline is valid? [True, True] Translation: X:62.59, Y:-16.80, Z:-0.89 [[ 8.92369188e-01 4.49372553e-01 -4.17317872e-02 6.25947917e+01] [-4.48849534e-01 8.93344238e-01 2.16833872e-02 -1.67984102e+01] [ 4.70247707e-02 -6.18293342e-04 9.98893532e-01 -8.86501342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.96538475 meters 0.059613251505972784 Centerline is valid? [True, True] Translation: X:62.63, Y:-16.81, Z:-0.89 [[ 8.90676291e-01 4.52827045e-01 -4.05390228e-02 6.26256143e+01] [-4.52337112e-01 8.91598278e-01 2.10629591e-02 -1.68076519e+01] [ 4.56824005e-02 -4.22973801e-04 9.98955925e-01 -8.88169674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.99538475 meters 0.05907458544972953 Centerline is valid? [True, True] Translation: X:62.66, Y:-16.81, Z:-0.89 [[ 8.86936803e-01 4.60135943e-01 -4.02246396e-02 6.26589494e+01] [-4.59660817e-01 8.87848473e-01 2.09050768e-02 -1.68142119e+01] [ 4.53325621e-02 -5.17912893e-05 9.98971950e-01 -8.89455267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.02538474999999 meters 0.05899168490841445 Centerline is valid? [True, True] Translation: X:62.69, Y:-16.83, Z:-0.89 [[ 8.83591017e-01 4.66435283e-01 -4.12921374e-02 6.26896399e+01] [-4.65941268e-01 8.84555284e-01 2.14635465e-02 -1.68250155e+01] [ 4.65365338e-02 2.74713986e-04 9.98916551e-01 -8.90442624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05538474999999 meters 0.05866089791784081 Centerline is valid? [True, True] Translation: X:62.72, Y:-16.84, Z:-0.89 [[ 8.82096908e-01 4.69153152e-01 -4.24307190e-02 6.27177904e+01] [-4.68633833e-01 8.83116724e-01 2.20722058e-02 -1.68398255e+01] [ 4.78265225e-02 4.14645937e-04 9.98855571e-01 -8.86337522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.08538474999999 meters 0.05856139336206886 Centerline is valid? [True, True] Translation: X:62.74, Y:-16.86, Z:-0.89 [[ 8.81133237e-01 4.71015659e-01 -4.18146803e-02 6.27444633e+01] [-4.70513086e-01 8.82124706e-01 2.17586654e-02 -1.68557868e+01] [ 4.71344347e-02 5.02070944e-04 9.98888429e-01 -8.87464705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.11538474999999 meters 0.05869587296127107 Centerline is valid? [True, True] Translation: X:62.77, Y:-16.87, Z:-0.89 [[ 8.80399434e-01 4.72381165e-01 -4.18672970e-02 6.27712853e+01] [-4.71878155e-01 8.81394190e-01 2.18011065e-02 -1.68721941e+01] [ 4.72000244e-02 5.62581049e-04 9.98885299e-01 -8.88818452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.14538474999999 meters 0.05818869769036768 Centerline is valid? [True, True] Translation: X:62.80, Y:-16.89, Z:-0.88 [[ 8.79255238e-01 4.74638466e-01 -4.03553356e-02 6.27972468e+01] [-4.74173227e-01 8.80180607e-01 2.10202490e-02 -1.68930646e+01] [ 4.54970025e-02 6.53255669e-04 9.98964262e-01 -8.84598349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.17538474999999 meters 0.058568956675017776 Centerline is valid? [True, True] Translation: X:62.82, Y:-16.91, Z:-0.89 [[ 8.78514003e-01 4.76074229e-01 -3.95787170e-02 6.28229550e+01] [-4.75627528e-01 8.79404820e-01 2.06304913e-02 -1.69100532e+01] [ 4.46273598e-02 7.00551821e-04 9.99003457e-01 -8.87627344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.20538475 meters 0.05848999890368074 Centerline is valid? [True, True] Translation: X:62.85, Y:-16.93, Z:-0.89 [[ 8.77977786e-01 4.77214129e-01 -3.77051961e-02 6.28491907e+01] [-4.76809792e-01 8.78786750e-01 1.96537441e-02 -1.69281601e+01] [ 4.25138711e-02 7.22655983e-04 9.99095615e-01 -8.87210678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.23538475 meters 0.058550181093010314 Centerline is valid? [True, True] Translation: X:62.87, Y:-16.95, Z:-0.89 [[ 8.76025071e-01 4.80908974e-01 -3.61473873e-02 6.28745615e+01] [-4.80539846e-01 8.76770116e-01 1.88579014e-02 -1.69486025e+01] [ 4.07618829e-02 8.50265525e-04 9.99168527e-01 -8.86730895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.26538475 meters 0.059136315668684165 Centerline is valid? [True, True] Translation: X:62.90, Y:-16.97, Z:-0.89 [[ 8.73226142e-01 4.86161599e-01 -3.35112770e-02 6.28998369e+01] [-4.85847759e-01 8.73868349e-01 1.74946918e-02 -1.69686653e+01] [ 3.77896916e-02 1.00455661e-03 9.99285210e-01 -8.86624844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.29538475 meters 0.05971394524245754 Centerline is valid? [True, True] Translation: X:62.93, Y:-16.99, Z:-0.89 [[ 8.71778952e-01 4.88865215e-01 -3.18160397e-02 6.29262027e+01] [-4.88583724e-01 8.72358693e-01 1.66209663e-02 -1.69867151e+01] [ 3.58804111e-02 1.05499062e-03 9.99355534e-01 -8.87133359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.32538475 meters 0.06049912975030783 Centerline is valid? [True, True] Translation: X:62.95, Y:-17.01, Z:-0.89 [[ 8.69249858e-01 4.93517128e-01 -2.90779621e-02 6.29509594e+01] [-4.93284187e-01 8.69735345e-01 1.52032645e-02 -1.70105851e+01] [ 3.27932029e-02 1.12826336e-03 9.99461521e-01 -8.87587405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.35538475 meters 0.06079406004729419 Centerline is valid? [True, True] Translation: X:62.98, Y:-17.03, Z:-0.89 [[ 8.68307239e-01 4.95253400e-01 -2.76876866e-02 6.29765757e+01] [-4.95042797e-01 8.68747832e-01 1.44856246e-02 -1.70305397e+01] [ 3.12276726e-02 1.12861708e-03 9.99511660e-01 -8.88881805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.38538475 meters 0.06187845080737602 Centerline is valid? [True, True] Translation: X:63.00, Y:-17.06, Z:-0.89 [[ 8.66688751e-01 4.98154408e-01 -2.63210145e-02 6.29982579e+01] [-4.97965171e-01 8.67087556e-01 1.37789561e-02 -1.70553172e+01] [ 2.96866718e-02 1.16488226e-03 9.99558575e-01 -8.92568172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41538474999999 meters 0.062346520992686866 Centerline is valid? [True, True] Translation: X:63.02, Y:-17.08, Z:-0.89 [[ 8.66186240e-01 4.99057616e-01 -2.57467052e-02 6.30246398e+01] [-4.98876622e-01 8.66568030e-01 1.34894854e-02 -1.70766637e+01] [ 2.90433021e-02 1.16002267e-03 9.99577481e-01 -8.93177600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.44538474999999 meters 0.062346520992686866 Centerline is valid? [True, True] Translation: X:63.05, Y:-17.09, Z:-0.89 [[ 8.66031464e-01 4.99326372e-01 -2.57425225e-02 6.30533310e+01] [-4.99145260e-01 8.66413197e-01 1.34974673e-02 -1.70918536e+01] [ 2.90433026e-02 1.16002674e-03 9.99577481e-01 -8.93630685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47538474999999 meters 0.06256453570918587 Centerline is valid? [True, True] Translation: X:63.07, Y:-17.12, Z:-0.90 [[ 8.65885693e-01 4.99643334e-01 -2.44643716e-02 6.30743818e+01] [-4.99479817e-01 8.66230516e-01 1.28299072e-02 -1.71177815e+01] [ 2.76021628e-02 1.11022675e-03 9.99618371e-01 -8.96073981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.50538474999999 meters 0.06285700548272098 Centerline is valid? [True, True] Translation: X:63.10, Y:-17.14, Z:-0.90 [[ 8.66249049e-01 4.99069497e-01 -2.32856932e-02 6.30993689e+01] [-4.98921030e-01 8.66561346e-01 1.22163959e-02 -1.71370833e+01] [ 2.62753122e-02 1.03528069e-03 9.99654208e-01 -8.98685661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53538474999999 meters 0.06174049817598217 Centerline is valid? [True, True] Translation: X:63.12, Y:-17.17, Z:-0.90 [[ 8.68014647e-01 4.95957353e-01 -2.40182626e-02 6.31180119e+01] [-4.95798199e-01 8.68346338e-01 1.26009366e-02 -1.71700285e+01] [ 2.71056975e-02 9.70413824e-04 9.99632102e-01 -8.98293183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.56538474999999 meters 0.06129797753275975 Centerline is valid? [True, True] Translation: X:63.14, Y:-17.19, Z:-0.90 [[ 8.69401666e-01 4.93531491e-01 -2.38204047e-02 6.31402804e+01] [-4.93374038e-01 8.69727475e-01 1.24971078e-02 -1.71929649e+01] [ 2.68849767e-02 8.87362919e-04 9.99638140e-01 -8.99657900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.59538475 meters 0.0597328700399717 Centerline is valid? [True, True] Translation: X:63.16, Y:-17.23, Z:-0.90 [[ 8.72353081e-01 4.88329561e-01 -2.31158395e-02 6.31580196e+01] [-4.88179436e-01 8.72659007e-01 1.21282945e-02 -1.72257837e+01] [ 2.60948503e-02 7.04522362e-04 9.99659223e-01 -8.97264024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.62538475 meters 0.05914347845870543 Centerline is valid? [True, True] Translation: X:63.18, Y:-17.25, Z:-0.90 [[ 8.74253788e-01 4.84970213e-01 -2.20046801e-02 6.31815782e+01] [-4.84833077e-01 8.74530481e-01 1.15466173e-02 -1.72485766e+01] [ 2.48435289e-02 5.73922834e-04 9.99691187e-01 -8.98081675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.65538475 meters 0.05821128332673871 Centerline is valid? [True, True] Translation: X:63.20, Y:-17.28, Z:-0.90 [[ 8.77589882e-01 4.78996018e-01 -1.99703456e-02 6.32000478e+01] [-4.78881448e-01 8.77816998e-01 1.04821968e-02 -1.72794571e+01] [ 2.25512394e-02 3.64358161e-04 9.99745622e-01 -8.96998048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.68538475 meters 0.05796898725649995 Centerline is valid? [True, True] Translation: X:63.22, Y:-17.30, Z:-0.90 [[ 8.78586559e-01 4.77206010e-01 -1.89758337e-02 6.32246168e+01] [-4.77101952e-01 8.78791407e-01 9.96942093e-03 -1.73022003e+01] [ 2.14332672e-02 2.94408062e-04 9.99770238e-01 -8.97007931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.71538475 meters 0.05744749225682994 Centerline is valid? [True, True] Translation: X:63.25, Y:-17.33, Z:-0.90 [[ 8.80205731e-01 4.74280852e-01 -1.71914187e-02 6.32452190e+01] [-4.74194878e-01 8.80373575e-01 9.03244607e-03 -1.73290892e+01] [ 1.94187869e-02 2.01671878e-04 9.99811417e-01 -8.96426388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.74538475 meters 0.05742727542258237 Centerline is valid? [True, True] Translation: X:63.27, Y:-17.35, Z:-0.90 [[ 8.80504263e-01 4.73766272e-01 -1.60549692e-02 6.32704726e+01] [-4.73691064e-01 8.80650606e-01 8.44306326e-03 -1.73490036e+01] [ 1.81388569e-02 1.70942237e-04 9.99835463e-01 -8.96334884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77538474999999 meters 0.05731249436379648 Centerline is valid? [True, True] Translation: X:63.29, Y:-17.37, Z:-0.89 [[ 8.80777759e-01 4.73338909e-01 -1.34468366e-02 6.32931795e+01] [-4.73286101e-01 8.80880389e-01 7.07156555e-03 -1.73715652e+01] [ 1.51923017e-02 1.35723189e-04 9.99884581e-01 -8.94944695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.80538474999999 meters 0.05721481129610908 Centerline is valid? [True, True] Translation: X:63.32, Y:-17.39, Z:-0.90 [[ 8.80397692e-01 4.74067668e-01 -1.26392425e-02 6.33184833e+01] [-4.74020996e-01 8.80488403e-01 6.65338836e-03 -1.73913108e+01] [ 1.42828628e-02 1.33638569e-04 9.99897986e-01 -8.96285469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83538474999999 meters 0.05742336562592185 Centerline is valid? [True, True] Translation: X:63.35, Y:-17.41, Z:-0.90 [[ 8.79932810e-01 4.74916782e-01 -1.31263549e-02 6.33453670e+01] [-4.74866485e-01 8.80030697e-01 6.91328007e-03 -1.74079849e+01] [ 1.48348280e-02 1.50044068e-04 9.99889947e-01 -8.97456084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.86538474999999 meters 0.057543300774282345 Centerline is valid? [True, True] Translation: X:63.37, Y:-17.43, Z:-0.90 [[ 8.78969598e-01 4.76726630e-01 -1.20069199e-02 6.33710849e+01] [-4.76684655e-01 8.79051588e-01 6.32811630e-03 -1.74270515e+01] [ 1.35714835e-02 1.61292614e-04 9.99907890e-01 -8.97243084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.89538474999999 meters 0.05765127287441515 Centerline is valid? [True, True] Translation: X:63.40, Y:-17.45, Z:-0.90 [[ 8.78619365e-01 4.77381249e-01 -1.16255801e-02 6.33983609e+01] [-4.77341892e-01 8.78696260e-01 6.13203257e-03 -1.74451060e+01] [ 1.31426711e-02 1.61653840e-04 9.99913618e-01 -8.97187508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.92538474999999 meters 0.05761415956060051 Centerline is valid? [True, True] Translation: X:63.42, Y:-17.47, Z:-0.89 [[ 8.77895974e-01 4.78709278e-01 -1.16656263e-02 6.34237348e+01] [-4.78669719e-01 8.77973459e-01 6.15667085e-03 -1.74653619e+01] [ 1.31893657e-02 1.79065510e-04 9.99913000e-01 -8.94442340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.95538475 meters 0.05770887098089895 Centerline is valid? [True, True] Translation: X:63.45, Y:-17.48, Z:-0.90 [[ 8.77332123e-01 4.79742993e-01 -1.16192285e-02 6.34514381e+01] [-4.79703770e-01 8.77409041e-01 6.13743198e-03 -1.74831968e+01] [ 1.31392062e-02 1.89221508e-04 9.99913659e-01 -8.95078762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.98538475 meters 0.058282064611562316 Centerline is valid? [True, True] Translation: X:63.48, Y:-17.50, Z:-0.90 [[ 8.75840114e-01 4.82463802e-01 -1.15227945e-02 6.34779827e+01] [-4.82425469e-01 8.75915879e-01 6.08602769e-03 -1.74989080e+01] [ 1.30292868e-02 2.28502365e-04 9.99915089e-01 -8.98254324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.01538475 meters 0.058337266523633156 Centerline is valid? [True, True] Translation: X:63.51, Y:-17.51, Z:-0.90 [[ 8.74615415e-01 4.84696599e-01 -1.08204974e-02 6.35054918e+01] [-4.84662904e-01 8.74682313e-01 5.72018455e-03 -1.75144534e+01] [ 1.22370517e-02 2.41332123e-04 9.99925095e-01 -8.97897298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.04538475 meters 0.0591089681915744 Centerline is valid? [True, True] Translation: X:63.53, Y:-17.53, Z:-0.90 [[ 8.72816465e-01 4.87953216e-01 -9.64768694e-03 6.35333888e+01] [-4.87926623e-01 8.72869746e-01 5.10065855e-03 -1.75291018e+01] [ 1.09100568e-02 2.55424547e-04 9.99940451e-01 -8.99505010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.07538475 meters 0.059045928881374256 Centerline is valid? [True, True] Translation: X:63.56, Y:-17.55, Z:-0.90 [[ 8.71690119e-01 4.89954346e-01 -1.00536348e-02 6.35604656e+01] [-4.89925541e-01 8.71748046e-01 5.32055215e-03 -1.75468880e+01] [ 1.13710641e-02 2.87659724e-04 9.99935306e-01 -8.98202983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.10538475 meters 0.059557687763575805 Centerline is valid? [True, True] Translation: X:63.59, Y:-17.56, Z:-0.90 [[ 8.69826423e-01 4.93272167e-01 -9.19581003e-03 6.35876260e+01] [-4.93248222e-01 8.69874979e-01 4.86953478e-03 -1.75628659e+01] [ 1.04012110e-02 3.00166928e-04 9.99945861e-01 -8.99711543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.13538475 meters 0.06008308358115855 Centerline is valid? [True, True] Translation: X:63.62, Y:-17.58, Z:-0.90 [[ 8.68893943e-01 4.94912753e-01 -9.20232709e-03 6.36158365e+01] [-4.94888830e-01 8.68942614e-01 4.87638322e-03 -1.75787656e+01] [ 1.04096784e-02 3.17069047e-04 9.99945768e-01 -9.01840076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.16538474999999 meters 0.060510690162354906 Centerline is valid? [True, True] Translation: X:63.64, Y:-17.60, Z:-0.90 [[ 8.67691546e-01 4.96993706e-01 -1.04229631e-02 6.36422796e+01] [-4.96963195e-01 8.67754058e-01 5.52071140e-03 -1.75980631e+01] [ 1.17883273e-02 3.89554429e-04 9.99930439e-01 -9.02679820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19538474999999 meters 0.060672963355429425 Centerline is valid? [True, True] Translation: X:63.67, Y:-17.62, Z:-0.90 [[ 8.67318315e-01 4.97638412e-01 -1.07215877e-02 6.36700328e+01] [-4.97606097e-01 8.67384487e-01 5.68542939e-03 -1.76150424e+01] [ 1.21290269e-02 4.04050384e-04 9.99926359e-01 -9.03938147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.22538474999999 meters 0.06122111816593145 Centerline is valid? [True, True] Translation: X:63.70, Y:-17.63, Z:-0.91 [[ 8.66555302e-01 4.98986855e-01 -9.69671335e-03 6.36958739e+01] [-4.98960474e-01 8.66609470e-01 5.14505712e-03 -1.76320808e+01] [ 1.09705795e-02 3.79800155e-04 9.99939749e-01 -9.05387599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.25538474999999 meters 0.0611663811333696 Centerline is valid? [True, True] Translation: X:63.72, Y:-17.65, Z:-0.91 [[ 8.66516984e-01 4.99087047e-01 -7.77398429e-03 6.37238072e+01] [-4.99070101e-01 8.66551802e-01 4.12416794e-03 -1.76491831e+01] [ 8.79487890e-03 3.06101559e-04 9.99961277e-01 -9.05557475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.28538474999999 meters 0.06131467824541873 Centerline is valid? [True, True] Translation: X:63.75, Y:-17.67, Z:-0.91 [[ 8.66392747e-01 4.99320384e-01 -6.53926931e-03 6.37498188e+01] [-4.99308363e-01 8.66417387e-01 3.47413702e-03 -1.76688948e+01] [ 7.40044406e-03 2.55144739e-04 9.99972584e-01 -9.05063152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.31538474999999 meters 0.06135278891218905 Centerline is valid? [True, True] Translation: X:63.78, Y:-17.69, Z:-0.91 [[ 8.66578578e-01 4.99005356e-01 -5.93492748e-03 6.37762228e+01] [-4.98995449e-01 8.66598870e-01 3.15281710e-03 -1.76858470e+01] [ 6.71647407e-03 2.29338042e-04 9.99977418e-01 -9.06031623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.34538475 meters 0.0609223306463436 Centerline is valid? [True, True] Translation: X:63.80, Y:-17.71, Z:-0.91 [[ 8.66829188e-01 4.98584198e-01 -4.57775862e-03 6.38011433e+01] [-4.98578278e-01 8.66841259e-01 2.43568244e-03 -1.77067821e+01] [ 5.18258282e-03 1.71050374e-04 9.99986556e-01 -9.05400261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.37538475 meters 0.060797633534575186 Centerline is valid? [True, True] Translation: X:63.83, Y:-17.72, Z:-0.91 [[ 8.66845764e-01 4.98568997e-01 -2.71616658e-03 6.38284557e+01] [-4.98566905e-01 8.66850013e-01 1.44775607e-03 -1.77240312e+01] [ 3.07631533e-03 9.92095473e-05 9.99995263e-01 -9.05577419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.40538475 meters 0.06063632363222523 Centerline is valid? [True, True] Translation: X:63.85, Y:-17.74, Z:-0.90 [[ 8.67024602e-01 4.98265246e-01 2.89216132e-04 6.38537665e+01] [-4.98265224e-01 8.67024650e-01 -1.49736824e-04 -1.77449644e+01] [-3.25366171e-04 -1.42808307e-05 9.99999947e-01 -9.03854276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.43538475 meters 0.06052212586492636 Centerline is valid? [True, True] Translation: X:63.88, Y:-17.76, Z:-0.90 [[ 8.67045583e-01 4.98228441e-01 6.15094587e-04 6.38802316e+01] [-4.98228337e-01 8.67045801e-01 -3.23246535e-04 -1.77624458e+01] [-6.94365796e-04 -2.61880723e-05 9.99999759e-01 -9.04161262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.46538475 meters 0.06048714717428643 Centerline is valid? [True, True] Translation: X:63.91, Y:-17.78, Z:-0.91 [[ 8.66830365e-01 4.98596669e-01 2.54564268e-03 6.39061238e+01] [-4.98594847e-01 8.66834097e-01 -1.35149948e-03 -1.77826426e+01] [-2.88050302e-03 -9.77235344e-05 9.99995847e-01 -9.05338099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.49538475 meters 0.0606418991287859 Centerline is valid? [True, True] Translation: X:63.93, Y:-17.80, Z:-0.91 [[ 8.66659086e-01 4.98891312e-01 3.08009489e-03 6.39340359e+01] [-4.98888641e-01 8.66664551e-01 -1.63670196e-03 -1.78002487e+01] [-3.48594544e-03 -1.18161730e-04 9.99993917e-01 -9.05810985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.52538474999999 meters 0.05979997703474187 Centerline is valid? [True, True] Translation: X:63.96, Y:-17.82, Z:-0.91 [[ 8.67294146e-01 4.97762627e-01 5.76476302e-03 6.39581233e+01] [-4.97753204e-01 8.67313279e-01 -3.06970460e-03 -1.78224185e+01] [-6.52783975e-03 -2.07092435e-04 9.99978672e-01 -9.06144418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55538474999999 meters 0.060263601368073065 Centerline is valid? [True, True] Translation: X:63.98, Y:-17.84, Z:-0.91 [[ 8.67702657e-01 4.97046185e-01 6.09823284e-03 6.39847519e+01] [-4.97035606e-01 8.67724060e-01 -3.24976765e-03 -1.78379416e+01] [-6.90686798e-03 -2.11206835e-04 9.99976125e-01 -9.07794470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.58538474999999 meters 0.05960125092869405 Centerline is valid? [True, True] Translation: X:64.01, Y:-17.86, Z:-0.91 [[ 8.68867179e-01 4.95016448e-01 5.34241571e-03 6.40080018e+01] [-4.95008284e-01 8.68883587e-01 -2.84803421e-03 -1.78619918e+01] [-6.05176110e-03 -1.69976582e-04 9.99981673e-01 -9.09759482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.61538474999999 meters 0.05994560907181672 Centerline is valid? [True, True] Translation: X:64.03, Y:-17.88, Z:-0.91 [[ 8.70196705e-01 4.92679596e-01 4.95071269e-03 6.40330584e+01] [-4.92672534e-01 8.70210777e-01 -2.64164741e-03 -1.78813960e+01] [-5.60964932e-03 -1.40327294e-04 9.99984256e-01 -9.12079199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.64538474999999 meters 0.05988316825030279 Centerline is valid? [True, True] Translation: X:64.06, Y:-17.90, Z:-0.91 [[ 8.70417601e-01 4.92287011e-01 5.16709989e-03 6.40598306e+01] [-4.92279310e-01 8.70432926e-01 -2.75731428e-03 -1.78997771e+01] [-5.85500388e-03 -1.43641488e-04 9.99982849e-01 -9.12885323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.67538474999999 meters 0.05964221270985688 Centerline is valid? [True, True] Translation: X:64.09, Y:-17.92, Z:-0.91 [[ 8.70813311e-01 4.91580722e-01 5.70704414e-03 6.40861800e+01] [-4.91571299e-01 8.70831999e-01 -3.04759049e-03 -1.79183391e+01] [-6.46801340e-03 -1.51536731e-04 9.99979071e-01 -9.12961670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.70538475 meters 0.0596711946731971 Centerline is valid? [True, True] Translation: X:64.11, Y:-17.94, Z:-0.91 [[ 8.70886686e-01 4.91423457e-01 7.70492103e-03 6.41123182e+01] [-4.91406241e-01 8.70920746e-01 -4.11837594e-03 -1.79376957e+01] [-8.73424212e-03 -1.99607504e-04 9.99961836e-01 -9.14473189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.73538475 meters 0.05973153807239295 Centerline is valid? [True, True] Translation: X:64.14, Y:-17.95, Z:-0.92 [[ 8.71001878e-01 4.91202006e-01 8.73601812e-03 6.41390930e+01] [-4.91179828e-01 8.71045659e-01 -4.67292598e-03 -1.79549307e+01] [-9.90482128e-03 -2.20828572e-04 9.99950922e-01 -9.15120907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.76538475 meters 0.059779675572572855 Centerline is valid? [True, True] Translation: X:64.16, Y:-17.98, Z:-0.92 [[ 8.71363096e-01 4.90582234e-01 7.44495703e-03 6.41649248e+01] [-4.90566088e-01 8.71394881e-01 -3.98417543e-03 -1.79751970e+01] [-8.44206313e-03 -1.80580015e-04 9.99964349e-01 -9.17492575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.79538475 meters 0.05974381487991292 Centerline is valid? [True, True] Translation: X:64.19, Y:-17.99, Z:-0.92 [[ 8.71496834e-01 4.90327621e-01 8.49074850e-03 6.41918429e+01] [-4.90306577e-01 8.71538171e-01 -4.54713919e-03 -1.79934300e+01] [-9.62959936e-03 -2.00252427e-04 9.99953614e-01 -9.17223047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.82538475 meters 0.05985087491212528 Centerline is valid? [True, True] Translation: X:64.22, Y:-18.01, Z:-0.92 [[ 8.71547403e-01 4.90236861e-01 8.54076521e-03 6.42183325e+01] [-4.90215538e-01 8.71589227e-01 -4.57659562e-03 -1.80133305e+01] [-9.68765482e-03 -1.98095789e-04 9.99953054e-01 -9.18903138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.85538475 meters 0.05983309043277623 Centerline is valid? [True, True] Translation: X:64.24, Y:-18.03, Z:-0.92 [[ 8.71223351e-01 4.90820695e-01 8.05720072e-03 6.42441463e+01] [-4.90801719e-01 8.71260586e-01 -4.32019377e-03 -1.80338271e+01] [-9.14036193e-03 -1.90634265e-04 9.99958208e-01 -9.20378632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.88538475 meters 0.06005034703430401 Centerline is valid? [True, True] Translation: X:64.27, Y:-18.05, Z:-0.92 [[ 8.70725991e-01 4.91698650e-01 8.28769407e-03 6.42716336e+01] [-4.91678580e-01 8.70765408e-01 -4.44725591e-03 -1.80512008e+01] [-9.40334704e-03 -2.02540337e-04 9.99955767e-01 -9.21131811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91538474999999 meters 0.06047923556692257 Centerline is valid? [True, True] Translation: X:64.30, Y:-18.07, Z:-0.92 [[ 8.69487861e-01 4.93846789e-01 1.03057245e-02 6.42986024e+01] [-4.93815852e-01 8.69548890e-01 -5.53460366e-03 -1.80689182e+01] [-1.16945776e-02 -2.76859431e-04 9.99931578e-01 -9.21166816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.94538474999999 meters 0.060998319691204936 Centerline is valid? [True, True] Translation: X:64.33, Y:-18.08, Z:-0.92 [[ 8.68755704e-01 4.95103707e-01 1.16553214e-02 6.43260905e+01] [-4.95064190e-01 8.68833823e-01 -6.26386285e-03 -1.80840141e+01] [-1.32277992e-02 -3.28365693e-04 9.99912455e-01 -9.21020165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97538474999999 meters 0.059550195878812245 Centerline is valid? [True, True] Translation: X:64.35, Y:-18.11, Z:-0.92 [[ 8.72220997e-01 4.88919909e-01 1.37060224e-02 6.43472804e+01] [-4.88864418e-01 8.72328636e-01 -7.37098288e-03 -1.81129871e+01] [-1.55599761e-02 -2.71260632e-04 9.99878899e-01 -9.18973758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.00538474999999 meters 0.059026669191368855 Centerline is valid? [True, True] Translation: X:64.37, Y:-18.13, Z:-0.92 [[ 8.74056471e-01 4.85609905e-01 1.44327898e-02 6.43717001e+01] [-4.85547831e-01 8.74175596e-01 -7.76733361e-03 -1.81324296e+01] [-1.63886867e-02 -2.18721566e-04 9.99865673e-01 -9.17923419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.03538474999999 meters 0.05888288560915594 Centerline is valid? [True, True] Translation: X:64.40, Y:-18.15, Z:-0.92 [[ 8.76704244e-01 4.80818996e-01 1.42394435e-02 6.43958431e+01] [-4.80757867e-01 8.76819866e-01 -7.66780532e-03 -1.81547457e+01] [-1.61722534e-02 -1.23327008e-04 9.99869213e-01 -9.19125000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.06538474999999 meters 0.05887596780233574 Centerline is valid? [True, True] Translation: X:64.42, Y:-18.17, Z:-0.92 [[ 8.76654358e-01 4.80943169e-01 1.30692593e-02 6.44234547e+01] [-4.80891628e-01 8.76751764e-01 -7.04172480e-03 -1.81705974e+01] [-1.48451656e-02 -1.11738654e-04 9.99889798e-01 -9.22452330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.09538475 meters 0.059486419069783865 Centerline is valid? [True, True] Translation: X:64.45, Y:-18.19, Z:-0.93 [[ 8.76666978e-01 4.80945229e-01 1.21118082e-02 6.44517128e+01] [-4.80900927e-01 8.76750635e-01 -6.52856521e-03 -1.81859700e+01] [-1.37589178e-02 -1.01202246e-04 9.99905336e-01 -9.26863885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.12538475 meters 0.05950366759763481 Centerline is valid? [True, True] Translation: X:64.48, Y:-18.20, Z:-0.93 [[ 8.77070616e-01 4.80239896e-01 1.08063653e-02 6.44795034e+01] [-4.80204534e-01 8.77137182e-01 -5.82830709e-03 -1.82035192e+01] [-1.22776504e-02 -7.74287457e-05 9.99924624e-01 -9.27727523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.15538475 meters 0.05955174889366985 Centerline is valid? [True, True] Translation: X:64.51, Y:-18.22, Z:-0.93 [[ 8.77041907e-01 4.80339039e-01 8.47938639e-03 6.45078128e+01] [-4.80317251e-01 8.77082894e-01 -4.57541293e-03 -1.82206359e+01] [-9.63487421e-03 -5.99666761e-05 9.99953582e-01 -9.29771844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.18538475 meters 0.059634662426657783 Centerline is valid? [True, True] Translation: X:64.54, Y:-18.24, Z:-0.93 [[ 8.76757353e-01 4.80863016e-01 8.20390921e-03 6.45357055e+01] [-4.80842615e-01 8.76795732e-01 -4.42986665e-03 -1.82364714e+01] [-9.32331162e-03 -6.08709955e-05 9.99956535e-01 -9.29864735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.21538475 meters 0.05959027019637758 Centerline is valid? [True, True] Translation: X:64.56, Y:-18.25, Z:-0.93 [[ 8.76479538e-01 4.81367390e-01 8.30996388e-03 6.45643531e+01] [-4.81346453e-01 8.76518928e-01 -4.49007507e-03 -1.82517665e+01] [-9.44521635e-03 -6.45127223e-05 9.99955391e-01 -9.30226861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.24538475 meters 0.059775470844626054 Centerline is valid? [True, True] Translation: X:64.59, Y:-18.27, Z:-0.93 [[ 8.77567746e-01 4.79385374e-01 8.03208188e-03 6.45916964e+01] [-4.79365702e-01 8.77604502e-01 -4.34299418e-03 -1.82678158e+01] [-9.13095910e-03 -3.90329576e-05 9.99958311e-01 -9.30737458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27538474999999 meters 0.05965051478893406 Centerline is valid? [True, True] Translation: X:64.62, Y:-18.29, Z:-0.93 [[ 8.79350107e-01 4.76093217e-01 8.86781934e-03 6.46186935e+01] [-4.76069037e-01 8.79394820e-01 -4.79828328e-03 -1.82856085e+01] [-1.00827445e-02 -2.32329119e-06 9.99949168e-01 -9.30732499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.30538474999999 meters 0.0597251186652017 Centerline is valid? [True, True] Translation: X:64.65, Y:-18.30, Z:-0.93 [[ 8.79316297e-01 4.76184117e-01 7.17887925e-03 6.46471481e+01] [-4.76168261e-01 8.79345602e-01 -3.88593838e-03 -1.82999585e+01] [-8.16313803e-03 -1.38549775e-06 9.99966681e-01 -9.31361322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33538474999999 meters 0.059992547673962074 Centerline is valid? [True, True] Translation: X:64.68, Y:-18.31, Z:-0.93 [[ 8.79294649e-01 4.76227777e-01 6.92997134e-03 6.46764517e+01] [-4.76212979e-01 8.79321957e-01 -3.75416310e-03 -1.83130756e+01] [-7.88151271e-03 8.73225583e-07 9.99968940e-01 -9.33424126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.36538474999999 meters 0.059992547673962074 Centerline is valid? [True, True] Translation: X:64.70, Y:-18.33, Z:-0.93 [[ 8.79160246e-01 4.76475858e-01 6.92960584e-03 6.47047854e+01] [-4.76461063e-01 8.79187555e-01 -3.75483780e-03 -1.83286485e+01] [-7.88151278e-03 -5.83233680e-07 9.99968940e-01 -9.33875481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.39538474999999 meters 0.059910849349129366 Centerline is valid? [True, True] Translation: X:64.73, Y:-18.34, Z:-0.93 [[ 8.78773910e-01 4.77183249e-01 7.25004956e-03 6.47334814e+01] [-4.77167054e-01 8.78803816e-01 -3.93129072e-03 -1.83442214e+01] [-8.24731730e-03 -4.76907514e-06 9.99965990e-01 -9.33613480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.42538474999999 meters 0.05971352864001201 Centerline is valid? [True, True] Translation: X:64.76, Y:-18.36, Z:-0.93 [[ 8.79265956e-01 4.76278236e-01 7.10071531e-03 6.47613865e+01] [-4.76262652e-01 8.79294628e-01 -3.85283587e-03 -1.83615209e+01] [-8.07864270e-03 5.86191556e-06 9.99967367e-01 -9.32165177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.45538475 meters 0.05967358851166734 Centerline is valid? [True, True] Translation: X:64.79, Y:-18.38, Z:-0.93 [[ 8.79733471e-01 4.75405102e-01 7.68166463e-03 6.47895658e+01] [-4.75386802e-01 8.79767008e-01 -4.17134329e-03 -1.83780926e+01] [-8.74115299e-03 1.79083282e-05 9.99961795e-01 -9.32065743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.48538475 meters 0.059599100506363294 Centerline is valid? [True, True] Translation: X:64.82, Y:-18.40, Z:-0.93 [[ 8.82139655e-01 4.70902607e-01 8.96461478e-03 6.48152751e+01] [-4.70877405e-01 8.82185201e-01 -4.87240951e-03 -1.83963684e+01] [-1.02028808e-02 7.69110993e-05 9.99947946e-01 -9.31113100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.51538475 meters 0.0599340748180865 Centerline is valid? [True, True] Translation: X:64.84, Y:-18.42, Z:-0.93 [[ 8.85246154e-01 4.65034450e-01 9.06687710e-03 6.48402343e+01] [-4.65008331e-01 8.85292572e-01 -4.93083332e-03 -1.84159640e+01] [-1.03198463e-02 1.48827842e-04 9.99946738e-01 -9.30287108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.54538475 meters 0.06027181409190527 Centerline is valid? [True, True] Translation: X:64.87, Y:-18.43, Z:-0.93 [[ 8.86847032e-01 4.61954355e-01 1.00257615e-02 6.48676374e+01] [-4.61922186e-01 8.86903676e-01 -5.45560999e-03 -1.84327239e+01] [-1.14121275e-02 2.07169878e-04 9.99934858e-01 -9.29665000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.57538475 meters 0.0604032083393414 Centerline is valid? [True, True] Translation: X:64.89, Y:-18.45, Z:-0.93 [[ 8.88163004e-01 4.59404474e-01 1.06774489e-02 6.48949742e+01] [-4.59367755e-01 8.88227146e-01 -5.81404732e-03 -1.84483838e+01] [-1.21549994e-02 2.58945983e-04 9.99926092e-01 -9.29329768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.60538475 meters 0.06072763839968553 Centerline is valid? [True, True] Translation: X:64.92, Y:-18.47, Z:-0.93 [[ 8.90372767e-01 4.55079640e-01 1.17837571e-02 6.49222433e+01] [-4.55034483e-01 8.90450670e-01 -6.42057608e-03 -1.84653939e+01] [-1.34147279e-02 3.54690272e-04 9.99909956e-01 -9.28353151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.63538475 meters 0.06091991082784499 Centerline is valid? [True, True] Translation: X:64.95, Y:-18.48, Z:-0.93 [[ 8.90903098e-01 4.54046680e-01 1.15447734e-02 6.49488014e+01] [-4.54003219e-01 8.90977822e-01 -6.29267561e-03 -1.84814372e+01] [-1.31433055e-02 3.64799911e-04 9.99913556e-01 -9.27805621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.66538474999999 meters 0.06037883378166418 Centerline is valid? [True, True] Translation: X:64.98, Y:-18.49, Z:-0.93 [[ 8.90512600e-01 4.54841627e-01 1.03151850e-02 6.49793336e+01] [-4.54806952e-01 8.90572284e-01 -5.62524167e-03 -1.84928977e+01] [-1.17450119e-02 3.17930752e-04 9.99930974e-01 -9.28068792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69538474999999 meters 0.0600837741741401 Centerline is valid? [True, True] Translation: X:65.01, Y:-18.50, Z:-0.93 [[ 8.89994569e-01 4.55877996e-01 9.21517874e-03 6.50101431e+01] [-4.55850350e-01 8.90042234e-01 -5.02798741e-03 -1.85041041e+01] [-1.04940471e-02 2.74139039e-04 9.99944898e-01 -9.30106572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.72538474999999 meters 0.05984683703913532 Centerline is valid? [True, True] Translation: X:65.04, Y:-18.52, Z:-0.93 [[ 8.89272358e-01 4.57308283e-01 7.98800732e-03 6.50396235e+01] [-4.57287549e-01 8.89308205e-01 -4.36049149e-03 -1.85164873e+01] [-9.09788933e-03 2.24848256e-04 9.99958588e-01 -9.31337080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.75538474999999 meters 0.05930359161840211 Centerline is valid? [True, True] Translation: X:65.07, Y:-18.53, Z:-0.93 [[ 8.87927510e-01 4.59949708e-01 5.56808831e-03 6.50710335e+01] [-4.59939682e-01 8.87944957e-01 -3.04008880e-03 -1.85262232e+01] [-6.34244390e-03 1.38393716e-04 9.99979877e-01 -9.34203425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.78538474999999 meters 0.05915963741329113 Centerline is valid? [True, True] Translation: X:65.10, Y:-18.54, Z:-0.93 [[ 8.87164305e-01 4.61436415e-01 3.99126921e-03 6.50990166e+01] [-4.61431276e-01 8.87173279e-01 -2.17957346e-03 -1.85389848e+01] [-4.54668195e-03 9.19433273e-05 9.99989660e-01 -9.34983899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.81538474999999 meters 0.0589715563044326 Centerline is valid? [True, True] Translation: X:65.13, Y:-18.55, Z:-0.94 [[ 8.86232129e-01 4.63231673e-01 3.00511872e-03 6.51283593e+01] [-4.63228771e-01 8.86237222e-01 -1.64084554e-03 -1.85520019e+01] [-3.42333969e-03 6.21125807e-05 9.99994138e-01 -9.36362375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.84538475 meters 0.05853098610980211 Centerline is valid? [True, True] Translation: X:65.16, Y:-18.56, Z:-0.94 [[ 8.84002070e-01 4.67482866e-01 3.32907085e-04 6.51593455e+01] [-4.67482832e-01 8.84002132e-01 -1.78305914e-04 -1.85613341e+01] [-3.77645533e-04 1.99445041e-06 9.99999929e-01 -9.38859338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.87538475 meters 0.058487070965248585 Centerline is valid? [True, True] Translation: X:65.19, Y:-18.57, Z:-0.94 [[ 8.82713920e-01 4.69908678e-01 -1.40353626e-03 6.51885963e+01] [-4.69908042e-01 8.82715035e-01 7.73500895e-04 -1.85734244e+01] [ 1.60239735e-03 -2.32470294e-05 9.99998716e-01 -9.41009761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.90538475 meters 0.057962275714597535 Centerline is valid? [True, True] Translation: X:65.22, Y:-18.58, Z:-0.94 [[ 8.79627049e-01 4.75654292e-01 -3.04114483e-03 6.52216576e+01] [-4.75651355e-01 8.79632306e-01 1.67166890e-03 -1.85803162e+01] [ 3.47022573e-03 -2.39205227e-05 9.99993978e-01 -9.43583212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.93538475 meters 0.05789729372175284 Centerline is valid? [True, True] Translation: X:65.25, Y:-18.59, Z:-0.94 [[ 8.75691867e-01 4.82845847e-01 -4.86230211e-03 6.52546225e+01] [-4.82838454e-01 8.75705366e-01 2.67188623e-03 -1.85867884e+01] [ 5.54805321e-03 7.95739538e-06 9.99984609e-01 -9.44885992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.96538475 meters 0.057779721293662115 Centerline is valid? [True, True] Translation: X:65.28, Y:-18.60, Z:-0.95 [[ 8.74231703e-01 4.85491684e-01 -4.09319234e-03 6.52845204e+01] [-4.85486464e-01 8.74241285e-01 2.25154683e-03 -1.85984748e+01] [ 4.67154499e-03 1.88158572e-05 9.99989088e-01 -9.45183549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.99538475 meters 0.05737284029002409 Centerline is valid? [True, True] Translation: X:65.32, Y:-18.61, Z:-0.94 [[ 8.71776880e-01 4.89898873e-01 -2.04087738e-03 6.53155110e+01] [-4.89897580e-01 8.71779269e-01 1.12573471e-03 -1.86099532e+01] [ 2.33069076e-03 1.84313997e-05 9.99997284e-01 -9.40043442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.02538474999999 meters 0.057385021768779 Centerline is valid? [True, True] Translation: X:65.34, Y:-18.62, Z:-0.94 [[ 8.70519211e-01 4.92130962e-01 -1.84922635e-03 6.53442161e+01] [-4.92129905e-01 8.70521175e-01 1.02010678e-03 -1.86217836e+01] [ 2.11181683e-03 2.20370434e-05 9.99997770e-01 -9.39643175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05538474999999 meters 0.05768475749693462 Centerline is valid? [True, True] Translation: X:65.37, Y:-18.63, Z:-0.94 [[ 8.68613122e-01 4.95490700e-01 -4.59265304e-04 6.53740663e+01] [-4.95490634e-01 8.68613243e-01 2.56470507e-04 -1.86334972e+01] [ 5.26002676e-04 4.78800907e-06 9.99999862e-01 -9.37920536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.08538474999999 meters 0.0576282832723447 Centerline is valid? [True, True] Translation: X:65.40, Y:-18.65, Z:-0.94 [[ 8.68605565e-01 4.95503408e-01 -8.63428805e-04 6.54031750e+01] [-4.95503176e-01 8.68605994e-01 4.79603930e-04 -1.86497625e+01] [ 9.87624817e-04 1.12450733e-05 9.99999512e-01 -9.37750683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.11538474999999 meters 0.05728931185686436 Centerline is valid? [True, True] Translation: X:65.43, Y:-18.67, Z:-0.93 [[ 8.68809014e-01 4.95147347e-01 4.41321404e-05 6.54293354e+01] [-4.95147346e-01 8.68809015e-01 -2.02567850e-05 -1.86685186e+01] [-4.83724950e-05 -4.25263483e-06 9.99999999e-01 -9.34963638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.14538474999999 meters 0.05719431125272748 Centerline is valid? [True, True] Translation: X:65.46, Y:-18.68, Z:-0.94 [[ 8.69582489e-01 4.93787439e-01 5.09118176e-04 6.54560352e+01] [-4.93787362e-01 8.69582638e-01 -2.76799247e-04 -1.86836088e+01] [-5.79400318e-04 -1.06963422e-05 9.99999832e-01 -9.36757048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.17538474999999 meters 0.05679433106864356 Centerline is valid? [True, True] Translation: X:65.48, Y:-18.71, Z:-0.94 [[ 8.71652139e-01 4.90124930e-01 -3.17375139e-04 6.54805124e+01] [-4.90124898e-01 8.71652197e-01 1.79052546e-04 -1.87060637e+01] [ 3.64398854e-04 -5.18077455e-07 9.99999934e-01 -9.35414341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.20538475 meters 0.05656016307673449 Centerline is valid? [True, True] Translation: X:65.51, Y:-18.72, Z:-0.94 [[ 8.72545534e-01 4.88531265e-01 -1.22212134e-03 6.55069115e+01] [-4.88530796e-01 8.72546390e-01 6.77006359e-04 -1.87241796e+01] [ 1.39709633e-03 6.32503383e-06 9.99999024e-01 -9.36382127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.23538475 meters 0.05644618758723245 Centerline is valid? [True, True] Translation: X:65.53, Y:-18.74, Z:-0.94 [[ 8.74154326e-01 4.85644730e-01 -1.84706375e-03 6.55324904e+01] [-4.85643654e-01 8.74156277e-01 1.02209395e-03 -1.87434300e+01] [ 2.11099692e-03 3.54693908e-06 9.99997772e-01 -9.39723036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.26538475 meters 0.05655778116131821 Centerline is valid? [True, True] Translation: X:65.56, Y:-18.76, Z:-0.94 [[ 8.74685568e-01 4.84688147e-01 -1.59891741e-03 6.55600191e+01] [-4.84687335e-01 8.74687030e-01 8.87585575e-04 -1.87614896e+01] [ 1.82875453e-03 -1.38327381e-06 9.99998328e-01 -9.38885235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.29538475 meters 0.05670071494282822 Centerline is valid? [True, True] Translation: X:65.59, Y:-18.78, Z:-0.94 [[ 8.75280188e-01 4.83598120e-01 -4.17739241e-03 6.55860948e+01] [-4.83592592e-01 8.75290157e-01 2.31223947e-03 -1.87800366e+01] [ 4.77462512e-03 -3.70137281e-06 9.99988601e-01 -9.41087235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.32538475 meters 0.05681618242584894 Centerline is valid? [True, True] Translation: X:65.61, Y:-18.80, Z:-0.94 [[ 8.75486052e-01 4.83225881e-01 -4.11349991e-03 6.56128527e+01] [-4.83220508e-01 8.75495716e-01 2.27865632e-03 -1.87968224e+01] [ 4.70245726e-03 -7.20430862e-06 9.99988943e-01 -9.42866803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.35538475 meters 0.05658628124648206 Centerline is valid? [True, True] Translation: X:65.64, Y:-18.81, Z:-0.94 [[ 8.75680389e-01 4.82853705e-01 -6.01297420e-03 6.56398665e+01] [-4.82842219e-01 8.75701033e-01 3.33053502e-03 -1.88145817e+01] [ 6.87372889e-03 -1.31663974e-05 9.99976376e-01 -9.42701056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.38538475 meters 0.05672767670062084 Centerline is valid? [True, True] Translation: X:65.67, Y:-18.83, Z:-0.94 [[ 8.75118265e-01 4.83866298e-01 -6.43650647e-03 6.56682334e+01] [-4.83853143e-01 8.75141935e-01 3.56786174e-03 -1.88309050e+01] [ 7.35922477e-03 -7.97708699e-06 9.99972921e-01 -9.43709683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41538474999999 meters 0.05663527248306367 Centerline is valid? [True, True] Translation: X:65.70, Y:-18.85, Z:-0.94 [[ 8.74941871e-01 4.84183170e-01 -6.58642504e-03 6.56972736e+01] [-4.84169387e-01 8.74966661e-01 3.65336707e-03 -1.88470620e+01] [ 7.53180118e-03 -7.53844430e-06 9.99971636e-01 -9.43758863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.44538474999999 meters 0.0564956110239647 Centerline is valid? [True, True] Translation: X:65.73, Y:-18.86, Z:-0.94 [[ 8.73446480e-01 4.86893369e-01 -5.10817899e-03 6.57251202e+01] [-4.86885115e-01 8.73461417e-01 2.83510114e-03 -1.88613782e+01] [ 5.84218920e-03 1.07871960e-05 9.99982934e-01 -9.43954768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47538474999999 meters 0.056398343757340715 Centerline is valid? [True, True] Translation: X:65.75, Y:-18.88, Z:-0.94 [[ 8.71634231e-01 4.90129455e-01 -5.18508253e-03 6.57535891e+01] [-4.90120996e-01 8.71649652e-01 2.87982882e-03 -1.88761890e+01] [ 5.93106432e-03 3.11604348e-05 9.99982411e-01 -9.43346335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.50538474999999 meters 0.05634717229844012 Centerline is valid? [True, True] Translation: X:65.78, Y:-18.89, Z:-0.94 [[ 8.70787444e-01 4.91637351e-01 -4.68423365e-03 6.57828002e+01] [-4.91630454e-01 8.70800042e-01 2.60448229e-03 -1.88919741e+01] [ 5.35949163e-03 3.49614368e-05 9.99985637e-01 -9.42972044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53538474999999 meters 0.056225045351991354 Centerline is valid? [True, True] Translation: X:65.81, Y:-18.91, Z:-0.94 [[ 8.69294839e-01 4.94283052e-01 -3.27839441e-03 6.58112451e+01] [-4.94279684e-01 8.69301020e-01 1.82507806e-03 -1.89063562e+01] [ 3.75201675e-03 3.39128138e-05 9.99992961e-01 -9.41369222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.56538474999999 meters 0.05619513568498588 Centerline is valid? [True, True] Translation: X:65.84, Y:-18.92, Z:-0.94 [[ 8.68638698e-01 4.95443759e-01 -1.51467456e-03 6.58392605e+01] [-4.95443037e-01 8.68640018e-01 8.45748884e-04 -1.89209597e+01] [ 1.73472794e-03 1.57847538e-05 9.99998495e-01 -9.40759488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.59538475 meters 0.05596755599488149 Centerline is valid? [True, True] Translation: X:65.87, Y:-18.94, Z:-0.94 [[ 8.68636743e-01 4.95449140e-01 -5.98308288e-04 6.58668774e+01] [-4.95449025e-01 8.68636949e-01 3.36689580e-04 -1.89361901e+01] [ 6.86525249e-04 3.97031834e-06 9.99999764e-01 -9.41439235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.62538475 meters 0.05595310160345689 Centerline is valid? [True, True] Translation: X:65.90, Y:-18.95, Z:-0.94 [[ 8.68384919e-01 4.95890594e-01 -3.88383265e-04 6.58950699e+01] [-4.95890545e-01 8.68385006e-01 2.20646624e-04 -1.89522218e+01] [ 4.46682789e-04 9.89388119e-07 9.99999900e-01 -9.41771691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.65538475 meters 0.056096656643892566 Centerline is valid? [True, True] Translation: X:65.92, Y:-18.97, Z:-0.94 [[ 8.68114914e-01 4.96361765e-01 -1.22230645e-03 6.59222271e+01] [-4.96361294e-01 8.68115775e-01 6.84115790e-04 -1.89666384e+01] [ 1.40067243e-03 1.28144874e-05 9.99999019e-01 -9.44759072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.68538475 meters 0.05604013219268619 Centerline is valid? [True, True] Translation: X:65.95, Y:-18.98, Z:-0.94 [[ 8.68044399e-01 4.96484438e-01 -1.45752700e-03 6.59501139e+01] [-4.96483767e-01 8.68045622e-01 8.16599083e-04 -1.89841620e+01] [ 1.67062867e-03 1.47942350e-05 9.99998604e-01 -9.44145862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.71538475 meters 0.05631322389624404 Centerline is valid? [True, True] Translation: X:65.98, Y:-19.00, Z:-0.95 [[ 8.68283158e-01 4.96052331e-01 -4.05503546e-03 6.59770343e+01] [-4.96047166e-01 8.68292625e-01 2.26395973e-03 -1.89998982e+01] [ 4.64399989e-03 4.57307446e-05 9.99989216e-01 -9.48859160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.74538475 meters 0.056254304809983856 Centerline is valid? [True, True] Translation: X:66.00, Y:-19.02, Z:-0.95 [[ 8.68404926e-01 4.95825178e-01 -5.50250991e-03 6.60046967e+01] [-4.95815661e-01 8.68422356e-01 3.07270391e-03 -1.90168290e+01] [ 6.30202659e-03 5.98793751e-05 9.99980140e-01 -9.50871615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77538474999999 meters 0.05637843932453571 Centerline is valid? [True, True] Translation: X:66.03, Y:-19.03, Z:-0.95 [[ 8.68617842e-01 4.95442580e-01 -6.30036777e-03 6.60306986e+01] [-4.95430104e-01 8.68640688e-01 3.51671231e-03 -1.90329881e+01] [ 7.21508481e-03 6.67128002e-05 9.99973969e-01 -9.53067137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.80538474999999 meters 0.0563545121592016 Centerline is valid? [True, True] Translation: X:66.06, Y:-19.05, Z:-0.95 [[ 8.68785579e-01 4.95156127e-01 -5.65923910e-03 6.60585314e+01] [-4.95146030e-01 8.68804009e-01 3.16272506e-03 -1.90493826e+01] [ 6.48281231e-03 5.44198502e-05 9.99978985e-01 -9.54127533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83538474999999 meters 0.05645375541209018 Centerline is valid? [True, True] Translation: X:66.09, Y:-19.07, Z:-0.95 [[ 8.68173689e-01 4.96229240e-01 -5.56657728e-03 6.60860090e+01] [-4.96219478e-01 8.68191533e-01 3.11311499e-03 -1.90658251e+01] [ 6.37767395e-03 5.95195474e-05 9.99979661e-01 -9.54844343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.86538474999999 meters 0.05638791259508042 Centerline is valid? [True, True] Translation: X:66.11, Y:-19.08, Z:-0.95 [[ 8.66772306e-01 4.98692752e-01 -3.36293436e-03 6.61139829e+01] [-4.98689198e-01 8.66778828e-01 1.88335900e-03 -1.90811236e+01] [ 3.85413779e-03 4.46156132e-05 9.99992572e-01 -9.51347168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.89538474999999 meters 0.05679496268591272 Centerline is valid? [True, True] Translation: X:66.14, Y:-19.09, Z:-0.95 [[ 8.65655488e-01 5.00638195e-01 -1.40474331e-03 6.61422024e+01] [-5.00637573e-01 8.65656628e-01 7.89150868e-04 -1.90933686e+01] [ 1.61110443e-03 2.01345041e-05 9.99998702e-01 -9.51922132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.92538474999999 meters 0.056547682766155155 Centerline is valid? [True, True] Translation: X:66.17, Y:-19.11, Z:-0.95 [[ 8.63367628e-01 5.04572077e-01 1.83256150e-03 6.61700063e+01] [-5.04571045e-01 8.63369572e-01 -1.02142703e-03 -1.91084545e+01] [-2.09756140e-03 -4.27904422e-05 9.99997799e-01 -9.47127107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.95538475 meters 0.05700145175819132 Centerline is valid? [True, True] Translation: X:66.20, Y:-19.12, Z:-0.95 [[ 8.62046247e-01 5.06828072e-01 1.25416536e-03 6.61977318e+01] [-5.06827592e-01 8.62047159e-01 -6.98504608e-04 -1.91212838e+01] [-1.43517143e-03 -3.35023307e-05 9.99998970e-01 -9.48181029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.98538475 meters 0.05734971184884895 Centerline is valid? [True, True] Translation: X:66.23, Y:-19.14, Z:-0.95 [[ 8.60940700e-01 5.08704981e-01 5.94359258e-04 6.62263965e+01] [-5.08704875e-01 8.60940905e-01 -3.28808693e-04 -1.91355151e+01] [-6.78974818e-04 -1.92686653e-05 9.99999769e-01 -9.50760964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.01538475 meters 0.057326139963850525 Centerline is valid? [True, True] Translation: X:66.25, Y:-19.15, Z:-0.95 [[ 8.60613625e-01 5.09258235e-01 4.88868120e-04 6.62537858e+01] [-5.09258163e-01 8.60613764e-01 -2.71555435e-04 -1.91511935e+01] [-5.59018475e-04 -1.52557733e-05 9.99999844e-01 -9.52476614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.04538475 meters 0.057064944181228275 Centerline is valid? [True, True] Translation: X:66.28, Y:-19.17, Z:-0.95 [[ 8.62054351e-01 5.06814970e-01 9.39794633e-04 6.62797725e+01] [-5.06814701e-01 8.62054863e-01 -5.22809609e-04 -1.91693312e+01] [-1.07512227e-03 -2.56114373e-05 9.99999422e-01 -9.52816100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.07538475 meters 0.05658361657417874 Centerline is valid? [True, True] Translation: X:66.31, Y:-19.19, Z:-0.95 [[ 8.62528901e-01 5.06006104e-01 1.31075166e-03 6.63058424e+01] [-5.06005577e-01 8.62529896e-01 -7.31097321e-04 -1.91882204e+01] [-1.50050220e-03 -3.26550830e-05 9.99998874e-01 -9.52242663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.10538475 meters 0.056361544637671394 Centerline is valid? [True, True] Translation: X:66.33, Y:-19.20, Z:-0.95 [[ 8.62982924e-01 5.05229213e-01 1.97881371e-03 6.63326896e+01] [-5.05228003e-01 8.62985191e-01 -1.10656927e-03 -1.92046478e+01] [-2.26675805e-03 -4.48017199e-05 9.99997430e-01 -9.53500732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.13538475 meters 0.0564497930714861 Centerline is valid? [True, True] Translation: X:66.36, Y:-19.22, Z:-0.95 [[ 8.62975083e-01 5.05244294e-01 1.48628196e-03 6.63609759e+01] [-5.05243613e-01 8.62976362e-01 -8.30464180e-04 -1.92193426e+01] [-1.70221349e-03 -3.42645747e-05 9.99998551e-01 -9.54504895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.16538474999999 meters 0.056499870117959025 Centerline is valid? [True, True] Translation: X:66.39, Y:-19.24, Z:-0.96 [[ 8.61063544e-01 5.08496534e-01 9.20771564e-04 6.63932478e+01] [-5.08496279e-01 8.61064036e-01 -5.10793920e-04 -1.92352920e+01] [-1.05258022e-03 -2.83828909e-05 9.99999446e-01 -9.55256305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19538474999999 meters 0.05679323913477499 Centerline is valid? [True, True] Translation: X:66.42, Y:-19.25, Z:-0.96 [[ 8.60348567e-01 5.09705879e-01 5.09676799e-04 6.64219401e+01] [-5.09705800e-01 8.60348718e-01 -2.82613258e-04 -1.92497362e+01] [-5.82549420e-04 -1.66393086e-05 9.99999830e-01 -9.56262270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.22538474999999 meters 0.05669317616149777 Centerline is valid? [True, True] Translation: X:66.45, Y:-19.27, Z:-0.96 [[ 8.59951769e-01 5.10373415e-01 1.38972998e-03 6.64509500e+01] [-5.10372824e-01 8.59952891e-01 -7.77652255e-04 -1.92654839e+01] [-1.59199535e-03 -4.05369813e-05 9.99998732e-01 -9.55965468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.25538474999999 meters 0.05669317616149777 Centerline is valid? [True, True] Translation: X:66.48, Y:-19.28, Z:-0.96 [[ 8.59801904e-01 5.10625847e-01 1.38948535e-03 6.64790463e+01] [-5.10625256e-01 8.59803026e-01 -7.78087869e-04 -1.92815067e+01] [-1.59199548e-03 -4.05048803e-05 9.99998732e-01 -9.56417942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.28538474999999 meters 0.056562303761480054 Centerline is valid? [True, True] Translation: X:66.51, Y:-19.30, Z:-0.96 [[ 8.59808836e-01 5.10614350e-01 1.32343376e-03 6.65077012e+01] [-5.10613813e-01 8.59809854e-01 -7.41405968e-04 -1.92967301e+01] [-1.51647392e-03 -3.82961582e-05 9.99998849e-01 -9.57136450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.31538474999999 meters 0.05629469583273354 Centerline is valid? [True, True] Translation: X:66.54, Y:-19.31, Z:-0.96 [[ 8.59932678e-01 5.10403052e-01 2.12447581e-03 6.65356371e+01] [-5.10401659e-01 8.59935300e-01 -1.19396050e-03 -1.93126703e+01] [-2.43631283e-03 -5.76103271e-05 9.99997031e-01 -9.56669993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.34538475 meters 0.05636648152020896 Centerline is valid? [True, True] Translation: X:66.56, Y:-19.33, Z:-0.96 [[ 8.60118229e-01 5.10083876e-01 3.32739289e-03 6.65629917e+01] [-5.10080441e-01 8.60124661e-01 -1.87407778e-03 -1.93275323e+01] [-3.81790954e-03 -8.53095670e-05 9.99992708e-01 -9.56960742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.37538475 meters 0.05611216365661443 Centerline is valid? [True, True] Translation: X:66.59, Y:-19.34, Z:-0.96 [[ 8.59863635e-01 5.10519147e-01 2.17472775e-03 6.65907710e+01] [-5.10517684e-01 8.59866383e-01 -1.22364575e-03 -1.93449663e+01] [-2.49466987e-03 -5.80684874e-05 9.99996887e-01 -9.58621483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.40538475 meters 0.05622311656181284 Centerline is valid? [True, True] Translation: X:66.62, Y:-19.36, Z:-0.96 [[ 8.59753285e-01 5.10706879e-01 1.66524774e-03 6.66192411e+01] [-5.10706022e-01 8.59754896e-01 -9.36483133e-04 -1.93607643e+01] [-1.90997328e-03 -4.53075998e-05 9.99998175e-01 -9.60432323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.43538475 meters 0.05596237753549566 Centerline is valid? [True, True] Translation: X:66.65, Y:-19.38, Z:-0.96 [[ 8.60747062e-01 5.09025758e-01 2.69672705e-03 6.66466847e+01] [-5.09023485e-01 8.60751285e-01 -1.52250025e-03 -1.93785305e+01] [-3.09620312e-03 -6.22097852e-05 9.99995205e-01 -9.61766408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.46538475 meters 0.05556352018053111 Centerline is valid? [True, True] Translation: X:66.67, Y:-19.40, Z:-0.96 [[ 8.61861736e-01 5.07130868e-01 3.55406493e-03 6.66729670e+01] [-5.07126903e-01 8.61869060e-01 -2.00682540e-03 -1.93958224e+01] [-4.08086171e-03 -7.27559160e-05 9.99991671e-01 -9.61502970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.49538475 meters 0.055117779687109535 Centerline is valid? [True, True] Translation: X:66.70, Y:-19.42, Z:-0.96 [[ 8.63164946e-01 5.04902234e-01 4.47334339e-03 6.66989748e+01] [-5.04895910e-01 8.63176534e-01 -2.52812794e-03 -1.94151214e+01] [-5.13774249e-03 -7.63813628e-05 9.99986799e-01 -9.59756188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.52538474999999 meters 0.054992457650950295 Centerline is valid? [True, True] Translation: X:66.73, Y:-19.43, Z:-0.96 [[ 8.63296105e-01 5.04683111e-01 3.84611282e-03 6.67269492e+01] [-5.04678427e-01 8.63304670e-01 -2.17518211e-03 -1.94303188e+01] [-4.41814483e-03 -6.32239297e-05 9.99990238e-01 -9.60959869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55538474999999 meters 0.055237134687860755 Centerline is valid? [True, True] Translation: X:66.76, Y:-19.44, Z:-0.96 [[ 8.62040719e-01 5.06827799e-01 3.37351715e-03 6.67551184e+01] [-5.06824214e-01 8.62047317e-01 -1.90740222e-03 -1.94449585e+01] [-3.87485588e-03 -6.55217993e-05 9.99992491e-01 -9.61537199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.58538474999999 meters 0.056067850762579814 Centerline is valid? [True, True] Translation: X:66.79, Y:-19.45, Z:-0.96 [[ 8.59848996e-01 5.10519306e-01 5.45354524e-03 6.67857449e+01] [-5.10509982e-01 8.59866281e-01 -3.08813825e-03 -1.94541070e+01] [-6.26587386e-03 -1.28756709e-04 9.99980361e-01 -9.61634589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.61538474999999 meters 0.05644091220526487 Centerline is valid? [True, True] Translation: X:66.81, Y:-19.47, Z:-0.96 [[ 8.58626499e-01 5.12563310e-01 6.27607274e-03 6.68149574e+01] [-5.12550998e-01 8.58649420e-01 -3.55635386e-03 -1.94677052e+01] [-7.21180273e-03 -1.63227685e-04 9.99973981e-01 -9.62594524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.64538474999999 meters 0.05686838218402437 Centerline is valid? [True, True] Translation: X:66.84, Y:-19.48, Z:-0.96 [[ 8.57492389e-01 5.14455743e-01 6.48774439e-03 6.68445443e+01] [-5.14442623e-01 8.57516912e-01 -3.67869278e-03 -1.94810774e+01] [-7.45587516e-03 -1.83121180e-04 9.99972188e-01 -9.62616821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67538474999999 meters 0.05763365259241292 Centerline is valid? [True, True] Translation: X:66.87, Y:-19.49, Z:-0.96 [[ 8.55934221e-01 5.17029938e-01 7.52680548e-03 6.68746313e+01] [-5.17012351e-01 8.55967282e-01 -4.27101573e-03 -1.94920773e+01] [-8.65094222e-03 -2.35742879e-04 9.99962552e-01 -9.62274138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.70538475 meters 0.058032272901363376 Centerline is valid? [True, True] Translation: X:66.90, Y:-19.50, Z:-0.96 [[ 8.55097887e-01 5.18385675e-01 9.15944494e-03 6.69041595e+01] [-5.18359661e-01 8.55146889e-01 -5.20184655e-03 -1.95042096e+01] [-1.05292336e-02 -2.99798779e-04 9.99944521e-01 -9.61836424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.73538475 meters 0.05795897074647638 Centerline is valid? [True, True] Translation: X:66.93, Y:-19.52, Z:-0.96 [[ 8.54561532e-01 5.19278166e-01 8.64717292e-03 6.69322807e+01] [-5.19255000e-01 8.54605231e-01 -4.91359159e-03 -1.95194757e+01] [-9.94144005e-03 -2.91121422e-04 9.99950540e-01 -9.61986224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.76538475 meters 0.058107487340170974 Centerline is valid? [True, True] Translation: X:66.96, Y:-19.53, Z:-0.96 [[ 8.53988351e-01 5.20222604e-01 8.50517474e-03 6.69609719e+01] [-5.20200212e-01 8.54030653e-01 -4.83571316e-03 -1.95343667e+01] [-9.77932722e-03 -2.94750995e-04 9.99952138e-01 -9.63429892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.79538475 meters 0.058482889266753504 Centerline is valid? [True, True] Translation: X:66.99, Y:-19.55, Z:-0.96 [[ 8.53686778e-01 5.20708084e-01 9.05405597e-03 6.69898723e+01] [-5.20682701e-01 8.53734731e-01 -5.15115129e-03 -1.95483975e+01] [-1.04120082e-02 -3.16820566e-04 9.99945743e-01 -9.64913131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.82538475 meters 0.05945471438672699 Centerline is valid? [True, True] Translation: X:67.02, Y:-19.56, Z:-0.97 [[ 8.52173728e-01 5.23204792e-01 7.52879792e-03 6.70195400e+01] [-5.23187318e-01 8.52206937e-01 -4.28572700e-03 -1.95603215e+01] [-8.65840672e-03 -2.86787637e-04 9.99962474e-01 -9.67656531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.85538475 meters 0.05952208206043055 Centerline is valid? [True, True] Translation: X:67.05, Y:-19.58, Z:-0.97 [[ 8.51530897e-01 5.24257889e-01 6.98544735e-03 6.70476525e+01] [-5.24242868e-01 8.51559505e-01 -3.97806140e-03 -1.95759130e+01] [-8.03405416e-03 -2.74628755e-04 9.99967689e-01 -9.68944674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.88538474999999 meters 0.0595734733863299 Centerline is valid? [True, True] Translation: X:67.08, Y:-19.59, Z:-0.97 [[ 8.50441994e-01 5.26026656e-01 6.66128668e-03 6.70756203e+01] [-5.26013034e-01 8.50468036e-01 -3.79561818e-03 -1.95918172e+01] [-7.66180774e-03 -2.75970527e-04 9.99970610e-01 -9.68744975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91538474999999 meters 0.06044546781227319 Centerline is valid? [True, True] Translation: X:67.10, Y:-19.61, Z:-0.97 [[ 8.50307573e-01 5.26246422e-01 6.46023587e-03 6.71049746e+01] [-5.26233601e-01 8.50332072e-01 -3.68310672e-03 -1.96051346e+01] [-7.43156748e-03 -2.67819649e-04 9.99972350e-01 -9.68372678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.94538474999999 meters 0.059178211581483516 Centerline is valid? [True, True] Translation: X:67.13, Y:-19.63, Z:-0.97 [[ 8.50774163e-01 5.25486644e-01 6.86376259e-03 6.71305139e+01] [-5.25472123e-01 8.50801805e-01 -3.91614936e-03 -1.96253155e+01] [-7.89758578e-03 -2.74957209e-04 9.99968776e-01 -9.66696170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97538474999999 meters 0.058851064891967675 Centerline is valid? [True, True] Translation: X:67.16, Y:-19.64, Z:-0.97 [[ 8.50628818e-01 5.25722994e-01 6.77851220e-03 6.71585185e+01] [-5.25708823e-01 8.50655782e-01 -3.86958394e-03 -1.96432807e+01] [-7.80050985e-03 -2.71944055e-04 9.99969539e-01 -9.66611224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.00538474999999 meters 0.05886166591081316 Centerline is valid? [True, True] Translation: X:67.19, Y:-19.66, Z:-0.97 [[ 8.51377515e-01 5.24524393e-01 5.52149083e-03 6.71858950e+01] [-5.24514955e-01 8.51395394e-01 -3.15370178e-03 -1.96586819e+01] [-6.35516537e-03 -2.11113733e-04 9.99979783e-01 -9.68702688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.03538474999999 meters 0.05860261384829188 Centerline is valid? [True, True] Translation: X:67.21, Y:-19.68, Z:-0.97 [[ 8.51636336e-01 5.24114531e-01 4.41689110e-03 6.72129682e+01] [-5.24108482e-01 8.51647774e-01 -2.52352863e-03 -1.96754766e+01] [-5.08425350e-03 -1.65801417e-04 9.99987061e-01 -9.70960350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.06538474999999 meters 0.05834036613764971 Centerline is valid? [True, True] Translation: X:67.24, Y:-19.69, Z:-0.97 [[ 8.52105517e-01 5.23352647e-01 4.26561085e-03 6.72388171e+01] [-5.23346989e-01 8.52116179e-01 -2.43840220e-03 -1.96943772e+01] [-4.91094026e-03 -1.54618626e-04 9.99987929e-01 -9.70784634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.09538475 meters 0.05819263485688857 Centerline is valid? [True, True] Translation: X:67.27, Y:-19.71, Z:-0.97 [[ 8.52326922e-01 5.22996782e-01 3.63104134e-03 6.72655324e+01] [-5.22992676e-01 8.52334646e-01 -2.07653803e-03 -1.97098244e+01] [-4.18088505e-03 -1.29118757e-04 9.99991252e-01 -9.70885264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.12538475 meters 0.05770656716584628 Centerline is valid? [True, True] Translation: X:67.29, Y:-19.73, Z:-0.97 [[ 8.52236159e-01 5.23126442e-01 5.67931711e-03 6.72922835e+01] [-5.23116373e-01 8.52255059e-01 -3.25174218e-03 -1.97281428e+01] [-6.54129906e-03 -1.99691504e-04 9.99978586e-01 -9.69077488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.15538475 meters 0.05824033333797974 Centerline is valid? [True, True] Translation: X:67.32, Y:-19.74, Z:-0.97 [[ 8.51870100e-01 5.23716093e-01 6.22786868e-03 6.73200222e+01] [-5.23703977e-01 8.51892837e-01 -3.56931797e-03 -1.97430728e+01] [-7.17478598e-03 -2.20964335e-04 9.99974236e-01 -9.68938630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.18538475 meters 0.05782880049924539 Centerline is valid? [True, True] Translation: X:67.35, Y:-19.76, Z:-0.97 [[ 8.51276691e-01 5.24686694e-01 5.64518737e-03 6.73460375e+01] [-5.24676761e-01 8.51295384e-01 -3.23518055e-03 -1.97617008e+01] [-6.50317813e-03 -2.07864826e-04 9.99978833e-01 -9.69255211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.21538475 meters 0.0581282716491587 Centerline is valid? [True, True] Translation: X:67.37, Y:-19.78, Z:-0.97 [[ 8.51099418e-01 5.24981328e-01 4.93817533e-03 6.73744246e+01] [-5.24973726e-01 8.51113725e-01 -2.83104903e-03 -1.97768720e+01] [-5.68919668e-03 -1.82908114e-04 9.99983800e-01 -9.71032927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.24538475 meters 0.058034466951382785 Centerline is valid? [True, True] Translation: X:67.40, Y:-19.79, Z:-0.97 [[ 8.51256493e-01 5.24739874e-01 3.23239482e-03 6.74023938e+01] [-5.24736617e-01 8.51262621e-01 -1.85256849e-03 -1.97945593e+01] [-3.72373345e-03 -1.19144966e-04 9.99993060e-01 -9.72906886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27538474999999 meters 0.058952625725865876 Centerline is valid? [True, True] Translation: X:67.43, Y:-19.81, Z:-0.98 [[ 8.50762239e-01 5.25546910e-01 2.01455204e-03 6.74296564e+01] [-5.25545648e-01 8.50764620e-01 -1.15436037e-03 -1.98087312e+01] [-2.32058013e-03 -7.66528439e-05 9.99997305e-01 -9.75613361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.30538474999999 meters 0.05916298375564388 Centerline is valid? [True, True] Translation: X:67.46, Y:-19.83, Z:-0.98 [[ 8.50622460e-01 5.25775054e-01 1.42262426e-03 6.74583385e+01] [-5.25774427e-01 8.50623648e-01 -8.13854771e-04 -1.98255972e+01] [-1.63802237e-03 -5.56963062e-05 9.99998657e-01 -9.76665967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33538474999999 meters 0.05893351076315573 Centerline is valid? [True, True] Translation: X:67.48, Y:-19.84, Z:-0.98 [[ 8.50080200e-01 5.26652927e-01 5.89633134e-04 6.74848390e+01] [-5.26652821e-01 8.50080404e-01 -3.35287121e-04 -1.98431168e+01] [-6.77815517e-04 -2.55110104e-05 9.99999770e-01 -9.77443079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.36538474999999 meters 0.059258734692239405 Centerline is valid? [True, True] Translation: X:67.51, Y:-19.86, Z:-0.98 [[ 8.49450051e-01 5.27668026e-01 -1.03258489e-03 6.75108634e+01] [-5.27667687e-01 8.49450677e-01 5.98674707e-04 -1.98610117e+01] [ 1.19303143e-03 3.63174183e-05 9.99999288e-01 -9.79295673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.39538474999999 meters 0.05943512112391083 Centerline is valid? [True, True] Translation: X:67.54, Y:-19.88, Z:-0.98 [[ 8.49639790e-01 5.27361369e-01 -1.48793950e-03 6.75390692e+01] [-5.27360670e-01 8.49641091e-01 8.60274269e-04 -1.98765109e+01] [ 1.71788996e-03 5.37575247e-05 9.99998523e-01 -9.81386679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.42538474999999 meters 0.05931435892610185 Centerline is valid? [True, True] Translation: X:67.57, Y:-19.90, Z:-0.98 [[ 8.49264573e-01 5.27963649e-01 -2.01737735e-03 6.75660208e+01] [-5.27962363e-01 8.49266966e-01 1.16790708e-03 -1.98950021e+01] [ 2.32990443e-03 7.32372034e-05 9.99997283e-01 -9.81618759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.45538475 meters 0.05951535720436143 Centerline is valid? [True, True] Translation: X:67.59, Y:-19.91, Z:-0.98 [[ 8.49687315e-01 5.27284275e-01 -1.66136521e-03 6.75932317e+01] [-5.27283400e-01 8.49688937e-01 9.62345239e-04 -1.99100037e+01] [ 1.91907315e-03 5.83177544e-05 9.99998157e-01 -9.82493762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.48538475 meters 0.05865908608764425 Centerline is valid? [True, True] Translation: X:67.62, Y:-19.93, Z:-0.98 [[ 8.50997147e-01 5.25168873e-01 -1.22879890e-03 6.76194964e+01] [-5.25168394e-01 8.50998033e-01 7.10907160e-04 -1.99295862e+01] [ 1.41905176e-03 4.03463786e-05 9.99998992e-01 -9.80666370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.51538475 meters 0.058950660657458194 Centerline is valid? [True, True] Translation: X:67.65, Y:-19.94, Z:-0.98 [[ 8.50989228e-01 5.25181316e-01 -1.38518280e-03 6.76476979e+01] [-5.25180702e-01 8.50990354e-01 8.04289434e-04 -1.99434742e+01] [ 1.60117498e-03 4.30296291e-05 9.99998717e-01 -9.82866591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.54538475 meters 0.0591759906833441 Centerline is valid? [True, True] Translation: X:67.68, Y:-19.96, Z:-0.98 [[ 8.49999002e-01 5.26778423e-01 -2.48792345e-03 6.76761815e+01] [-5.26776457e-01 8.50002639e-01 1.44157789e-03 -1.99583880e+01] [ 2.87413362e-03 8.52397319e-05 9.99995866e-01 -9.84079231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.57538475 meters 0.06010236735497488 Centerline is valid? [True, True] Translation: X:67.71, Y:-19.97, Z:-0.99 [[ 8.49358115e-01 5.27813409e-01 -1.94873184e-03 6.77050591e+01] [-5.27812207e-01 8.49360348e-01 1.12852659e-03 -1.99713154e+01] [ 2.25082702e-03 7.00412408e-05 9.99997464e-01 -9.85210014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.60538475 meters 0.05880945043368316 Centerline is valid? [True, True] Translation: X:67.73, Y:-19.99, Z:-0.98 [[ 8.51298178e-01 5.24681688e-01 -7.33882031e-04 6.77318456e+01] [-5.24681514e-01 8.51298494e-01 4.28097277e-04 -1.99876210e+01] [ 8.49367469e-04 2.06159033e-05 9.99999639e-01 -9.83813178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63538474999999 meters 0.0584417566513541 Centerline is valid? [True, True] Translation: X:67.76, Y:-20.00, Z:-0.98 [[ 8.51841031e-01 5.23799895e-01 7.26438653e-04 6.77591878e+01] [-5.23799730e-01 8.51841340e-01 -4.16311015e-04 -2.00048025e+01] [-8.36874142e-04 -2.58775667e-05 9.99999649e-01 -9.82546872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.66538474999999 meters 0.05780094028193184 Centerline is valid? [True, True] Translation: X:67.79, Y:-20.02, Z:-0.98 [[ 8.53503545e-01 5.21086998e-01 -1.97606228e-04 6.77863986e+01] [-5.21086984e-01 8.53503568e-01 1.18367917e-04 -2.00207488e+01] [ 2.30337603e-04 1.94259663e-06 9.99999973e-01 -9.81830848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69538474999999 meters 0.05732975152605774 Centerline is valid? [True, True] Translation: X:67.81, Y:-20.04, Z:-0.98 [[ 8.54315657e-01 5.19754089e-01 -6.67035144e-04 6.78141956e+01] [-5.19753943e-01 8.54315917e-01 3.90441561e-04 -2.00359137e+01] [ 7.72792338e-04 1.31338070e-05 9.99999701e-01 -9.82243075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.72538474999999 meters 0.057041526852310384 Centerline is valid? [True, True] Translation: X:67.84, Y:-20.05, Z:-0.98 [[ 8.54050146e-01 5.20189487e-01 -1.11608231e-03 6.78418913e+01] [-5.20189080e-01 8.54050875e-01 6.51145938e-04 -2.00519573e+01] [ 1.29191034e-03 2.44625452e-05 9.99999165e-01 -9.81243833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.75538474999999 meters 0.057407461438544055 Centerline is valid? [True, True] Translation: X:67.87, Y:-20.06, Z:-0.98 [[ 8.53532043e-01 5.21039325e-01 -1.03629622e-03 6.78710831e+01] [-5.21038975e-01 8.53532671e-01 6.04863284e-04 -2.00639616e+01] [ 1.19967024e-03 2.36805264e-05 9.99999280e-01 -9.83182016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.78538474999999 meters 0.058108592487207074 Centerline is valid? [True, True] Translation: X:67.90, Y:-20.07, Z:-0.99 [[ 8.51864766e-01 5.23752517e-01 -3.11777017e-03 6.79015529e+01] [-5.23749387e-01 8.51870467e-01 1.81295370e-03 -2.00745992e+01] [ 3.60547540e-03 8.85388373e-05 9.99993496e-01 -9.85510413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.81538474999999 meters 0.05887131066635923 Centerline is valid? [True, True] Translation: X:67.93, Y:-20.09, Z:-0.99 [[ 8.50838143e-01 5.25405807e-01 -4.81584559e-03 6.79301448e+01] [-5.25398381e-01 8.50851759e-01 2.79733434e-03 -2.00860669e+01] [ 5.56730640e-03 1.50158721e-04 9.99984491e-01 -9.88119647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.84538475 meters 0.059625482944697286 Centerline is valid? [True, True] Translation: X:67.96, Y:-20.10, Z:-0.99 [[ 8.49257705e-01 5.27951164e-01 -5.37766093e-03 6.79607033e+01] [-5.27941937e-01 8.49274711e-01 3.12676837e-03 -2.00960832e+01] [ 6.21789243e-03 1.83660594e-04 9.99980652e-01 -9.89300021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.87538475 meters 0.0598389273022099 Centerline is valid? [True, True] Translation: X:67.99, Y:-20.11, Z:-0.99 [[ 8.47725071e-01 5.30415567e-01 -4.64010201e-03 6.79905417e+01] [-5.30408721e-01 8.47737752e-01 2.70039650e-03 -2.01086171e+01] [ 5.36592199e-03 1.71956756e-04 9.99985589e-01 -9.88610957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.90538475 meters 0.059395415162232755 Centerline is valid? [True, True] Translation: X:68.02, Y:-20.12, Z:-0.99 [[ 8.47262558e-01 5.31156782e-01 -4.31635591e-03 6.80192726e+01] [-5.31150854e-01 8.47273537e-01 2.51464804e-03 -2.01240907e+01] [ 4.99280650e-03 1.62069003e-04 9.99987523e-01 -9.86830298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.93538475 meters 0.05901695900303645 Centerline is valid? [True, True] Translation: X:68.05, Y:-20.14, Z:-0.99 [[ 8.46296311e-01 5.32706406e-01 -2.53751318e-03 6.80484224e+01] [-5.32704357e-01 8.46300109e-01 1.48067384e-03 -2.01374401e+01] [ 2.93626212e-03 9.86555182e-05 9.99995684e-01 -9.85366193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.96538475 meters 0.05905983535060022 Centerline is valid? [True, True] Translation: X:68.08, Y:-20.15, Z:-0.99 [[ 8.46296094e-01 5.32709193e-01 -1.95908056e-03 6.80763033e+01] [-5.32707969e-01 8.46298358e-01 1.14442631e-03 -2.01506967e+01] [ 2.26761308e-03 7.50943100e-05 9.99997426e-01 -9.85827187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.99538475 meters 0.0591709572800358 Centerline is valid? [True, True] Translation: X:68.11, Y:-20.16, Z:-0.99 [[ 8.46123122e-01 5.32983794e-01 -1.98418661e-03 6.81063895e+01] [-5.32982536e-01 8.46125445e-01 1.16068324e-03 -2.01646920e+01] [ 2.29749614e-03 7.54558810e-05 9.99997358e-01 -9.86113081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.02538474999999 meters 0.05904059309549243 Centerline is valid? [True, True] Translation: X:68.13, Y:-20.18, Z:-0.99 [[ 8.46231912e-01 5.32811839e-01 -1.75926827e-03 6.81346554e+01] [-5.32810849e-01 8.46233738e-01 1.02962920e-03 -2.01803521e+01] [ 2.03735079e-03 6.60521292e-05 9.99997922e-01 -9.85828468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05538474999999 meters 0.05874956887097804 Centerline is valid? [True, True] Translation: X:68.16, Y:-20.19, Z:-0.99 [[ 8.46820542e-01 5.31877425e-01 -1.17248629e-03 6.81629801e+01] [-5.31876982e-01 8.46821353e-01 6.87611857e-04 -2.01937643e+01] [ 1.35861165e-03 4.13346253e-05 9.99999076e-01 -9.86309252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.08538474999999 meters 0.058604486829506544 Centerline is valid? [True, True] Translation: X:68.19, Y:-20.21, Z:-0.99 [[ 8.46760862e-01 5.31972107e-01 -1.31141013e-03 6.81921251e+01] [-5.31971552e-01 8.46761876e-01 7.70009787e-04 -2.02086526e+01] [ 1.52007583e-03 4.56187305e-05 9.99998844e-01 -9.87925442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.11538474999999 meters 0.05774089508605669 Centerline is valid? [True, True] Translation: X:68.22, Y:-20.22, Z:-0.99 [[ 8.47176600e-01 5.31308199e-01 -1.84572095e-03 6.82205130e+01] [-5.31307101e-01 8.47178608e-01 1.08208430e-03 -2.02243576e+01] [ 2.13857557e-03 6.39281441e-05 9.99997711e-01 -9.86806046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.14538474999999 meters 0.05770964764705094 Centerline is valid? [True, True] Translation: X:68.25, Y:-20.24, Z:-0.99 [[ 8.47463789e-01 5.30850829e-01 -1.58836036e-03 6.82484514e+01] [-5.30850013e-01 8.47465276e-01 9.32328572e-04 -2.02394348e+01] [ 1.84100764e-03 5.30664117e-05 9.99998304e-01 -9.87478709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.17538474999999 meters 0.05770964764705094 Centerline is valid? [True, True] Translation: X:68.28, Y:-20.26, Z:-0.99 [[ 8.47304466e-01 5.31105093e-01 -1.58781659e-03 6.82763201e+01] [-5.31104276e-01 8.47305952e-01 9.33257764e-04 -2.02558940e+01] [ 1.84102440e-03 5.25427115e-05 9.99998304e-01 -9.87930990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.20538475 meters 0.05736941179974965 Centerline is valid? [True, True] Translation: X:68.30, Y:-20.27, Z:-0.99 [[ 8.47769506e-01 5.30360154e-01 -2.22994721e-03 6.83046193e+01] [-5.30358544e-01 8.47772435e-01 1.30892312e-03 -2.02708333e+01] [ 2.58468845e-03 7.30064476e-05 9.99996657e-01 -9.87508971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.23538475 meters 0.057636662492861444 Centerline is valid? [True, True] Translation: X:68.33, Y:-20.28, Z:-0.99 [[ 8.47976247e-01 5.30028413e-01 -2.48303857e-03 6.83321382e+01] [-5.30026415e-01 8.47979879e-01 1.45746430e-03 -2.02844973e+01] [ 2.87806423e-03 8.01809249e-05 9.99995855e-01 -9.89264253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.26538475 meters 0.05760828215839771 Centerline is valid? [True, True] Translation: X:68.36, Y:-20.30, Z:-0.99 [[ 8.47743449e-01 5.30386550e-01 -4.59922465e-03 6.83613441e+01] [-5.30379709e-01 8.47755911e-01 2.69820613e-03 -2.02985289e+01] [ 5.33011212e-03 1.51948861e-04 9.99985783e-01 -9.91214359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.29538475 meters 0.05744275338821555 Centerline is valid? [True, True] Translation: X:68.39, Y:-20.31, Z:-0.99 [[ 8.47835888e-01 5.30235057e-01 -5.00902822e-03 6.83909535e+01] [-5.30226927e-01 8.47850669e-01 2.94088012e-03 -2.03132105e+01] [ 5.80626567e-03 1.62537927e-04 9.99983130e-01 -9.92699339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.32538475 meters 0.057525496498352396 Centerline is valid? [True, True] Translation: X:68.42, Y:-20.33, Z:-0.99 [[ 8.47623990e-01 5.30563048e-01 -6.03522017e-03 6.84196606e+01] [-5.30551249e-01 8.47645452e-01 3.54384769e-03 -2.03279235e+01] [ 6.99596157e-03 1.98143281e-04 9.99975508e-01 -9.93729395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.35538475 meters 0.05783315144885031 Centerline is valid? [True, True] Translation: X:68.45, Y:-20.34, Z:-0.99 [[ 8.46468085e-01 5.32397645e-01 -6.67298647e-03 6.84481123e+01] [-5.32383267e-01 8.46494355e-01 3.91972337e-03 -2.03405021e+01] [ 7.73549687e-03 2.34665604e-04 9.99970053e-01 -9.94649372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.38538474999999 meters 0.05811405380698994 Centerline is valid? [True, True] Translation: X:68.48, Y:-20.36, Z:-0.99 [[ 8.45776176e-01 5.33495179e-01 -6.74938646e-03 6.84768091e+01] [-5.33480485e-01 8.45803071e-01 3.96713381e-03 -2.03553138e+01] [ 7.82509855e-03 2.45358697e-04 9.99969353e-01 -9.94914488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41538474999999 meters 0.05891288852007807 Centerline is valid? [True, True] Translation: X:68.51, Y:-20.37, Z:-1.00 [[ 8.44244289e-01 5.35906162e-01 -7.49438209e-03 6.85060326e+01] [-5.35888126e-01 8.44277501e-01 4.40662057e-03 -2.03669603e+01] [ 8.68887329e-03 2.95886123e-04 9.99962207e-01 -9.96543333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.44538474999999 meters 0.05951589576919388 Centerline is valid? [True, True] Translation: X:68.53, Y:-20.38, Z:-1.00 [[ 8.43194887e-01 5.37543438e-01 -8.33280916e-03 6.85344707e+01] [-5.37521199e-01 8.43235989e-01 4.90177033e-03 -2.03801367e+01] [ 9.66143904e-03 3.45913895e-04 9.99953267e-01 -9.96573508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47538474999999 meters 0.060054553232369814 Centerline is valid? [True, True] Translation: X:68.56, Y:-20.39, Z:-1.00 [[ 8.41631410e-01 5.40000123e-01 -7.51244558e-03 6.85639393e+01] [-5.39982158e-01 8.41664870e-01 4.41770156e-03 -2.03928429e+01] [ 8.70852091e-03 3.38510184e-04 9.99962023e-01 -9.95063693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.50538474999999 meters 0.05940313199127308 Centerline is valid? [True, True] Translation: X:68.59, Y:-20.41, Z:-0.99 [[ 8.40637339e-01 5.41545049e-01 -7.60420343e-03 6.85916677e+01] [-5.41526655e-01 8.40671657e-01 4.47737684e-03 -2.04091222e+01] [ 8.81733956e-03 3.54028693e-04 9.99961064e-01 -9.93462918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.53538474999999 meters 0.06067898773062919 Centerline is valid? [True, True] Translation: X:68.62, Y:-20.42, Z:-1.00 [[ 8.38775216e-01 5.44419057e-01 -8.00177812e-03 6.86217637e+01] [-5.44398831e-01 8.38813285e-01 4.71030596e-03 -2.04180227e+01] [ 9.27637811e-03 4.05270749e-04 9.99956891e-01 -9.95149216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.56538474999999 meters 0.06105445622981158 Centerline is valid? [True, True] Translation: X:68.65, Y:-20.43, Z:-1.00 [[ 8.37481808e-01 5.46397715e-01 -8.58826611e-03 6.86503362e+01] [-5.46374473e-01 8.37525719e-01 5.06012524e-03 -2.04313609e+01] [ 9.95773462e-03 4.54646536e-04 9.99950317e-01 -9.96172514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.59538475 meters 0.06213986462318154 Centerline is valid? [True, True] Translation: X:68.68, Y:-20.44, Z:-1.00 [[ 8.36394246e-01 5.48042153e-01 -9.71922659e-03 6.86795337e+01] [-5.48012488e-01 8.36450543e-01 5.72723609e-03 -2.04422308e+01] [ 1.12684192e-02 5.36030238e-04 9.99936366e-01 -9.97836797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.62538475 meters 0.06214061214264013 Centerline is valid? [True, True] Translation: X:68.71, Y:-20.46, Z:-1.00 [[ 8.36515984e-01 5.47848893e-01 -1.01291555e-02 6.87072144e+01] [-5.47816605e-01 8.36577125e-01 5.97340100e-03 -2.04574330e+01] [ 1.17463409e-02 5.52074171e-04 9.99930857e-01 -9.98988691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.65538475 meters 0.06070005464950007 Centerline is valid? [True, True] Translation: X:68.73, Y:-20.48, Z:-1.00 [[ 8.37424771e-01 5.46425650e-01 -1.17797411e-02 6.87330693e+01] [-5.46381792e-01 8.37507391e-01 6.95043264e-03 -2.04770269e+01] [ 1.36635149e-02 6.15771610e-04 9.99906460e-01 -9.96478221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.68538475 meters 0.06124188819546831 Centerline is valid? [True, True] Translation: X:68.76, Y:-20.49, Z:-1.00 [[ 8.38351382e-01 5.45023761e-01 -1.07731382e-02 6.87600976e+01] [-5.44986941e-01 8.38420424e-01 6.35817737e-03 -2.04906151e+01] [ 1.24977768e-02 5.40832835e-04 9.99921753e-01 -9.98580727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.71538475 meters 0.06044297251582272 Centerline is valid? [True, True] Translation: X:68.79, Y:-20.51, Z:-1.00 [[ 8.39478382e-01 5.43285117e-01 -1.08317475e-02 6.87862485e+01] [-5.43247704e-01 8.39548102e-01 6.39653894e-03 -2.05071996e+01] [ 1.25689175e-02 5.14565803e-04 9.99920876e-01 -9.99081426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.74538475 meters 0.059517551878514166 Centerline is valid? [True, True] Translation: X:68.81, Y:-20.53, Z:-1.00 [[ 8.39818161e-01 5.42769163e-01 -1.03485736e-02 6.88130058e+01] [-5.42734919e-01 8.39881781e-01 6.11571095e-03 -2.05255516e+01] [ 1.20109978e-02 4.80447151e-04 9.99927750e-01 -9.97908924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77538474999999 meters 0.05984504539231892 Centerline is valid? [True, True] Translation: X:68.84, Y:-20.54, Z:-1.00 [[ 8.39769991e-01 5.42840331e-01 -1.05232060e-02 6.88402021e+01] [-5.42804877e-01 8.39835781e-01 6.22306636e-03 -2.05415209e+01] [ 1.22158963e-02 4.86103147e-04 9.99925265e-01 -9.97824631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.80538474999999 meters 0.05993648867471026 Centerline is valid? [True, True] Translation: X:68.87, Y:-20.56, Z:-1.00 [[ 8.39319251e-01 5.43518067e-01 -1.14589118e-02 6.88683742e+01] [-5.43476046e-01 8.39397297e-01 6.77975683e-03 -2.05576571e+01] [ 1.33034999e-02 5.37263631e-04 9.99911360e-01 -9.98439716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83538474999999 meters 0.06071323206124203 Centerline is valid? [True, True] Translation: X:68.90, Y:-20.57, Z:-1.00 [[ 8.38854900e-01 5.44245672e-01 -1.09135670e-02 6.88968900e+01] [-5.44207559e-01 8.38925729e-01 6.46167373e-03 -2.05712773e+01] [ 1.26724101e-02 5.18838991e-04 9.99919567e-01 -1.00218028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.86538474999999 meters 0.05924802154190856 Centerline is valid? [True, True] Translation: X:68.92, Y:-20.59, Z:-1.00 [[ 8.38960331e-01 5.44116035e-01 -9.12702826e-03 6.89213068e+01] [-5.44089331e-01 8.39009867e-01 5.40778208e-03 -2.05927137e+01] [ 1.06001277e-02 4.29004044e-04 9.99943725e-01 -9.98466504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.89538474999999 meters 0.06082370531557725 Centerline is valid? [True, True] Translation: X:68.95, Y:-20.61, Z:-1.00 [[ 8.38821467e-01 5.44349383e-01 -7.89276464e-03 6.89501932e+01] [-5.44329397e-01 8.38858517e-01 4.67933455e-03 -2.06054454e+01] [ 9.16810572e-03 3.71137544e-04 9.99957903e-01 -1.00092984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.92538474999999 meters 0.059438825333781385 Centerline is valid? [True, True] Translation: X:68.98, Y:-20.63, Z:-1.00 [[ 8.38767790e-01 5.44451795e-01 -6.39039971e-03 6.89760616e+01] [-5.44438672e-01 8.38792080e-01 3.79193154e-03 -2.06250671e+01] [ 7.42474060e-03 2.98630694e-04 9.99972392e-01 -9.99052740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.95538475 meters 0.05953021379374339 Centerline is valid? [True, True] Translation: X:69.00, Y:-20.64, Z:-1.00 [[ 8.38444486e-01 5.44976232e-01 -3.42783586e-03 6.90034095e+01] [-5.44972447e-01 8.38451478e-01 2.03721620e-03 -2.06409926e+01] [ 3.98430845e-03 1.59983408e-04 9.99992050e-01 -9.98317271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.98538475 meters 0.05966867289055947 Centerline is valid? [True, True] Translation: X:69.03, Y:-20.66, Z:-1.00 [[ 8.38420250e-01 5.45016330e-01 -2.94678747e-03 6.90302994e+01] [-5.45013528e-01 8.38425418e-01 1.75293879e-03 -2.06584903e+01] [ 3.42604178e-03 1.36339655e-04 9.99994122e-01 -9.98374850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.01538475 meters 0.059464991375273564 Centerline is valid? [True, True] Translation: X:69.06, Y:-20.68, Z:-1.00 [[ 8.39154433e-01 5.43882378e-01 -3.43468643e-03 6.90564312e+01] [-5.43878560e-01 8.39161448e-01 2.04365780e-03 -2.06768287e+01] [ 3.99376590e-03 1.53107803e-04 9.99992013e-01 -9.99386067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.04538475 meters 0.05958960698433423 Centerline is valid? [True, True] Translation: X:69.08, Y:-20.69, Z:-1.00 [[ 8.39390213e-01 5.43520761e-01 -3.04192702e-03 6.90841213e+01] [-5.43517759e-01 8.39395714e-01 1.81148916e-03 -2.06933721e+01] [ 3.53796247e-03 1.32795086e-04 9.99993733e-01 -1.00085115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.07538475 meters 0.05946908344262133 Centerline is valid? [True, True] Translation: X:69.11, Y:-20.71, Z:-1.00 [[ 8.40234822e-01 5.42219375e-01 -1.89589856e-03 6.91105718e+01] [-5.42218200e-01 8.40236957e-01 1.13120751e-03 -2.07103646e+01] [ 2.20636666e-03 7.75107587e-05 9.99997563e-01 -1.00116931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.10538475 meters 0.05901630384720509 Centerline is valid? [True, True] Translation: X:69.14, Y:-20.73, Z:-1.00 [[ 8.40873864e-01 5.41229099e-01 -1.48548951e-03 6.91377092e+01] [-5.41228379e-01 8.40875174e-01 8.84764749e-04 -2.07285537e+01] [ 1.72797168e-03 6.00135283e-05 9.99998505e-01 -1.00126674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13538474999999 meters 0.058936754404004796 Centerline is valid? [True, True] Translation: X:69.16, Y:-20.75, Z:-1.00 [[ 8.41722540e-01 5.39909645e-01 -8.60234859e-04 6.91644217e+01] [-5.39909399e-01 8.41722979e-01 5.15923962e-04 -2.07451868e+01] [ 1.00263177e-03 3.01840576e-05 9.99999497e-01 -1.00269060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.16538474999999 meters 0.058655504885184014 Centerline is valid? [True, True] Translation: X:69.19, Y:-20.76, Z:-1.00 [[ 8.42156756e-01 5.39232049e-01 -8.91877171e-04 6.91912258e+01] [-5.39231785e-01 8.42157228e-01 5.35004366e-04 -2.07626808e+01] [ 1.03959231e-03 3.03709769e-05 9.99999459e-01 -1.00293403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19538474999999 meters 0.058203609369983 Centerline is valid? [True, True] Translation: X:69.22, Y:-20.78, Z:-1.00 [[ 8.42929672e-01 5.38020185e-01 -1.96178623e-03 6.92166767e+01] [-5.38018911e-01 8.42931952e-01 1.17270461e-03 -2.07817940e+01] [ 2.28459105e-03 6.69705737e-05 9.99997388e-01 -1.00439477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.22538474999999 meters 0.05806896510657498 Centerline is valid? [True, True] Translation: X:69.24, Y:-20.80, Z:-1.01 [[ 8.43610555e-01 5.36950797e-01 -2.25237903e-03 6.92435391e+01] [-5.36949113e-01 8.43613559e-01 1.34659984e-03 -2.07995411e+01] [ 2.62319535e-03 7.34070857e-05 9.99996557e-01 -1.00567013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.25538474999999 meters 0.058000524760011676 Centerline is valid? [True, True] Translation: X:69.27, Y:-20.82, Z:-1.01 [[ 8.44153060e-01 5.36101153e-01 -1.07928128e-03 6.92689396e+01] [-5.36100763e-01 8.44153750e-01 6.47468099e-04 -2.08168362e+01] [ 1.25818773e-03 3.20413385e-05 9.99999208e-01 -1.00650360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.28538474999999 meters 0.057271869133317735 Centerline is valid? [True, True] Translation: X:69.29, Y:-20.84, Z:-1.00 [[ 8.45323675e-01 5.34253680e-01 9.43073754e-04 6.92930011e+01] [-5.34253389e-01 8.45324201e-01 -5.58652647e-04 -2.08377563e+01] [-1.09566530e-03 -3.15980408e-05 9.99999399e-01 -1.00391076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.31538474999999 meters 0.05748464147946089 Centerline is valid? [True, True] Translation: X:69.32, Y:-20.85, Z:-1.00 [[ 8.45193440e-01 5.34459355e-01 1.11685740e-03 6.93198261e+01] [-5.34458946e-01 8.45194177e-01 -6.62226713e-04 -2.08541509e+01] [-1.29789463e-03 -3.72047531e-05 9.99999157e-01 -1.00464348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.34538475 meters 0.05773007704007436 Centerline is valid? [True, True] Translation: X:69.35, Y:-20.87, Z:-1.00 [[ 8.45037878e-01 5.34698047e-01 2.99715337e-03 6.93466954e+01] [-5.34695071e-01 8.45043188e-01 -1.78624322e-03 -2.08709660e+01] [-3.48782480e-03 -9.31199504e-05 9.99993913e-01 -1.00494645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.37538475 meters 0.057982880262201414 Centerline is valid? [True, True] Translation: X:69.37, Y:-20.89, Z:-1.01 [[ 8.44509552e-01 5.35532664e-01 2.89510381e-03 6.93744844e+01] [-5.35529889e-01 8.44514510e-01 -1.72633270e-03 -2.08872306e+01] [-3.36946473e-03 -9.25101733e-05 9.99994319e-01 -1.00541893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.40538475 meters 0.058453724252566557 Centerline is valid? [True, True] Translation: X:69.40, Y:-20.90, Z:-1.00 [[ 8.43166558e-01 5.37645354e-01 2.76194884e-03 6.94018814e+01] [-5.37642837e-01 8.43171077e-01 -1.64771894e-03 -2.09034722e+01] [-3.21468381e-03 -9.56405039e-05 9.99994828e-01 -1.00495407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.43538475 meters 0.05874984646928286 Centerline is valid? [True, True] Translation: X:69.43, Y:-20.92, Z:-1.01 [[ 8.42479018e-01 5.38720592e-01 3.03788520e-03 6.94295524e+01] [-5.38717549e-01 8.42484488e-01 -1.81382405e-03 -2.09190210e+01] [-3.53651552e-03 -1.08453363e-04 9.99993741e-01 -1.00561021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.46538475 meters 0.05880314564728255 Centerline is valid? [True, True] Translation: X:69.46, Y:-20.94, Z:-1.01 [[ 8.41808954e-01 5.39761895e-01 3.84468086e-03 6.94569543e+01] [-5.39757022e-01 8.41817722e-01 -2.29791420e-03 -2.09350519e+01] [-4.47684701e-03 -1.40788746e-04 9.99989969e-01 -1.00699651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.49538475 meters 0.05960703923160194 Centerline is valid? [True, True] Translation: X:69.49, Y:-20.95, Z:-1.01 [[ 8.40464642e-01 5.41859671e-01 2.69883278e-03 6.94856887e+01] [-5.41857280e-01 8.40468968e-01 -1.61296790e-03 -2.09493940e+01] [-3.14228746e-03 -1.06739704e-04 9.99995057e-01 -1.00993394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.52538474999999 meters 0.06037493235158437 Centerline is valid? [True, True] Translation: X:69.51, Y:-20.96, Z:-1.01 [[ 8.39857534e-01 5.42805388e-01 1.27782914e-03 6.95131587e+01] [-5.42804855e-01 8.39858505e-01 -7.62080957e-04 -2.09645753e+01] [-1.48685732e-03 -5.35724303e-05 9.99998893e-01 -1.01151151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55538474999999 meters 0.0604094761387433 Centerline is valid? [True, True] Translation: X:69.54, Y:-20.98, Z:-1.01 [[ 8.39676635e-01 5.43084192e-01 1.64608175e-03 6.95409659e+01] [-5.43083307e-01 8.39678246e-01 -9.82615569e-04 -2.09814734e+01] [-1.91582202e-03 -6.88801869e-05 9.99998162e-01 -1.01199066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.58538474999999 meters 0.060986028447577376 Centerline is valid? [True, True] Translation: X:69.57, Y:-21.00, Z:-1.01 [[ 8.39327669e-01 5.43620192e-01 2.47990157e-03 6.95684963e+01] [-5.43618176e-01 8.39331327e-01 -1.48405208e-03 -2.09969941e+01] [-2.88821975e-03 -1.02513598e-04 9.99995824e-01 -1.01281473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.61538474999999 meters 0.061142936999750014 Centerline is valid? [True, True] Translation: X:69.59, Y:-21.01, Z:-1.01 [[ 8.39240295e-01 5.43749561e-01 3.48447427e-03 6.95948248e+01] [-5.43745568e-01 8.39247517e-01 -2.08879564e-03 -2.10126494e+01] [-4.06011809e-03 -1.41665972e-04 9.99991748e-01 -1.01222992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.64538474999999 meters 0.061584330187680295 Centerline is valid? [True, True] Translation: X:69.62, Y:-21.03, Z:-1.01 [[ 8.38529891e-01 5.44843646e-01 3.60876922e-03 6.96219986e+01] [-5.44839367e-01 8.38537643e-01 -2.16461382e-03 -2.10283437e+01] [-4.20546492e-03 -1.51106150e-04 9.99991146e-01 -1.01226874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67538474999999 meters 0.06153189334899507 Centerline is valid? [True, True] Translation: X:69.65, Y:-21.05, Z:-1.01 [[ 8.37999156e-01 5.45658788e-01 3.72850603e-03 6.96490845e+01] [-5.45654223e-01 8.38007436e-01 -2.23751491e-03 -2.10450637e+01] [-4.34543545e-03 -1.59439460e-04 9.99990546e-01 -1.01292037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.70538475 meters 0.061232090237113596 Centerline is valid? [True, True] Translation: X:69.68, Y:-21.06, Z:-1.01 [[ 8.37574715e-01 5.46298126e-01 5.19176896e-03 6.96767868e+01] [-5.46289270e-01 8.37590776e-01 -3.11863502e-03 -2.10636623e+01] [-6.05228225e-03 -2.24117843e-04 9.99981660e-01 -1.01343805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.73538475 meters 0.06263198764549857 Centerline is valid? [True, True] Translation: X:69.71, Y:-21.08, Z:-1.01 [[ 8.36981466e-01 5.47215696e-01 4.12405080e-03 6.97051633e+01] [-5.47210113e-01 8.36991607e-01 -2.47857107e-03 -2.10770763e+01] [-4.80810890e-03 -1.82204251e-04 9.99988424e-01 -1.01375011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.76538475 meters 0.06279503651595397 Centerline is valid? [True, True] Translation: X:69.73, Y:-21.10, Z:-1.01 [[ 8.37122236e-01 5.47001278e-01 3.99556044e-03 6.97317978e+01] [-5.46996030e-01 8.37131753e-01 -2.40246607e-03 -2.10950685e+01] [-4.65896253e-03 -1.74397930e-04 9.99989132e-01 -1.01439464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.79538475 meters 0.06326756865191867 Centerline is valid? [True, True] Translation: X:69.76, Y:-21.11, Z:-1.02 [[ 8.36574528e-01 5.47841676e-01 3.54366082e-03 6.97588826e+01] [-5.47837551e-01 8.36582018e-01 -2.13170857e-03 -2.11108346e+01] [-4.13240172e-03 -1.58017373e-04 9.99991449e-01 -1.01651435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.82538475 meters 0.06394972020687317 Centerline is valid? [True, True] Translation: X:69.79, Y:-21.13, Z:-1.02 [[ 8.36284364e-01 5.48295932e-01 1.82526105e-04 6.97861081e+01] [-5.48295921e-01 8.36284384e-01 -1.06087573e-04 -2.11272741e+01] [-2.10811116e-04 -1.13589406e-05 9.99999978e-01 -1.02031936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.85538475 meters 0.06318949365084833 Centerline is valid? [True, True] Translation: X:69.81, Y:-21.15, Z:-1.02 [[ 8.35786651e-01 5.49050961e-01 -1.92802277e-03 6.98117776e+01] [-5.49049726e-01 8.35788870e-01 1.16729042e-03 -2.11471433e+01] [ 2.25232190e-03 8.29746224e-05 9.99997460e-01 -1.02141013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.88538474999999 meters 0.06355320654543826 Centerline is valid? [True, True] Translation: X:69.84, Y:-21.16, Z:-1.02 [[ 8.34648173e-01 5.50769599e-01 -3.90840899e-03 6.98383072e+01] [-5.50764571e-01 8.34657304e-01 2.36049827e-03 -2.11646604e+01] [ 4.56227280e-03 1.82427638e-04 9.99989576e-01 -1.02257427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91538474999999 meters 0.06419810912857561 Centerline is valid? [True, True] Translation: X:69.87, Y:-21.18, Z:-1.02 [[ 8.33510309e-01 5.52492081e-01 -3.61460305e-03 6.98651624e+01] [-5.52487783e-01 8.33518128e-01 2.18629299e-03 -2.11800230e+01] [ 4.22074674e-03 1.74726282e-04 9.99991077e-01 -1.02320239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.94538474999999 meters 0.06362934299917045 Centerline is valid? [True, True] Translation: X:69.89, Y:-21.20, Z:-1.02 [[ 8.33378857e-01 5.52698233e-01 -2.08401572e-03 6.98912606e+01] [-5.52696798e-01 8.33381457e-01 1.26327216e-03 -2.11984737e+01] [ 2.43498835e-03 9.90445096e-05 9.99997031e-01 -1.02245907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97538474999999 meters 0.06403027891499738 Centerline is valid? [True, True] Translation: X:69.92, Y:-21.21, Z:-1.02 [[ 8.32671133e-01 5.53761055e-01 -2.73455142e-03 6.99188976e+01] [-5.53758592e-01 8.32675613e-01 1.65721199e-03 -2.12146302e+01] [ 3.19469374e-03 1.34368759e-04 9.99994888e-01 -1.02244743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.00538474999999 meters 0.06438290117636945 Centerline is valid? [True, True] Translation: X:69.95, Y:-21.23, Z:-1.02 [[ 8.32112716e-01 5.54605215e-01 -1.21778042e-03 6.99474003e+01] [-5.54604722e-01 8.32113605e-01 7.41453287e-04 -2.12317971e+01] [ 1.42454551e-03 5.84140615e-05 9.99998984e-01 -1.02223219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03538474999999 meters 0.06484571371960873 Centerline is valid? [True, True] Translation: X:69.98, Y:-21.25, Z:-1.02 [[ 8.31528815e-01 5.55479002e-01 -1.70548894e-03 6.99750641e+01] [-5.55478041e-01 8.31530560e-01 1.03642502e-03 -2.12484052e+01] [ 1.99387851e-03 8.55443928e-05 9.99998009e-01 -1.02228593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.06538474999999 meters 0.06484571371960873 Centerline is valid? [True, True] Translation: X:70.00, Y:-21.27, Z:-1.02 [[ 8.31364837e-01 5.55724394e-01 -1.70491384e-03 7.00026946e+01] [-5.55723432e-01 8.31366580e-01 1.03737388e-03 -2.12653115e+01] [ 1.99390236e-03 8.50244028e-05 9.99998009e-01 -1.02273846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.09538475 meters 0.0651912993222935 Centerline is valid? [True, True] Translation: X:70.03, Y:-21.28, Z:-1.02 [[ 8.30728340e-01 5.56678016e-01 -1.08457675e-04 7.00295104e+01] [-5.56678012e-01 8.30728347e-01 7.01927339e-05 -2.12829427e+01] [ 1.29173617e-04 2.06490967e-06 9.99999992e-01 -1.02104323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.12538475 meters 0.06408270166128187 Centerline is valid? [True, True] Translation: X:70.06, Y:-21.30, Z:-1.02 [[ 8.30813536e-01 5.56550867e-01 8.72823840e-06 7.00558992e+01] [-5.56550867e-01 8.30813536e-01 -3.74928865e-06 -2.13023832e+01] [-9.33820870e-06 -1.74274888e-06 1.00000000e+00 -1.01992481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.15538475 meters 0.06492343971484532 Centerline is valid? [True, True] Translation: X:70.08, Y:-21.32, Z:-1.02 [[ 8.30330303e-01 5.57271472e-01 -3.06919518e-04 7.00841713e+01] [-5.57271440e-01 8.30330360e-01 1.90110244e-04 -2.13163585e+01] [ 3.60787609e-04 1.31831850e-05 9.99999935e-01 -1.02150038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.18538475 meters 0.06482399452937562 Centerline is valid? [True, True] Translation: X:70.11, Y:-21.33, Z:-1.02 [[ 8.30324682e-01 5.57279797e-01 -3.88987806e-04 7.01108414e+01] [-5.57279745e-01 8.30324773e-01 2.40298414e-04 -2.13336322e+01] [ 4.56899663e-04 1.72493208e-05 9.99999895e-01 -1.02255407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.21538475 meters 0.06467972596780548 Centerline is valid? [True, True] Translation: X:70.14, Y:-21.35, Z:-1.02 [[ 8.30773238e-01 5.56610616e-01 -6.69754356e-04 7.01380087e+01] [-5.56610465e-01 8.30773508e-01 4.10910630e-04 -2.13500924e+01] [ 7.85131395e-04 3.14187289e-05 9.99999691e-01 -1.02350724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.24538475 meters 0.06448469065448441 Centerline is valid? [True, True] Translation: X:70.16, Y:-21.37, Z:-1.03 [[ 8.31970371e-01 5.54820014e-01 2.34021620e-04 7.01636390e+01] [-5.54819996e-01 8.31970403e-01 -1.39298993e-04 -2.13664436e+01] [-2.71984931e-04 -1.39472396e-05 9.99999963e-01 -1.02610991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27538474999999 meters 0.06411967625822976 Centerline is valid? [True, True] Translation: X:70.19, Y:-21.39, Z:-1.03 [[ 8.32711126e-01 5.53707561e-01 -3.42433263e-04 7.01901461e+01] [-5.53707520e-01 8.32711197e-01 2.12298177e-04 -2.13852314e+01] [ 4.02699117e-04 1.28248186e-05 9.99999919e-01 -1.02677667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.30538474999999 meters 0.06387491895460969 Centerline is valid? [True, True] Translation: X:70.22, Y:-21.40, Z:-1.03 [[ 8.33702841e-01 5.52212815e-01 -7.60763338e-04 7.02163467e+01] [-5.52212619e-01 8.33703188e-01 4.66801775e-04 -2.14040358e+01] [ 8.92024743e-04 3.09291494e-05 9.99999602e-01 -1.02694592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33538474999999 meters 0.06305199620496676 Centerline is valid? [True, True] Translation: X:70.24, Y:-21.42, Z:-1.03 [[ 8.35745193e-01 5.49116413e-01 -1.06677444e-03 7.02400062e+01] [-5.49116028e-01 8.35745873e-01 6.51625075e-04 -2.14228287e+01] [ 1.24937036e-03 4.11904213e-05 9.99999219e-01 -1.02793497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.36538474999999 meters 0.06260885326514534 Centerline is valid? [True, True] Translation: X:70.27, Y:-21.44, Z:-1.03 [[ 8.36671546e-01 5.47704946e-01 1.24766407e-04 7.02655855e+01] [-5.47704942e-01 8.36671556e-01 -7.17761493e-05 -2.14417784e+01] [-1.43700656e-04 -8.28211575e-06 9.99999990e-01 -1.02708114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.39538474999999 meters 0.06234424363422072 Centerline is valid? [True, True] Translation: X:70.29, Y:-21.46, Z:-1.03 [[ 8.36391626e-01 5.48130071e-01 1.57265256e-03 7.02923169e+01] [-5.48129245e-01 8.36393102e-01 -9.53580753e-04 -2.14598097e+01] [-1.83804204e-03 -6.44499063e-05 9.99998309e-01 -1.02694944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.42538474999999 meters 0.06308779831483448 Centerline is valid? [True, True] Translation: X:70.32, Y:-21.47, Z:-1.03 [[ 8.34912497e-01 5.50367652e-01 4.07065367e-03 7.03203260e+01] [-5.50362106e-01 8.34922402e-01 -2.47673147e-03 -2.14730823e+01] [-4.76179283e-03 -1.72479472e-04 9.99988648e-01 -1.02616207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.45538475 meters 0.06382062727187479 Centerline is valid? [True, True] Translation: X:70.35, Y:-21.49, Z:-1.03 [[ 8.33717446e-01 5.52176891e-01 3.98752493e-03 7.03492380e+01] [-5.52171585e-01 8.33726963e-01 -2.42722361e-03 -2.14871421e+01] [-4.66476384e-03 -1.78179296e-04 9.99989104e-01 -1.02732279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.48538475 meters 0.0650719266159577 Centerline is valid? [True, True] Translation: X:70.38, Y:-21.50, Z:-1.03 [[ 8.31670516e-01 5.55216777e-01 7.64744582e-03 7.03796658e+01] [-5.55197323e-01 8.31705594e-01 -4.66237859e-03 -2.14982291e+01] [-8.94905428e-03 -3.68278637e-04 9.99959889e-01 -1.02841770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.51538475 meters 0.06560284457621546 Centerline is valid? [True, True] Translation: X:70.41, Y:-21.51, Z:-1.03 [[ 8.30622264e-01 5.56753271e-01 9.61511697e-03 7.04080645e+01] [-5.56722600e-01 8.30677773e-01 -5.86375989e-03 -2.15122002e+01] [-1.12517315e-02 -4.82383406e-04 9.99936581e-01 -1.02905924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.54538475 meters 0.06571003168041843 Centerline is valid? [True, True] Translation: X:70.44, Y:-21.53, Z:-1.03 [[ 8.29655517e-01 5.58076699e-01 1.49037170e-02 7.04365817e+01] [-5.58003097e-01 8.29789013e-01 -9.09603460e-03 -2.15260316e+01] [-1.74432256e-02 -7.69744958e-04 9.99847559e-01 -1.02868296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.57538475 meters 0.06579343875257339 Centerline is valid? [True, True] Translation: X:70.46, Y:-21.54, Z:-1.03 [[ 8.29389450e-01 5.58427215e-01 1.64980442e-02 7.04644462e+01] [-5.58336975e-01 8.29553081e-01 -1.00751316e-02 -2.15414297e+01] [-1.93122311e-02 -8.55260221e-04 9.99813136e-01 -1.02953051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.60538475 meters 0.0657706537508954 Centerline is valid? [True, True] Translation: X:70.49, Y:-21.56, Z:-1.03 [[ 8.29890265e-01 5.57568667e-01 1.99832133e-02 7.04928863e+01] [-5.57435831e-01 8.30130213e-01 -1.22115806e-02 -2.15571517e+01] [-2.33974638e-02 -1.00508725e-03 9.99725737e-01 -1.03158535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63538474999999 meters 0.0655595817500616 Centerline is valid? [True, True] Translation: X:70.52, Y:-21.57, Z:-1.03 [[ 8.30472025e-01 5.56656587e-01 2.12051544e-02 7.05199421e+01] [-5.56506514e-01 8.30742064e-01 -1.29662179e-02 -2.15740661e+01] [-2.48337444e-02 -1.03272532e-03 9.99691062e-01 -1.03326619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.66538474999999 meters 0.06580395548469718 Centerline is valid? [True, True] Translation: X:70.55, Y:-21.59, Z:-1.04 [[ 8.31336543e-01 5.55254583e-01 2.39144462e-02 7.05464364e+01] [-5.55062920e-01 8.31679694e-01 -1.46301784e-02 -2.15903451e+01] [-2.80126328e-02 -1.11142042e-03 9.99606951e-01 -1.03589778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69538474999999 meters 0.06586863869330963 Centerline is valid? [True, True] Translation: X:70.57, Y:-21.61, Z:-1.04 [[ 8.31325594e-01 5.55225445e-01 2.49491876e-02 7.05742691e+01] [-5.55016591e-01 8.31699091e-01 -1.52710833e-02 -2.16069572e+01] [-2.92291107e-02 -1.15197067e-03 9.99572074e-01 -1.03667321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.72538474999999 meters 0.06623303856706353 Centerline is valid? [True, True] Translation: X:70.60, Y:-21.62, Z:-1.04 [[ 8.31537511e-01 5.54870868e-01 2.57621579e-02 7.06017226e+01] [-5.54647719e-01 8.31935667e-01 -1.57782417e-02 -2.16210912e+01] [-3.01873447e-02 -1.16872227e-03 9.99543575e-01 -1.03881171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.75538474999999 meters 0.06572279267459653 Centerline is valid? [True, True] Translation: X:70.63, Y:-21.64, Z:-1.04 [[ 8.30172049e-01 5.56860905e-01 2.68384260e-02 7.06284805e+01] [-5.56619466e-01 8.30604768e-01 -1.64465860e-02 -2.16376028e+01] [-3.14505853e-02 -1.28529434e-03 9.99504482e-01 -1.04198117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.78538474999999 meters 0.06648205091139836 Centerline is valid? [True, True] Translation: X:70.66, Y:-21.65, Z:-1.04 [[ 8.29704302e-01 5.57584583e-01 2.62717156e-02 7.06564475e+01] [-5.57353384e-01 8.30119146e-01 -1.61061735e-02 -2.16515358e+01] [-3.07892082e-02 -1.27926810e-03 9.99525081e-01 -1.04281161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.81538474999999 meters 0.06635018110815592 Centerline is valid? [True, True] Translation: X:70.68, Y:-21.67, Z:-1.04 [[ 8.29121155e-01 5.58413617e-01 2.70618309e-02 7.06839000e+01] [-5.58168498e-01 8.29561588e-01 -1.65981691e-02 -2.16671597e+01] [-3.17180990e-02 -1.34316840e-03 9.99495952e-01 -1.04428920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.84538475 meters 0.06680904581446205 Centerline is valid? [True, True] Translation: X:70.71, Y:-21.68, Z:-1.04 [[ 8.29143261e-01 5.58341668e-01 2.78574001e-02 7.07118905e+01] [-5.58081544e-01 8.29609969e-01 -1.70964716e-02 -2.16819019e+01] [-3.26564493e-02 -1.37127667e-03 9.99465695e-01 -1.04381934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.87538475 meters 0.06520140953776356 Centerline is valid? [True, True] Translation: X:70.74, Y:-21.70, Z:-1.04 [[ 8.29536845e-01 5.57544201e-01 3.18290113e-02 7.07367411e+01] [-5.57203534e-01 8.30145861e-01 -1.95466301e-02 -2.17022404e+01] [-3.73208323e-02 -1.52058769e-03 9.99302178e-01 -1.04332248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.90538475 meters 0.06644152386049947 Centerline is valid? [True, True] Translation: X:70.76, Y:-21.72, Z:-1.04 [[ 8.29675095e-01 5.57271094e-01 3.29873442e-02 7.07644822e+01] [-5.56904611e-01 8.30329156e-01 -2.02668952e-02 -2.17157412e+01] [-3.86845085e-02 -1.55586590e-03 9.99250263e-01 -1.04063089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.93538475 meters 0.06474266038780586 Centerline is valid? [True, True] Translation: X:70.79, Y:-21.74, Z:-1.04 [[ 8.31105371e-01 5.54985038e-01 3.54326216e-02 7.07878843e+01] [-5.54559641e-01 8.31858890e-01 -2.17805485e-02 -2.17385225e+01] [-4.15628198e-02 -1.54757105e-03 9.99134694e-01 -1.03932195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.96538475 meters 0.06441238368129301 Centerline is valid? [True, True] Translation: X:70.81, Y:-21.76, Z:-1.04 [[ 8.31577301e-01 5.54188238e-01 3.68047454e-02 7.08147547e+01] [-5.53727810e-01 8.32389922e-01 -2.26391124e-02 -2.17581305e+01] [-4.31822290e-02 -1.55363908e-03 9.99066004e-01 -1.03755164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.99538475 meters 0.06402407798752534 Centerline is valid? [True, True] Translation: X:70.84, Y:-21.78, Z:-1.04 [[ 8.32615936e-01 5.52570458e-01 3.76376398e-02 7.08405134e+01] [-5.52086647e-01 8.33464856e-01 -2.31660739e-02 -2.17774450e+01] [-4.41705381e-02 -1.49079608e-03 9.99022893e-01 -1.03789963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.02538474999999 meters 0.064010122199148 Centerline is valid? [True, True] Translation: X:70.87, Y:-21.80, Z:-1.04 [[ 8.32458407e-01 5.52802277e-01 3.77179455e-02 7.08681366e+01] [-5.52315960e-01 8.33311113e-01 -2.32307848e-02 -2.17950830e+01] [-4.42728139e-02 -1.49356113e-03 9.99018362e-01 -1.03898326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05538474999999 meters 0.06431208371353822 Centerline is valid? [True, True] Translation: X:70.90, Y:-21.81, Z:-1.04 [[ 8.31814253e-01 5.53895647e-01 3.58421726e-02 7.08952030e+01] [-5.53456958e-01 8.32584813e-01 -2.20890213e-02 -2.18121598e+01] [-4.20766613e-02 -1.46313706e-03 9.99113314e-01 -1.04081691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.08538474999999 meters 0.06391966712281802 Centerline is valid? [True, True] Translation: X:70.92, Y:-21.83, Z:-1.04 [[ 8.31795572e-01 5.53998570e-01 3.46656948e-02 7.09214770e+01] [-5.53587790e-01 8.32516425e-01 -2.13766405e-02 -2.18309591e+01] [-4.07023886e-02 -1.40951046e-03 9.99170320e-01 -1.04313678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.11538474999999 meters 0.06408129616159892 Centerline is valid? [True, True] Translation: X:70.95, Y:-21.85, Z:-1.04 [[ 8.31459428e-01 5.54617727e-01 3.27779827e-02 7.09464925e+01] [-5.54250525e-01 8.32104170e-01 -2.02238878e-02 -2.18488342e+01] [-3.84912227e-02 -1.35187197e-03 9.99258024e-01 -1.04413701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.14538474999999 meters 0.06398562400412859 Centerline is valid? [True, True] Translation: X:70.97, Y:-21.87, Z:-1.05 [[ 8.30943161e-01 5.55478343e-01 3.12613671e-02 7.09734708e+01] [-5.55144548e-01 8.31529959e-01 -1.92991613e-02 -2.18664470e+01] [-3.67150294e-02 -1.31807142e-03 9.99324907e-01 -1.04657608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.17538474999999 meters 0.06429100813726162 Centerline is valid? [True, True] Translation: X:71.00, Y:-21.88, Z:-1.05 [[ 8.30645429e-01 5.56038388e-01 2.91458629e-02 7.09999306e+01] [-5.55748333e-01 8.31155677e-01 -1.80008618e-02 -2.18820304e+01] [-3.42339196e-02 -1.24543112e-03 9.99413072e-01 -1.04869367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.20538475 meters 0.06416494272344941 Centerline is valid? [True, True] Translation: X:71.03, Y:-21.90, Z:-1.05 [[ 8.30464690e-01 5.56368760e-01 2.79678787e-02 7.10269145e+01] [-5.56101722e-01 8.30934626e-01 -1.72778080e-02 -2.19003452e+01] [-3.28523114e-02 -1.20437607e-03 9.99459491e-01 -1.05076297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.23538475 meters 0.06429183354582843 Centerline is valid? [True, True] Translation: X:71.06, Y:-21.92, Z:-1.05 [[ 8.30308216e-01 5.56572220e-01 2.85592300e-02 7.10561549e+01] [-5.56293513e-01 8.30798323e-01 -1.76542897e-02 -2.19199739e+01] [-3.35528476e-02 -1.22881260e-03 9.99436189e-01 -1.04999779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.26538475 meters 0.06414678344945397 Centerline is valid? [True, True] Translation: X:71.08, Y:-21.94, Z:-1.05 [[ 8.30319948e-01 5.56493939e-01 2.97200179e-02 7.10815140e+01] [-5.56191604e-01 8.30850706e-01 -1.83848693e-02 -2.19386452e+01] [-3.49239662e-02 -1.26470070e-03 9.99389172e-01 -1.04864552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.29538475 meters 0.06424197483786498 Centerline is valid? [True, True] Translation: X:71.11, Y:-21.96, Z:-1.05 [[ 8.30049771e-01 5.56950619e-01 2.86947000e-02 7.11084704e+01] [-5.56668731e-01 8.30544696e-01 -1.77604015e-02 -2.19556974e+01] [-3.37238975e-02 -1.23142508e-03 9.99430429e-01 -1.04902262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.32538475 meters 0.0645998581848532 Centerline is valid? [True, True] Translation: X:71.13, Y:-21.97, Z:-1.05 [[ 8.29356409e-01 5.57886907e-01 3.04982949e-02 7.11342602e+01] [-5.57568711e-01 8.29915900e-01 -1.88873048e-02 -2.19730927e+01] [-3.58480000e-02 -1.34058771e-03 9.99356355e-01 -1.04707217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.35538475 meters 0.06412799802954165 Centerline is valid? [True, True] Translation: X:71.16, Y:-21.99, Z:-1.05 [[ 8.28956303e-01 5.58450075e-01 3.10638318e-02 7.11613099e+01] [-5.58119890e-01 8.29536985e-01 -1.92503996e-02 -2.19928148e+01] [-3.65189845e-02 -1.37960232e-03 9.99332007e-01 -1.04868767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.38538474999999 meters 0.06371644829354119 Centerline is valid? [True, True] Translation: X:71.19, Y:-22.01, Z:-1.05 [[ 8.28592460e-01 5.59052384e-01 2.99159940e-02 7.11867491e+01] [-5.58746131e-01 8.29131247e-01 -1.85509248e-02 -2.20124271e+01] [-3.51752241e-02 -1.34428950e-03 9.99380256e-01 -1.04926614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41538474999999 meters 0.06361887200254546 Centerline is valid? [True, True] Translation: X:71.21, Y:-22.03, Z:-1.05 [[ 8.28318889e-01 5.59478149e-01 2.95299827e-02 7.12135465e+01] [-5.59179617e-01 8.28844025e-01 -1.83231339e-02 -2.20306577e+01] [-3.47271428e-02 -1.33516653e-03 9.99395939e-01 -1.05029829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.44538474999999 meters 0.06328536096620353 Centerline is valid? [True, True] Translation: X:71.24, Y:-22.05, Z:-1.05 [[ 8.29284725e-01 5.58102619e-01 2.84308300e-02 7.12376387e+01] [-5.57824759e-01 8.29771037e-01 -1.76511656e-02 -2.20498060e+01] [-3.34422411e-02 -1.22157888e-03 9.99439905e-01 -1.05206012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47538474999999 meters 0.06296115981853803 Centerline is valid? [True, True] Translation: X:71.26, Y:-22.07, Z:-1.05 [[ 8.29494166e-01 5.57854557e-01 2.71610421e-02 7.12628928e+01] [-5.57600545e-01 8.29937932e-01 -1.68719016e-02 -2.20690438e+01] [-3.19540463e-02 -1.14986795e-03 9.99488678e-01 -1.05320106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.50538474999999 meters 0.06245857750834296 Centerline is valid? [True, True] Translation: X:71.29, Y:-22.09, Z:-1.05 [[ 8.30314135e-01 5.56657431e-01 2.66634868e-02 7.12879414e+01] [-5.56411718e-01 8.30741445e-01 -1.65726398e-02 -2.20897267e+01] [-3.13757466e-02 -1.07537945e-03 9.99507082e-01 -1.05450044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53538474999999 meters 0.06256478359538643 Centerline is valid? [True, True] Translation: X:71.32, Y:-22.11, Z:-1.06 [[ 8.30198008e-01 5.56886822e-01 2.54624445e-02 7.13158147e+01] [-5.56662530e-01 8.30587753e-01 -1.58370734e-02 -2.21083906e+01] [-2.99682520e-02 -1.02608194e-03 9.99550324e-01 -1.05528188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.56538474999999 meters 0.061975876756241256 Centerline is valid? [True, True] Translation: X:71.34, Y:-22.13, Z:-1.06 [[ 8.30601059e-01 5.56403109e-01 2.27477576e-02 7.13410393e+01] [-5.56223679e-01 8.30912018e-01 -1.41575864e-02 -2.21281548e+01] [-2.67787102e-02 -8.93535181e-04 9.99640987e-01 -1.05775399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.59538475 meters 0.062187414009849604 Centerline is valid? [True, True] Translation: X:71.37, Y:-22.15, Z:-1.06 [[ 8.30291247e-01 5.56931036e-01 2.10776307e-02 7.13667400e+01] [-5.56776988e-01 8.30558318e-01 -1.31250380e-02 -2.21456948e+01] [-2.48159426e-02 -8.37935548e-04 9.99691686e-01 -1.05913504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.62538475 meters 0.061764831525056636 Centerline is valid? [True, True] Translation: X:71.39, Y:-22.16, Z:-1.06 [[ 8.30305547e-01 5.56952542e-01 1.99139194e-02 7.13924397e+01] [-5.56814890e-01 8.30543946e-01 -1.24069211e-02 -2.21644362e+01] [-2.34494515e-02 -7.86831437e-04 9.99724714e-01 -1.05950402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.65538475 meters 0.061420551835787526 Centerline is valid? [True, True] Translation: X:71.42, Y:-22.18, Z:-1.06 [[ 8.30653929e-01 5.56408613e-01 2.05792474e-02 7.14175019e+01] [-5.56261260e-01 8.30908436e-01 -1.28289186e-02 -2.21849363e+01] [-2.42375911e-02 -7.91046508e-04 9.99705913e-01 -1.05808334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.68538475 meters 0.06145126910727584 Centerline is valid? [True, True] Translation: X:71.44, Y:-22.20, Z:-1.06 [[ 8.30516134e-01 5.56660974e-01 1.92746511e-02 7.14433997e+01] [-5.56531636e-01 8.30739435e-01 -1.20220394e-02 -2.22019590e+01] [-2.27044130e-02 -7.42455425e-04 9.99741946e-01 -1.05782398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.71538475 meters 0.0618817970959303 Centerline is valid? [True, True] Translation: X:71.47, Y:-22.22, Z:-1.06 [[ 8.29833311e-01 5.57727782e-01 1.77875506e-02 7.14694527e+01] [-5.57617781e-01 8.30023626e-01 -1.10991215e-02 -2.22180379e+01] [-2.09543757e-02 -7.08233733e-04 9.99780182e-01 -1.05947680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.74538475 meters 0.0616336774020909 Centerline is valid? [True, True] Translation: X:71.50, Y:-22.24, Z:-1.06 [[ 8.29246830e-01 5.58622760e-01 1.70384194e-02 7.14973440e+01] [-5.58521931e-01 8.29421562e-01 -1.06360340e-02 -2.22374637e+01] [-2.00735631e-02 -6.96433405e-04 9.99798263e-01 -1.06072167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77538474999999 meters 0.06137538972497293 Centerline is valid? [True, True] Translation: X:71.52, Y:-22.26, Z:-1.06 [[ 8.28116790e-01 5.60354757e-01 1.50042619e-02 7.15232120e+01] [-5.60276749e-01 8.28252455e-01 -9.37202609e-03 -2.22557350e+01] [-1.76789762e-02 -6.45406929e-04 9.99843506e-01 -1.06248512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.80538474999999 meters 0.06145383048674126 Centerline is valid? [True, True] Translation: X:71.55, Y:-22.27, Z:-1.06 [[ 8.27457406e-01 5.61346206e-01 1.43066287e-02 7.15499028e+01] [-5.61275352e-01 8.27580835e-01 -8.94094129e-03 -2.22726936e+01] [-1.68588552e-02 -6.31709998e-04 9.99857680e-01 -1.06334366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83538474999999 meters 0.06166933616036761 Centerline is valid? [True, True] Translation: X:71.58, Y:-22.29, Z:-1.06 [[ 8.26835916e-01 5.62277544e-01 1.36503324e-02 7.15760853e+01] [-5.62213094e-01 8.26948356e-01 -8.53546356e-03 -2.22900321e+01] [-1.60874194e-02 -6.16967784e-04 9.99870399e-01 -1.06335975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.86538474999999 meters 0.062186669259761726 Centerline is valid? [True, True] Translation: X:71.60, Y:-22.31, Z:-1.06 [[ 8.26131355e-01 5.63325354e-01 1.30969072e-02 7.16028198e+01] [-5.63266091e-01 8.26234940e-01 -8.19360042e-03 -2.23064409e+01] [-1.54367852e-02 -6.08053489e-04 9.99880661e-01 -1.06365524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.89538474999999 meters 0.06261961238950946 Centerline is valid? [True, True] Translation: X:71.63, Y:-22.32, Z:-1.06 [[ 8.25142034e-01 5.64815004e-01 1.11640170e-02 7.16295263e+01] [-5.64772038e-01 8.25217378e-01 -6.98745421e-03 -2.23236916e+01] [-1.31593598e-02 -5.39482464e-04 9.99913266e-01 -1.06476408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.92538474999999 meters 0.06276566660663244 Centerline is valid? [True, True] Translation: X:71.66, Y:-22.34, Z:-1.07 [[ 8.24665678e-01 5.65518551e-01 1.07372537e-02 7.16571828e+01] [-5.65478821e-01 8.24735407e-01 -6.72397714e-03 -2.23406850e+01] [-1.26579271e-02 -5.26656404e-04 9.99919747e-01 -1.06528742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.95538475 meters 0.06322527538139383 Centerline is valid? [True, True] Translation: X:71.68, Y:-22.36, Z:-1.07 [[ 8.23843524e-01 5.66729572e-01 9.97198081e-03 7.16831422e+01] [-5.66695354e-01 8.23903719e-01 -6.24799285e-03 -2.23575123e+01] [-1.17568744e-02 -5.03706754e-04 9.99930759e-01 -1.06695444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.98538475 meters 0.06322527538139383 Centerline is valid? [True, True] Translation: X:71.71, Y:-22.37, Z:-1.07 [[ 8.23682065e-01 5.66964234e-01 9.97059093e-03 7.17104866e+01] [-5.66930007e-01 8.23742255e-01 -6.25020995e-03 -2.23748525e+01] [-1.17568426e-02 -5.04441349e-04 9.99930759e-01 -1.06740672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.01538475 meters 0.0630994930102537 Centerline is valid? [True, True] Translation: X:71.74, Y:-22.39, Z:-1.07 [[ 8.23859919e-01 5.66730816e-01 8.42710390e-03 7.17370977e+01] [-5.66706326e-01 8.23902909e-01 -5.28544386e-03 -2.23935485e+01] [-9.93853934e-03 -4.21227737e-04 9.99950523e-01 -1.06907071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.04538475 meters 0.06303727399382983 Centerline is valid? [True, True] Translation: X:71.76, Y:-22.41, Z:-1.07 [[ 8.24272870e-01 5.66150152e-01 6.94557896e-03 7.17611509e+01] [-5.66133481e-01 8.24302062e-01 -4.35805397e-03 -2.24138749e+01] [-8.19256798e-03 -3.39899140e-04 9.99966383e-01 -1.06940737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.07538475 meters 0.06237972185114136 Centerline is valid? [True, True] Translation: X:71.79, Y:-22.43, Z:-1.07 [[ 8.25646711e-01 5.64149519e-01 6.54444513e-03 7.17851894e+01] [-5.64134634e-01 8.25672593e-01 -4.10898220e-03 -2.24337378e+01] [-7.72164931e-03 -2.99380522e-04 9.99970143e-01 -1.07094520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.10538475 meters 0.061364160620982336 Centerline is valid? [True, True] Translation: X:71.81, Y:-22.46, Z:-1.07 [[ 8.25421540e-01 5.64475252e-01 6.85354812e-03 7.18108228e+01] [-5.64458937e-01 8.25449932e-01 -4.30323848e-03 -2.24554368e+01] [-8.08633246e-03 -3.16560757e-04 9.99967255e-01 -1.07099486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13538474999999 meters 0.0613286557459591 Centerline is valid? [True, True] Translation: X:71.84, Y:-22.48, Z:-1.07 [[ 8.25905618e-01 5.63777359e-01 5.91602566e-03 7.18350887e+01] [-5.63765171e-01 8.25926763e-01 -3.71661866e-03 -2.24752648e+01] [-6.98154938e-03 -2.65672987e-04 9.99975593e-01 -1.07312940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.16538474999999 meters 0.06253633702916035 Centerline is valid? [True, True] Translation: X:71.86, Y:-22.49, Z:-1.07 [[ 8.25473157e-01 5.64426765e-01 4.06130146e-03 7.18621768e+01] [-5.64421027e-01 8.25483127e-01 -2.55181808e-03 -2.24907259e+01] [-4.79285025e-03 -1.85826615e-04 9.99988497e-01 -1.07495287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19538474999999 meters 0.06168993206115759 Centerline is valid? [True, True] Translation: X:71.89, Y:-22.51, Z:-1.08 [[ 8.25154495e-01 5.64896597e-01 3.44862980e-03 7.18865768e+01] [-5.64892463e-01 8.25161686e-01 -2.16720584e-03 -2.25118599e+01] [-4.06992438e-03 -1.59825341e-04 9.99991705e-01 -1.07509734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.22538474999999 meters 0.061449449861978686 Centerline is valid? [True, True] Translation: X:71.91, Y:-22.53, Z:-1.07 [[ 8.25132547e-01 5.64937532e-01 1.36588622e-03 7.19112656e+01] [-5.64936886e-01 8.25133675e-01 -8.56381005e-04 -2.25334329e+01] [-1.61084049e-03 -6.50116691e-05 9.99998700e-01 -1.07478751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.25538474999999 meters 0.0616835482081125 Centerline is valid? [True, True] Translation: X:71.94, Y:-22.55, Z:-1.07 [[ 8.25372996e-01 5.64580384e-01 2.89958504e-03 7.19371309e+01] [-5.64577450e-01 8.25378079e-01 -1.82488458e-03 -2.25514740e+01] [-3.42354797e-03 -1.30829881e-04 9.99994131e-01 -1.07449407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.28538474999999 meters 0.06012300459794617 Centerline is valid? [True, True] Translation: X:71.96, Y:-22.58, Z:-1.07 [[ 8.26246190e-01 5.63306409e-01 1.76743903e-03 7.19608759e+01] [-5.63305321e-01 8.26248076e-01 -1.10965936e-03 -2.25753971e+01] [-2.08542132e-03 -7.87559907e-05 9.99997822e-01 -1.07446908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.31538474999999 meters 0.05954778605425924 Centerline is valid? [True, True] Translation: X:71.99, Y:-22.59, Z:-1.08 [[ 8.27203897e-01 5.61900913e-01 1.03743407e-03 7.19850799e+01] [-5.61900538e-01 8.27204547e-01 -6.50624622e-04 -2.25945394e+01] [-1.22375675e-03 -4.47355389e-05 9.99999250e-01 -1.07708915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.34538475 meters 0.05969619797014498 Centerline is valid? [True, True] Translation: X:72.01, Y:-22.61, Z:-1.08 [[ 8.27199002e-01 5.61908409e-01 -8.66357808e-04 7.20123385e+01] [-5.61908140e-01 8.27199455e-01 5.51564060e-04 -2.26124005e+01] [ 1.02657919e-03 3.05602648e-05 9.99999473e-01 -1.07861204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.37538475 meters 0.060523361117037384 Centerline is valid? [True, True] Translation: X:72.04, Y:-22.63, Z:-1.08 [[ 8.26453129e-01 5.62994430e-01 -3.53519170e-03 7.20392150e+01] [-5.62990003e-01 8.26460678e-01 2.23710800e-03 -2.26278844e+01] [ 4.18117627e-03 1.41412684e-04 9.99991249e-01 -1.08152240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.40538475 meters 0.059916940303078516 Centerline is valid? [True, True] Translation: X:72.07, Y:-22.65, Z:-1.08 [[ 8.26094034e-01 5.63512835e-01 -4.68314075e-03 7.20653697e+01] [-5.63505072e-01 8.26107286e-01 2.96400826e-03 -2.26464384e+01] [ 5.53903339e-03 1.90424023e-04 9.99984641e-01 -1.08102362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.43538475 meters 0.05902562874016683 Centerline is valid? [True, True] Translation: X:72.09, Y:-22.67, Z:-1.08 [[ 8.28605379e-01 5.59829300e-01 -2.06891322e-03 7.20901019e+01] [-5.59827767e-01 8.28607959e-01 1.31213959e-03 -2.26661059e+01] [ 2.44889215e-03 7.09891477e-05 9.99996999e-01 -1.07706273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.46538475 meters 0.05835400178118341 Centerline is valid? [True, True] Translation: X:72.12, Y:-22.68, Z:-1.08 [[ 8.29867828e-01 5.57955798e-01 -2.17167423e-03 7.21161524e+01] [-5.57954100e-01 8.29870667e-01 1.37801075e-03 -2.26847283e+01] [ 2.57107783e-03 6.81277561e-05 9.99996692e-01 -1.07666997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.49538475 meters 0.058009489894484775 Centerline is valid? [True, True] Translation: X:72.14, Y:-22.70, Z:-1.08 [[ 8.31203199e-01 5.55960292e-01 -3.06530220e-03 7.21427679e+01] [-5.55956900e-01 8.31208846e-01 1.94403582e-03 -2.26999425e+01] [ 3.62871302e-03 8.82871166e-05 9.99993412e-01 -1.08030643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.52538474999999 meters 0.05772181361581196 Centerline is valid? [True, True] Translation: X:72.17, Y:-22.72, Z:-1.08 [[ 8.30548495e-01 5.56941620e-01 -2.28690191e-03 7.21698279e+01] [-5.56939728e-01 8.30551640e-01 1.45332677e-03 -2.27179818e+01] [ 2.70880830e-03 6.66081620e-05 9.99996329e-01 -1.08065592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55538474999999 meters 0.05791854022348208 Centerline is valid? [True, True] Translation: X:72.20, Y:-22.73, Z:-1.08 [[ 8.29884878e-01 5.57925338e-01 -3.22598015e-03 7.21984610e+01] [-5.57921586e-01 8.29891142e-01 2.04864696e-03 -2.27331888e+01] [ 3.82020440e-03 9.97028338e-05 9.99992698e-01 -1.08044334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.58538474999999 meters 0.05828912980643524 Centerline is valid? [True, True] Translation: X:72.23, Y:-22.75, Z:-1.08 [[ 8.28966463e-01 5.59292797e-01 -2.48404445e-03 7.22260054e+01] [-5.59290571e-01 8.28970181e-01 1.57992441e-03 -2.27501992e+01] [ 2.94283912e-03 7.95982889e-05 9.99995667e-01 -1.07964862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.61538474999999 meters 0.05894205873934101 Centerline is valid? [True, True] Translation: X:72.25, Y:-22.77, Z:-1.08 [[ 8.27844930e-01 5.60943550e-01 -3.88653223e-03 7.22534684e+01] [-5.60938138e-01 8.27854042e-01 2.46791203e-03 -2.27653274e+01] [ 4.60184075e-03 1.37055683e-04 9.99989402e-01 -1.07902386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.64538474999999 meters 0.058691318576001975 Centerline is valid? [True, True] Translation: X:72.28, Y:-22.78, Z:-1.08 [[ 8.27277570e-01 5.61773541e-01 -4.72353042e-03 7.22802191e+01] [-5.61765544e-01 8.27291037e-01 3.00232409e-03 -2.27826551e+01] [ 5.59436061e-03 1.69761255e-04 9.99984337e-01 -1.07842737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67538474999999 meters 0.057496554670505955 Centerline is valid? [True, True] Translation: X:72.31, Y:-22.80, Z:-1.08 [[ 8.30913655e-01 5.56389822e-01 -3.58664400e-03 7.23072538e+01] [-5.56385137e-01 8.30921390e-01 2.28525297e-03 -2.28047716e+01] [ 4.25171072e-03 9.67075162e-05 9.99990957e-01 -1.07807198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.70538475 meters 0.056126079789764936 Centerline is valid? [True, True] Translation: X:72.33, Y:-22.82, Z:-1.08 [[ 8.33227558e-01 5.52907371e-01 -5.02751611e-03 7.23338416e+01] [-5.52898145e-01 8.33242717e-01 3.19609197e-03 -2.28237600e+01] [ 5.95628399e-03 1.16632424e-04 9.99982254e-01 -1.07845019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.73538475 meters 0.056711315440521645 Centerline is valid? [True, True] Translation: X:72.36, Y:-22.84, Z:-1.08 [[ 8.32985397e-01 5.53256912e-01 -6.48979713e-03 7.23614720e+01] [-5.53241540e-01 8.33010664e-01 4.12696174e-03 -2.28371646e+01] [ 7.68934033e-03 1.52726495e-04 9.99970425e-01 -1.08347425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.76538475 meters 0.05688603720187851 Centerline is valid? [True, True] Translation: X:72.39, Y:-22.85, Z:-1.09 [[ 8.32205835e-01 5.54388655e-01 -9.30956431e-03 7.23909870e+01] [-5.54357036e-01 8.32257873e-01 5.92536017e-03 -2.28519306e+01] [ 1.10329106e-02 2.29703169e-04 9.99939109e-01 -1.08640667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.79538475 meters 0.057007979833687224 Centerline is valid? [True, True] Translation: X:72.42, Y:-22.87, Z:-1.09 [[ 8.31232169e-01 5.55849000e-01 -9.21790578e-03 7.24187563e+01] [-5.55818065e-01 8.31283242e-01 5.86938371e-03 -2.28665912e+01] [ 1.09251817e-02 2.44658002e-04 9.99940288e-01 -1.08744286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.82538475 meters 0.05803288388506688 Centerline is valid? [True, True] Translation: X:72.45, Y:-22.88, Z:-1.09 [[ 8.28275131e-01 5.60256416e-01 -8.54724961e-03 7.24478897e+01] [-5.60230052e-01 8.28319184e-01 5.44232397e-03 -2.28780103e+01] [ 1.01289477e-02 2.80684492e-04 9.99948661e-01 -1.08584113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.85538475 meters 0.057428274730857966 Centerline is valid? [True, True] Translation: X:72.47, Y:-22.90, Z:-1.08 [[ 8.28286686e-01 5.60256176e-01 -7.36086074e-03 7.24748140e+01] [-5.60236574e-01 8.28319359e-01 4.69258139e-03 -2.28964073e+01] [ 8.72619115e-03 2.37020711e-04 9.99961898e-01 -1.08298506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.88538474999999 meters 0.05725999194511307 Centerline is valid? [True, True] Translation: X:72.50, Y:-22.91, Z:-1.08 [[ 8.27947988e-01 5.60773487e-01 -5.93521318e-03 7.25026112e+01] [-5.60760737e-01 8.27969238e-01 3.78640004e-03 -2.29123497e+01] [ 7.03748669e-03 1.93292220e-04 9.99975218e-01 -1.07982661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91538474999999 meters 0.05746254381841435 Centerline is valid? [True, True] Translation: X:72.53, Y:-22.92, Z:-1.08 [[ 8.26772030e-01 5.62516549e-01 -4.81071161e-03 7.25324216e+01] [-5.62508188e-01 8.26786009e-01 3.07150543e-03 -2.29245508e+01] [ 5.70520168e-03 1.66629891e-04 9.99983711e-01 -1.07980635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.94538474999999 meters 0.057814352976962614 Centerline is valid? [True, True] Translation: X:72.56, Y:-22.94, Z:-1.08 [[ 8.25965198e-01 5.63710763e-01 -3.41560290e-03 7.25623987e+01] [-5.63706546e-01 8.25972252e-01 2.18396301e-03 -2.29393735e+01] [ 4.05231667e-03 1.21520272e-04 9.99991782e-01 -1.08149821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97538474999999 meters 0.05880391803186473 Centerline is valid? [True, True] Translation: X:72.59, Y:-22.95, Z:-1.08 [[ 8.24002077e-01 5.66564836e-01 -4.98642093e-03 7.25916250e+01] [-5.66555908e-01 8.24017140e-01 3.18689575e-03 -2.29523745e+01] [ 5.91447938e-03 1.99077525e-04 9.99982489e-01 -1.08145684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.00538474999999 meters 0.059561747303160745 Centerline is valid? [True, True] Translation: X:72.62, Y:-22.97, Z:-1.08 [[ 8.23376712e-01 5.67469405e-01 -5.40958170e-03 7.26190019e+01] [-5.67458908e-01 8.23394453e-01 3.45875293e-03 -2.29670430e+01] [ 6.41695603e-03 2.21858708e-04 9.99979387e-01 -1.08194739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03538474999999 meters 0.05921692742511098 Centerline is valid? [True, True] Translation: X:72.65, Y:-22.98, Z:-1.08 [[ 8.23181854e-01 5.67758266e-01 -4.71024435e-03 7.26461999e+01] [-5.67750295e-01 8.23195307e-01 3.01474177e-03 -2.29847137e+01] [ 5.58909561e-03 1.92561897e-04 9.99984362e-01 -1.08129546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.06538474999999 meters 0.05966886959183946 Centerline is valid? [True, True] Translation: X:72.68, Y:-23.00, Z:-1.08 [[ 8.22686823e-01 5.68464351e-01 -5.88837224e-03 7.26751664e+01] [-5.68451908e-01 8.22707859e-01 3.76921650e-03 -2.29995462e+01] [ 6.98707532e-03 2.46371689e-04 9.99975560e-01 -1.08347297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.09538475 meters 0.05924754763847094 Centerline is valid? [True, True] Translation: X:72.70, Y:-23.02, Z:-1.08 [[ 8.22837334e-01 5.68248967e-01 -5.64213835e-03 7.27021734e+01] [-5.68237524e-01 8.22856644e-01 3.61378916e-03 -2.30169282e+01] [ 6.69620298e-03 2.32514089e-04 9.99977553e-01 -1.08371233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.12538475 meters 0.05918985590435456 Centerline is valid? [True, True] Translation: X:72.73, Y:-23.03, Z:-1.09 [[ 8.23147250e-01 5.67795299e-01 -6.09128584e-03 7.27292426e+01] [-5.67781936e-01 8.23169750e-01 3.90321623e-03 -2.30333522e+01] [ 7.23039007e-03 2.45600359e-04 9.99973830e-01 -1.08630154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.15538475 meters 0.05931783843767154 Centerline is valid? [True, True] Translation: X:72.76, Y:-23.05, Z:-1.09 [[ 8.23143812e-01 5.67794308e-01 -6.62490404e-03 7.27557744e+01] [-5.67778483e-01 8.23170428e-01 4.24749977e-03 -2.30502435e+01] [ 7.86513129e-03 2.65174816e-04 9.99969034e-01 -1.08696784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.18538475 meters 0.0594004426447737 Centerline is valid? [True, True] Translation: X:72.78, Y:-23.07, Z:-1.09 [[ 8.23219918e-01 5.67665635e-01 -8.04322204e-03 7.27812808e+01] [-5.67642292e-01 8.23259148e-01 5.15785175e-03 -2.30686646e+01] [ 9.54959131e-03 3.19626697e-04 9.99954351e-01 -1.08856438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.21538475 meters 0.05965028710529974 Centerline is valid? [True, True] Translation: X:72.81, Y:-23.09, Z:-1.09 [[ 8.23219160e-01 5.67659807e-01 -8.51806210e-03 7.28091539e+01] [-5.67633587e-01 8.23263160e-01 5.46628461e-03 -2.30864514e+01] [ 1.01155968e-02 3.35187911e-04 9.99948780e-01 -1.09013059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.24538475 meters 0.06015905677115845 Centerline is valid? [True, True] Translation: X:73.48, Y:-22.09, Z:-0.35 [[ 8.96008525e-01 -4.42787335e-01 -3.32881301e-02 7.34784142e+01] [-4.42381631e-01 -8.96623485e-01 1.91002323e-02 -2.20881929e+01] [-3.83042602e-02 -2.38791372e-03 -9.99263269e-01 -3.46031205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27538474999999 meters 0.060529590018042485 Centerline is valid? [True, True] Translation: X:73.48, Y:-22.06, Z:-0.35 [[ 9.28276208e-01 -3.70203877e-01 -3.53888570e-02 7.34754485e+01] [-3.69832369e-01 -9.28947236e-01 1.67645874e-02 -2.20621334e+01] [-3.90806962e-02 -2.47422276e-03 -9.99232995e-01 -3.45712222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.30538474999999 meters 0.06140880525906384 Centerline is valid? [True, True] Translation: X:73.47, Y:-22.04, Z:-0.34 [[ 9.54697009e-01 -2.95219832e-01 -3.74014894e-02 7.34692399e+01] [-2.94887884e-01 -9.55425943e-01 1.42268668e-02 -2.20368639e+01] [-3.99344065e-02 -2.55310116e-03 -9.99199042e-01 -3.44583499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33538474999999 meters 0.061440840431032734 Centerline is valid? [True, True] Translation: X:73.46, Y:-22.01, Z:-0.35 [[ 9.74984138e-01 -2.19026801e-01 -3.78575140e-02 7.34628210e+01] [-2.18759564e-01 -9.75715500e-01 1.11137858e-02 -2.20105779e+01] [-3.93723802e-02 -2.55407158e-03 -9.99221343e-01 -3.45430870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.36538474999999 meters 0.06272785867474878 Centerline is valid? [True, True] Translation: X:73.45, Y:-21.99, Z:-0.35 [[ 9.89467651e-01 -1.39852365e-01 -3.73508197e-02 7.34487956e+01] [-1.39653850e-01 -9.90168991e-01 7.88490542e-03 -2.19862606e+01] [-3.80863461e-02 -2.58567307e-03 -9.99271107e-01 -3.47431748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39538474999999 meters 0.063304393613555 Centerline is valid? [True, True] Translation: X:73.43, Y:-21.96, Z:-0.35 [[ 9.97445598e-01 -6.03841097e-02 -3.81580792e-02 7.34348165e+01] [-6.02381787e-02 -9.98171691e-01 4.96363340e-03 -2.19600505e+01] [-3.83880390e-02 -2.65238109e-03 -9.99259387e-01 -3.48252928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.42538474999999 meters 0.06436857631558876 Centerline is valid? [True, True] Translation: X:73.42, Y:-21.94, Z:-0.35 [[ 9.99081692e-01 2.01550730e-02 -3.78093338e-02 7.34192049e+01] [ 2.02429474e-02 -9.99793203e-01 1.94272439e-03 -2.19354999e+01] [-3.77623592e-02 -2.70631273e-03 -9.99283083e-01 -3.48243726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.45538475 meters 0.06460634227232724 Centerline is valid? [True, True] Translation: X:73.40, Y:-21.91, Z:-0.35 [[ 9.94352494e-01 9.88712523e-02 -3.85693363e-02 7.34019746e+01] [ 9.89038137e-02 -9.95096425e-01 -1.06758058e-03 -2.19118989e+01] [-3.84857617e-02 -2.75310304e-03 -9.99255356e-01 -3.48620407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.48538475 meters 0.06489956776788817 Centerline is valid? [True, True] Translation: X:73.38, Y:-21.89, Z:-0.35 [[ 9.83631715e-01 1.76041903e-01 -3.84434290e-02 7.33813510e+01] [ 1.76015452e-01 -9.84378873e-01 -4.09821488e-03 -2.18877332e+01] [-3.85643569e-02 -2.73550341e-03 -9.99252374e-01 -3.47519623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.51538475 meters 0.0654416488113664 Centerline is valid? [True, True] Translation: X:73.36, Y:-21.86, Z:-0.35 [[ 9.66626742e-01 2.53233497e-01 -3.88012661e-02 7.33596853e+01] [ 2.53144517e-01 -9.67401152e-01 -7.27083059e-03 -2.18626153e+01] [-3.93776074e-02 -2.79414845e-03 -9.99220495e-01 -3.46646445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.54538475 meters 0.06546299219147865 Centerline is valid? [True, True] Translation: X:73.62, Y:-22.98, Z:-1.10 [[ 9.85699133e-01 -1.68035974e-01 -1.26937433e-02 7.36182727e+01] [ 1.68014592e-01 9.85780700e-01 -2.74014053e-03 -2.29778151e+01] [ 1.29736893e-02 5.68220045e-04 9.99915677e-01 -1.09748477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.57538475 meters 0.06409810653173159 Centerline is valid? [True, True] Translation: X:73.65, Y:-22.98, Z:-1.10 [[ 9.85210984e-01 -1.70981621e-01 -1.11625787e-02 7.36483278e+01] [ 1.70965278e-01 9.85274109e-01 -2.40934439e-03 -2.29755553e+01] [ 1.14101533e-02 4.65299201e-04 9.99934794e-01 -1.09606480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.60538475 meters 0.06325866752246366 Centerline is valid? [True, True] Translation: X:73.68, Y:-22.97, Z:-1.09 [[ 9.84968220e-01 -1.72424043e-01 -1.03708742e-02 7.36771490e+01] [ 1.72410014e-01 9.85022728e-01 -2.23860370e-03 -2.29721945e+01] [ 1.06015359e-02 4.16910928e-04 9.99943715e-01 -1.09479977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63538474999999 meters 0.06260478124601355 Centerline is valid? [True, True] Translation: X:73.71, Y:-22.97, Z:-1.09 [[ 9.84523235e-01 -1.75009921e-01 -9.24808580e-03 7.37064228e+01] [ 1.74998880e-01 9.84566609e-01 -1.99620190e-03 -2.29694199e+01] [ 9.45471161e-03 3.46902499e-04 9.99955243e-01 -1.09480930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.66538474999999 meters 0.060963895889897445 Centerline is valid? [True, True] Translation: X:73.74, Y:-22.97, Z:-1.09 [[ 9.83837664e-01 -1.78923188e-01 -7.06705898e-03 7.37357186e+01] [ 1.78916839e-01 9.83863017e-01 -1.52582164e-03 -2.29684354e+01] [ 7.22602284e-03 2.36744942e-04 9.99973864e-01 -1.09328229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69538474999999 meters 0.06028898199560429 Centerline is valid? [True, True] Translation: X:73.76, Y:-22.97, Z:-1.09 [[ 9.83468411e-01 -1.80927793e-01 -7.41742245e-03 7.37645971e+01] [ 1.80920823e-01 9.83496354e-01 -1.60569399e-03 -2.29653385e+01] [ 7.58552260e-03 2.37183141e-04 9.99971201e-01 -1.09315311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.72538474999999 meters 0.05925906725760109 Centerline is valid? [True, True] Translation: X:73.79, Y:-22.97, Z:-1.09 [[ 9.82848746e-01 -1.84260324e-01 -7.51507408e-03 7.37927520e+01] [ 1.84253277e-01 9.82877453e-01 -1.62545366e-03 -2.29652164e+01] [ 7.68590349e-03 2.12898063e-04 9.99970440e-01 -1.09353266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.75538474999999 meters 0.0588985080871193 Centerline is valid? [True, True] Translation: X:73.82, Y:-22.96, Z:-1.09 [[ 9.82663827e-01 -1.85246098e-01 -7.46226806e-03 7.38217841e+01] [ 1.85239151e-01 9.82692139e-01 -1.61762115e-03 -2.29610148e+01] [ 7.63277017e-03 2.07273594e-04 9.99970849e-01 -1.09454525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.78538474999999 meters 0.05737658679102114 Centerline is valid? [True, True] Translation: X:73.85, Y:-22.96, Z:-1.09 [[ 9.82319082e-01 -1.86951459e-01 -9.91835328e-03 7.38524425e+01] [ 1.86939257e-01 9.82369118e-01 -2.15171013e-03 -2.29637171e+01] [ 1.01457493e-02 2.59536332e-04 9.99948497e-01 -1.09281059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.81538474999999 meters 0.05770722683379973 Centerline is valid? [True, True] Translation: X:73.88, Y:-22.96, Z:-1.09 [[ 9.82363300e-01 -1.86687707e-01 -1.04902834e-02 7.38792452e+01] [ 1.86674052e-01 9.82419271e-01 -2.27484484e-03 -2.29583430e+01] [ 1.07305421e-02 2.76460392e-04 9.99942388e-01 -1.09451853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.84538475 meters 0.05760903398905085 Centerline is valid? [True, True] Translation: X:73.91, Y:-22.95, Z:-1.10 [[ 9.82171322e-01 -1.87646135e-01 -1.13323864e-02 7.39070872e+01] [ 1.87630200e-01 9.82236653e-01 -2.46279087e-03 -2.29546138e+01] [ 1.15932185e-02 2.92584630e-04 9.99932754e-01 -1.09605665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.87538475 meters 0.05760903398905085 Centerline is valid? [True, True] Translation: X:73.93, Y:-22.95, Z:-1.10 [[ 9.82121653e-01 -1.87905960e-01 -1.13317374e-02 7.39340793e+01] [ 1.87890008e-01 9.82186981e-01 -2.46577783e-03 -2.29485677e+01] [ 1.15932193e-02 2.92573570e-04 9.99932754e-01 -1.09642762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.90538475 meters 0.05758464581967598 Centerline is valid? [True, True] Translation: X:73.96, Y:-22.94, Z:-1.10 [[ 9.81959284e-01 -1.88792967e-01 -1.06386364e-02 7.39627310e+01] [ 1.88778934e-01 9.82016876e-01 -2.31727574e-03 -2.29434193e+01] [ 1.08848058e-02 2.67119994e-04 9.99940723e-01 -1.09633556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.93538475 meters 0.05634225791241677 Centerline is valid? [True, True] Translation: X:73.99, Y:-22.94, Z:-1.09 [[ 9.81875788e-01 -1.89212993e-01 -1.08802288e-02 7.39916926e+01] [ 1.89198297e-01 9.81936031e-01 -2.37387049e-03 -2.29430640e+01] [ 1.11328558e-02 2.72325198e-04 9.99937991e-01 -1.09219549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.96538475 meters 0.05671838245606286 Centerline is valid? [True, True] Translation: X:74.02, Y:-22.94, Z:-1.09 [[ 9.81865994e-01 -1.89261139e-01 -1.09266112e-02 7.40184289e+01] [ 1.89246330e-01 9.81926752e-01 -2.38314412e-03 -2.29371699e+01] [ 1.11801684e-02 2.72107104e-04 9.99937463e-01 -1.09400054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.99538475 meters 0.056603652732138555 Centerline is valid? [True, True] Translation: X:74.05, Y:-22.93, Z:-1.09 [[ 9.81856378e-01 -1.89338871e-01 -1.04328980e-02 7.40461582e+01] [ 1.89325317e-01 9.81911769e-01 -2.28088540e-03 -2.29312878e+01] [ 1.06760456e-02 2.64290150e-04 9.99942974e-01 -1.09451998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.02538474999999 meters 0.058350297438158054 Centerline is valid? [True, True] Translation: X:74.07, Y:-22.92, Z:-1.10 [[ 9.82047564e-01 -1.88347258e-01 -1.03871037e-02 7.40723490e+01] [ 1.88333786e-01 9.82102457e-01 -2.26913028e-03 -2.29203768e+01] [ 1.06285845e-02 2.72151301e-04 9.99943478e-01 -1.09963604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05538474999999 meters 0.058542406988378135 Centerline is valid? [True, True] Translation: X:74.10, Y:-22.92, Z:-1.10 [[ 9.82001043e-01 -1.88539298e-01 -1.12642994e-02 7.41012594e+01] [ 1.88523416e-01 9.82065601e-01 -2.46514232e-03 -2.29151097e+01] [ 1.15270571e-02 2.97188140e-04 9.99933517e-01 -1.10009140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.08538474999999 meters 0.05679525879737469 Centerline is valid? [True, True] Translation: X:74.13, Y:-22.92, Z:-1.10 [[ 9.81793512e-01 -1.89620993e-01 -1.11972429e-02 7.41307286e+01] [ 1.89605333e-01 9.81857320e-01 -2.45363452e-03 -2.29150658e+01] [ 1.14593555e-02 2.85905481e-04 9.99934299e-01 -1.09573562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.11538474999999 meters 0.056352599888656284 Centerline is valid? [True, True] Translation: X:74.16, Y:-22.91, Z:-1.10 [[ 9.81634209e-01 -1.90435896e-01 -1.13335563e-02 7.41590733e+01] [ 1.90419861e-01 9.81699592e-01 -2.48742864e-03 -2.29105863e+01] [ 1.15998433e-02 2.83610828e-04 9.99932679e-01 -1.09528628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.14538474999999 meters 0.056721802683274744 Centerline is valid? [True, True] Translation: X:74.19, Y:-22.90, Z:-1.10 [[ 9.81725121e-01 -1.89976474e-01 -1.11681197e-02 7.41856917e+01] [ 1.89960887e-01 9.81788602e-01 -2.44994738e-03 -2.29042544e+01] [ 1.14301649e-02 2.83668965e-04 9.99934633e-01 -1.09787673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17538474999999 meters 0.05671684859017202 Centerline is valid? [True, True] Translation: X:74.21, Y:-22.90, Z:-1.10 [[ 9.81663053e-01 -1.90291955e-01 -1.12526342e-02 7.42130692e+01] [ 1.90276087e-01 9.81727502e-01 -2.47421885e-03 -2.28985879e+01] [ 1.15178444e-02 2.87742034e-04 9.99933626e-01 -1.09839104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.20538475 meters 0.056192979562562556 Centerline is valid? [True, True] Translation: X:74.24, Y:-22.90, Z:-1.10 [[ 9.81170561e-01 -1.92976938e-01 -8.01444246e-03 7.42419358e+01] [ 1.92968992e-01 9.81203276e-01 -1.76048159e-03 -2.28960038e+01] [ 8.20352954e-03 1.80793823e-04 9.99966334e-01 -1.09735859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.23538475 meters 0.05570068431197803 Centerline is valid? [True, True] Translation: X:74.27, Y:-22.89, Z:-1.10 [[ 9.80777933e-01 -1.95033892e-01 -6.03551092e-03 7.42710320e+01] [ 1.95029419e-01 9.80796495e-01 -1.32667518e-03 -2.28926982e+01] [ 6.17835458e-03 1.24071545e-04 9.99980906e-01 -1.09584461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.26538475 meters 0.05472844431072408 Centerline is valid? [True, True] Translation: X:74.30, Y:-22.89, Z:-1.09 [[ 9.79840131e-01 -1.99757751e-01 -3.18715866e-03 7.43008121e+01] [ 1.99756529e-01 9.79845313e-01 -7.00760776e-04 -2.28928153e+01] [ 3.26290487e-03 4.99777807e-05 9.99994675e-01 -1.09350837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.29538475 meters 0.05428061786987214 Centerline is valid? [True, True] Translation: X:74.33, Y:-22.89, Z:-1.09 [[ 9.79162215e-01 -2.03070094e-01 -1.97319101e-03 7.43299953e+01] [ 2.03069625e-01 9.79164203e-01 -4.37245204e-04 -2.28893167e+01] [ 2.02086943e-03 2.74388224e-05 9.99997958e-01 -1.09263132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.32538475 meters 0.053765007293207184 Centerline is valid? [True, True] Translation: X:74.36, Y:-22.89, Z:-1.09 [[ 9.77998781e-01 -2.08606181e-01 -1.35833774e-03 7.43603110e+01] [ 2.08605962e-01 9.77999725e-01 -3.02248873e-04 -2.28897114e+01] [ 1.39150492e-03 1.22416774e-05 9.99999032e-01 -1.09152676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.35538475 meters 0.05377740721093143 Centerline is valid? [True, True] Translation: X:74.39, Y:-22.89, Z:-1.09 [[ 9.77755986e-01 -2.09729563e-01 -2.59659249e-03 7.43892556e+01] [ 2.09728773e-01 9.77759434e-01 -5.75824259e-04 -2.28857079e+01] [ 2.65961017e-03 1.84354577e-05 9.99996463e-01 -1.09239871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.38538474999999 meters 0.05401288409516425 Centerline is valid? [True, True] Translation: X:74.42, Y:-22.88, Z:-1.10 [[ 9.77679110e-01 -2.10058497e-01 -4.35718447e-03 7.44163036e+01] [ 2.10056290e-01 9.77688819e-01 -9.63340672e-04 -2.28809466e+01] [ 4.46232844e-03 2.65840455e-05 9.99990043e-01 -1.09573566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41538474999999 meters 0.054267913673124904 Centerline is valid? [True, True] Translation: X:74.44, Y:-22.87, Z:-1.10 [[ 9.78068524e-01 -2.08218587e-01 -5.19440970e-03 7.44444955e+01] [ 2.08215412e-01 9.78082317e-01 -1.15078964e-03 -2.28731852e+01] [ 5.32017606e-03 4.39949735e-05 9.99985847e-01 -1.09732579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.44538474999999 meters 0.054160591240002 Centerline is valid? [True, True] Translation: X:74.47, Y:-22.87, Z:-1.10 [[ 9.77896622e-01 -2.09033616e-01 -4.81078607e-03 7.44734153e+01] [ 2.09030895e-01 9.77908455e-01 -1.06726388e-03 -2.28677641e+01] [ 4.92760240e-03 3.80708276e-05 9.99987859e-01 -1.09809518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47538474999999 meters 0.05425230764615656 Centerline is valid? [True, True] Translation: X:74.50, Y:-22.86, Z:-1.10 [[ 9.78033929e-01 -2.08369853e-01 -5.62487148e-03 7.45016851e+01] [ 2.08366116e-01 9.78050102e-01 -1.24878498e-03 -2.28604791e+01] [ 5.76161527e-03 4.93214583e-05 9.99983401e-01 -1.09998097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.50538474999999 meters 0.054362125105095575 Centerline is valid? [True, True] Translation: X:74.53, Y:-22.85, Z:-1.10 [[ 9.77998249e-01 -2.08517475e-01 -6.31564094e-03 7.45294470e+01] [ 2.08512760e-01 9.78018640e-01 -1.40340851e-03 -2.28538451e+01] [ 6.46944976e-03 5.56393477e-05 9.99979071e-01 -1.10146801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53538474999999 meters 0.054576576100414206 Centerline is valid? [True, True] Translation: X:74.56, Y:-22.85, Z:-1.10 [[ 9.78179773e-01 -2.07640470e-01 -7.05464794e-03 7.45567480e+01] [ 2.07634578e-01 9.78205209e-01 -1.56562915e-03 -2.28462957e+01] [ 7.22598134e-03 6.66779235e-05 9.99973890e-01 -1.10475913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.56538474999999 meters 0.05465956141509242 Centerline is valid? [True, True] Translation: X:74.58, Y:-22.84, Z:-1.10 [[ 9.78525753e-01 -2.05985444e-01 -7.57280283e-03 7.45847873e+01] [ 2.05978573e-01 9.78555052e-01 -1.68468184e-03 -2.28383910e+01] [ 7.75742440e-03 8.86694419e-05 9.99969907e-01 -1.10358583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.59538475 meters 0.05482990631093632 Centerline is valid? [True, True] Translation: X:74.61, Y:-22.83, Z:-1.10 [[ 9.78682839e-01 -2.05274795e-01 -6.49296769e-03 7.46120604e+01] [ 2.05269736e-01 9.78704374e-01 -1.44334075e-03 -2.28312330e+01] [ 6.65097736e-03 7.97630568e-05 9.99977879e-01 -1.10352674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.62538475 meters 0.05496267589513573 Centerline is valid? [True, True] Translation: X:74.64, Y:-22.82, Z:-1.10 [[ 9.78997984e-01 -2.03786511e-01 -5.83133168e-03 7.46399114e+01] [ 2.03782382e-01 9.79015347e-01 -1.30005260e-03 -2.28228312e+01] [ 5.97389639e-03 8.44262106e-05 9.99982153e-01 -1.10272355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.65538475 meters 0.05510603658854859 Centerline is valid? [True, True] Translation: X:74.67, Y:-22.81, Z:-1.10 [[ 9.79183178e-01 -2.02891285e-01 -5.95235120e-03 7.46678425e+01] [ 2.02886957e-01 9.79201265e-01 -1.32847174e-03 -2.28144060e+01] [ 6.09808516e-03 9.31627569e-05 9.99981402e-01 -1.10340431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.68538475 meters 0.05545819216013949 Centerline is valid? [True, True] Translation: X:74.69, Y:-22.80, Z:-1.10 [[ 9.79704924e-01 -2.00377341e-01 -5.21363994e-03 7.46948077e+01] [ 2.00373976e-01 9.79718792e-01 -1.16540168e-03 -2.28033204e+01] [ 5.34142111e-03 9.70719971e-05 9.99985730e-01 -1.10387389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.71538475 meters 0.05565284158281821 Centerline is valid? [True, True] Translation: X:74.72, Y:-22.80, Z:-1.10 [[ 9.80040690e-01 -1.98728954e-01 -5.20081659e-03 7.47220244e+01] [ 1.98725591e-01 9.80054484e-01 -1.16085277e-03 -2.27950822e+01] [ 5.32777868e-03 1.04147603e-04 9.99985802e-01 -1.10310008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.74538475 meters 0.05543262742274864 Centerline is valid? [True, True] Translation: X:74.75, Y:-22.79, Z:-1.10 [[ 9.80006485e-01 -1.98921981e-01 -4.16357742e-03 7.47504722e+01] [ 1.98919811e-01 9.80015325e-01 -9.33101471e-04 -2.27891106e+01] [ 4.26598407e-03 8.62274572e-05 9.99990897e-01 -1.10094812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77538474999999 meters 0.05484548410100892 Centerline is valid? [True, True] Translation: X:74.78, Y:-22.78, Z:-1.10 [[ 9.79482702e-01 -2.01515099e-01 -2.30241144e-03 7.47791885e+01] [ 2.01514437e-01 9.79485407e-01 -5.18272008e-04 -2.27849126e+01] [ 2.35961804e-03 4.36693229e-05 9.99997215e-01 -1.09825120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.80538474999999 meters 0.05519091070795751 Centerline is valid? [True, True] Translation: X:74.81, Y:-22.78, Z:-1.10 [[ 9.79396931e-01 -2.01915888e-01 -3.40970693e-03 7.48053624e+01] [ 2.01914452e-01 9.79402864e-01 -7.63751745e-04 -2.27755905e+01] [ 3.49369034e-03 5.95470086e-05 9.99993895e-01 -1.10139911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83538474999999 meters 0.05522841638780599 Centerline is valid? [True, True] Translation: X:74.83, Y:-22.77, Z:-1.10 [[ 9.79078281e-01 -2.03459049e-01 -3.18369469e-03 7.48322798e+01] [ 2.03457802e-01 9.79083456e-01 -7.14181006e-04 -2.27695224e+01] [ 3.26240939e-03 5.14915884e-05 9.99994677e-01 -1.10274517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.86538474999999 meters 0.05480711633524191 Centerline is valid? [True, True] Translation: X:74.86, Y:-22.76, Z:-1.10 [[ 9.78801556e-01 -2.04796541e-01 -2.42691219e-03 7.48609901e+01] [ 2.04795814e-01 9.78804564e-01 -5.47234225e-04 -2.27645696e+01] [ 2.48754440e-03 3.86122555e-05 9.99996905e-01 -1.10211205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89538474999999 meters 0.05520974906353625 Centerline is valid? [True, True] Translation: X:74.89, Y:-22.76, Z:-1.10 [[ 9.78878843e-01 -2.04428309e-01 -2.29715124e-03 7.48871076e+01] [ 2.04427661e-01 9.78881538e-01 -5.16090260e-04 -2.27557030e+01] [ 2.35414240e-03 3.55885822e-05 9.99997228e-01 -1.10463581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.92538474999999 meters 0.055291759155768144 Centerline is valid? [True, True] Translation: X:74.92, Y:-22.75, Z:-1.10 [[ 9.79261183e-01 -2.02594429e-01 -1.74125580e-03 7.49156847e+01] [ 2.02594048e-01 9.79262731e-01 -3.94181110e-04 -2.27493387e+01] [ 1.78500581e-03 3.32381984e-05 9.99998406e-01 -1.10328513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.95538475 meters 0.05511216861148645 Centerline is valid? [True, True] Translation: X:74.94, Y:-22.74, Z:-1.10 [[ 9.79192727e-01 -2.02930230e-01 -9.61710904e-04 7.49442773e+01] [ 2.02930112e-01 9.79193199e-01 -2.19513634e-04 -2.27430394e+01] [ 9.86246729e-04 1.97860522e-05 9.99999513e-01 -1.10300472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.98538475 meters 0.05507369812671789 Centerline is valid? [True, True] Translation: X:74.97, Y:-22.74, Z:-1.10 [[ 9.78698309e-01 -2.05303342e-01 -3.96898801e-04 7.49734433e+01] [ 2.05303321e-01 9.78698390e-01 -9.27107101e-05 -2.27403124e+01] [ 4.07478035e-04 9.25117316e-06 9.99999917e-01 -1.10250502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.01538475 meters 0.05472193711173966 Centerline is valid? [True, True] Translation: X:75.00, Y:-22.74, Z:-1.10 [[ 9.78156600e-01 -2.07869169e-01 -2.72124777e-04 7.50023603e+01] [ 2.07869159e-01 9.78156638e-01 -6.46987658e-05 -2.27363451e+01] [ 2.79629535e-04 6.71917640e-06 9.99999961e-01 -1.10260734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.04538475 meters 0.054900104388974406 Centerline is valid? [True, True] Translation: X:75.03, Y:-22.73, Z:-1.11 [[ 9.78100959e-01 -2.08104679e-01 -3.31024060e-03 7.50291229e+01] [ 2.08103342e-01 9.78106559e-01 -7.46873471e-04 -2.27299988e+01] [ 3.39319591e-03 4.16455247e-05 9.99994242e-01 -1.10881846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.07538475 meters 0.05522944882106907 Centerline is valid? [True, True] Translation: X:75.06, Y:-22.72, Z:-1.11 [[ 9.78118418e-01 -2.07981482e-01 -5.29756818e-03 7.50574514e+01] [ 2.07978043e-01 9.78132761e-01 -1.19805513e-03 -2.27225405e+01] [ 5.43089828e-03 7.00619291e-05 9.99985250e-01 -1.11218898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.10538475 meters 0.05542467079704515 Centerline is valid? [True, True] Translation: X:75.08, Y:-22.72, Z:-1.11 [[ 9.77909675e-01 -2.08931749e-01 -6.33977540e-03 7.50846634e+01] [ 2.08926852e-01 9.77930222e-01 -1.43238315e-03 -2.27184399e+01] [ 6.49912828e-03 7.61920209e-05 9.99978878e-01 -1.11414196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13538474999999 meters 0.055360936878421904 Centerline is valid? [True, True] Translation: X:75.11, Y:-22.71, Z:-1.11 [[ 9.77655698e-01 -2.10108087e-01 -6.62784803e-03 7.51119239e+01] [ 2.10102764e-01 9.77678161e-01 -1.49736554e-03 -2.27142135e+01] [ 6.79451088e-03 7.13787622e-05 9.99976914e-01 -1.11444275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.16538474999999 meters 0.05502255332167634 Centerline is valid? [True, True] Translation: X:75.14, Y:-22.71, Z:-1.11 [[ 9.77419745e-01 -2.11239986e-01 -5.32071998e-03 7.51411161e+01] [ 2.11236552e-01 9.77434226e-01 -1.20573452e-03 -2.27099366e+01] [ 5.45535316e-03 5.45781875e-05 9.99985118e-01 -1.11153748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19538474999999 meters 0.05518020289093784 Centerline is valid? [True, True] Translation: X:75.17, Y:-22.70, Z:-1.11 [[ 9.77499796e-01 -2.10893912e-01 -4.23155986e-03 7.51694511e+01] [ 2.10891729e-01 9.77508954e-01 -9.60649230e-04 -2.27020734e+01] [ 4.33898273e-03 4.66334525e-05 9.99990585e-01 -1.11220488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.22538474999999 meters 0.05514651972239106 Centerline is valid? [True, True] Translation: X:75.20, Y:-22.70, Z:-1.11 [[ 9.77431311e-01 -2.11225235e-01 -3.45431959e-03 7.51963292e+01] [ 2.11223784e-01 9.77437414e-01 -7.83719967e-04 -2.26956630e+01] [ 3.54192264e-03 3.63979788e-05 9.99993727e-01 -1.11226273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25538474999999 meters 0.05513712812181905 Centerline is valid? [True, True] Translation: X:75.22, Y:-22.69, Z:-1.11 [[ 9.77519763e-01 -2.10826158e-01 -2.72841657e-03 7.52236769e+01] [ 2.10825243e-01 9.77523570e-01 -6.22093451e-04 -2.26885135e+01] [ 2.79824508e-03 3.28895550e-05 9.99996084e-01 -1.11259656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.28538474999999 meters 0.05552719943060169 Centerline is valid? [True, True] Translation: X:75.25, Y:-22.68, Z:-1.11 [[ 9.77954145e-01 -2.08811718e-01 -1.83184677e-03 7.52507171e+01] [ 2.08811303e-01 9.77955861e-01 -4.17148052e-04 -2.26798003e+01] [ 1.87857069e-03 2.54413552e-05 9.99998235e-01 -1.11151538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31538474999999 meters 0.054966775226816325 Centerline is valid? [True, True] Translation: X:75.28, Y:-22.68, Z:-1.11 [[ 9.77313483e-01 -2.11797347e-01 4.89048274e-04 7.52795738e+01] [ 2.11797319e-01 9.77313606e-01 1.07853401e-04 -2.26756519e+01] [-5.00796596e-04 -1.82747005e-06 9.99999875e-01 -1.10831042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.34538475 meters 0.054921516199925934 Centerline is valid? [True, True] Translation: X:75.31, Y:-22.67, Z:-1.11 [[ 9.77298988e-01 -2.11863262e-01 8.03329505e-04 7.53072623e+01] [ 2.11863187e-01 9.77299319e-01 1.78900196e-04 -2.26683957e+01] [-8.22995757e-04 -4.64303177e-06 9.99999661e-01 -1.10850371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.37538475 meters 0.05544772363821269 Centerline is valid? [True, True] Translation: X:75.33, Y:-22.66, Z:-1.11 [[ 9.77736679e-01 -2.09828283e-01 -1.75431904e-03 7.53343164e+01] [ 2.09827899e-01 9.77738253e-01 -4.02529488e-04 -2.26565058e+01] [ 1.79972690e-03 2.54627670e-05 9.99998380e-01 -1.11371821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.40538475 meters 0.05555112225563017 Centerline is valid? [True, True] Translation: X:75.36, Y:-22.65, Z:-1.11 [[ 9.77626215e-01 -2.10341751e-01 -1.82537916e-03 7.53615829e+01] [ 2.10341334e-01 9.77627919e-01 -4.19855433e-04 -2.26507534e+01] [ 1.87285475e-03 2.65089919e-05 9.99998246e-01 -1.11407488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.43538475 meters 0.055535874198561014 Centerline is valid? [True, True] Translation: X:75.39, Y:-22.64, Z:-1.12 [[ 9.77565909e-01 -2.10615769e-01 -2.42726187e-03 7.53883002e+01] [ 2.10615039e-01 9.77568922e-01 -5.55235985e-04 -2.26439023e+01] [ 2.48975722e-03 3.15619166e-05 9.99996900e-01 -1.11577676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.46538475 meters 0.056027408285763955 Centerline is valid? [True, True] Translation: X:75.41, Y:-22.64, Z:-1.12 [[ 9.78141281e-01 -2.07926554e-01 -2.48657626e-03 7.54146786e+01] [ 2.07925781e-01 9.78144441e-01 -5.68367549e-04 -2.26355621e+01] [ 2.55040945e-03 3.89204517e-05 9.99996747e-01 -1.11523158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.49538475 meters 0.05614468318781464 Centerline is valid? [True, True] Translation: X:75.44, Y:-22.63, Z:-1.11 [[ 9.78348010e-01 -2.06919279e-01 -4.42525645e-03 7.54435367e+01] [ 2.06916808e-01 9.78358015e-01 -1.01395531e-03 -2.26299333e+01] [ 4.53929202e-03 7.63412226e-05 9.99989694e-01 -1.11474389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.52538474999999 meters 0.05651612705201634 Centerline is valid? [True, True] Translation: X:75.47, Y:-22.62, Z:-1.12 [[ 9.78666134e-01 -2.05401504e-01 -4.77697942e-03 7.54700815e+01] [ 2.05398618e-01 9.78677789e-01 -1.09248936e-03 -2.26214184e+01] [ 4.89952261e-03 8.79973727e-05 9.99987993e-01 -1.11582093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55538474999999 meters 0.056563621161381285 Centerline is valid? [True, True] Translation: X:75.50, Y:-22.61, Z:-1.12 [[ 9.78751554e-01 -2.05018435e-01 -3.58275429e-03 7.54973685e+01] [ 2.05016794e-01 9.78758109e-01 -8.23367586e-04 -2.26140142e+01] [ 3.67545535e-03 7.13475077e-05 9.99993243e-01 -1.11572435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.58538474999999 meters 0.05623353938593085 Centerline is valid? [True, True] Translation: X:75.53, Y:-22.61, Z:-1.11 [[ 9.78879595e-01 -2.04433589e-01 -1.28308071e-03 7.55260214e+01] [ 2.04433375e-01 9.78880435e-01 -2.97341443e-04 -2.26074957e+01] [ 1.31676918e-03 2.87569524e-05 9.99999133e-01 -1.11428604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61538474999999 meters 0.056206576081846975 Centerline is valid? [True, True] Translation: X:75.55, Y:-22.60, Z:-1.11 [[ 9.78595513e-01 -2.05790127e-01 -1.11641705e-03 7.55547092e+01] [ 2.05789964e-01 9.78596149e-01 -2.59464319e-04 -2.26021042e+01] [ 1.14591662e-03 2.41631928e-05 9.99999343e-01 -1.11353191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.64538474999999 meters 0.055993702089882295 Centerline is valid? [True, True] Translation: X:75.58, Y:-22.60, Z:-1.11 [[ 9.78236936e-01 -2.07487408e-01 -1.21344260e-03 7.55834804e+01] [ 2.07487217e-01 9.78237688e-01 -2.81992833e-04 -2.25981485e+01] [ 1.24554525e-03 2.40819754e-05 9.99999224e-01 -1.11325600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67538474999999 meters 0.056105041142683935 Centerline is valid? [True, True] Translation: X:75.61, Y:-22.59, Z:-1.11 [[ 9.78265061e-01 -2.07354490e-01 -1.25964563e-03 7.56107484e+01] [ 2.07354284e-01 9.78265871e-01 -2.93468356e-04 -2.25922277e+01] [ 1.29312031e-03 2.58969225e-05 9.99999164e-01 -1.11411679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.70538475 meters 0.056173578969993816 Centerline is valid? [True, True] Translation: X:75.64, Y:-22.59, Z:-1.12 [[ 9.78185091e-01 -2.07725586e-01 -2.00222168e-03 7.56382237e+01] [ 2.07725075e-01 9.78187139e-01 -4.62322191e-04 -2.25865743e+01] [ 2.05458364e-03 3.63250267e-05 9.99997889e-01 -1.11593351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.73538475 meters 0.05638257425175925 Centerline is valid? [True, True] Translation: X:75.67, Y:-22.58, Z:-1.12 [[ 9.78249605e-01 -2.07414045e-01 -2.66926801e-03 7.56665799e+01] [ 2.07413130e-01 9.78253245e-01 -6.17928050e-04 -2.25799853e+01] [ 2.73938705e-03 5.08466367e-05 9.99996247e-01 -1.11803242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.76538475 meters 0.056377268268665647 Centerline is valid? [True, True] Translation: X:75.69, Y:-22.57, Z:-1.12 [[ 9.78070990e-01 -2.08259276e-01 -2.28319387e-03 7.56949370e+01] [ 2.08258607e-01 9.78073654e-01 -5.29603591e-04 -2.25741482e+01] [ 2.34342663e-03 4.24951345e-05 9.99997253e-01 -1.11850987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.79538475 meters 0.056377268268665647 Centerline is valid? [True, True] Translation: X:75.72, Y:-22.57, Z:-1.12 [[ 9.78013204e-01 -2.08530478e-01 -2.28294126e-03 7.57218556e+01] [ 2.08529807e-01 9.78015868e-01 -5.30696850e-04 -2.25677615e+01] [ 2.34341924e-03 4.29672268e-05 9.99997253e-01 -1.11888101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.82538475 meters 0.056481847025521704 Centerline is valid? [True, True] Translation: X:75.75, Y:-22.56, Z:-1.12 [[ 9.78102760e-01 -2.08105760e-01 -2.64277921e-03 7.57503810e+01] [ 2.08104860e-01 9.78106329e-01 -6.13938558e-04 -2.25627128e+01] [ 2.71268322e-03 5.05197985e-05 9.99996319e-01 -1.11882974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.85538475 meters 0.056405859331985116 Centerline is valid? [True, True] Translation: X:75.78, Y:-22.56, Z:-1.12 [[ 9.77985971e-01 -2.08655195e-01 -2.53970962e-03 7.57776117e+01] [ 2.08654362e-01 9.77989268e-01 -5.91392031e-04 -2.25569576e+01] [ 2.60720577e-03 4.84516191e-05 9.99996600e-01 -1.11994835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.88538474999999 meters 0.05656914043685924 Centerline is valid? [True, True] Translation: X:75.80, Y:-22.55, Z:-1.12 [[ 9.77797567e-01 -2.09527208e-01 -3.20419378e-03 7.58040039e+01] [ 2.09525897e-01 9.77802815e-01 -7.43317418e-04 -2.25509724e+01] [ 3.28881492e-03 5.54523869e-05 9.99994590e-01 -1.12308276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91538474999999 meters 0.056511573442989585 Centerline is valid? [True, True] Translation: X:75.83, Y:-22.55, Z:-1.12 [[ 9.77790297e-01 -2.09554088e-01 -3.63579645e-03 7.58320840e+01] [ 2.09552391e-01 9.77797055e-01 -8.45885697e-04 -2.25452725e+01] [ 3.73232986e-03 6.52089897e-05 9.99993033e-01 -1.12348677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.94538474999999 meters 0.05641056171756094 Centerline is valid? [True, True] Translation: X:75.86, Y:-22.54, Z:-1.12 [[ 9.77784938e-01 -2.09564870e-01 -4.37946849e-03 7.58603548e+01] [ 2.09562405e-01 9.77794743e-01 -1.01941556e-03 -2.25405260e+01] [ 4.49585495e-03 7.89972264e-05 9.99989890e-01 -1.12362383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97538474999999 meters 0.056895925060637426 Centerline is valid? [True, True] Translation: X:75.89, Y:-22.53, Z:-1.13 [[ 9.77783105e-01 -2.09587688e-01 -3.63316692e-03 7.58874910e+01] [ 2.09585996e-01 9.77789853e-01 -8.44391470e-04 -2.25326421e+01] [ 3.72944781e-03 6.41708042e-05 9.99993044e-01 -1.12557922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.00538474999999 meters 0.05658928744207661 Centerline is valid? [True, True] Translation: X:75.92, Y:-22.53, Z:-1.12 [[ 9.77746523e-01 -2.09755180e-01 -3.80816617e-03 7.59153428e+01] [ 2.09753309e-01 9.77753936e-01 -8.88701641e-04 -2.25292108e+01] [ 3.90985924e-03 7.01494835e-05 9.99992354e-01 -1.12427973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03538474999999 meters 0.05640232786027599 Centerline is valid? [True, True] Translation: X:75.94, Y:-22.52, Z:-1.12 [[ 9.77583678e-01 -2.10512394e-01 -3.83194377e-03 7.59427041e+01] [ 2.10510501e-01 9.77591186e-01 -8.95422285e-04 -2.25243480e+01] [ 3.93457194e-03 6.86858070e-05 9.99992257e-01 -1.12463232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.06538474999999 meters 0.05646202063671801 Centerline is valid? [True, True] Translation: X:75.97, Y:-22.52, Z:-1.13 [[ 9.77328242e-01 -2.11686896e-01 -4.26201231e-03 7.59707705e+01] [ 2.11684561e-01 9.77337533e-01 -9.96785572e-04 -2.25194395e+01] [ 4.37643104e-03 7.19844866e-05 9.99990421e-01 -1.12707724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.09538475 meters 0.05637482988483682 Centerline is valid? [True, True] Translation: X:76.00, Y:-22.51, Z:-1.13 [[ 9.77115158e-01 -2.12660372e-01 -4.64046000e-03 7.59984649e+01] [ 2.12657611e-01 9.77126174e-01 -1.08628982e-03 -2.25143267e+01] [ 4.76532572e-03 7.46011151e-05 9.99988643e-01 -1.12704360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.12538475 meters 0.056749879374091844 Centerline is valid? [True, True] Translation: X:76.02, Y:-22.51, Z:-1.13 [[ 9.77043489e-01 -2.12986893e-01 -4.75425133e-03 7.60249714e+01] [ 2.12984007e-01 9.77055054e-01 -1.11122192e-03 -2.25072031e+01] [ 4.88184100e-03 7.31326397e-05 9.99988081e-01 -1.13054584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.15538475 meters 0.05659662516460897 Centerline is valid? [True, True] Translation: X:76.05, Y:-22.50, Z:-1.13 [[ 9.77159646e-01 -2.12449778e-01 -4.91100427e-03 7.60536211e+01] [ 2.12446677e-01 9.77171983e-01 -1.15068259e-03 -2.25010420e+01] [ 5.04335804e-03 8.10740504e-05 9.99987279e-01 -1.12900627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.18538475 meters 0.0561632798076427 Centerline is valid? [True, True] Translation: X:76.08, Y:-22.50, Z:-1.13 [[ 9.76605953e-01 -2.15004161e-01 -3.74481651e-03 7.60828118e+01] [ 2.15002370e-01 9.76613131e-01 -8.79222529e-04 -2.24982160e+01] [ 3.84627348e-03 5.35095316e-05 9.99992602e-01 -1.12663368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.21538475 meters 0.05606021593092535 Centerline is valid? [True, True] Translation: X:76.11, Y:-22.49, Z:-1.13 [[ 9.76463209e-01 -2.15649000e-01 -3.88721707e-03 7.61091498e+01] [ 2.15647081e-01 9.76470945e-01 -9.11321673e-04 -2.24922181e+01] [ 3.99228014e-03 5.16050718e-05 9.99992029e-01 -1.12744978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.24538475 meters 0.05562382425804929 Centerline is valid? [True, True] Translation: X:76.14, Y:-22.49, Z:-1.13 [[ 9.75372906e-01 -2.20525973e-01 -3.99870165e-03 7.61382551e+01] [ 2.20523971e-01 9.75381102e-01 -9.40201402e-04 -2.24910760e+01] [ 4.10759685e-03 3.52374051e-05 9.99991563e-01 -1.12607707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27538474999999 meters 0.05561248999473122 Centerline is valid? [True, True] Translation: X:76.17, Y:-22.48, Z:-1.13 [[ 9.75238007e-01 -2.21102154e-01 -4.96651631e-03 7.61651670e+01] [ 2.21099087e-01 9.75250653e-01 -1.16519028e-03 -2.24836203e+01] [ 5.10122435e-03 3.82456223e-05 9.99986988e-01 -1.12866486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.30538474999999 meters 0.05595130664529368 Centerline is valid? [True, True] Translation: X:76.19, Y:-22.47, Z:-1.13 [[ 9.75537211e-01 -2.19757021e-01 -5.83105635e-03 7.61926053e+01] [ 2.19752748e-01 9.75554636e-01 -1.37151824e-03 -2.24745525e+01] [ 5.98991481e-03 5.65764197e-05 9.99982059e-01 -1.13110348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33538474999999 meters 0.05594511851500637 Centerline is valid? [True, True] Translation: X:76.22, Y:-22.47, Z:-1.13 [[ 9.75553315e-01 -2.19692877e-01 -5.54693893e-03 7.62199802e+01] [ 2.19688996e-01 9.75569084e-01 -1.30703684e-03 -2.24684333e+01] [ 5.69856881e-03 5.64826806e-05 9.99983761e-01 -1.12927254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.36538474999999 meters 0.05591112607496966 Centerline is valid? [True, True] Translation: X:76.25, Y:-22.46, Z:-1.13 [[ 9.75535577e-01 -2.19779482e-01 -5.22663624e-03 7.62475952e+01] [ 2.19776029e-01 9.75549577e-01 -1.23329302e-03 -2.24614513e+01] [ 5.36989527e-03 5.44318638e-05 9.99985581e-01 -1.13011016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39538474999999 meters 0.055913922737354405 Centerline is valid? [True, True] Translation: X:76.28, Y:-22.45, Z:-1.13 [[ 9.75883276e-01 -2.18217047e-01 -5.75774016e-03 7.62750618e+01] [ 2.18212843e-01 9.75900259e-01 -1.35612083e-03 -2.24540717e+01] [ 5.91490879e-03 6.70027837e-05 9.99982505e-01 -1.12923299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.42538474999999 meters 0.05592008098267844 Centerline is valid? [True, True] Translation: X:76.30, Y:-22.45, Z:-1.13 [[ 9.75973827e-01 -2.17812219e-01 -5.73808222e-03 7.63017951e+01] [ 2.17808034e-01 9.75990693e-01 -1.35201872e-03 -2.24467089e+01] [ 5.89480103e-03 6.97344792e-05 9.99982623e-01 -1.12905765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.45538475 meters 0.05603051688250293 Centerline is valid? [True, True] Translation: X:76.33, Y:-22.44, Z:-1.13 [[ 9.76028656e-01 -2.17602709e-01 -4.13806809e-03 7.63296761e+01] [ 2.17600515e-01 9.76037427e-01 -9.78657053e-04 -2.24383765e+01] [ 4.25186776e-03 5.47515787e-05 9.99990959e-01 -1.12849155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.48538475 meters 0.05604821611994444 Centerline is valid? [True, True] Translation: X:76.36, Y:-22.43, Z:-1.13 [[ 9.75832399e-01 -2.18493522e-01 -3.42212742e-03 7.63564257e+01] [ 2.18492031e-01 9.75838398e-01 -8.08035079e-04 -2.24311984e+01] [ 3.51599377e-03 4.07992363e-05 9.99993818e-01 -1.12934317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.51538475 meters 0.05621645989921118 Centerline is valid? [True, True] Translation: X:76.38, Y:-22.42, Z:-1.13 [[ 9.76136821e-01 -2.17101619e-01 -4.87786613e-03 7.63840150e+01] [ 2.17098560e-01 9.76149006e-01 -1.15456850e-03 -2.24224406e+01] [ 5.01218286e-03 6.80391160e-05 9.99987437e-01 -1.13114245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.54538475 meters 0.0562746586726787 Centerline is valid? [True, True] Translation: X:76.41, Y:-22.42, Z:-1.13 [[ 9.75972903e-01 -2.17832700e-01 -5.08017829e-03 7.64110163e+01] [ 2.17829382e-01 9.75986122e-01 -1.20430423e-03 -2.24152182e+01] [ 5.22052035e-03 6.87562002e-05 9.99986371e-01 -1.13127158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.57538475 meters 0.05577971504312401 Centerline is valid? [True, True] Translation: X:76.44, Y:-22.41, Z:-1.13 [[ 9.75382334e-01 -2.20504088e-01 -2.69264730e-03 7.64394181e+01] [ 2.20503161e-01 9.75386050e-01 -6.40293541e-04 -2.24099557e+01] [ 2.76755795e-03 3.07937686e-05 9.99996170e-01 -1.13116990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.60538475 meters 0.055883995400458804 Centerline is valid? [True, True] Translation: X:76.47, Y:-22.40, Z:-1.13 [[ 9.75321261e-01 -2.20765882e-01 -3.29588107e-03 7.64678308e+01] [ 2.20764493e-01 9.75326829e-01 -7.83865944e-04 -2.24032755e+01] [ 3.38761209e-03 3.69076083e-05 9.99994261e-01 -1.13078837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63538474999999 meters 0.05616553940614268 Centerline is valid? [True, True] Translation: X:76.50, Y:-22.39, Z:-1.13 [[ 9.75577000e-01 -2.19637595e-01 -2.97400608e-03 7.64956546e+01] [ 2.19636456e-01 9.75581532e-01 -7.08360317e-04 -2.23946670e+01] [ 3.05696797e-03 3.78598760e-05 9.99995327e-01 -1.13154792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.66538474999999 meters 0.056177782964095355 Centerline is valid? [True, True] Translation: X:76.52, Y:-22.39, Z:-1.13 [[ 9.76001835e-01 -2.17745035e-01 -2.74194498e-03 7.65235258e+01] [ 2.17744056e-01 9.76005685e-01 -6.54137078e-04 -2.23862867e+01] [ 2.81858899e-03 4.13967657e-05 9.99996027e-01 -1.13125528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69538474999999 meters 0.056264067893617264 Centerline is valid? [True, True] Translation: X:76.55, Y:-22.38, Z:-1.13 [[ 9.75770213e-01 -2.18783202e-01 -2.53001254e-03 7.65509590e+01] [ 2.18782377e-01 9.75773493e-01 -6.01882839e-04 -2.23804544e+01] [ 2.60040102e-03 3.37771896e-05 9.99996618e-01 -1.13147938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.72538474999999 meters 0.05648166878254621 Centerline is valid? [True, True] Translation: X:76.58, Y:-22.37, Z:-1.13 [[ 9.75968154e-01 -2.17889728e-01 -3.19824196e-03 7.65777798e+01] [ 2.17888402e-01 9.75973393e-01 -7.61481544e-04 -2.23722264e+01] [ 3.28731806e-03 4.63219071e-05 9.99994596e-01 -1.13239943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75538474999999 meters 0.05669484345936705 Centerline is valid? [True, True] Translation: X:76.60, Y:-22.36, Z:-1.13 [[ 9.75940517e-01 -2.18009331e-01 -3.46974999e-03 7.66047924e+01] [ 2.18007762e-01 9.75946683e-01 -8.28898821e-04 -2.23643881e+01] [ 3.56699867e-03 5.25235137e-05 9.99993637e-01 -1.13371062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.78538474999999 meters 0.05690900677680809 Centerline is valid? [True, True] Translation: X:76.63, Y:-22.36, Z:-1.13 [[ 9.76289503e-01 -2.16421366e-01 -4.53862838e-03 7.66319053e+01] [ 2.16418674e-01 9.76300050e-01 -1.08186278e-03 -2.23556077e+01] [ 4.66520134e-03 7.39673392e-05 9.99989115e-01 -1.13470998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.81538474999999 meters 0.0570364896094492 Centerline is valid? [True, True] Translation: X:76.66, Y:-22.35, Z:-1.14 [[ 9.76396445e-01 -2.15935177e-01 -4.68856378e-03 7.66584060e+01] [ 2.15932300e-01 9.76407698e-01 -1.11736224e-03 -2.23477167e+01] [ 4.81922758e-03 7.85761530e-05 9.99988384e-01 -1.13610152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.84538475 meters 0.05687189461769693 Centerline is valid? [True, True] Translation: X:76.69, Y:-22.34, Z:-1.13 [[ 9.76423993e-01 -2.15818752e-01 -4.29572674e-03 7.66867235e+01] [ 2.15816317e-01 9.76433439e-01 -1.02796095e-03 -2.23427835e+01] [ 4.41634448e-03 7.66378153e-05 9.99990245e-01 -1.13436143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.87538475 meters 0.05678620230882479 Centerline is valid? [True, True] Translation: X:76.71, Y:-22.34, Z:-1.13 [[ 9.76403547e-01 -2.15935031e-01 -2.85942954e-03 7.67134984e+01] [ 2.15933954e-01 9.76407733e-01 -6.83829936e-04 -2.23358433e+01] [ 2.93963195e-03 5.02460500e-05 9.99995678e-01 -1.13376660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.90538475 meters 0.05684823340153408 Centerline is valid? [True, True] Translation: X:76.74, Y:-22.33, Z:-1.13 [[ 9.76337955e-01 -2.16248364e-01 -9.18067687e-04 7.67413702e+01] [ 2.16248250e-01 9.76338386e-01 -2.22626954e-04 -2.23299545e+01] [ 9.44487438e-04 1.88286148e-05 9.99999554e-01 -1.13303356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.93538475 meters 0.05652076202464224 Centerline is valid? [True, True] Translation: X:76.77, Y:-22.32, Z:-1.13 [[ 9.76156476e-01 -2.17067848e-01 -2.87889222e-04 7.67703619e+01] [ 2.17067836e-01 9.76156519e-01 -7.23406913e-05 -2.23246993e+01] [ 2.96727778e-04 8.12434399e-06 9.99999956e-01 -1.13283886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.96538475 meters 0.05653707706814127 Centerline is valid? [True, True] Translation: X:76.80, Y:-22.32, Z:-1.13 [[ 9.76092213e-01 -2.17355337e-01 8.05449243e-04 7.67984185e+01] [ 2.17355255e-01 9.76092546e-01 1.89217951e-04 -2.23185443e+01] [-8.27320534e-04 -9.62554361e-06 9.99999658e-01 -1.13257066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.99538475 meters 0.0563761533970076 Centerline is valid? [True, True] Translation: X:76.83, Y:-22.31, Z:-1.13 [[ 9.75698030e-01 -2.19114454e-01 1.48687244e-03 7.68271265e+01] [ 2.19114171e-01 9.75699163e-01 3.52700204e-04 -2.23140748e+01] [-1.52802191e-03 -1.83340721e-05 9.99998832e-01 -1.13274199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.02538474999999 meters 0.05614078021358216 Centerline is valid? [True, True] Translation: X:76.86, Y:-22.31, Z:-1.14 [[ 9.75039040e-01 -2.22033099e-01 -4.15465108e-04 7.68552045e+01] [ 2.22033075e-01 9.75039129e-01 -1.03691467e-04 -2.23100628e+01] [ 4.28117675e-04 8.85623329e-06 9.99999908e-01 -1.13510047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05538474999999 meters 0.05625294362973117 Centerline is valid? [True, True] Translation: X:76.88, Y:-22.30, Z:-1.14 [[ 9.74964450e-01 -2.22351645e-01 -2.01681573e-03 7.68821006e+01] [ 2.22351116e-01 9.74966536e-01 -4.85226529e-04 -2.23031691e+01] [ 2.07421876e-03 2.46373867e-05 9.99997849e-01 -1.13756217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.08538474999999 meters 0.05648279491978786 Centerline is valid? [True, True] Translation: X:76.91, Y:-22.30, Z:-1.14 [[ 9.74964789e-01 -2.22333826e-01 -3.36609099e-03 7.69093950e+01] [ 2.22332354e-01 9.74970599e-01 -8.10089293e-04 -2.22962457e+01] [ 3.46195000e-03 4.14176011e-05 9.99994007e-01 -1.13901485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11538474999999 meters 0.05643805946127086 Centerline is valid? [True, True] Translation: X:76.94, Y:-22.29, Z:-1.14 [[ 9.74679839e-01 -2.23574198e-01 -3.71337002e-03 7.69366380e+01] [ 2.23572418e-01 9.74686912e-01 -8.93203585e-04 -2.22887403e+01] [ 3.81907043e-03 4.03804131e-05 9.99992707e-01 -1.14188793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.14538474999999 meters 0.056152013384626144 Centerline is valid? [True, True] Translation: X:76.97, Y:-22.28, Z:-1.14 [[ 9.74670431e-01 -2.23633714e-01 -2.34811958e-03 7.69653552e+01] [ 2.23632994e-01 9.74673259e-01 -5.68115481e-04 -2.22827895e+01] [ 2.41569914e-03 2.86083491e-05 9.99997082e-01 -1.13947434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17538474999999 meters 0.05621745671817472 Centerline is valid? [True, True] Translation: X:76.99, Y:-22.28, Z:-1.14 [[ 9.74597200e-01 -2.23959776e-01 -1.52237473e-03 7.69926004e+01] [ 2.23959475e-01 9.74598388e-01 -3.67452257e-04 -2.22764136e+01] [ 1.56599849e-03 1.71676952e-05 9.99998774e-01 -1.13846824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.20538475 meters 0.055972763420781814 Centerline is valid? [True, True] Translation: X:77.02, Y:-22.27, Z:-1.14 [[ 9.74249629e-01 -2.25471937e-01 -2.58158385e-04 7.70207102e+01] [ 2.25471927e-01 9.74249663e-01 -6.55422239e-05 -2.22706762e+01] [ 2.66288651e-04 5.64701883e-06 9.99999965e-01 -1.13825309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.23538475 meters 0.056038664967193896 Centerline is valid? [True, True] Translation: X:77.05, Y:-22.26, Z:-1.14 [[ 9.74048603e-01 -2.26336600e-01 1.03107525e-03 7.70474220e+01] [ 2.26336465e-01 9.74049148e-01 2.47203442e-04 -2.22641989e+01] [-1.06026916e-03 -7.41823832e-06 9.99999438e-01 -1.13699692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.26538475 meters 0.05605683209053027 Centerline is valid? [True, True] Translation: X:77.07, Y:-22.26, Z:-1.14 [[ 9.74059942e-01 -2.26287261e-01 1.14251849e-03 7.70745953e+01] [ 2.26287098e-01 9.74060612e-01 2.71786941e-04 -2.22573350e+01] [-1.17438418e-03 -6.19957931e-06 9.99999310e-01 -1.13731628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.29538475 meters 0.0560289303354937 Centerline is valid? [True, True] Translation: X:77.10, Y:-22.25, Z:-1.14 [[ 9.73719615e-01 -2.27744332e-01 1.62217205e-03 7.71030994e+01] [ 2.27744001e-01 9.73720966e-01 3.88388775e-04 -2.22500656e+01] [-1.66799628e-03 -8.74181496e-06 9.99998609e-01 -1.13676131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.32538475 meters 0.05613958202161764 Centerline is valid? [True, True] Translation: X:77.13, Y:-22.24, Z:-1.14 [[ 9.73090422e-01 -2.30422368e-01 -7.50071516e-04 7.71305344e+01] [ 2.30422294e-01 9.73090711e-01 -1.84592797e-04 -2.22415559e+01] [ 7.72421934e-04 6.79228390e-06 9.99999702e-01 -1.13965529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.35538475 meters 0.056298493592429256 Centerline is valid? [True, True] Translation: X:77.16, Y:-22.23, Z:-1.14 [[ 9.73136936e-01 -2.30224799e-01 -1.02241339e-03 7.71573400e+01] [ 2.30224662e-01 9.73137473e-01 -2.51145711e-04 -2.22329737e+01] [ 1.05276876e-03 9.01438982e-06 9.99999446e-01 -1.14115638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.38538474999999 meters 0.05651168092973782 Centerline is valid? [True, True] Translation: X:77.18, Y:-22.22, Z:-1.14 [[ 9.73353264e-01 -2.29292577e-01 -2.88759545e-03 7.71834793e+01] [ 2.29291509e-01 9.73357547e-01 -7.00181149e-04 -2.22209762e+01] [ 2.97120917e-03 1.94224869e-05 9.99995586e-01 -1.14499368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41538474999999 meters 0.05658286362400183 Centerline is valid? [True, True] Translation: X:77.21, Y:-22.21, Z:-1.14 [[ 9.73660139e-01 -2.27988868e-01 -2.64771899e-03 7.72099889e+01] [ 2.27987955e-01 9.73663738e-01 -6.45759363e-04 -2.22122779e+01] [ 2.72521391e-03 2.51021142e-05 9.99996286e-01 -1.14361976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.44538474999999 meters 0.05705335092476493 Centerline is valid? [True, True] Translation: X:77.24, Y:-22.20, Z:-1.14 [[ 9.74538420e-01 -2.24202184e-01 -2.87189192e-03 7.72359559e+01] [ 2.24201102e-01 9.74542651e-01 -6.97606178e-04 -2.22005727e+01] [ 2.95518600e-03 3.59626897e-05 9.99995633e-01 -1.14490457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47538474999999 meters 0.0574049778152979 Centerline is valid? [True, True] Translation: X:77.26, Y:-22.19, Z:-1.15 [[ 9.74958829e-01 -2.22359835e-01 -3.37427654e-03 7.72618175e+01] [ 2.22358329e-01 9.74964667e-01 -8.19666231e-04 -2.21902470e+01] [ 3.47206125e-03 4.88423345e-05 9.99993971e-01 -1.14703851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.50538474999999 meters 0.0575249092732826 Centerline is valid? [True, True] Translation: X:77.29, Y:-22.18, Z:-1.15 [[ 9.75119782e-01 -2.21663365e-01 -2.60066657e-03 7.72883388e+01] [ 2.21662459e-01 9.75123249e-01 -6.35142911e-04 -2.21814274e+01] [ 2.67675835e-03 4.28702680e-05 9.99996417e-01 -1.14655138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53538474999999 meters 0.057446690816306656 Centerline is valid? [True, True] Translation: X:77.32, Y:-22.17, Z:-1.14 [[ 9.75770162e-01 -2.18794386e-01 -1.26769534e-03 7.73161916e+01] [ 2.18794166e-01 9.75770985e-01 -3.11576745e-04 -2.21719590e+01] [ 1.30515158e-03 2.66629462e-05 9.99999148e-01 -1.14360030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.56538474999999 meters 0.05814816507636477 Centerline is valid? [True, True] Translation: X:77.34, Y:-22.16, Z:-1.14 [[ 9.76380254e-01 -2.16057549e-01 -8.57699041e-04 7.73412765e+01] [ 2.16057448e-01 9.76380630e-01 -2.10049758e-04 -2.21592720e+01] [ 8.82823566e-04 1.97761700e-05 9.99999610e-01 -1.14499564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.59538475 meters 0.058568965733048935 Centerline is valid? [True, True] Translation: X:77.37, Y:-22.15, Z:-1.14 [[ 9.76642431e-01 -2.14861467e-01 -2.02786086e-03 7.73688506e+01] [ 2.14860897e-01 9.76644535e-01 -4.97112398e-04 -2.21499464e+01] [ 2.08730952e-03 4.97930570e-05 9.99997820e-01 -1.14493099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.62538475 meters 0.059425189441283686 Centerline is valid? [True, True] Translation: X:77.39, Y:-22.14, Z:-1.15 [[ 9.77432478e-01 -2.11241227e-01 -1.70152189e-03 7.73949557e+01] [ 2.11240823e-01 9.77433958e-01 -4.15429439e-04 -2.21375363e+01] [ 1.75088110e-03 4.66233411e-05 9.99998466e-01 -1.14617099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.65538475 meters 0.05974474680368207 Centerline is valid? [True, True] Translation: X:77.42, Y:-22.13, Z:-1.15 [[ 9.77580103e-01 -2.10557466e-01 -1.64204944e-03 7.74224334e+01] [ 2.10557085e-01 9.77581480e-01 -4.03685041e-04 -2.21284778e+01] [ 1.69023603e-03 4.88893191e-05 9.99998570e-01 -1.14800382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.68538475 meters 0.05974474680368207 Centerline is valid? [True, True] Translation: X:77.45, Y:-22.12, Z:-1.15 [[ 9.77522078e-01 -2.10826685e-01 -1.64182905e-03 7.74492661e+01] [ 2.10826302e-01 9.77523456e-01 -4.04586584e-04 -2.21217504e+01] [ 1.69022406e-03 4.93515701e-05 9.99998570e-01 -1.14837502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.71538475 meters 0.060121944645315235 Centerline is valid? [True, True] Translation: X:77.48, Y:-22.11, Z:-1.15 [[ 9.77795521e-01 -2.09538975e-01 -3.05577368e-03 7.74769302e+01] [ 2.09537654e-01 9.77800291e-01 -7.50029714e-04 -2.21129267e+01] [ 3.14509685e-03 9.30760475e-05 9.99995050e-01 -1.14987349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.74538475 meters 0.060375399128470175 Centerline is valid? [True, True] Translation: X:77.50, Y:-22.11, Z:-1.15 [[ 9.77746438e-01 -2.09772321e-01 -2.73446158e-03 7.75042306e+01] [ 2.09771268e-01 9.77750258e-01 -6.69605224e-04 -2.21061754e+01] [ 2.81408516e-03 8.10926497e-05 9.99996037e-01 -1.15035860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77538474999999 meters 0.06022400712243839 Centerline is valid? [True, True] Translation: X:77.53, Y:-22.10, Z:-1.15 [[ 9.77539966e-01 -2.10746094e-01 -1.30365975e-03 7.75318350e+01] [ 2.10745854e-01 9.77540834e-01 -3.19943297e-04 -2.21009049e+01] [ 1.34180744e-03 3.80164720e-05 9.99999099e-01 -1.14974186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.80538474999999 meters 0.059323204114059044 Centerline is valid? [True, True] Translation: X:77.56, Y:-22.10, Z:-1.15 [[ 9.77434126e-01 -2.11239871e-01 -4.95596950e-04 7.75611763e+01] [ 2.11239835e-01 9.77434252e-01 -1.24814472e-04 -2.20984693e+01] [ 5.10779227e-04 1.73081062e-05 9.99999869e-01 -1.14767516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83538474999999 meters 0.059787878567929886 Centerline is valid? [True, True] Translation: X:77.59, Y:-22.09, Z:-1.15 [[ 9.77623708e-01 -2.10359054e-01 -9.76858873e-04 7.75876991e+01] [ 2.10358918e-01 9.77624196e-01 -2.40468563e-04 -2.20907573e+01] [ 1.00558561e-03 2.95967920e-05 9.99999494e-01 -1.14893401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.86538474999999 meters 0.05978710798208417 Centerline is valid? [True, True] Translation: X:77.62, Y:-22.08, Z:-1.15 [[ 9.77629340e-01 -2.10325469e-01 -2.01780395e-03 7.76153996e+01] [ 2.10324894e-01 9.77631420e-01 -4.95582192e-04 -2.20846144e+01] [ 2.07690209e-03 6.01012908e-05 9.99997841e-01 -1.15078559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89538474999999 meters 0.058995708959942925 Centerline is valid? [True, True] Translation: X:77.64, Y:-22.08, Z:-1.15 [[ 9.77042752e-01 -2.13035031e-01 -1.88048182e-03 7.76449539e+01] [ 2.13034531e-01 9.77044560e-01 -4.64448796e-04 -2.20819198e+01] [ 1.93625839e-03 5.31787677e-05 9.99998124e-01 -1.15029052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.92538474999999 meters 0.0590998155216004 Centerline is valid? [True, True] Translation: X:77.67, Y:-22.08, Z:-1.15 [[ 9.76971431e-01 -2.13357873e-01 -2.28948819e-03 7.76727032e+01] [ 2.13357132e-01 9.76974111e-01 -5.66173508e-04 -2.20759568e+01] [ 2.35756826e-03 6.46567087e-05 9.99997219e-01 -1.15037602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.95538475 meters 0.05922169970660024 Centerline is valid? [True, True] Translation: X:77.70, Y:-22.07, Z:-1.15 [[ 9.76921008e-01 -2.13546900e-01 -4.80270762e-03 7.77006430e+01] [ 2.13543657e-01 9.76932804e-01 -1.18407935e-03 -2.20698264e+01] [ 4.94477910e-03 1.31164242e-04 9.99987766e-01 -1.15232877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.98538475 meters 0.05932288341987506 Centerline is valid? [True, True] Translation: X:77.73, Y:-22.06, Z:-1.15 [[ 9.76870087e-01 -2.13757548e-01 -5.70478768e-03 7.77279359e+01] [ 2.13752991e-01 9.76886732e-01 -1.40409023e-03 -2.20630348e+01] [ 5.87306628e-03 1.52198317e-04 9.99982742e-01 -1.15411762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.01538475 meters 0.05916529794206116 Centerline is valid? [True, True] Translation: X:77.76, Y:-22.06, Z:-1.15 [[ 9.76633977e-01 -2.14838752e-01 -5.51224920e-03 7.77565134e+01] [ 2.14834493e-01 9.76649523e-01 -1.36041354e-03 -2.20577576e+01] [ 5.67580509e-03 1.44404825e-04 9.99983882e-01 -1.15466522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.04538475 meters 0.059329392939454495 Centerline is valid? [True, True] Translation: X:77.78, Y:-22.05, Z:-1.16 [[ 9.76501077e-01 -2.15432528e-01 -5.87138539e-03 7.77835009e+01] [ 2.15427719e-01 9.76518717e-01 -1.44713932e-03 -2.20509916e+01] [ 6.04527861e-03 1.48273942e-04 9.99981716e-01 -1.15653075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.07538475 meters 0.0591596809939854 Centerline is valid? [True, True] Translation: X:77.81, Y:-22.05, Z:-1.16 [[ 9.76276266e-01 -2.16422940e-01 -6.76488966e-03 7.78109312e+01] [ 2.16416548e-01 9.76299689e-01 -1.67181047e-03 -2.20452794e+01] [ 6.96637781e-03 1.68114815e-04 9.99975720e-01 -1.15789913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.10538475 meters 0.05885091627329986 Centerline is valid? [True, True] Translation: X:77.84, Y:-22.04, Z:-1.16 [[ 9.75866509e-01 -2.18274739e-01 -6.37925342e-03 7.78382432e+01] [ 2.18269106e-01 9.75887349e-01 -1.57464504e-03 -2.20412211e+01] [ 6.56913795e-03 1.44249416e-04 9.99978413e-01 -1.15836366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13538474999999 meters 0.05896393835120512 Centerline is valid? [True, True] Translation: X:77.87, Y:-22.03, Z:-1.16 [[ 9.75824710e-01 -2.18505777e-01 -4.62173778e-03 7.78661668e+01] [ 2.18502806e-01 9.75835649e-01 -1.14445599e-03 -2.20337667e+01] [ 4.76012674e-03 1.06925764e-04 9.99988665e-01 -1.15827553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.16538474999999 meters 0.05911050622572019 Centerline is valid? [True, True] Translation: X:77.89, Y:-22.03, Z:-1.16 [[ 9.75926070e-01 -2.18059349e-01 -4.29249360e-03 7.78938741e+01] [ 2.18056776e-01 9.75935505e-01 -1.06426536e-03 -2.20264193e+01] [ 4.42126992e-03 1.02636996e-04 9.99990221e-01 -1.15745609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19538474999999 meters 0.059485415139818275 Centerline is valid? [True, True] Translation: X:77.92, Y:-22.02, Z:-1.16 [[ 9.76295706e-01 -2.16424029e-01 -2.70806628e-03 7.79215789e+01] [ 2.16422994e-01 9.76299459e-01 -6.73346443e-04 -2.20174297e+01] [ 2.78961200e-03 7.12974288e-05 9.99996106e-01 -1.15604545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.22538474999999 meters 0.05991440477293169 Centerline is valid? [True, True] Translation: X:77.95, Y:-22.01, Z:-1.16 [[ 9.76629465e-01 -2.14906035e-01 -3.20693562e-03 7.79490404e+01] [ 2.14904573e-01 9.76634726e-01 -7.97576711e-04 -2.20082326e+01] [ 3.30340874e-03 8.97517860e-05 9.99994540e-01 -1.15674185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25538474999999 meters 0.0606472555324526 Centerline is valid? [True, True] Translation: X:77.98, Y:-22.00, Z:-1.16 [[ 9.76878416e-01 -2.13776405e-01 -2.86528724e-03 7.79751644e+01] [ 2.13775238e-01 9.76882614e-01 -7.11074576e-04 -2.19979943e+01] [ 2.95106026e-03 8.21059432e-05 9.99995642e-01 -1.15823455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.28538474999999 meters 0.05954201449744043 Centerline is valid? [True, True] Translation: X:78.00, Y:-21.99, Z:-1.16 [[ 9.76463044e-01 -2.15678211e-01 -1.68339818e-03 7.80043198e+01] [ 2.15677806e-01 9.76464493e-01 -4.20891739e-04 -2.19948624e+01] [ 1.73455572e-03 4.79136039e-05 9.99998495e-01 -1.15603748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.31538474999999 meters 0.05979058686124628 Centerline is valid? [True, True] Translation: X:78.03, Y:-21.99, Z:-1.16 [[ 9.76256189e-01 -2.16615859e-01 -1.19272633e-03 7.80307031e+01] [ 2.16615657e-01 9.76256917e-01 -2.97124578e-04 -2.19872201e+01] [ 1.22876923e-03 3.17065090e-05 9.99999245e-01 -1.15677303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.34538475 meters 0.058481058404703384 Centerline is valid? [True, True] Translation: X:78.06, Y:-21.99, Z:-1.15 [[ 9.75462535e-01 -2.20160041e-01 -1.54889760e-03 7.80604063e+01] [ 2.20159706e-01 9.75463764e-01 -3.85383754e-04 -2.19865954e+01] [ 1.59573959e-03 3.49225721e-05 9.99998726e-01 -1.15469146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.37538475 meters 0.05886405921683015 Centerline is valid? [True, True] Translation: X:78.09, Y:-21.98, Z:-1.16 [[ 9.75197569e-01 -2.21315131e-01 -3.05206290e-03 7.80862089e+01] [ 2.21313837e-01 9.75202342e-01 -7.59542995e-04 -2.19774488e+01] [ 3.14447724e-03 6.52407308e-05 9.99995054e-01 -1.15837494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.40538475 meters 0.05864923139120699 Centerline is valid? [True, True] Translation: X:78.11, Y:-21.97, Z:-1.16 [[ 9.75155056e-01 -2.21460695e-01 -5.27040298e-03 7.81146245e+01] [ 2.21456829e-01 9.75169292e-01 -1.31342079e-03 -2.19709269e+01] [ 5.43040623e-03 1.13622196e-04 9.99985249e-01 -1.16201804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.43538475 meters 0.06285230262843562 Centerline is valid? [True, True] Translation: X:78.14, Y:-21.95, Z:-1.17 [[ 9.75541574e-01 -2.19778719e-01 -3.99406404e-03 7.81375798e+01] [ 2.19776489e-01 9.75549746e-01 -9.94351730e-04 -2.19502453e+01] [ 4.11494550e-03 9.22300811e-05 9.99991529e-01 -1.17343042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.46538475 meters 0.05841316870435151 Centerline is valid? [True, True] Translation: X:78.17, Y:-21.96, Z:-1.16 [[ 9.75117854e-01 -2.21644788e-01 -4.33110200e-03 7.81701518e+01] [ 2.21642169e-01 9.75127468e-01 -1.08158808e-03 -2.19609237e+01] [ 4.46310489e-03 9.47210110e-05 9.99990036e-01 -1.16056781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.49538475 meters 0.05940850651539609 Centerline is valid? [True, True] Translation: X:78.20, Y:-21.95, Z:-1.16 [[ 9.75046868e-01 -2.21966793e-01 -3.78785351e-03 7.81963743e+01] [ 2.21964798e-01 9.75054222e-01 -9.44472380e-04 -2.19510161e+01] [ 3.90300407e-03 8.01346962e-05 9.99992380e-01 -1.16332429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.52538474999999 meters 0.05822798598902836 Centerline is valid? [True, True] Translation: X:78.23, Y:-21.95, Z:-1.16 [[ 9.75034188e-01 -2.22028657e-01 -3.40703347e-03 7.82252462e+01] [ 2.22027030e-01 9.75040138e-01 -8.53376164e-04 -2.19518539e+01] [ 3.51146835e-03 7.56174135e-05 9.99993832e-01 -1.15804992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55538474999999 meters 0.0579587716472474 Centerline is valid? [True, True] Translation: X:78.25, Y:-21.95, Z:-1.16 [[ 9.74755511e-01 -2.23253583e-01 -3.08739699e-03 7.82536597e+01] [ 2.23252250e-01 9.74760398e-01 -7.73999507e-04 -2.19464054e+01] [ 3.18227048e-03 6.51919587e-05 9.99994934e-01 -1.15820301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.58538474999999 meters 0.0577313357385796 Centerline is valid? [True, True] Translation: X:78.28, Y:-21.94, Z:-1.16 [[ 9.74385765e-01 -2.24859482e-01 -3.25498023e-03 7.82827235e+01] [ 2.24858008e-01 9.74391199e-01 -8.16766261e-04 -2.19438252e+01] [ 3.35528172e-03 6.39370482e-05 9.99994369e-01 -1.15862932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.61538474999999 meters 0.05775378635331782 Centerline is valid? [True, True] Translation: X:78.31, Y:-21.94, Z:-1.16 [[ 9.74093828e-01 -2.26119986e-01 -3.31149052e-03 7.83101790e+01] [ 2.26118474e-01 9.74099455e-01 -8.28927528e-04 -2.19386028e+01] [ 3.41315820e-03 5.86640033e-05 9.99994173e-01 -1.15962818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.64538474999999 meters 0.05674176522329443 Centerline is valid? [True, True] Translation: X:78.34, Y:-21.94, Z:-1.16 [[ 9.72445117e-01 -2.33124116e-01 -1.90798457e-03 7.83404835e+01] [ 2.33123627e-01 9.72446989e-01 -4.78047126e-04 -2.19412721e+01] [ 1.96685817e-03 2.00783106e-05 9.99998066e-01 -1.15771842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67538474999999 meters 0.05672805384730822 Centerline is valid? [True, True] Translation: X:78.37, Y:-21.94, Z:-1.16 [[ 9.71998179e-01 -2.34967414e-01 -3.13929021e-03 7.83678577e+01] [ 2.34966099e-01 9.72003248e-01 -7.86442938e-04 -2.19361949e+01] [ 3.23618875e-03 2.67943268e-05 9.99994763e-01 -1.16141746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.70538475 meters 0.05686286083742384 Centerline is valid? [True, True] Translation: X:78.40, Y:-21.93, Z:-1.16 [[ 9.72155065e-01 -2.34302772e-01 -4.09156324e-03 7.83960808e+01] [ 2.34300521e-01 9.72163674e-01 -1.02778691e-03 -2.19280919e+01] [ 4.21848248e-03 4.05128492e-05 9.99991101e-01 -1.16357912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.73538475 meters 0.056927288225595375 Centerline is valid? [True, True] Translation: X:78.42, Y:-21.92, Z:-1.16 [[ 9.72000542e-01 -2.34930454e-01 -4.75679713e-03 7.84248722e+01] [ 2.34927416e-01 9.72012181e-01 -1.19571131e-03 -2.19219454e+01] [ 4.90457375e-03 4.47299864e-05 9.99987972e-01 -1.16327723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.76538475 meters 0.05720484066965875 Centerline is valid? [True, True] Translation: X:78.45, Y:-21.91, Z:-1.17 [[ 9.72513603e-01 -2.32781935e-01 -5.46461820e-03 7.84512339e+01] [ 2.32777886e-01 9.72528954e-01 -1.37451460e-03 -2.19117953e+01] [ 5.63446159e-03 6.46918707e-05 9.99984124e-01 -1.16540322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.79538475 meters 0.05714254867474736 Centerline is valid? [True, True] Translation: X:78.48, Y:-21.90, Z:-1.16 [[ 9.72832311e-01 -2.31445716e-01 -5.49322612e-03 7.84790611e+01] [ 2.31441594e-01 9.72847817e-01 -1.38330906e-03 -2.19036581e+01] [ 5.66423399e-03 7.43667435e-05 9.99983955e-01 -1.16337709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.82538475 meters 0.05781416179647591 Centerline is valid? [True, True] Translation: X:78.50, Y:-21.89, Z:-1.16 [[ 9.73905570e-01 -2.26900773e-01 -4.89694521e-03 7.85043498e+01] [ 2.26897443e-01 9.73917877e-01 -1.23256869e-03 -2.18912842e+01] [ 5.04889328e-03 8.93011692e-05 9.99987250e-01 -1.16415353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.85538475 meters 0.05795159644298358 Centerline is valid? [True, True] Translation: X:78.53, Y:-21.88, Z:-1.17 [[ 9.74341757e-01 -2.25025866e-01 -4.63688637e-03 7.85304531e+01] [ 2.25022859e-01 9.74352786e-01 -1.16700723e-03 -2.18815073e+01] [ 4.78056997e-03 9.36584469e-05 9.99988569e-01 -1.16516780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.88538474999999 meters 0.05876282806537575 Centerline is valid? [True, True] Translation: X:78.56, Y:-21.87, Z:-1.17 [[ 9.75137308e-01 -2.21551241e-01 -4.71995131e-03 7.85557385e+01] [ 2.21548083e-01 9.75148725e-01 -1.18831639e-03 -2.18689516e+01] [ 4.86592747e-03 1.13075480e-04 9.99988155e-01 -1.16656012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91538474999999 meters 0.05904185666927004 Centerline is valid? [True, True] Translation: X:78.58, Y:-21.86, Z:-1.17 [[ 9.75500690e-01 -2.19938844e-01 -5.03086943e-03 7.85830848e+01] [ 2.19935217e-01 9.75513653e-01 -1.27004564e-03 -2.18592888e+01] [ 5.18701419e-03 1.32465039e-04 9.99986539e-01 -1.16729635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.94538474999999 meters 0.059386703784952824 Centerline is valid? [True, True] Translation: X:78.61, Y:-21.85, Z:-1.17 [[ 9.75713535e-01 -2.18969158e-01 -5.96697316e-03 7.86094500e+01] [ 2.18964052e-01 9.75731767e-01 -1.50406388e-03 -2.18481843e+01] [ 6.15150887e-03 1.60982863e-04 9.99981066e-01 -1.16892210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97538474999999 meters 0.06009329053750954 Centerline is valid? [True, True] Translation: X:78.64, Y:-21.84, Z:-1.17 [[ 9.76022080e-01 -2.17572102e-01 -6.57874497e-03 7.86370162e+01] [ 2.17565837e-01 9.76044233e-01 -1.66203406e-03 -2.18392301e+01] [ 6.78275833e-03 1.90871783e-04 9.99976979e-01 -1.17075594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.00538474999999 meters 0.0602831754827705 Centerline is valid? [True, True] Translation: X:78.66, Y:-21.83, Z:-1.17 [[ 9.76068126e-01 -2.17355677e-01 -6.89374197e-03 7.86639886e+01] [ 2.17348805e-01 9.76092449e-01 -1.73989168e-03 -2.18313111e+01] [ 7.10710482e-03 1.99906227e-04 9.99974724e-01 -1.17167036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03538474999999 meters 0.059963154973413715 Centerline is valid? [True, True] Translation: X:78.69, Y:-21.83, Z:-1.17 [[ 9.75658292e-01 -2.19217183e-01 -5.89273253e-03 7.86916874e+01] [ 2.19212191e-01 9.75676074e-01 -1.48794363e-03 -2.18258008e+01] [ 6.07558095e-03 1.59965729e-04 9.99981531e-01 -1.17149679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.06538474999999 meters 0.05940808653804805 Centerline is valid? [True, True] Translation: X:78.72, Y:-21.82, Z:-1.17 [[ 9.75217167e-01 -2.21179506e-01 -5.57695084e-03 7.87201848e+01] [ 2.21175047e-01 9.75233103e-01 -1.41179510e-03 -2.18194314e+01] [ 5.75108722e-03 1.43324452e-04 9.99983452e-01 -1.17127298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.09538475 meters 0.05983585734628123 Centerline is valid? [True, True] Translation: X:78.75, Y:-21.81, Z:-1.17 [[ 9.75396129e-01 -2.20361536e-01 -6.57150407e-03 7.87469652e+01] [ 2.20355335e-01 9.75418250e-01 -1.66230592e-03 -2.18111219e+01] [ 6.77627329e-03 1.73340786e-04 9.99977026e-01 -1.17253095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.12538475 meters 0.05985131061607651 Centerline is valid? [True, True] Translation: X:78.77, Y:-21.80, Z:-1.17 [[ 9.75209353e-01 -2.21170090e-01 -7.10700551e-03 7.87739984e+01] [ 2.21162829e-01 9.75235232e-01 -1.80167142e-03 -2.18044803e+01] [ 7.32947799e-03 1.85201375e-04 9.99973122e-01 -1.17407914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.15538475 meters 0.05909918846685867 Centerline is valid? [True, True] Translation: X:78.80, Y:-21.80, Z:-1.17 [[ 9.74297362e-01 -2.25136397e-01 -7.63233303e-03 7.88019844e+01] [ 2.25128162e-01 9.74327243e-01 -1.93264532e-03 -2.18010089e+01] [ 7.87149880e-03 1.64718136e-04 9.99969006e-01 -1.17375095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.18538475 meters 0.0588411783388148 Centerline is valid? [True, True] Translation: X:78.83, Y:-21.79, Z:-1.17 [[ 9.74018512e-01 -2.26319823e-01 -8.20218975e-03 7.88294411e+01] [ 2.26310314e-01 9.74053032e-01 -2.08171369e-03 -2.17938532e+01] [ 8.46050086e-03 1.71387536e-04 9.99964195e-01 -1.17460201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.21538475 meters 0.05881699007958248 Centerline is valid? [True, True] Translation: X:78.86, Y:-21.79, Z:-1.18 [[ 9.73770863e-01 -2.27389345e-01 -8.02446197e-03 7.88573831e+01] [ 2.27380267e-01 9.73803913e-01 -2.03814123e-03 -2.17850761e+01] [ 8.27770406e-03 1.60078244e-04 9.99965726e-01 -1.17595369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.24538475 meters 0.05847190169425185 Centerline is valid? [True, True] Translation: X:78.88, Y:-21.78, Z:-1.17 [[ 9.73627377e-01 -2.28005009e-01 -7.96537788e-03 7.88843267e+01] [ 2.27996062e-01 9.73659946e-01 -2.02595709e-03 -2.17782326e+01] [ 8.21749777e-03 1.56452501e-04 9.99966224e-01 -1.17482169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27538474999999 meters 0.05849428326464276 Centerline is valid? [True, True] Translation: X:78.91, Y:-21.77, Z:-1.17 [[ 9.73761261e-01 -2.27486969e-01 -6.21983612e-03 7.89107648e+01] [ 2.27481505e-01 9.73781117e-01 -1.58160589e-03 -2.17685486e+01] [ 6.41655369e-03 1.25208865e-04 9.99979406e-01 -1.17345717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.30538474999999 meters 0.05793236436754496 Centerline is valid? [True, True] Translation: X:78.94, Y:-21.76, Z:-1.17 [[ 9.74066632e-01 -2.26169658e-01 -6.44066168e-03 7.89390714e+01] [ 2.26163748e-01 9.74087915e-01 -1.64122178e-03 -2.17617296e+01] [ 6.64496527e-03 1.42015184e-04 9.99977912e-01 -1.17031599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33538474999999 meters 0.05967671230034698 Centerline is valid? [True, True] Translation: X:78.96, Y:-21.74, Z:-1.18 [[ 9.74859684e-01 -2.22700945e-01 -7.27228874e-03 7.89638967e+01] [ 2.22693334e-01 9.74886791e-01 -1.85033394e-03 -2.17439908e+01] [ 7.50172935e-03 1.84325737e-04 9.99971845e-01 -1.17579232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.36538474999999 meters 0.061127038597221336 Centerline is valid? [True, True] Translation: X:78.99, Y:-21.73, Z:-1.18 [[ 9.75528007e-01 -2.19701844e-01 -8.72971178e-03 7.89899643e+01] [ 2.19690750e-01 9.75567034e-01 -2.22187198e-03 -2.17306194e+01] [ 9.00456840e-03 2.49661417e-04 9.99959427e-01 -1.17890154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39538474999999 meters 0.06265951639380117 Centerline is valid? [True, True] Translation: X:79.02, Y:-21.72, Z:-1.18 [[ 9.76432665e-01 -2.15644182e-01 -8.76567160e-03 7.90170182e+01] [ 2.15632835e-01 9.76471968e-01 -2.23079978e-03 -2.17156543e+01] [ 9.04049159e-03 2.88059148e-04 9.99959092e-01 -1.18067925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.42538474999999 meters 0.06376168023194684 Centerline is valid? [True, True] Translation: X:79.04, Y:-21.70, Z:-1.18 [[ 9.76689658e-01 -2.14471369e-01 -8.90756035e-03 7.90427713e+01] [ 2.14459591e-01 9.76730228e-01 -2.26832858e-03 -2.17048548e+01] [ 9.18677499e-03 3.05141322e-04 9.99957754e-01 -1.18202919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.45538475 meters 0.06502741859462294 Centerline is valid? [True, True] Translation: X:79.07, Y:-21.69, Z:-1.18 [[ 9.77199304e-01 -2.12106808e-01 -9.60327517e-03 7.90694711e+01] [ 2.12093005e-01 9.77246426e-01 -2.44541666e-03 -2.16940394e+01] [ 9.90345586e-03 3.52871975e-04 9.99950897e-01 -1.18215526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.48538475 meters 0.06546809601060927 Centerline is valid? [True, True] Translation: X:79.10, Y:-21.69, Z:-1.18 [[ 9.77346510e-01 -2.11464900e-01 -8.74044285e-03 7.90964935e+01] [ 2.11453421e-01 9.77385537e-01 -2.22780973e-03 -2.16853432e+01] [ 9.01388599e-03 3.29145528e-04 9.99959320e-01 -1.18149357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.51538475 meters 0.06581233267890352 Centerline is valid? [True, True] Translation: X:79.12, Y:-21.68, Z:-1.18 [[ 9.77353194e-01 -2.11456173e-01 -8.18663679e-03 7.91235888e+01] [ 2.11446068e-01 9.77387431e-01 -2.09068308e-03 -2.16762275e+01] [ 8.44360374e-03 3.12303624e-04 9.99964303e-01 -1.18199581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.54538475 meters 0.061679464659838854 Centerline is valid? [True, True] Translation: X:79.15, Y:-21.68, Z:-1.18 [[ 9.77299034e-01 -2.11707909e-01 -8.14613891e-03 7.91534333e+01] [ 2.11697887e-01 9.77332934e-01 -2.08344666e-03 -2.16786376e+01] [ 8.40257198e-03 3.11630015e-04 9.99964649e-01 -1.17527563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.57538475 meters 0.06137173779969324 Centerline is valid? [True, True] Translation: X:79.18, Y:-21.67, Z:-1.18 [[ 9.77047389e-01 -2.12902625e-01 -7.13240336e-03 7.91814146e+01] [ 2.12894960e-01 9.77073386e-01 -1.82603880e-03 -2.16713860e+01] [ 7.35764996e-03 2.65673713e-04 9.99972897e-01 -1.17550615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.60538475 meters 0.06137173779969324 Centerline is valid? [True, True] Translation: X:79.21, Y:-21.66, Z:-1.18 [[ 9.76986995e-01 -2.13179619e-01 -7.13177220e-03 7.92081861e+01] [ 2.13171944e-01 9.77012988e-01 -1.82850538e-03 -2.16643678e+01] [ 7.35763415e-03 2.66132235e-04 9.99972897e-01 -1.17587748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63538474999999 meters 0.06111801564022122 Centerline is valid? [True, True] Translation: X:79.24, Y:-21.66, Z:-1.18 [[ 9.76627544e-01 -2.14824258e-01 -7.01269178e-03 7.92363659e+01] [ 2.14816868e-01 9.76652689e-01 -1.79939293e-03 -2.16573102e+01] [ 7.23551754e-03 2.50892210e-04 9.99973792e-01 -1.17585772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.66538474999999 meters 0.06026402619635604 Centerline is valid? [True, True] Translation: X:79.27, Y:-21.65, Z:-1.17 [[ 9.75866908e-01 -2.18284558e-01 -5.96912176e-03 7.92656169e+01] [ 2.18279282e-01 9.75885145e-01 -1.52940040e-03 -2.16534194e+01] [ 6.15902174e-03 1.89555625e-04 9.99981015e-01 -1.17410815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69538474999999 meters 0.05885805215930475 Centerline is valid? [True, True] Translation: X:79.30, Y:-21.65, Z:-1.17 [[ 9.74782878e-01 -2.23091879e-01 -5.32493259e-03 7.92956969e+01] [ 2.23087734e-01 9.74797411e-01 -1.36774872e-03 -2.16505146e+01] [ 5.49586413e-03 1.45330885e-04 9.99984887e-01 -1.17251434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.72538474999999 meters 0.058839143588628566 Centerline is valid? [True, True] Translation: X:79.32, Y:-21.64, Z:-1.17 [[ 9.74349147e-01 -2.24957112e-01 -6.16746902e-03 7.93228462e+01] [ 2.24951597e-01 9.74368654e-01 -1.58278197e-03 -2.16431396e+01] [ 6.36544655e-03 1.54800251e-04 9.99979728e-01 -1.17483823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75538474999999 meters 0.0606217881803683 Centerline is valid? [True, True] Translation: X:79.35, Y:-21.63, Z:-1.18 [[ 9.73866260e-01 -2.27007691e-01 -7.21219155e-03 7.93482551e+01] [ 2.27000202e-01 9.73892951e-01 -1.85130906e-03 -2.16289984e+01] [ 7.44416391e-03 1.65758494e-04 9.99972278e-01 -1.18486324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.78538474999999 meters 0.0584546332207241 Centerline is valid? [True, True] Translation: X:79.38, Y:-21.63, Z:-1.18 [[ 9.73691196e-01 -2.27756859e-01 -7.22968291e-03 7.93772922e+01] [ 2.27749320e-01 9.73718022e-01 -1.86047562e-03 -2.16285683e+01] [ 7.46340862e-03 1.64973366e-04 9.99972135e-01 -1.17889111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.81538474999999 meters 0.058772516652731595 Centerline is valid? [True, True] Translation: X:79.41, Y:-21.62, Z:-1.18 [[ 9.73989020e-01 -2.26462133e-01 -7.76474752e-03 7.94050022e+01] [ 2.26453385e-01 9.74019952e-01 -1.99946906e-03 -2.16202306e+01] [ 8.01582303e-03 1.89107551e-04 9.99967855e-01 -1.17839440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.84538475 meters 0.05901673486129243 Centerline is valid? [True, True] Translation: X:79.43, Y:-21.61, Z:-1.18 [[ 9.74127713e-01 -2.25877341e-01 -7.39086360e-03 7.94314627e+01] [ 2.25869408e-01 9.74155734e-01 -1.90185786e-03 -2.16116916e+01] [ 7.62943875e-03 1.83282456e-04 9.99970879e-01 -1.17911855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.87538475 meters 0.05871850436260653 Centerline is valid? [True, True] Translation: X:79.46, Y:-21.60, Z:-1.18 [[ 9.74787752e-01 -2.22993912e-01 -7.90912659e-03 7.94597297e+01] [ 2.22984734e-01 9.74819812e-01 -2.03516390e-03 -2.16041610e+01] [ 8.16380246e-03 2.20238357e-04 9.99966651e-01 -1.17716366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.90538475 meters 0.05946077982007937 Centerline is valid? [True, True] Translation: X:79.49, Y:-21.59, Z:-1.18 [[ 9.75246351e-01 -2.20907482e-01 -9.71798509e-03 7.94867218e+01] [ 2.20893517e-01 9.75294724e-01 -2.50099572e-03 -2.15928797e+01] [ 1.00303883e-02 2.92447038e-04 9.99949652e-01 -1.18088398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.93538475 meters 0.0617461277590412 Centerline is valid? [True, True] Translation: X:79.51, Y:-21.58, Z:-1.19 [[ 9.75528156e-01 -2.19599448e-01 -1.09953964e-02 7.95113633e+01] [ 2.19581452e-01 9.75590058e-01 -2.83291302e-03 -2.15788307e+01] [ 1.13491056e-02 3.49201297e-04 9.99935536e-01 -1.18704165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.96538475 meters 0.06208044947735796 Centerline is valid? [True, True] Translation: X:79.54, Y:-21.57, Z:-1.19 [[ 9.75654802e-01 -2.18985914e-01 -1.19530895e-02 7.95384959e+01] [ 2.18964590e-01 9.75727943e-01 -3.08052107e-03 -2.15702105e+01] [ 1.23375541e-02 3.88221845e-04 9.99923814e-01 -1.18843812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.99538475 meters 0.062400436887023916 Centerline is valid? [True, True] Translation: X:79.56, Y:-21.56, Z:-1.19 [[ 9.75766676e-01 -2.18531590e-01 -1.11057308e-02 7.95645696e+01] [ 2.18513138e-01 9.75829805e-01 -2.86347098e-03 -2.15611213e+01] [ 1.14630620e-02 3.67331468e-04 9.99934229e-01 -1.18903024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.02538474999999 meters 0.05966615836460998 Centerline is valid? [True, True] Translation: X:79.60, Y:-21.56, Z:-1.18 [[ 9.75723532e-01 -2.18767724e-01 -1.02113764e-02 7.95952965e+01] [ 2.18752084e-01 9.75776905e-01 -2.63782535e-03 -2.15625054e+01] [ 1.05410963e-02 3.40028402e-04 9.99944383e-01 -1.18137719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05538474999999 meters 0.059988961211652946 Centerline is valid? [True, True] Translation: X:79.62, Y:-21.55, Z:-1.18 [[ 9.75408975e-01 -2.20228802e-01 -8.75249631e-03 7.96227232e+01] [ 2.20217346e-01 9.75448203e-01 -2.26380532e-03 -2.15547228e+01] [ 9.03616192e-03 2.80684522e-04 9.99959134e-01 -1.18136677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.08538474999999 meters 0.05975531007724608 Centerline is valid? [True, True] Translation: X:79.65, Y:-21.55, Z:-1.18 [[ 9.75143547e-01 -2.21431950e-01 -7.93438293e-03 7.96501672e+01] [ 2.21422585e-01 9.75175796e-01 -2.05091053e-03 -2.15482398e+01] [ 8.19155530e-03 2.43080595e-04 9.99966419e-01 -1.18119979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11538474999999 meters 0.05835829745530938 Centerline is valid? [True, True] Translation: X:79.68, Y:-21.55, Z:-1.18 [[ 9.74374915e-01 -2.24825993e-01 -6.84088108e-03 7.96796418e+01] [ 2.24819113e-01 9.74398911e-01 -1.76859375e-03 -2.15466974e+01] [ 7.06337292e-03 1.85312571e-04 9.99975037e-01 -1.18065008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.14538474999999 meters 0.058755072552195794 Centerline is valid? [True, True] Translation: X:79.71, Y:-21.54, Z:-1.18 [[ 9.74082698e-01 -2.26092675e-01 -6.70815732e-03 7.97065870e+01] [ 2.26086082e-01 9.74105781e-01 -1.73527218e-03 -2.15393328e+01] [ 6.92678715e-03 1.73677605e-04 9.99975994e-01 -1.18287808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17538474999999 meters 0.05874155146806934 Centerline is valid? [True, True] Translation: X:79.73, Y:-21.53, Z:-1.18 [[ 9.73825797e-01 -2.27172650e-01 -7.47694177e-03 7.97344880e+01] [ 2.27164488e-01 9.73854482e-01 -1.93460800e-03 -2.15349622e+01] [ 7.72094328e-03 1.85475534e-04 9.99970176e-01 -1.18413692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.20538475 meters 0.058142241934060736 Centerline is valid? [True, True] Translation: X:79.76, Y:-21.53, Z:-1.18 [[ 9.73696864e-01 -2.27696639e-01 -8.28595073e-03 7.97636218e+01] [ 2.27686597e-01 9.73732098e-01 -2.14829822e-03 -2.15309933e+01] [ 8.55745647e-03 2.05191317e-04 9.99963363e-01 -1.18271945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.23538475 meters 0.05931091389871861 Centerline is valid? [True, True] Translation: X:79.79, Y:-21.52, Z:-1.19 [[ 9.73990079e-01 -2.26427045e-01 -8.60923170e-03 7.97902346e+01] [ 2.26416168e-01 9.74028102e-01 -2.23054368e-03 -2.15226630e+01] [ 8.89068903e-03 2.23258160e-04 9.99960452e-01 -1.18643687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.26538475 meters 0.05939057318074608 Centerline is valid? [True, True] Translation: X:79.82, Y:-21.52, Z:-1.19 [[ 9.74062273e-01 -2.26104953e-01 -8.90159166e-03 7.98181311e+01] [ 2.26093273e-01 9.74102917e-01 -2.31040852e-03 -2.15161925e+01] [ 9.19346121e-03 2.37891779e-04 9.99957711e-01 -1.18730531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.29538475 meters 0.05945553318543913 Centerline is valid? [True, True] Translation: X:79.85, Y:-21.51, Z:-1.19 [[ 9.74330808e-01 -2.24896676e-01 -1.00479541e-02 7.98466465e+01] [ 2.24881711e-01 9.74382576e-01 -2.60982592e-03 -2.15113833e+01] [ 1.03774926e-02 2.83232683e-04 9.99946112e-01 -1.18882075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.32538475 meters 0.05997991065577451 Centerline is valid? [True, True] Translation: X:79.87, Y:-21.50, Z:-1.19 [[ 9.74583731e-01 -2.23791858e-01 -1.01860755e-02 7.98746875e+01] [ 2.23776389e-01 9.74636913e-01 -2.64853291e-03 -2.15037124e+01] [ 1.05204453e-02 3.01813880e-04 9.99944613e-01 -1.19094995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.35538475 meters 0.061100077628435744 Centerline is valid? [True, True] Translation: X:79.90, Y:-21.50, Z:-1.19 [[ 9.75230776e-01 -2.20920777e-01 -1.09061002e-02 7.99021742e+01] [ 2.20902885e-01 9.75291692e-01 -2.83390668e-03 -2.14971325e+01] [ 1.12626978e-02 3.54524020e-04 9.99936511e-01 -1.19328422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.38538474999999 meters 0.060539916848532174 Centerline is valid? [True, True] Translation: X:79.93, Y:-21.49, Z:-1.19 [[ 9.74695848e-01 -2.23269966e-01 -1.08869780e-02 7.99320538e+01] [ 2.23252230e-01 9.74756591e-01 -2.83362031e-03 -2.14947507e+01] [ 1.12448159e-02 3.31375841e-04 9.99936720e-01 -1.19208661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41538474999999 meters 0.05936355332070622 Centerline is valid? [True, True] Translation: X:79.96, Y:-21.50, Z:-1.19 [[ 9.73848183e-01 -2.27089099e-01 -7.08928266e-03 7.99623134e+01] [ 2.27081687e-01 9.73873969e-01 -1.84415073e-03 -2.14950228e+01] [ 7.32285437e-03 1.86076575e-04 9.99973170e-01 -1.18780584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.44538474999999 meters 0.05902524211342869 Centerline is valid? [True, True] Translation: X:79.99, Y:-21.49, Z:-1.19 [[ 9.73580508e-01 -2.28254749e-01 -6.38460147e-03 7.99907197e+01] [ 2.28248735e-01 9.73601429e-01 -1.66513158e-03 -2.14903922e+01] [ 6.59613131e-03 1.63862444e-04 9.99978232e-01 -1.18812909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47538474999999 meters 0.0573621677756586 Centerline is valid? [True, True] Translation: X:80.02, Y:-21.50, Z:-1.19 [[ 9.71557564e-01 -2.36778351e-01 -3.45143835e-03 8.00220677e+01] [ 2.36776650e-01 9.71563693e-01 -8.99268136e-04 -2.14954291e+01] [ 3.56621941e-03 5.64707502e-05 9.99993639e-01 -1.18571565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.50538474999999 meters 0.05717571748658898 Centerline is valid? [True, True] Translation: X:80.05, Y:-21.49, Z:-1.19 [[ 9.71242021e-01 -2.38060381e-01 -4.02393042e-03 8.00497608e+01] [ 2.38058064e-01 9.71250354e-01 -1.05240185e-03 -2.14907216e+01] [ 4.15877903e-03 6.42078117e-05 9.99991350e-01 -1.18687566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53538474999999 meters 0.05672720898809106 Centerline is valid? [True, True] Translation: X:80.08, Y:-21.49, Z:-1.19 [[ 9.70181118e-01 -2.42361475e-01 -3.08453657e-03 8.00783607e+01] [ 2.42360139e-01 9.70186021e-01 -8.05309993e-04 -2.14906106e+01] [ 3.18775038e-03 3.37278374e-05 9.99994919e-01 -1.18688735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.56538474999999 meters 0.056748547111910574 Centerline is valid? [True, True] Translation: X:80.11, Y:-21.49, Z:-1.19 [[ 9.70007144e-01 -2.43060107e-01 -2.81527093e-03 8.01065811e+01] [ 2.43058987e-01 9.70011229e-01 -7.38360587e-04 -2.14859417e+01] [ 2.91031042e-03 3.19381419e-05 9.99995765e-01 -1.18771140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.59538475 meters 0.05646506699804341 Centerline is valid? [True, True] Translation: X:80.14, Y:-21.49, Z:-1.18 [[ 9.68854644e-01 -2.47597031e-01 -4.04832837e-03 8.01376242e+01] [ 2.47594758e-01 9.68863102e-01 -1.06104555e-03 -2.14889803e+01] [ 4.18498770e-03 2.56540277e-05 9.99991243e-01 -1.18399856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.62538475 meters 0.05645124837051609 Centerline is valid? [True, True] Translation: X:80.16, Y:-21.48, Z:-1.19 [[ 9.68436901e-01 -2.49223006e-01 -4.22632290e-03 8.01639029e+01] [ 2.49220546e-01 9.68446123e-01 -1.10763602e-03 -2.14830983e+01] [ 4.36901441e-03 1.93890929e-05 9.99990456e-01 -1.18915387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.65538475 meters 0.05637331089493349 Centerline is valid? [True, True] Translation: X:80.19, Y:-21.48, Z:-1.19 [[ 9.68241841e-01 -2.49998222e-01 -2.93714081e-03 8.01928627e+01] [ 2.49997031e-01 9.68246295e-01 -7.72036536e-04 -2.14774398e+01] [ 3.03688347e-03 1.32415959e-05 9.99995389e-01 -1.18721306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.68538475 meters 0.05632002114525858 Centerline is valid? [True, True] Translation: X:80.22, Y:-21.47, Z:-1.19 [[ 9.67576042e-01 -2.52550878e-01 -3.82852969e-03 8.02219808e+01] [ 2.52548873e-01 9.67583616e-01 -1.00628932e-03 -2.14738607e+01] [ 3.95856185e-03 6.77058154e-06 9.99992165e-01 -1.18779190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.71538475 meters 0.056489067735089805 Centerline is valid? [True, True] Translation: X:80.25, Y:-21.47, Z:-1.19 [[ 9.67050345e-01 -2.54545859e-01 -4.47625139e-03 8.02501814e+01] [ 2.54543137e-01 9.67060704e-01 -1.17707769e-03 -2.14677486e+01] [ 4.62842707e-03 -1.10568340e-06 9.99989289e-01 -1.18939398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.74538475 meters 0.0566174428048493 Centerline is valid? [True, True] Translation: X:80.28, Y:-21.46, Z:-1.19 [[ 9.67056689e-01 -2.54484419e-01 -6.24818611e-03 8.02768152e+01] [ 2.54479128e-01 9.67076874e-01 -1.64099592e-03 -2.14601318e+01] [ 6.46008418e-03 -3.09686868e-06 9.99979133e-01 -1.19299026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77538474999999 meters 0.05652916225512771 Centerline is valid? [True, True] Translation: X:80.30, Y:-21.45, Z:-1.19 [[ 9.66920916e-01 -2.54975544e-01 -7.17038961e-03 8.03049506e+01] [ 2.54968567e-01 9.66947502e-01 -1.88625239e-03 -2.14529693e+01] [ 7.41433855e-03 -4.36707811e-06 9.99972513e-01 -1.19333273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.80538474999999 meters 0.056513390222336306 Centerline is valid? [True, True] Translation: X:80.33, Y:-21.44, Z:-1.19 [[ 9.67060401e-01 -2.54459871e-01 -6.65994493e-03 8.03323169e+01] [ 2.54453826e-01 9.67083333e-01 -1.75403504e-03 -2.14448355e+01] [ 6.88705327e-03 1.60936225e-06 9.99976284e-01 -1.19255952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83538474999999 meters 0.05633523106589387 Centerline is valid? [True, True] Translation: X:80.36, Y:-21.44, Z:-1.19 [[ 9.67183471e-01 -2.53997216e-01 -6.44570308e-03 8.03594214e+01] [ 2.53991526e-01 9.67204949e-01 -1.70024675e-03 -2.14356231e+01] [ 6.66617386e-03 7.29659826e-06 9.99977781e-01 -1.18999728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.86538474999999 meters 0.05636653093997951 Centerline is valid? [True, True] Translation: X:80.39, Y:-21.43, Z:-1.19 [[ 9.67242952e-01 -2.53776147e-01 -6.22410700e-03 8.03865777e+01] [ 2.53770824e-01 9.67262977e-01 -1.64378538e-03 -2.14278207e+01] [ 6.43750179e-03 1.04430590e-05 9.99979279e-01 -1.19018603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89538474999999 meters 0.05650119650498022 Centerline is valid? [True, True] Translation: X:80.41, Y:-21.42, Z:-1.19 [[ 9.67515738e-01 -2.52718470e-01 -6.83161331e-03 8.04124479e+01] [ 2.52712048e-01 9.67539857e-01 -1.80177368e-03 -2.14180325e+01] [ 7.06519965e-03 1.68134055e-05 9.99975041e-01 -1.19134379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.92538474999999 meters 0.05659452136791727 Centerline is valid? [True, True] Translation: X:80.44, Y:-21.41, Z:-1.19 [[ 9.67813051e-01 -2.51581690e-01 -6.67474157e-03 8.04392919e+01] [ 2.51575500e-01 9.67836067e-01 -1.76504624e-03 -2.14085809e+01] [ 6.90410894e-03 2.90333342e-05 9.99976166e-01 -1.19167328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.95538475 meters 0.05664214883873273 Centerline is valid? [True, True] Translation: X:80.47, Y:-21.40, Z:-1.19 [[ 9.68107575e-01 -2.50466998e-01 -5.83140710e-03 8.04657130e+01] [ 2.50462244e-01 9.68125138e-01 -1.54357891e-03 -2.13968905e+01] [ 6.03214737e-03 3.38031292e-05 9.99981806e-01 -1.19272192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.98538475 meters 0.05662485422869881 Centerline is valid? [True, True] Translation: X:80.49, Y:-21.39, Z:-1.19 [[ 9.68409066e-01 -2.49302636e-01 -5.66369034e-03 8.04924167e+01] [ 2.49298140e-01 9.68425627e-01 -1.49760708e-03 -2.13879417e+01] [ 5.85822026e-03 3.83488074e-05 9.99982840e-01 -1.19359748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.01538475 meters 0.056984204394277156 Centerline is valid? [True, True] Translation: X:80.52, Y:-21.38, Z:-1.20 [[ 9.68666305e-01 -2.48313886e-01 -5.07967104e-03 8.05179187e+01] [ 2.48310250e-01 9.68679623e-01 -1.34440256e-03 -2.13784129e+01] [ 5.25440766e-03 4.09430718e-05 9.99986195e-01 -1.19515994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.04538475 meters 0.05694208785871633 Centerline is valid? [True, True] Translation: X:80.54, Y:-21.37, Z:-1.19 [[ 9.69216359e-01 -2.46159131e-01 -5.03309003e-03 8.05448293e+01] [ 2.46155517e-01 9.69229425e-01 -1.33498899e-03 -2.13666839e+01] [ 5.20683868e-03 5.49702880e-05 9.99986443e-01 -1.19413549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.07538475 meters 0.05725521991261117 Centerline is valid? [True, True] Translation: X:80.57, Y:-21.36, Z:-1.19 [[ 9.69638239e-01 -2.44495695e-01 -4.85183648e-03 8.05718800e+01] [ 2.44492309e-01 9.69650376e-01 -1.28825529e-03 -2.13557073e+01] [ 5.01955794e-03 6.29048886e-05 9.99987400e-01 -1.19437910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.10538475 meters 0.05704548100550976 Centerline is valid? [True, True] Translation: X:80.60, Y:-21.35, Z:-1.19 [[ 9.69223881e-01 -2.46136106e-01 -4.69953838e-03 8.05994853e+01] [ 2.46132953e-01 9.69235273e-01 -1.24699036e-03 -2.13494854e+01] [ 4.86188772e-03 5.19015776e-05 9.99988180e-01 -1.19354926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13538474999999 meters 0.057364198551552635 Centerline is valid? [True, True] Translation: X:80.63, Y:-21.34, Z:-1.20 [[ 9.69564921e-01 -2.44777975e-01 -5.25418226e-03 8.06264853e+01] [ 2.44773999e-01 9.69579155e-01 -1.39676263e-03 -2.13371681e+01] [ 5.43624232e-03 6.81648470e-05 9.99985221e-01 -1.19642118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.16538474999999 meters 0.05764655929260701 Centerline is valid? [True, True] Translation: X:80.65, Y:-21.33, Z:-1.20 [[ 9.69971306e-01 -2.43152410e-01 -5.70708830e-03 8.06537555e+01] [ 2.43147685e-01 9.69988092e-01 -1.51829305e-03 -2.13263994e+01] [ 5.90498431e-03 8.50353886e-05 9.99982562e-01 -1.19822517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19538474999999 meters 0.05810486066840202 Centerline is valid? [True, True] Translation: X:80.68, Y:-21.32, Z:-1.20 [[ 9.70343991e-01 -2.41638385e-01 -6.59012148e-03 8.06812805e+01] [ 2.41632041e-01 9.70366363e-01 -1.75430181e-03 -2.13158364e+01] [ 6.81873887e-03 1.09891718e-04 9.99976746e-01 -1.19940965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.22538474999999 meters 0.0579693914287322 Centerline is valid? [True, True] Translation: X:80.71, Y:-21.31, Z:-1.20 [[ 9.70117046e-01 -2.42586028e-01 -4.99356554e-03 8.07093757e+01] [ 2.42582388e-01 9.70129895e-01 -1.33127613e-03 -2.13088849e+01] [ 5.16735620e-03 8.01426090e-05 9.99986646e-01 -1.19860204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25538474999999 meters 0.05783590178018069 Centerline is valid? [True, True] Translation: X:80.74, Y:-21.30, Z:-1.20 [[ 9.70063647e-01 -2.42782869e-01 -5.74456345e-03 8.07373600e+01] [ 2.42778050e-01 9.70080651e-01 -1.53239517e-03 -2.13006519e+01] [ 5.94472915e-03 9.18669269e-05 9.99982326e-01 -1.19951492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.28538474999999 meters 0.05782745012519564 Centerline is valid? [True, True] Translation: X:80.77, Y:-21.29, Z:-1.20 [[ 9.70313428e-01 -2.41777533e-01 -5.95624517e-03 8.07651815e+01] [ 2.41772324e-01 9.70331703e-01 -1.59050387e-03 -2.12933511e+01] [ 6.16408162e-03 1.03232024e-04 9.99980997e-01 -1.19771420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.31538474999999 meters 0.058422826514355465 Centerline is valid? [True, True] Translation: X:80.79, Y:-21.28, Z:-1.20 [[ 9.70617135e-01 -2.40592135e-01 -4.21910297e-03 8.07911312e+01] [ 2.40589510e-01 9.70626302e-01 -1.12661874e-03 -2.12813486e+01] [ 4.36622792e-03 7.84435406e-05 9.99990465e-01 -1.20082066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.34538475 meters 0.05840050378008118 Centerline is valid? [True, True] Translation: X:80.82, Y:-21.27, Z:-1.20 [[ 9.70637688e-01 -2.40523596e-01 -3.29819586e-03 8.08171647e+01] [ 2.40521992e-01 9.70643290e-01 -8.80694019e-04 -2.12722916e+01] [ 3.41319937e-03 6.15461686e-05 9.99994173e-01 -1.20047466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.37538475 meters 0.0580544239085156 Centerline is valid? [True, True] Translation: X:80.84, Y:-21.27, Z:-1.20 [[ 9.70721035e-01 -2.40192842e-01 -2.84090264e-03 8.08444875e+01] [ 2.40191640e-01 9.70725190e-01 -7.62191719e-04 -2.12653140e+01] [ 2.94080875e-03 5.75144723e-05 9.99995674e-01 -1.19854645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.40538475 meters 0.05755104703309091 Centerline is valid? [True, True] Translation: X:80.87, Y:-21.26, Z:-1.20 [[ 9.70516661e-01 -2.41020915e-01 -2.51566129e-03 8.08729025e+01] [ 2.41019973e-01 9.70519921e-01 -6.75723986e-04 -2.12596175e+01] [ 2.60436301e-03 4.94767709e-05 9.99996607e-01 -1.19772938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.43538475 meters 0.0570948553234531 Centerline is valid? [True, True] Translation: X:80.90, Y:-21.25, Z:-1.20 [[ 9.69326176e-01 -2.45762203e-01 -2.77545281e-03 8.09008958e+01] [ 2.45761075e-01 9.69330149e-01 -7.45869849e-04 -2.12545238e+01] [ 2.87363671e-03 4.08929018e-05 9.99995870e-01 -1.20000150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.46538475 meters 0.05754875824352154 Centerline is valid? [True, True] Translation: X:80.93, Y:-21.24, Z:-1.20 [[ 9.69789316e-01 -2.43896387e-01 -4.82016445e-03 8.09277981e+01] [ 2.43892968e-01 9.69801292e-01 -1.29401344e-03 -2.12442614e+01] [ 4.99020691e-03 7.93161966e-05 9.99987546e-01 -1.20378290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49538474999999 meters 0.05754875824352154 Centerline is valid? [True, True] Translation: X:80.95, Y:-21.24, Z:-1.20 [[ 9.69721651e-01 -2.44165294e-01 -4.81967962e-03 8.09544754e+01] [ 2.44161869e-01 9.69733625e-01 -1.29582136e-03 -2.12369301e+01] [ 4.99019999e-03 7.98040449e-05 9.99987546e-01 -1.20415406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.52538474999999 meters 0.05806056488640964 Centerline is valid? [True, True] Translation: X:80.98, Y:-21.23, Z:-1.21 [[ 9.69988756e-01 -2.43087271e-01 -5.51284171e-03 8.09799753e+01] [ 2.43082788e-01 9.70004417e-01 -1.47946178e-03 -2.12260094e+01] [ 5.70711914e-03 9.49843627e-05 9.99983710e-01 -1.20630483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55538474999999 meters 0.058330062568565266 Centerline is valid? [True, True] Translation: X:81.01, Y:-21.22, Z:-1.21 [[ 9.70179700e-01 -2.42329628e-01 -5.26321264e-03 8.10065256e+01] [ 2.42325528e-01 9.70193971e-01 -1.41292693e-03 -2.12176318e+01] [ 5.44873123e-03 9.53822435e-05 9.99985151e-01 -1.20722425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.58538474999999 meters 0.05853129500850648 Centerline is valid? [True, True] Translation: X:81.03, Y:-21.21, Z:-1.21 [[ 9.70916989e-01 -2.39305888e-01 -7.27275198e-03 8.10348665e+01] [ 2.39297972e-01 9.70944215e-01 -1.95260379e-03 -2.12078805e+01] [ 7.52870604e-03 1.55461396e-04 9.99971647e-01 -1.20717315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61538474999999 meters 0.059079396641000294 Centerline is valid? [True, True] Translation: X:81.06, Y:-21.20, Z:-1.21 [[ 9.71210419e-01 -2.38101346e-01 -7.62042278e-03 8.10612188e+01] [ 2.38092613e-01 9.71240299e-01 -2.04661508e-03 -2.11976310e+01] [ 7.88856351e-03 1.73327513e-04 9.99968870e-01 -1.20834821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.64538474999999 meters 0.05981270914281934 Centerline is valid? [True, True] Translation: X:81.09, Y:-21.19, Z:-1.21 [[ 9.71786839e-01 -2.35730933e-01 -7.82732649e-03 8.10874367e+01] [ 2.35721637e-01 9.71818341e-01 -2.10282677e-03 -2.11864635e+01] [ 8.10244076e-03 1.98429160e-04 9.99967155e-01 -1.20932341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67538474999999 meters 0.0591693721488607 Centerline is valid? [True, True] Translation: X:81.12, Y:-21.18, Z:-1.21 [[ 9.71572110e-01 -2.36659437e-01 -6.32024913e-03 8.11162304e+01] [ 2.36653373e-01 9.71592654e-01 -1.70156193e-03 -2.11800960e+01] [ 6.54339832e-03 1.57481838e-04 9.99978579e-01 -1.20845894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.70538475 meters 0.05926829440376631 Centerline is valid? [True, True] Translation: X:81.14, Y:-21.17, Z:-1.21 [[ 9.71671891e-01 -2.36279007e-01 -5.09585575e-03 8.11434498e+01] [ 2.36275044e-01 9.71685244e-01 -1.37469175e-03 -2.11711582e+01] [ 5.27637864e-03 1.31725788e-04 9.99986071e-01 -1.20859275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.73538475 meters 0.05943506281417934 Centerline is valid? [True, True] Translation: X:81.17, Y:-21.16, Z:-1.21 [[ 9.71777453e-01 -2.35847779e-01 -4.94029004e-03 8.11698002e+01] [ 2.35844053e-01 9.71790002e-01 -1.33192836e-03 -2.11634914e+01] [ 5.11505682e-03 1.29199922e-04 9.99986910e-01 -1.20784064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.76538475 meters 0.05796189302562551 Centerline is valid? [True, True] Translation: X:81.20, Y:-21.16, Z:-1.20 [[ 9.70863361e-01 -2.39603511e-01 -3.80685907e-03 8.12006952e+01] [ 2.39601318e-01 9.70870820e-01 -1.02895407e-03 -2.11643590e+01] [ 3.94250939e-03 8.68453604e-05 9.99992225e-01 -1.20248482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.79538475 meters 0.0566369871552591 Centerline is valid? [True, True] Translation: X:81.23, Y:-21.17, Z:-1.20 [[ 9.68470231e-01 -2.49122464e-01 -1.84642099e-03 8.12319942e+01] [ 2.49121961e-01 9.68471991e-01 -5.00979158e-04 -2.11656287e+01] [ 1.91301218e-03 2.51993810e-05 9.99998170e-01 -1.19967586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.82538475 meters 0.0562344040512977 Centerline is valid? [True, True] Translation: X:81.26, Y:-21.16, Z:-1.20 [[ 9.67617353e-01 -2.52405211e-01 -2.87538811e-03 8.12602002e+01] [ 2.52404009e-01 9.67621625e-01 -7.79581675e-04 -2.11592538e+01] [ 2.97905819e-03 2.85772714e-05 9.99995562e-01 -1.20252120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.85538475 meters 0.056383950277514035 Centerline is valid? [True, True] Translation: X:81.29, Y:-21.15, Z:-1.21 [[ 9.67122391e-01 -2.54280416e-01 -3.96875938e-03 8.12876431e+01] [ 2.54278140e-01 9.67130534e-01 -1.07638999e-03 -2.11514802e+01] [ 4.11201327e-03 3.18321025e-05 9.99991545e-01 -1.20597548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.88538474999999 meters 0.0565848923275262 Centerline is valid? [True, True] Translation: X:81.32, Y:-21.14, Z:-1.21 [[ 9.67100016e-01 -2.54329104e-01 -5.85367191e-03 8.13156901e+01] [ 2.54324158e-01 9.67117731e-01 -1.58687997e-03 -2.11431209e+01] [ 6.06477966e-03 4.59414695e-05 9.99981608e-01 -1.21005606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91538474999999 meters 0.05669253968995328 Centerline is valid? [True, True] Translation: X:81.34, Y:-21.14, Z:-1.21 [[ 9.67085429e-01 -2.54396733e-01 -5.29850990e-03 8.13427462e+01] [ 2.54392689e-01 9.67099943e-01 -1.43496766e-03 -2.11352099e+01] [ 5.48923970e-03 3.98341306e-05 9.99984933e-01 -1.21301456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.94538474999999 meters 0.05640517408739655 Centerline is valid? [True, True] Translation: X:81.37, Y:-21.13, Z:-1.21 [[ 9.66413158e-01 -2.56929889e-01 -5.71312435e-03 8.13713786e+01] [ 2.56925207e-01 9.66430045e-01 -1.55145243e-03 -2.11319009e+01] [ 5.91994952e-03 3.14983881e-05 9.99982476e-01 -1.21005361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97538474999999 meters 0.056160623184443446 Centerline is valid? [True, True] Translation: X:81.40, Y:-21.12, Z:-1.21 [[ 9.66287496e-01 -2.57427604e-01 -4.41626051e-03 8.13993868e+01] [ 2.57424804e-01 9.66297588e-01 -1.20088859e-03 -2.11247642e+01] [ 4.57656375e-03 2.35486290e-05 9.99989527e-01 -1.20760383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.00538474999999 meters 0.05613320436586838 Centerline is valid? [True, True] Translation: X:81.43, Y:-21.12, Z:-1.21 [[ 9.66712522e-01 -2.55834156e-01 -3.97293283e-03 8.14256778e+01] [ 2.55831868e-01 9.66720686e-01 -1.08243146e-03 -2.11155373e+01] [ 4.11763929e-03 2.99972200e-05 9.99991522e-01 -1.20748293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03538474999999 meters 0.056404661507304686 Centerline is valid? [True, True] Translation: X:81.45, Y:-21.10, Z:-1.21 [[ 9.67475579e-01 -2.52919952e-01 -4.74369711e-03 8.14519649e+01] [ 2.52916670e-01 9.67487207e-01 -1.28938159e-03 -2.11039771e+01] [ 4.91557659e-03 4.76851248e-05 9.99987917e-01 -1.21015311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.06538474999999 meters 0.05680378074628305 Centerline is valid? [True, True] Translation: X:81.48, Y:-21.10, Z:-1.21 [[ 9.67678351e-01 -2.52140505e-01 -4.87591556e-03 8.14782581e+01] [ 2.52137025e-01 9.67690634e-01 -1.32573388e-03 -2.10954909e+01] [ 5.05264903e-03 5.34851299e-05 9.99987234e-01 -1.21309632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.09538475 meters 0.05651271585018582 Centerline is valid? [True, True] Translation: X:81.51, Y:-21.09, Z:-1.21 [[ 9.67569561e-01 -2.52562558e-01 -4.61510035e-03 8.15055256e+01] [ 2.52559425e-01 9.67580566e-01 -1.25898939e-03 -2.10888156e+01] [ 4.78345499e-03 5.25727170e-05 9.99988558e-01 -1.21170579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.12538475 meters 0.05668294166101249 Centerline is valid? [True, True] Translation: X:81.53, Y:-21.08, Z:-1.21 [[ 9.67746596e-01 -2.51881361e-01 -4.72293491e-03 8.15318769e+01] [ 2.51878084e-01 9.67758119e-01 -1.28604457e-03 -2.10801418e+01] [ 4.89458926e-03 5.49614603e-05 9.99988020e-01 -1.21239034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.15538475 meters 0.05680999245806897 Centerline is valid? [True, True] Translation: X:81.56, Y:-21.07, Z:-1.21 [[ 9.67864749e-01 -2.51432883e-01 -4.39701704e-03 8.15583362e+01] [ 2.51430019e-01 9.67874735e-01 -1.20135321e-03 -2.10717565e+01] [ 4.55782141e-03 5.72053428e-05 9.99989611e-01 -1.21280141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.18538475 meters 0.05695799453100139 Centerline is valid? [True, True] Translation: X:81.58, Y:-21.06, Z:-1.21 [[ 9.68469640e-01 -2.49099068e-01 -4.02615463e-03 8.15849943e+01] [ 2.49096652e-01 9.68478007e-01 -1.09883560e-03 -2.10615124e+01] [ 4.17296113e-03 6.12872763e-05 9.99991291e-01 -1.21232882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.21538475 meters 0.05762926188429928 Centerline is valid? [True, True] Translation: X:81.61, Y:-21.05, Z:-1.21 [[ 9.69209994e-01 -2.46198149e-01 -4.29632790e-03 8.16101688e+01] [ 2.46195369e-01 9.69219514e-01 -1.17256032e-03 -2.10495286e+01] [ 4.45276702e-03 7.87211442e-05 9.99990083e-01 -1.21388230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.24538474999999 meters 0.05772823756241296 Centerline is valid? [True, True] Translation: X:81.64, Y:-21.04, Z:-1.21 [[ 9.69583934e-01 -2.44734536e-01 -3.46444671e-03 8.16368382e+01] [ 2.44732718e-01 9.69590121e-01 -9.45877325e-04 -2.10394370e+01] [ 3.59058215e-03 6.92439990e-05 9.99993551e-01 -1.21360805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27538474999999 meters 0.05813441543671399 Centerline is valid? [True, True] Translation: X:81.66, Y:-21.03, Z:-1.21 [[ 9.70384973e-01 -2.41547781e-01 -2.76999593e-03 8.16640976e+01] [ 2.41546596e-01 9.70388925e-01 -7.59594209e-04 -2.10285897e+01] [ 2.87145167e-03 6.80157180e-05 9.99995875e-01 -1.21243276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.30538474999999 meters 0.0583430118628306 Centerline is valid? [True, True] Translation: X:81.69, Y:-21.02, Z:-1.21 [[ 9.70757344e-01 -2.40048326e-01 -2.64220263e-03 8.16915624e+01] [ 2.40047240e-01 9.70760937e-01 -7.25441857e-04 -2.10182929e+01] [ 2.73908821e-03 6.99745605e-05 9.99996246e-01 -1.21255694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33538474999999 meters 0.0587860273180859 Centerline is valid? [True, True] Translation: X:81.72, Y:-21.01, Z:-1.21 [[ 9.71125820e-01 -2.38548729e-01 -3.02414428e-03 8.17189439e+01] [ 2.38547299e-01 9.71130525e-01 -8.30581799e-04 -2.10084383e+01] [ 3.13497305e-03 8.51979828e-05 9.99995082e-01 -1.21311027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.36538474999999 meters 0.05975817855105434 Centerline is valid? [True, True] Translation: X:81.75, Y:-21.00, Z:-1.21 [[ 9.71751572e-01 -2.35975828e-01 -3.78047516e-03 8.17462657e+01] [ 2.35973586e-01 9.71758919e-01 -1.03489064e-03 -2.09985668e+01] [ 3.91791963e-03 1.13564326e-04 9.99992318e-01 -1.21411369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39538474999999 meters 0.05969369590549363 Centerline is valid? [True, True] Translation: X:81.77, Y:-20.99, Z:-1.21 [[ 9.71637137e-01 -2.36452355e-01 -3.39975576e-03 8.17744947e+01] [ 2.36450532e-01 9.71643079e-01 -9.34347758e-04 -2.09936171e+01] [ 3.52427788e-03 1.03972923e-04 9.99993784e-01 -1.21314897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.42538474999999 meters 0.05944515595991481 Centerline is valid? [True, True] Translation: X:81.80, Y:-20.99, Z:-1.21 [[ 9.71341348e-01 -2.37673004e-01 -2.74381783e-03 8.18018305e+01] [ 2.37671826e-01 9.71345220e-01 -7.52771180e-04 -2.09872269e+01] [ 2.84410772e-03 7.90695800e-05 9.99995952e-01 -1.21280271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.45538475 meters 0.05886716378170458 Centerline is valid? [True, True] Translation: X:81.83, Y:-20.98, Z:-1.21 [[ 9.70623813e-01 -2.40588462e-01 -2.57004628e-03 8.18310496e+01] [ 2.40587431e-01 9.70627213e-01 -7.07718639e-04 -2.09829005e+01] [ 2.66482580e-03 6.86077325e-05 9.99996447e-01 -1.21414544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.48538475 meters 0.058768020193928835 Centerline is valid? [True, True] Translation: X:81.86, Y:-20.98, Z:-1.21 [[ 9.70464152e-01 -2.41234695e-01 -2.26976740e-03 8.18595979e+01] [ 2.41233891e-01 9.70466804e-01 -6.25946294e-04 -2.09757145e+01] [ 2.35373388e-03 5.99136191e-05 9.99997228e-01 -1.21473850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.51538475 meters 0.05870494690538999 Centerline is valid? [True, True] Translation: X:81.89, Y:-20.97, Z:-1.22 [[ 9.70131816e-01 -2.42562373e-01 -2.78472031e-03 8.18868684e+01] [ 2.42561174e-01 9.70135810e-01 -7.65552918e-04 -2.09696486e+01] [ 2.88725123e-03 6.72222140e-05 9.99995830e-01 -1.21672047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.54538475 meters 0.057907319876071804 Centerline is valid? [True, True] Translation: X:81.92, Y:-20.97, Z:-1.21 [[ 9.69286279e-01 -2.45933733e-01 -8.41468148e-04 8.19159919e+01] [ 2.45933624e-01 9.69286644e-01 -2.31983898e-04 -2.09674230e+01] [ 8.72676503e-04 1.79134986e-05 9.99999619e-01 -1.21400813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.57538475 meters 0.05740627761695683 Centerline is valid? [True, True] Translation: X:81.94, Y:-20.96, Z:-1.22 [[ 9.68454129e-01 -2.49178638e-01 -2.57033748e-03 8.19431942e+01] [ 2.49177637e-01 9.68457539e-01 -7.07796789e-04 -2.09624970e+01] [ 2.66563055e-03 4.49981046e-05 9.99996446e-01 -1.21647172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.60538475 meters 0.057537015956218275 Centerline is valid? [True, True] Translation: X:81.97, Y:-20.96, Z:-1.22 [[ 9.68309413e-01 -2.49722019e-01 -3.97425421e-03 8.19716052e+01] [ 2.49719623e-01 9.68317566e-01 -1.09596428e-03 -2.09553570e+01] [ 4.12202657e-03 6.87832664e-05 9.99991502e-01 -1.21851875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63538474999999 meters 0.05823499400875671 Centerline is valid? [True, True] Translation: X:82.00, Y:-20.94, Z:-1.22 [[ 9.68851372e-01 -2.47573631e-01 -5.85801712e-03 8.19990362e+01] [ 2.47568388e-01 9.68869075e-01 -1.61532408e-03 -2.09449467e+01] [ 6.07556328e-03 1.14749099e-04 9.99981537e-01 -1.22283873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.66538474999999 meters 0.058766679599582455 Centerline is valid? [True, True] Translation: X:82.03, Y:-20.94, Z:-1.22 [[ 9.69095612e-01 -2.46610166e-01 -6.09267806e-03 8.20261540e+01] [ 2.46604481e-01 9.69114756e-01 -1.67918845e-03 -2.09372806e+01] [ 6.31860915e-03 1.24812451e-04 9.99980030e-01 -1.22426731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69538474999999 meters 0.05821910216194896 Centerline is valid? [True, True] Translation: X:82.06, Y:-20.93, Z:-1.22 [[ 9.68774687e-01 -2.47876206e-01 -5.74383036e-03 8.20555126e+01] [ 2.47871158e-01 9.68791708e-01 -1.58604946e-03 -2.09330215e+01] [ 5.95771915e-03 1.12794691e-04 9.99982246e-01 -1.22112921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.72538474999999 meters 0.058287202052162805 Centerline is valid? [True, True] Translation: X:82.08, Y:-20.93, Z:-1.22 [[ 9.68574439e-01 -2.48673385e-01 -5.01025899e-03 8.20834527e+01] [ 2.48669546e-01 9.68587393e-01 -1.38509331e-03 -2.09261167e+01] [ 5.19730953e-03 9.56671477e-05 9.99986489e-01 -1.22066234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75538474999999 meters 0.05806546008989006 Centerline is valid? [True, True] Translation: X:82.11, Y:-20.92, Z:-1.22 [[ 9.68701807e-01 -2.48174866e-01 -5.10337370e-03 8.21113966e+01] [ 2.48170884e-01 9.68715245e-01 -1.40926483e-03 -2.09206439e+01] [ 5.29346001e-03 9.86486238e-05 9.99985985e-01 -1.22148870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.78538474999999 meters 0.05869764002722571 Centerline is valid? [True, True] Translation: X:82.14, Y:-20.91, Z:-1.22 [[ 9.68739577e-01 -2.48023659e-01 -5.28173782e-03 8.21377045e+01] [ 2.48019390e-01 9.68753970e-01 -1.45895802e-03 -2.09107356e+01] [ 5.47856059e-03 1.03376979e-04 9.99984987e-01 -1.22487403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.81538474999999 meters 0.05792565148126941 Centerline is valid? [True, True] Translation: X:82.17, Y:-20.91, Z:-1.22 [[ 9.68180800e-01 -2.50198499e-01 -5.16237712e-03 8.21669732e+01] [ 2.50194432e-01 9.68194558e-01 -1.42947932e-03 -2.09083545e+01] [ 5.35583902e-03 9.23964145e-05 9.99985653e-01 -1.22421353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.84538475 meters 0.05808139073151135 Centerline is valid? [True, True] Translation: X:82.20, Y:-20.90, Z:-1.22 [[ 9.68081109e-01 -2.50561417e-01 -6.15982446e-03 8.21956142e+01] [ 2.50555629e-01 9.68100700e-01 -1.70657613e-03 -2.09022282e+01] [ 6.39093250e-03 1.08725418e-04 9.99979572e-01 -1.22498551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.87538475 meters 0.057979802546220205 Centerline is valid? [True, True] Translation: X:82.22, Y:-20.90, Z:-1.22 [[ 9.68064569e-01 -2.50635985e-01 -5.70907142e-03 8.22229892e+01] [ 2.50631023e-01 9.68081398e-01 -1.58031590e-03 -2.08962182e+01] [ 5.92292987e-03 9.89774257e-05 9.99982454e-01 -1.22454584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.90538475 meters 0.05813117803619998 Centerline is valid? [True, True] Translation: X:82.25, Y:-20.89, Z:-1.22 [[ 9.68039460e-01 -2.50723322e-01 -6.11710164e-03 8.22502459e+01] [ 2.50717623e-01 9.68058782e-01 -1.69372394e-03 -2.08896562e+01] [ 6.34637005e-03 1.05926427e-04 9.99979856e-01 -1.22481413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.93538475 meters 0.05803998676266697 Centerline is valid? [True, True] Translation: X:82.28, Y:-20.88, Z:-1.23 [[ 9.67954297e-01 -2.51061167e-01 -5.72451665e-03 8.22774838e+01] [ 2.51056179e-01 9.67971219e-01 -1.58559334e-03 -2.08822409e+01] [ 5.93924827e-03 9.76066099e-05 9.99982358e-01 -1.22599254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.96538475 meters 0.05796402111190185 Centerline is valid? [True, True] Translation: X:82.30, Y:-20.88, Z:-1.23 [[ 9.67856671e-01 -2.51444517e-01 -5.39627380e-03 8.23045266e+01] [ 2.51440067e-01 9.67871709e-01 -1.49886736e-03 -2.08759025e+01] [ 5.59978272e-03 9.38493242e-05 9.99984317e-01 -1.22622549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99538474999999 meters 0.05710268906745153 Centerline is valid? [True, True] Translation: X:82.33, Y:-20.87, Z:-1.22 [[ 9.66694953e-01 -2.55907879e-01 -3.46782409e-03 8.23344457e+01] [ 2.55906072e-01 9.66701172e-01 -9.62753633e-04 -2.08737232e+01] [ 3.59872585e-03 4.32518369e-05 9.99993524e-01 -1.22492275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.02538474999999 meters 0.056860103009429445 Centerline is valid? [True, True] Translation: X:82.36, Y:-20.87, Z:-1.22 [[ 9.66267464e-01 -2.57518034e-01 -3.41322703e-03 8.23614805e+01] [ 2.57516293e-01 9.66273492e-01 -9.47550829e-04 -2.08683338e+01] [ 3.54212223e-03 3.66259641e-05 9.99993726e-01 -1.22499356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05538474999999 meters 0.056819823817941276 Centerline is valid? [True, True] Translation: X:82.39, Y:-20.86, Z:-1.23 [[ 9.66116367e-01 -2.58058539e-01 -4.99550659e-03 8.23893327e+01] [ 2.58054818e-01 9.66129281e-01 -1.38679779e-03 -2.08625622e+01] [ 5.18418020e-03 5.06935045e-05 9.99986561e-01 -1.22596574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.08538474999999 meters 0.05687651066659291 Centerline is valid? [True, True] Translation: X:82.42, Y:-20.86, Z:-1.23 [[ 9.65643843e-01 -2.59806271e-01 -5.71572129e-03 8.24161202e+01] [ 2.59801423e-01 9.65660758e-01 -1.58776310e-03 -2.08562319e+01] [ 5.93195856e-03 4.82611399e-05 9.99982405e-01 -1.23050080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11538474999999 meters 0.05667053165131176 Centerline is valid? [True, True] Translation: X:82.44, Y:-20.85, Z:-1.23 [[ 9.65541765e-01 -2.60148666e-01 -7.19522728e-03 8.24446019e+01] [ 2.60140971e-01 9.65568572e-01 -2.00182459e-03 -2.08497965e+01] [ 7.46825733e-03 6.10718369e-05 9.99972110e-01 -1.23041752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.14538474999999 meters 0.05668807075538805 Centerline is valid? [True, True] Translation: X:82.47, Y:-20.84, Z:-1.23 [[ 9.65298187e-01 -2.61036259e-01 -7.71247477e-03 8.24722180e+01] [ 2.61027427e-01 9.65328995e-01 -2.14819440e-03 -2.08428142e+01] [ 8.00583215e-03 6.04807190e-05 9.99967951e-01 -1.23125289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.17538474999999 meters 0.05643295375114797 Centerline is valid? [True, True] Translation: X:82.50, Y:-20.84, Z:-1.23 [[ 9.64780780e-01 -2.62971111e-01 -6.65145162e-03 8.25000665e+01] [ 2.62964598e-01 9.64803707e-01 -1.85117564e-03 -2.08379797e+01] [ 6.90415089e-03 3.68823730e-05 9.99976165e-01 -1.23101991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.20538475 meters 0.056304627500391044 Centerline is valid? [True, True] Translation: X:82.53, Y:-20.83, Z:-1.23 [[ 9.64548067e-01 -2.63791475e-01 -7.81561564e-03 8.25291276e+01] [ 2.63782478e-01 9.64579730e-01 -2.17900835e-03 -2.08328822e+01] [ 8.11358825e-03 4.01358273e-05 9.99967083e-01 -1.23022148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.23538475 meters 0.05625239731577188 Centerline is valid? [True, True] Translation: X:82.56, Y:-20.83, Z:-1.23 [[ 9.64323578e-01 -2.64617297e-01 -7.59753170e-03 8.25569125e+01] [ 2.64608799e-01 9.64353506e-01 -2.12090516e-03 -2.08264276e+01] [ 7.88793452e-03 3.48651160e-05 9.99968889e-01 -1.23079309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.26538475 meters 0.056232915635447966 Centerline is valid? [True, True] Translation: X:82.58, Y:-20.82, Z:-1.23 [[ 9.64052855e-01 -2.65607176e-01 -7.41084066e-03 8.25845992e+01] [ 2.65599103e-01 9.64081339e-01 -2.07098559e-03 -2.08195328e+01] [ 7.69472181e-03 2.82269390e-05 9.99970395e-01 -1.23083307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.29538475 meters 0.0561371557215555 Centerline is valid? [True, True] Translation: X:82.61, Y:-20.81, Z:-1.23 [[ 9.63833414e-01 -2.66432995e-01 -6.21360697e-03 8.26110396e+01] [ 2.66427341e-01 9.63853443e-01 -1.73582510e-03 -2.08113755e+01] [ 6.45148756e-03 1.75714555e-05 9.99979189e-01 -1.23161004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.32538475 meters 0.05622588592726776 Centerline is valid? [True, True] Translation: X:82.64, Y:-20.80, Z:-1.23 [[ 9.63988722e-01 -2.65876489e-01 -5.95288576e-03 8.26366525e+01] [ 2.65871277e-01 9.64007102e-01 -1.66498850e-03 -2.08029398e+01] [ 6.18130545e-03 2.23287931e-05 9.99980895e-01 -1.23226382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.35538475 meters 0.056265541442976026 Centerline is valid? [True, True] Translation: X:82.66, Y:-20.79, Z:-1.23 [[ 9.64442541e-01 -2.64209181e-01 -6.64033635e-03 8.26632398e+01] [ 2.64202663e-01 9.64465400e-01 -1.85618446e-03 -2.07932365e+01] [ 6.89479563e-03 3.57887077e-05 9.99976230e-01 -1.23277700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.38538474999999 meters 0.056457571946498177 Centerline is valid? [True, True] Translation: X:82.69, Y:-20.78, Z:-1.23 [[ 9.64648724e-01 -2.63461169e-01 -6.40719352e-03 8.26898919e+01] [ 2.63455056e-01 9.64670001e-01 -1.79527966e-03 -2.07842435e+01] [ 6.65381386e-03 4.38067037e-05 9.99977862e-01 -1.23257907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41538474999999 meters 0.056457571946498177 Centerline is valid? [True, True] Translation: X:82.72, Y:-20.78, Z:-1.23 [[ 9.64581276e-01 -2.63708011e-01 -6.40673362e-03 8.27164736e+01] [ 2.63701892e-01 9.64602552e-01 -1.79692183e-03 -2.07766014e+01] [ 6.65381428e-03 4.38093749e-05 9.99977862e-01 -1.23294989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.44538474999999 meters 0.05659978528982511 Centerline is valid? [True, True] Translation: X:82.74, Y:-20.77, Z:-1.23 [[ 9.65041429e-01 -2.62033367e-01 -5.79259043e-03 8.27414078e+01] [ 2.62028341e-01 9.65058813e-01 -1.62367719e-03 -2.07660536e+01] [ 6.01564804e-03 4.90928917e-05 9.99981905e-01 -1.23295466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47538474999999 meters 0.05644840197159845 Centerline is valid? [True, True] Translation: X:82.77, Y:-20.76, Z:-1.23 [[ 9.65317655e-01 -2.60997033e-01 -6.50952205e-03 8.27692061e+01] [ 2.60990641e-01 9.65339601e-01 -1.82786290e-03 -2.07567380e+01] [ 6.76096621e-03 6.55439908e-05 9.99977142e-01 -1.23220773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.50538474999999 meters 0.056409777512544355 Centerline is valid? [True, True] Translation: X:82.80, Y:-20.75, Z:-1.23 [[ 9.65118979e-01 -2.61725651e-01 -6.71125317e-03 8.27964847e+01] [ 2.61718858e-01 9.65142311e-01 -1.88677493e-03 -2.07480431e+01] [ 6.97113179e-03 6.45007805e-05 9.99975699e-01 -1.23268000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53538474999999 meters 0.05660675002748796 Centerline is valid? [True, True] Translation: X:82.82, Y:-20.74, Z:-1.23 [[ 9.65159927e-01 -2.61552292e-01 -7.53084060e-03 8.28233375e+01] [ 2.61543751e-01 9.65189305e-01 -2.11482406e-03 -2.07388244e+01] [ 7.82182388e-03 7.14991333e-05 9.99969407e-01 -1.23358642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.56538474999999 meters 0.05728376437506415 Centerline is valid? [True, True] Translation: X:82.85, Y:-20.73, Z:-1.24 [[ 9.65952759e-01 -2.58582540e-01 -8.38671449e-03 8.28480427e+01] [ 2.58571828e-01 9.65989161e-01 -2.35615752e-03 -2.07256686e+01] [ 8.71073649e-03 1.07368759e-04 9.99962055e-01 -1.23828525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.59538475 meters 0.057572523349371796 Centerline is valid? [True, True] Translation: X:82.87, Y:-20.72, Z:-1.24 [[ 9.66437311e-01 -2.56778879e-01 -7.97065582e-03 8.28737619e+01] [ 2.56769138e-01 9.66470172e-01 -2.23979988e-03 -2.07155259e+01] [ 8.27853441e-03 1.18007755e-04 9.99965725e-01 -1.23955227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.62538475 meters 0.057623891746114916 Centerline is valid? [True, True] Translation: X:82.90, Y:-20.71, Z:-1.24 [[ 9.66419609e-01 -2.56857113e-01 -7.58701222e-03 8.29012357e+01] [ 2.56848253e-01 9.66449383e-01 -2.13667285e-03 -2.07075112e+01] [ 7.88128290e-03 1.16211705e-04 9.99968935e-01 -1.23855962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.65538475 meters 0.05769239968278472 Centerline is valid? [True, True] Translation: X:82.93, Y:-20.70, Z:-1.24 [[ 9.66556064e-01 -2.56368607e-01 -6.67176094e-03 8.29277233e+01] [ 2.56361728e-01 9.66579084e-01 -1.88118611e-03 -2.06990088e+01] [ 6.93106164e-03 1.07887686e-04 9.99975974e-01 -1.23761398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.68538475 meters 0.05699120653582905 Centerline is valid? [True, True] Translation: X:82.96, Y:-20.69, Z:-1.24 [[ 9.65660349e-01 -2.59742187e-01 -5.83840790e-03 8.29566860e+01] [ 2.59736972e-01 9.65677995e-01 -1.64762571e-03 -2.06946494e+01] [ 6.06597995e-03 7.45964302e-05 9.99981599e-01 -1.23534664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.71538475 meters 0.056653354807046946 Centerline is valid? [True, True] Translation: X:82.98, Y:-20.69, Z:-1.23 [[ 9.65019691e-01 -2.62109592e-01 -5.96310770e-03 8.29848733e+01] [ 2.62104189e-01 9.65038112e-01 -1.68416838e-03 -2.06884115e+01] [ 6.19606289e-03 6.23001447e-05 9.99980802e-01 -1.23493201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.74538474999999 meters 0.05687653289136192 Centerline is valid? [True, True] Translation: X:83.01, Y:-20.68, Z:-1.24 [[ 9.64913217e-01 -2.62463111e-01 -7.45641544e-03 8.30118240e+01] [ 2.62454666e-01 9.64942024e-01 -2.10691529e-03 -2.06780842e+01] [ 7.74799615e-03 7.60193869e-05 9.99969981e-01 -1.23817960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77538474999999 meters 0.05671278714107163 Centerline is valid? [True, True] Translation: X:83.04, Y:-20.67, Z:-1.24 [[ 9.65177847e-01 -2.61469695e-01 -8.08219600e-03 8.30394762e+01] [ 2.61459720e-01 9.65211681e-01 -2.28581332e-03 -2.06689179e+01] [ 8.39870090e-03 9.30476746e-05 9.99964726e-01 -1.23740634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.80538474999999 meters 0.057020639870502425 Centerline is valid? [True, True] Translation: X:83.07, Y:-20.66, Z:-1.24 [[ 9.65223460e-01 -2.61323658e-01 -7.32241538e-03 8.30656973e+01] [ 2.61315475e-01 9.65251231e-01 -2.06974399e-03 -2.06607673e+01] [ 7.60884352e-03 8.43049996e-05 9.99971049e-01 -1.24021759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83538474999999 meters 0.05672605554978839 Centerline is valid? [True, True] Translation: X:83.09, Y:-20.66, Z:-1.24 [[ 9.65152165e-01 -2.61563317e-01 -8.11968667e-03 8.30936119e+01] [ 2.61553258e-01 9.65186315e-01 -2.29568890e-03 -2.06551177e+01] [ 8.43747846e-03 9.19586118e-05 9.99964400e-01 -1.23731157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.86538474999999 meters 0.056740599278287764 Centerline is valid? [True, True] Translation: X:83.12, Y:-20.65, Z:-1.24 [[ 9.65296140e-01 -2.61036745e-01 -7.94855852e-03 8.31208819e+01] [ 2.61027047e-01 9.65328860e-01 -2.25222478e-03 -2.06465009e+01] [ 8.26088636e-03 9.92751286e-05 9.99965873e-01 -1.23738510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89538474999999 meters 0.056711518752589285 Centerline is valid? [True, True] Translation: X:83.15, Y:-20.64, Z:-1.24 [[ 9.65271424e-01 -2.61134227e-01 -7.74558695e-03 8.31474396e+01] [ 2.61125003e-01 9.65302494e-01 -2.19704894e-03 -2.06386118e+01] [ 8.05055908e-03 9.81821434e-05 9.99967589e-01 -1.23703727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.92538474999999 meters 0.05696239627712584 Centerline is valid? [True, True] Translation: X:83.17, Y:-20.63, Z:-1.24 [[ 9.65670054e-01 -2.59667713e-01 -7.35023422e-03 8.31735039e+01] [ 2.59659377e-01 9.65698021e-01 -2.08316290e-03 -2.06280888e+01] [ 7.63903678e-03 1.03090790e-04 9.99970817e-01 -1.23771690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.95538475 meters 0.05744958288363755 Centerline is valid? [True, True] Translation: X:83.20, Y:-20.62, Z:-1.24 [[ 9.66051143e-01 -2.58233513e-01 -7.78734034e-03 8.32005163e+01] [ 2.58224078e-01 9.66082521e-01 -2.21097665e-03 -2.06175585e+01] [ 8.09416165e-03 1.25037737e-04 9.99967234e-01 -1.23930236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.98538475 meters 0.058270767889886436 Centerline is valid? [True, True] Translation: X:83.23, Y:-20.61, Z:-1.24 [[ 9.66621716e-01 -2.56046575e-01 -9.08897294e-03 8.32271441e+01] [ 2.56033610e-01 9.66664431e-01 -2.58222404e-03 -2.06052474e+01] [ 9.44715648e-03 1.68951281e-04 9.99955360e-01 -1.24145359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.01538475 meters 0.05783829846961473 Centerline is valid? [True, True] Translation: X:83.26, Y:-20.60, Z:-1.24 [[ 9.66841068e-01 -2.55200569e-01 -9.54036151e-03 8.32551111e+01] [ 2.55186217e-01 9.66888119e-01 -2.71308230e-03 -2.05971244e+01] [ 9.91684234e-03 1.88550637e-04 9.99950809e-01 -1.23917594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.04538475 meters 0.05847178670505974 Centerline is valid? [True, True] Translation: X:83.28, Y:-20.59, Z:-1.24 [[ 9.66690406e-01 -2.55768963e-01 -9.58630213e-03 8.32810433e+01] [ 2.55754514e-01 9.66737919e-01 -2.72479703e-03 -2.05868070e+01] [ 9.96436029e-03 1.82295104e-04 9.99950338e-01 -1.24332602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.07538475 meters 0.0589332968985591 Centerline is valid? [True, True] Translation: X:83.31, Y:-20.58, Z:-1.25 [[ 9.66824629e-01 -2.55245843e-01 -9.98478161e-03 8.33073550e+01] [ 2.55230131e-01 9.66876166e-01 -2.83877838e-03 -2.05777423e+01] [ 1.03786337e-02 1.96183732e-04 9.99946121e-01 -1.24503144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.10538475 meters 0.05729571549888439 Centerline is valid? [True, True] Translation: X:83.34, Y:-20.58, Z:-1.24 [[ 9.65690690e-01 -2.59587489e-01 -7.47168584e-03 8.33376862e+01] [ 2.59578814e-01 9.65719588e-01 -2.12527084e-03 -2.05761060e+01] [ 7.76724709e-03 1.12862922e-04 9.99969828e-01 -1.23869485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13538474999999 meters 0.056567368982002146 Centerline is valid? [True, True] Translation: X:83.37, Y:-20.57, Z:-1.24 [[ 9.64485072e-01 -2.64049356e-01 -6.81788193e-03 8.33661536e+01] [ 2.64042215e-01 9.64509166e-01 -1.94333462e-03 -2.05706027e+01] [ 7.08904587e-03 7.41085878e-05 9.99974870e-01 -1.23810768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.16538474999999 meters 0.05676307969349252 Centerline is valid? [True, True] Translation: X:83.39, Y:-20.56, Z:-1.24 [[ 9.64439421e-01 -2.64172176e-01 -8.34658109e-03 8.33935229e+01] [ 2.64161467e-01 9.64475533e-01 -2.38040058e-03 -2.05620870e+01] [ 8.67890884e-03 9.09070458e-05 9.99962333e-01 -1.24037316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19538474999999 meters 0.05669092837896245 Centerline is valid? [True, True] Translation: X:83.42, Y:-20.55, Z:-1.24 [[ 9.64341236e-01 -2.64520276e-01 -8.66045720e-03 8.34204284e+01] [ 2.64508774e-01 9.64380120e-01 -2.46845001e-03 -2.05543069e+01] [ 9.00492783e-03 8.96612166e-05 9.99959451e-01 -1.24271070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.22538474999999 meters 0.056752529222696586 Centerline is valid? [True, True] Translation: X:83.45, Y:-20.55, Z:-1.24 [[ 9.64170264e-01 -2.65149985e-01 -8.43732405e-03 8.34476532e+01] [ 2.65139047e-01 9.64207176e-01 -2.40988326e-03 -2.05467286e+01] [ 8.77430890e-03 8.64737163e-05 9.99961501e-01 -1.24246122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25538474999999 meters 0.05653984380439989 Centerline is valid? [True, True] Translation: X:83.48, Y:-20.54, Z:-1.24 [[ 9.64235511e-01 -2.64948641e-01 -7.21785819e-03 8.34755013e+01] [ 2.64940617e-01 9.64262522e-01 -2.06341645e-03 -2.05382942e+01] [ 7.50660953e-03 7.73156043e-05 9.99971822e-01 -1.24217657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.28538474999999 meters 0.05646021503584524 Centerline is valid? [True, True] Translation: X:83.50, Y:-20.53, Z:-1.24 [[ 9.64135277e-01 -2.65353880e-01 -5.52141984e-03 8.35034763e+01] [ 2.65349179e-01 9.64151085e-01 -1.58055828e-03 -2.05313268e+01] [ 5.74289020e-03 5.87677726e-05 9.99983508e-01 -1.23964521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.31538474999999 meters 0.0567010616334323 Centerline is valid? [True, True] Translation: X:83.53, Y:-20.52, Z:-1.24 [[ 9.64410098e-01 -2.64363083e-01 -5.03229074e-03 8.35290929e+01] [ 2.64359162e-01 9.64423225e-01 -1.44107052e-03 -2.05229628e+01] [ 5.23422391e-03 5.94507954e-05 9.99986300e-01 -1.24004453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.34538475 meters 0.05690635753441535 Centerline is valid? [True, True] Translation: X:83.56, Y:-20.51, Z:-1.24 [[ 9.64607454e-01 -2.63625731e-01 -5.82528054e-03 8.35552129e+01] [ 2.63620471e-01 9.64625040e-01 -1.66690880e-03 -2.05133986e+01] [ 6.05865153e-03 7.22494550e-05 9.99981644e-01 -1.24091238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.37538475 meters 0.057108717186336526 Centerline is valid? [True, True] Translation: X:83.58, Y:-20.50, Z:-1.24 [[ 9.64839749e-01 -2.62750289e-01 -6.82232526e-03 8.35827008e+01] [ 2.62743028e-01 9.64863864e-01 -1.95569586e-03 -2.05040299e+01] [ 7.09647477e-03 9.44147054e-05 9.99974815e-01 -1.24239149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.40538475 meters 0.05725074640998591 Centerline is valid? [True, True] Translation: X:83.61, Y:-20.50, Z:-1.24 [[ 9.64710228e-01 -2.63232228e-01 -6.55509476e-03 8.36097570e+01] [ 2.63225519e-01 9.64732495e-01 -1.88144934e-03 -2.04953977e+01] [ 6.81917102e-03 8.95852007e-05 9.99976745e-01 -1.24222850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.43538475 meters 0.057474508287647406 Centerline is valid? [True, True] Translation: X:83.64, Y:-20.48, Z:-1.24 [[ 9.65062375e-01 -2.61927093e-01 -6.98648537e-03 8.36367367e+01] [ 2.61919431e-01 9.65087658e-01 -2.00626282e-03 -2.04844419e+01] [ 7.26806539e-03 1.06272495e-04 9.99973582e-01 -1.24433431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.46538475 meters 0.05808060702059874 Centerline is valid? [True, True] Translation: X:83.66, Y:-20.47, Z:-1.25 [[ 9.65465342e-01 -2.60432873e-01 -7.16880141e-03 8.36624481e+01] [ 2.60424776e-01 9.65491949e-01 -2.05712297e-03 -2.04733984e+01] [ 7.45716249e-03 1.19147429e-04 9.99972188e-01 -1.24685044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49538474999999 meters 0.058452418312627055 Centerline is valid? [True, True] Translation: X:83.69, Y:-20.46, Z:-1.25 [[ 9.65670714e-01 -2.59632056e-01 -8.44201111e-03 8.36894925e+01] [ 2.59620763e-01 9.65707602e-01 -2.42628261e-03 -2.04637694e+01] [ 8.78245505e-03 1.51268700e-04 9.99961422e-01 -1.24847302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.52538474999999 meters 0.05913042064857697 Centerline is valid? [True, True] Translation: X:83.71, Y:-20.45, Z:-1.25 [[ 9.66214562e-01 -2.57569406e-01 -9.34993659e-03 8.37146259e+01] [ 2.57555468e-01 9.66259782e-01 -2.68606837e-03 -2.04520679e+01] [ 9.72631673e-03 1.87191084e-04 9.99952681e-01 -1.25104157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55538474999999 meters 0.05880297956459237 Centerline is valid? [True, True] Translation: X:83.74, Y:-20.44, Z:-1.25 [[ 9.66513774e-01 -2.56448046e-01 -9.24793874e-03 8.37429112e+01] [ 2.56434318e-01 9.66557996e-01 -2.66104240e-03 -2.04444108e+01] [ 9.62108826e-03 2.00445268e-04 9.99953696e-01 -1.24773032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.58538474999999 meters 0.060637976480659404 Centerline is valid? [True, True] Translation: X:83.77, Y:-20.43, Z:-1.25 [[ 9.67233439e-01 -2.53761529e-01 -8.03494466e-03 8.37679969e+01] [ 2.53751081e-01 9.67266792e-01 -2.31105447e-03 -2.04295031e+01] [ 8.35839186e-03 1.96453265e-04 9.99965049e-01 -1.25014834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61538474999999 meters 0.05962313443018983 Centerline is valid? [True, True] Translation: X:83.80, Y:-20.42, Z:-1.25 [[ 9.67401513e-01 -2.53142877e-01 -7.27989864e-03 8.37954144e+01] [ 2.53134248e-01 9.67428886e-01 -2.09860214e-03 -2.04245010e+01] [ 7.57403041e-03 1.87399217e-04 9.99971299e-01 -1.24649759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.64538474999999 meters 0.06023704741429206 Centerline is valid? [True, True] Translation: X:83.82, Y:-20.41, Z:-1.25 [[ 9.67788404e-01 -2.51681575e-01 -6.47998984e-03 8.38212630e+01] [ 2.51674707e-01 9.67810081e-01 -1.86772074e-03 -2.04149651e+01] [ 6.74147039e-03 1.76708927e-04 9.99977260e-01 -1.24572762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.67538474999999 meters 0.06028962310510036 Centerline is valid? [True, True] Translation: X:83.85, Y:-20.41, Z:-1.25 [[ 9.67744485e-01 -2.51859697e-01 -6.10785242e-03 8.38478050e+01] [ 2.51853576e-01 9.67763744e-01 -1.76390740e-03 -2.04066802e+01] [ 6.35521531e-03 1.68727184e-04 9.99979791e-01 -1.24661286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.70538475 meters 0.05962617693387834 Centerline is valid? [True, True] Translation: X:83.88, Y:-20.40, Z:-1.25 [[ 9.67020535e-01 -2.54659772e-01 -4.43687454e-03 8.38761323e+01] [ 2.54656579e-01 9.67030707e-01 -1.27990789e-03 -2.04024944e+01] [ 4.61653498e-03 1.07817915e-04 9.99989338e-01 -1.24519404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.73538475 meters 0.0582288830068986 Centerline is valid? [True, True] Translation: X:83.91, Y:-20.40, Z:-1.24 [[ 9.66289535e-01 -2.57418376e-01 -4.50708086e-03 8.39054791e+01] [ 2.57415093e-01 9.66300041e-01 -1.30375298e-03 -2.03995454e+01] [ 4.69080240e-03 9.96122180e-05 9.99988993e-01 -1.24333121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.76538475 meters 0.05791963632972167 Centerline is valid? [True, True] Translation: X:83.93, Y:-20.39, Z:-1.25 [[ 9.65157019e-01 -2.61593572e-01 -6.38214301e-03 8.39331596e+01] [ 2.61587101e-01 9.65178114e-01 -1.84317734e-03 -2.03942598e+01] [ 6.64206809e-03 1.09469258e-04 9.99977935e-01 -1.24903502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.79538475 meters 0.05777779224288396 Centerline is valid? [True, True] Translation: X:83.96, Y:-20.39, Z:-1.25 [[ 9.64645783e-01 -2.63447571e-01 -7.34104227e-03 8.39602885e+01] [ 2.63439055e-01 9.64673709e-01 -2.12124455e-03 -2.03883738e+01] [ 7.64054720e-03 1.12332371e-04 9.99970804e-01 -1.25162065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.82538475 meters 0.0569607165009927 Centerline is valid? [True, True] Translation: X:83.99, Y:-20.39, Z:-1.25 [[ 9.63575274e-01 -2.67309967e-01 -8.25062855e-03 8.39910317e+01] [ 2.67299321e-01 9.63610592e-01 -2.38754294e-03 -2.03890593e+01] [ 8.58860709e-03 9.51899242e-05 9.99963113e-01 -1.24960142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.85538475 meters 0.05656287962877306 Centerline is valid? [True, True] Translation: X:84.02, Y:-20.38, Z:-1.25 [[ 9.62960292e-01 -2.69540691e-01 -7.43586571e-03 8.40201938e+01] [ 2.69532112e-01 9.62988999e-01 -2.15157379e-03 -2.03838976e+01] [ 7.74059356e-03 6.76755399e-05 9.99970039e-01 -1.24766100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.88538474999999 meters 0.05647387598253467 Centerline is valid? [True, True] Translation: X:84.05, Y:-20.38, Z:-1.25 [[ 9.62663377e-01 -2.70606115e-01 -7.18005101e-03 8.40472244e+01] [ 2.70598144e-01 9.62690151e-01 -2.07767716e-03 -2.03779957e+01] [ 7.47439654e-03 5.71952300e-05 9.99972065e-01 -1.24845654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91538474999999 meters 0.056513344459827725 Centerline is valid? [True, True] Translation: X:84.07, Y:-20.37, Z:-1.25 [[ 9.63291158e-01 -2.68392189e-01 -5.98146700e-03 8.40741531e+01] [ 2.68386586e-01 9.63309726e-01 -1.73550266e-03 -2.03683398e+01] [ 6.22780069e-03 6.64488648e-05 9.99980605e-01 -1.24702452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.94538474999999 meters 0.05668478161890891 Centerline is valid? [True, True] Translation: X:84.10, Y:-20.36, Z:-1.25 [[ 9.63281421e-01 -2.68421929e-01 -6.21067398e-03 8.41003434e+01] [ 2.68415897e-01 9.63301440e-01 -1.80070615e-03 -2.03596758e+01] [ 6.46610020e-03 6.75431462e-05 9.99979092e-01 -1.24942447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97538474999999 meters 0.05645094276447496 Centerline is valid? [True, True] Translation: X:84.13, Y:-20.36, Z:-1.25 [[ 9.62731797e-01 -2.70408706e-01 -5.15936397e-03 8.41297133e+01] [ 2.70404555e-01 9.62745620e-01 -1.49900124e-03 -2.03556026e+01] [ 5.37249805e-03 4.80206342e-05 9.99985567e-01 -1.24619682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.00538474999999 meters 0.056138722656750184 Centerline is valid? [True, True] Translation: X:84.16, Y:-20.35, Z:-1.25 [[ 9.62058006e-01 -2.72808923e-01 -4.43670909e-03 8.41585956e+01] [ 2.72805872e-01 9.62068236e-01 -1.29063778e-03 -2.03508956e+01] [ 4.62051439e-03 3.13081141e-05 9.99989325e-01 -1.24585246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03538474999999 meters 0.05611349365791196 Centerline is valid? [True, True] Translation: X:84.19, Y:-20.34, Z:-1.25 [[ 9.61672507e-01 -2.74169918e-01 -4.10432643e-03 8.41868145e+01] [ 2.74167314e-01 9.61681265e-01 -1.19521486e-03 -2.03446588e+01] [ 4.27474579e-03 2.41331221e-05 9.99990863e-01 -1.24686668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.06538474999999 meters 0.05611673699151259 Centerline is valid? [True, True] Translation: X:84.21, Y:-20.34, Z:-1.25 [[ 9.61338809e-01 -2.75326362e-01 -4.80496088e-03 8.42134349e+01] [ 2.75322815e-01 9.61350817e-01 -1.39780467e-03 -2.03375076e+01] [ 5.00410554e-03 2.08485184e-05 9.99987479e-01 -1.24914715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.09538475 meters 0.055943961951188975 Centerline is valid? [True, True] Translation: X:84.24, Y:-20.33, Z:-1.25 [[ 9.60319752e-01 -2.78865166e-01 -4.49371577e-03 8.42424575e+01] [ 2.78862089e-01 9.60330266e-01 -1.30999078e-03 -2.03338387e+01] [ 4.68076205e-03 4.88305279e-06 9.99989045e-01 -1.24866059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.12538475 meters 0.056249577852248545 Centerline is valid? [True, True] Translation: X:84.27, Y:-20.33, Z:-1.25 [[ 9.59501665e-01 -2.81607734e-01 -7.32391101e-03 8.42697005e+01] [ 2.81599657e-01 9.59529616e-01 -2.13289437e-03 -2.03295988e+01] [ 7.62814907e-03 -1.58951303e-05 9.99970905e-01 -1.25219211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.15538475 meters 0.05639924934629361 Centerline is valid? [True, True] Translation: X:84.30, Y:-20.32, Z:-1.25 [[ 9.58739056e-01 -2.84153932e-01 -8.71586962e-03 8.42966256e+01] [ 2.84142599e-01 9.58778672e-01 -2.53815768e-03 -2.03240142e+01] [ 9.07781738e-03 -4.31189531e-05 9.99958795e-01 -1.25451267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.18538475 meters 0.05647244423054152 Centerline is valid? [True, True] Translation: X:84.32, Y:-20.32, Z:-1.26 [[ 9.58689076e-01 -2.84315417e-01 -8.94424645e-03 8.43240254e+01] [ 2.84303476e-01 9.58730797e-01 -2.60614720e-03 -2.03164944e+01] [ 9.31609236e-03 -4.43955024e-05 9.99956603e-01 -1.25502317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.21538475 meters 0.056472729287227144 Centerline is valid? [True, True] Translation: X:84.35, Y:-20.31, Z:-1.26 [[ 9.58591175e-01 -2.84656867e-01 -8.56899063e-03 8.43504517e+01] [ 2.84645918e-01 9.58629473e-01 -2.49703727e-03 -2.03080131e+01] [ 8.92528577e-03 -4.54903156e-05 9.99960168e-01 -1.25512714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.24538474999999 meters 0.056393216734545136 Centerline is valid? [True, True] Translation: X:84.38, Y:-20.30, Z:-1.26 [[ 9.58834614e-01 -2.83845921e-01 -8.22659212e-03 8.43782399e+01] [ 2.83835766e-01 9.58869904e-01 -2.40123362e-03 -2.02987090e+01] [ 8.56981196e-03 -3.26151631e-05 9.99963278e-01 -1.25543227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27538474999999 meters 0.056143519455275605 Centerline is valid? [True, True] Translation: X:84.41, Y:-20.29, Z:-1.25 [[ 9.59101878e-01 -2.82962451e-01 -7.47258536e-03 8.44054534e+01] [ 2.82954026e-01 9.59130987e-01 -2.18368084e-03 -2.02877970e+01] [ 7.78508786e-03 -2.00257119e-05 9.99969696e-01 -1.25059615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.30538474999999 meters 0.056143519455275605 Centerline is valid? [True, True] Translation: X:84.43, Y:-20.28, Z:-1.25 [[ 9.59024019e-01 -2.83226238e-01 -7.47185571e-03 8.44319673e+01] [ 2.83217801e-01 9.59053126e-01 -2.18617874e-03 -2.02798754e+01] [ 7.78508975e-03 -1.95646239e-05 9.99969696e-01 -1.25096728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33538474999999 meters 0.056047174650622214 Centerline is valid? [True, True] Translation: X:84.46, Y:-20.27, Z:-1.25 [[ 9.59667240e-01 -2.81088580e-01 -5.29133745e-03 8.44579615e+01] [ 2.81084322e-01 9.59681828e-01 -1.54713234e-03 -2.02682102e+01] [ 5.51288162e-03 -2.57977585e-06 9.99984804e-01 -1.25036319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.36538474999999 meters 0.05601965711355575 Centerline is valid? [True, True] Translation: X:84.48, Y:-20.26, Z:-1.25 [[ 9.60057431e-01 -2.79761323e-01 -4.83032447e-03 8.44843318e+01] [ 2.79757755e-01 9.60069582e-01 -1.41286342e-03 -2.02580871e+01] [ 5.03271213e-03 5.10929403e-06 9.99987336e-01 -1.25136981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39538474999999 meters 0.056385849689434935 Centerline is valid? [True, True] Translation: X:84.51, Y:-20.25, Z:-1.25 [[ 9.60950942e-01 -2.76674389e-01 -4.95685476e-03 8.45097579e+01] [ 2.76670589e-01 9.60963726e-01 -1.45026365e-03 -2.02454740e+01] [ 5.16460842e-03 2.22162977e-05 9.99986663e-01 -1.25445833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.42538474999999 meters 0.05615118884225549 Centerline is valid? [True, True] Translation: X:84.54, Y:-20.24, Z:-1.25 [[ 9.61389932e-01 -2.75133804e-01 -5.54883804e-03 8.45372267e+01] [ 2.75128997e-01 9.61405944e-01 -1.62677131e-03 -2.02353333e+01] [ 5.78226565e-03 3.73153143e-05 9.99983282e-01 -1.25208464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.45538475 meters 0.056418876078933096 Centerline is valid? [True, True] Translation: X:84.56, Y:-20.23, Z:-1.25 [[ 9.61739687e-01 -2.73908257e-01 -5.57152679e-03 8.45630864e+01] [ 2.73903400e-01 9.61755824e-01 -1.63182656e-03 -2.02255768e+01] [ 5.80541911e-03 4.33322315e-05 9.99983147e-01 -1.25341934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.48538475 meters 0.056382119301905904 Centerline is valid? [True, True] Translation: X:84.59, Y:-20.22, Z:-1.25 [[ 9.61714613e-01 -2.73982320e-01 -6.22031340e-03 8.45910051e+01] [ 2.73976245e-01 9.61734727e-01 -1.82527485e-03 -2.02166554e+01] [ 6.48238445e-03 5.11753889e-05 9.99978988e-01 -1.25411168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.51538475 meters 0.0563260634830891 Centerline is valid? [True, True] Translation: X:84.62, Y:-20.21, Z:-1.25 [[ 9.61555880e-01 -2.74525702e-01 -6.77707267e-03 8.46192296e+01] [ 2.74518492e-01 9.61579761e-01 -1.99032269e-03 -2.02089684e+01] [ 7.06309065e-03 5.33747199e-05 9.99975055e-01 -1.25296116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.54538475 meters 0.05646551089898147 Centerline is valid? [True, True] Translation: X:84.65, Y:-20.20, Z:-1.26 [[ 9.61600739e-01 -2.74357131e-01 -7.22386073e-03 8.46451899e+01] [ 2.74348945e-01 9.61627870e-01 -2.12016258e-03 -2.02003006e+01] [ 7.52834754e-03 5.68913334e-05 9.99971660e-01 -1.25774346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.57538475 meters 0.05640020399093629 Centerline is valid? [True, True] Translation: X:84.67, Y:-20.19, Z:-1.26 [[ 9.61437495e-01 -2.74926420e-01 -7.30797333e-03 8.46721797e+01] [ 2.74918025e-01 9.61465267e-01 -2.14919936e-03 -2.01929841e+01] [ 7.61723422e-03 5.72272544e-05 9.99970987e-01 -1.25695148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.60538475 meters 0.05623386647299286 Centerline is valid? [True, True] Translation: X:84.70, Y:-20.19, Z:-1.26 [[ 9.61552320e-01 -2.74513433e-01 -7.71434650e-03 8.47006859e+01] [ 2.74504053e-01 9.61583263e-01 -2.27019878e-03 -2.01856354e+01] [ 8.04118654e-03 6.52955206e-05 9.99967667e-01 -1.25538460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63538474999999 meters 0.05640981005004884 Centerline is valid? [True, True] Translation: X:84.73, Y:-20.18, Z:-1.26 [[ 9.61599050e-01 -2.74353440e-01 -7.58001413e-03 8.47261573e+01] [ 2.74344385e-01 9.61628923e-01 -2.23001088e-03 -2.01774797e+01] [ 7.90097198e-03 6.48420276e-05 9.99968785e-01 -1.25788620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.66538474999999 meters 0.05639456741864196 Centerline is valid? [True, True] Translation: X:84.75, Y:-20.17, Z:-1.26 [[ 9.61631051e-01 -2.74240822e-01 -7.59558094e-03 8.47531574e+01] [ 2.74231694e-01 9.61661046e-01 -2.23867180e-03 -2.01697430e+01] [ 7.91830950e-03 6.98272942e-05 9.99968647e-01 -1.25775342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69538474999999 meters 0.05603601363522731 Centerline is valid? [True, True] Translation: X:84.78, Y:-20.16, Z:-1.25 [[ 9.61704069e-01 -2.73957024e-01 -8.53426894e-03 8.47817505e+01] [ 2.73945473e-01 9.61741931e-01 -2.51706230e-03 -2.01627293e+01] [ 8.89733119e-03 8.27447135e-05 9.99960415e-01 -1.25460069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.72538474999999 meters 0.05631827372734197 Centerline is valid? [True, True] Translation: X:84.81, Y:-20.15, Z:-1.26 [[ 9.61997923e-01 -2.72906105e-01 -9.06943300e-03 8.48085640e+01] [ 2.72893029e-01 9.62040669e-01 -2.67328228e-03 -2.01533813e+01] [ 9.45471844e-03 9.67069589e-05 9.99955298e-01 -1.25616228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75538474999999 meters 0.056273070459416916 Centerline is valid? [True, True] Translation: X:84.84, Y:-20.14, Z:-1.26 [[ 9.62179136e-01 -2.72280877e-01 -8.62754771e-03 8.48357495e+01] [ 2.72268969e-01 9.62217810e-01 -2.54851465e-03 -2.01449739e+01] [ 8.99549187e-03 1.03114103e-04 9.99959534e-01 -1.25514215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.78538474999999 meters 0.05635476485337648 Centerline is valid? [True, True] Translation: X:84.86, Y:-20.14, Z:-1.26 [[ 9.62108377e-01 -2.72538349e-01 -8.38563057e-03 8.48626200e+01] [ 2.72527125e-01 9.62144916e-01 -2.47521457e-03 -2.01367300e+01] [ 8.74278271e-03 9.61128814e-05 9.99961777e-01 -1.25538445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81538474999999 meters 0.05632614827780785 Centerline is valid? [True, True] Translation: X:84.89, Y:-20.13, Z:-1.26 [[ 9.62159894e-01 -2.72355108e-01 -8.42812373e-03 8.48893287e+01] [ 2.72343717e-01 9.62196801e-01 -2.49304775e-03 -2.01279021e+01] [ 8.78850798e-03 1.03364009e-04 9.99961375e-01 -1.25557393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.84538475 meters 0.05656263877971156 Centerline is valid? [True, True] Translation: X:84.91, Y:-20.12, Z:-1.26 [[ 9.62603717e-01 -2.70796627e-01 -7.95423750e-03 8.49147477e+01] [ 2.70786439e-01 9.62636575e-01 -2.35152082e-03 -2.01172814e+01] [ 8.29382385e-03 1.09683030e-04 9.99965600e-01 -1.25657803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.87538475 meters 0.05682109516600753 Centerline is valid? [True, True] Translation: X:84.94, Y:-20.11, Z:-1.26 [[ 9.62840785e-01 -2.69963233e-01 -7.58120325e-03 8.49410889e+01] [ 2.69953949e-01 9.62870625e-01 -2.24174528e-03 -2.01076968e+01] [ 7.90490671e-03 1.11868033e-04 9.99968749e-01 -1.25705582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.90538475 meters 0.057080278222419706 Centerline is valid? [True, True] Translation: X:84.97, Y:-20.10, Z:-1.26 [[ 9.63437750e-01 -2.67856428e-01 -6.37461592e-03 8.49676927e+01] [ 2.67849790e-01 9.63458832e-01 -1.88905976e-03 -2.00964296e+01] [ 6.64767681e-03 1.12551952e-04 9.99977898e-01 -1.25721981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.93538475 meters 0.05693320593747325 Centerline is valid? [True, True] Translation: X:85.00, Y:-20.09, Z:-1.26 [[ 9.63402797e-01 -2.67992572e-01 -5.91874732e-03 8.49952578e+01] [ 2.67986835e-01 9.63420973e-01 -1.75671883e-03 -2.00889452e+01] [ 6.17303289e-03 1.06281472e-04 9.99980941e-01 -1.25593482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.96538475 meters 0.0569138157165683 Centerline is valid? [True, True] Translation: X:85.02, Y:-20.08, Z:-1.26 [[ 9.62581535e-01 -2.70935107e-01 -5.56391701e-03 8.50225334e+01] [ 2.70930098e-01 9.62597611e-01 -1.64937165e-03 -2.00840508e+01] [ 5.80268591e-03 8.02221129e-05 9.99983161e-01 -1.25779759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99538474999999 meters 0.05653793983155114 Centerline is valid? [True, True] Translation: X:85.05, Y:-20.08, Z:-1.26 [[ 9.62208702e-01 -2.72241296e-01 -6.25227101e-03 8.50497691e+01] [ 2.72234971e-01 9.62229011e-01 -1.85772343e-03 -2.00775774e+01] [ 6.52186559e-03 8.54308310e-05 9.99978729e-01 -1.25692090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.02538474999999 meters 0.05660836091525996 Centerline is valid? [True, True] Translation: X:85.08, Y:-20.07, Z:-1.26 [[ 9.61952207e-01 -2.73105228e-01 -7.84129583e-03 8.50779622e+01] [ 2.73095301e-01 9.61984160e-01 -2.33071945e-03 -2.00706293e+01] [ 8.17973405e-03 1.00619674e-04 9.99966540e-01 -1.25802788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05538474999999 meters 0.056665296727936146 Centerline is valid? [True, True] Translation: X:85.11, Y:-20.06, Z:-1.26 [[ 9.61480089e-01 -2.74751073e-01 -8.23932459e-03 8.51050398e+01] [ 2.74740187e-01 9.61515387e-01 -2.44736961e-03 -2.00639732e+01] [ 8.59465480e-03 8.94235709e-05 9.99963061e-01 -1.26027632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.08538474999999 meters 0.05653017768931805 Centerline is valid? [True, True] Translation: X:85.13, Y:-20.06, Z:-1.26 [[ 9.60525723e-01 -2.78049351e-01 -8.88218331e-03 8.51324852e+01] [ 2.78036825e-01 9.60566788e-01 -2.64006214e-03 -2.00584369e+01] [ 9.26599786e-03 6.62735563e-05 9.99957068e-01 -1.26096132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11538474999999 meters 0.056640874719251506 Centerline is valid? [True, True] Translation: X:85.16, Y:-20.05, Z:-1.26 [[ 9.60654054e-01 -2.77552774e-01 -1.04041243e-02 8.51605204e+01] [ 2.77535515e-01 9.60710388e-01 -3.09640673e-03 -2.00496530e+01] [ 1.08547666e-02 8.70616770e-05 9.99941081e-01 -1.26121531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.14538474999999 meters 0.056810759866399295 Centerline is valid? [True, True] Translation: X:85.19, Y:-20.04, Z:-1.26 [[ 9.60925351e-01 -2.76586497e-01 -1.10625530e-02 8.51882552e+01] [ 2.76566889e-01 9.60989021e-01 -3.29510774e-03 -2.00399195e+01] [ 1.15423743e-02 1.06816683e-04 9.99933379e-01 -1.26251935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17538474999999 meters 0.056821893637536446 Centerline is valid? [True, True] Translation: X:85.22, Y:-20.03, Z:-1.26 [[ 9.60996201e-01 -2.76372655e-01 -1.02204471e-02 8.52159664e+01] [ 2.76355875e-01 9.61050542e-01 -3.04721052e-03 -2.00312337e+01] [ 1.06645318e-02 1.03877140e-04 9.99943127e-01 -1.26290932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.20538475 meters 0.05678069807097931 Centerline is valid? [True, True] Translation: X:85.24, Y:-20.02, Z:-1.26 [[ 9.61110214e-01 -2.76004138e-01 -9.42724466e-03 8.52436879e+01] [ 2.75989814e-01 9.61156442e-01 -2.81369762e-03 -2.00236256e+01] [ 9.83764911e-03 1.02450015e-04 9.99951604e-01 -1.26062727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.23538475 meters 0.05707198998043858 Centerline is valid? [True, True] Translation: X:85.27, Y:-20.01, Z:-1.26 [[ 9.61150476e-01 -2.75824812e-01 -1.05088419e-02 8.52700732e+01] [ 2.75807021e-01 9.61207917e-01 -3.13484581e-03 -2.00148751e+01] [ 1.09658503e-02 1.14646159e-04 9.99939867e-01 -1.26361153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.26538475 meters 0.05628336068093328 Centerline is valid? [True, True] Translation: X:85.30, Y:-20.01, Z:-1.26 [[ 9.59445318e-01 -2.81774737e-01 -8.22676998e-03 8.53005903e+01] [ 2.81764016e-01 9.59480586e-01 -2.45841573e-03 -2.00143699e+01] [ 8.58614554e-03 4.07077148e-05 9.99963138e-01 -1.25877580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.29538475 meters 0.05611291138487707 Centerline is valid? [True, True] Translation: X:85.33, Y:-20.01, Z:-1.26 [[ 9.58772246e-01 -2.84064377e-01 -7.95049149e-03 8.53291813e+01] [ 2.84054421e-01 9.58805209e-01 -2.37837054e-03 -2.00072689e+01] [ 8.29858300e-03 2.19434101e-05 9.99965566e-01 -1.25838281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.32538475 meters 0.056313296154809005 Centerline is valid? [True, True] Translation: X:85.36, Y:-20.00, Z:-1.26 [[ 9.58487112e-01 -2.85008362e-01 -8.52580767e-03 8.53551956e+01] [ 2.84996961e-01 9.58525030e-01 -2.54918535e-03 -1.99989234e+01] [ 8.89873919e-03 1.35320221e-05 9.99960405e-01 -1.26366472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.35538475 meters 0.056493472328185974 Centerline is valid? [True, True] Translation: X:85.38, Y:-19.99, Z:-1.27 [[ 9.58851580e-01 -2.83786004e-01 -8.31571759e-03 8.53802794e+01] [ 2.83775101e-01 9.58887639e-01 -2.48768817e-03 -1.99897504e+01] [ 8.67980989e-03 2.55301297e-05 9.99962329e-01 -1.26731704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.38538474999999 meters 0.05620660868544466 Centerline is valid? [True, True] Translation: X:85.41, Y:-19.99, Z:-1.26 [[ 9.58235849e-01 -2.85914785e-01 -6.06576831e-03 8.54096726e+01] [ 2.85909005e-01 9.58255047e-01 -1.81799328e-03 -1.99853464e+01] [ 6.33234426e-03 7.80855590e-06 9.99979950e-01 -1.26231583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41538474999999 meters 0.05608151255684876 Centerline is valid? [True, True] Translation: X:85.44, Y:-19.98, Z:-1.26 [[ 9.58256559e-01 -2.85850524e-01 -5.81770478e-03 8.54367515e+01] [ 2.85845190e-01 9.58274219e-01 -1.74629567e-03 -1.99777318e+01] [ 6.07413603e-03 1.04363578e-05 9.99981552e-01 -1.26210478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.44538474999999 meters 0.05614977371005465 Centerline is valid? [True, True] Translation: X:85.46, Y:-19.97, Z:-1.26 [[ 9.58370901e-01 -2.85447250e-01 -6.71437062e-03 8.54628484e+01] [ 2.85440147e-01 9.58394422e-01 -2.01369469e-03 -1.99687798e+01] [ 7.00981896e-03 1.33154553e-05 9.99975431e-01 -1.26431143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47538474999999 meters 0.05631810616062988 Centerline is valid? [True, True] Translation: X:85.49, Y:-19.96, Z:-1.27 [[ 9.58575441e-01 -2.84699752e-01 -8.89805648e-03 8.54908033e+01] [ 2.84687215e-01 9.58616738e-01 -2.67194135e-03 -1.99600994e+01] [ 9.29052692e-03 2.80944339e-05 9.99956842e-01 -1.26622069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.50538474999999 meters 0.0563771994988268 Centerline is valid? [True, True] Translation: X:85.52, Y:-19.95, Z:-1.27 [[ 9.58699089e-01 -2.84315720e-01 -7.78644474e-03 8.55185521e+01] [ 2.84306086e-01 9.58730708e-01 -2.34064906e-03 -1.99511519e+01] [ 8.13058700e-03 3.02444870e-05 9.99966946e-01 -1.26653403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53538474999999 meters 0.056365667665986614 Centerline is valid? [True, True] Translation: X:85.54, Y:-19.94, Z:-1.27 [[ 9.58777879e-01 -2.84058889e-01 -7.45160326e-03 8.55447633e+01] [ 2.84050069e-01 9.58806835e-01 -2.23863247e-03 -1.99423285e+01] [ 7.78055159e-03 2.97228678e-05 9.99969731e-01 -1.26795499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.56538474999999 meters 0.05625507243970974 Centerline is valid? [True, True] Translation: X:85.57, Y:-19.93, Z:-1.27 [[ 9.58857186e-01 -2.83795864e-01 -7.26663900e-03 8.55701121e+01] [ 2.83787458e-01 9.58884720e-01 -2.18448075e-03 -1.99339520e+01] [ 7.58781570e-03 3.24240523e-05 9.99971212e-01 -1.26831787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.59538475 meters 0.05608915063290837 Centerline is valid? [True, True] Translation: X:85.60, Y:-19.93, Z:-1.26 [[ 9.58707985e-01 -2.84318458e-01 -6.48188725e-03 8.55980830e+01] [ 2.84311757e-01 9.58729896e-01 -1.95227922e-03 -1.99270487e+01] [ 6.76944810e-03 2.87889223e-05 9.99977087e-01 -1.26493969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.62538475 meters 0.055975259673179865 Centerline is valid? [True, True] Translation: X:85.62, Y:-19.92, Z:-1.27 [[ 9.58184492e-01 -2.86113762e-01 -4.62545631e-03 8.56247800e+01] [ 2.86110374e-01 9.58195656e-01 -1.39234004e-03 -1.99196573e+01] [ 4.83045979e-03 1.07276006e-05 9.99988333e-01 -1.26509090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.65538475 meters 0.0558414421701159 Centerline is valid? [True, True] Translation: X:85.65, Y:-19.91, Z:-1.26 [[ 9.58032201e-01 -2.86612742e-01 -5.23804194e-03 8.56526811e+01] [ 2.86608387e-01 9.58046521e-01 -1.58015128e-03 -1.99110610e+01] [ 5.47117935e-03 1.25690569e-05 9.99985033e-01 -1.26381252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.68538475 meters 0.055829693805682014 Centerline is valid? [True, True] Translation: X:85.68, Y:-19.90, Z:-1.26 [[ 9.57354049e-01 -2.88879699e-01 -4.66318059e-03 8.56803892e+01] [ 2.88876266e-01 9.57365406e-01 -1.40831216e-03 -1.99043840e+01] [ 4.87120057e-03 1.17115015e-06 9.99988136e-01 -1.26420928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.71538475 meters 0.05578551795468829 Centerline is valid? [True, True] Translation: X:85.71, Y:-19.89, Z:-1.27 [[ 9.57337736e-01 -2.88922409e-01 -5.31989401e-03 8.57076251e+01] [ 2.88917937e-01 9.57352517e-01 -1.60750857e-03 -1.98946825e+01] [ 5.55745917e-03 1.91580853e-06 9.99984557e-01 -1.26652447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.74538474999999 meters 0.0559736394347773 Centerline is valid? [True, True] Translation: X:85.73, Y:-19.89, Z:-1.27 [[ 9.57649902e-01 -2.87879452e-01 -5.66447553e-03 8.57338034e+01] [ 2.87874374e-01 9.57666655e-01 -1.70976129e-03 -1.98860425e+01] [ 5.91688447e-03 6.69538724e-06 9.99982495e-01 -1.26758603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77538474999999 meters 0.055851530031255855 Centerline is valid? [True, True] Translation: X:85.76, Y:-19.88, Z:-1.27 [[ 9.57605537e-01 -2.88019762e-01 -6.02097200e-03 8.57605218e+01] [ 2.88013999e-01 9.57624465e-01 -1.82193146e-03 -1.98778734e+01] [ 6.29058235e-03 1.05674291e-05 9.99980214e-01 -1.26696604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.80538474999999 meters 0.055909286963527434 Centerline is valid? [True, True] Translation: X:85.79, Y:-19.87, Z:-1.27 [[ 9.58120428e-01 -2.86298390e-01 -6.20294514e-03 8.57867545e+01] [ 2.86292253e-01 9.58140507e-01 -1.87471975e-03 -1.98677972e+01] [ 6.48002225e-03 2.03521503e-05 9.99979004e-01 -1.26898213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83538474999999 meters 0.05588031622610516 Centerline is valid? [True, True] Translation: X:85.81, Y:-19.86, Z:-1.27 [[ 9.58316317e-01 -2.85642078e-01 -6.19992906e-03 8.58133266e+01] [ 2.85635903e-01 9.58336372e-01 -1.87843412e-03 -1.98585767e+01] [ 6.47817735e-03 2.92117367e-05 9.99979016e-01 -1.26712176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.86538474999999 meters 0.055830265130112786 Centerline is valid? [True, True] Translation: X:85.84, Y:-19.85, Z:-1.27 [[ 9.58751418e-01 -2.84197299e-01 -5.25486856e-03 8.58387641e+01] [ 2.84192850e-01 9.58765818e-01 -1.59048078e-03 -1.98464890e+01] [ 5.49019869e-03 3.14796274e-05 9.99984928e-01 -1.27099224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89538474999999 meters 0.05587260865552452 Centerline is valid? [True, True] Translation: X:85.87, Y:-19.84, Z:-1.27 [[ 9.58922671e-01 -2.83622884e-01 -5.03689587e-03 8.58652189e+01] [ 2.83618768e-01 9.58935899e-01 -1.52849884e-03 -1.98367927e+01] [ 5.26357752e-03 3.71539964e-05 9.99986147e-01 -1.27051338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.92538474999999 meters 0.05579509075105994 Centerline is valid? [True, True] Translation: X:85.89, Y:-19.83, Z:-1.27 [[ 9.59098950e-01 -2.83027220e-01 -4.97967020e-03 8.58916859e+01] [ 2.83023179e-01 9.59111876e-01 -1.51298970e-03 -1.98276288e+01] [ 5.20427810e-03 4.17447355e-05 9.99986457e-01 -1.26776275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.95538475 meters 0.055605493283916736 Centerline is valid? [True, True] Translation: X:85.92, Y:-19.82, Z:-1.27 [[ 9.58864214e-01 -2.83828297e-01 -4.57338229e-03 8.59198161e+01] [ 2.83824893e-01 9.58875120e-01 -1.39062101e-03 -1.98201583e+01] [ 4.78000009e-03 3.53769878e-05 9.99988575e-01 -1.26694196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.98538475 meters 0.0557614203264311 Centerline is valid? [True, True] Translation: X:85.95, Y:-19.81, Z:-1.27 [[ 9.58698578e-01 -2.84384449e-01 -4.74581744e-03 8.59462629e+01] [ 2.84380780e-01 9.58710323e-01 -1.44489467e-03 -1.98104245e+01] [ 4.96076975e-03 3.55991925e-05 9.99987695e-01 -1.26864799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.01538475 meters 0.05593465510953633 Centerline is valid? [True, True] Translation: X:85.97, Y:-19.80, Z:-1.27 [[ 9.58915749e-01 -2.83643231e-01 -5.20614999e-03 8.59723479e+01] [ 2.83638815e-01 9.58929881e-01 -1.58323735e-03 -1.98011630e+01] [ 5.44140735e-03 4.15250169e-05 9.99985195e-01 -1.27082527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.04538475 meters 0.0557870929564125 Centerline is valid? [True, True] Translation: X:86.00, Y:-19.79, Z:-1.27 [[ 9.58919730e-01 -2.83654615e-01 -3.60708237e-03 8.60005875e+01] [ 2.83652491e-01 9.58926514e-01 -1.09805879e-03 -1.97929105e+01] [ 3.77039637e-03 2.97923418e-05 9.99992892e-01 -1.27036182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.07538475 meters 0.05583192936495757 Centerline is valid? [True, True] Translation: X:86.03, Y:-19.79, Z:-1.27 [[ 9.58683411e-01 -2.84459424e-01 -2.99238636e-03 8.60285987e+01] [ 2.84457958e-01 9.58688080e-01 -9.13614069e-04 -1.97854323e+01] [ 3.12865126e-03 2.46585403e-05 9.99995105e-01 -1.27003374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.10538475 meters 0.055750963532495854 Centerline is valid? [True, True] Translation: X:86.06, Y:-19.78, Z:-1.27 [[ 9.58320659e-01 -2.85674369e-01 -3.41617678e-03 8.60556865e+01] [ 2.85672472e-01 9.58326747e-01 -1.04123474e-03 -1.97800255e+01] [ 3.57126766e-03 2.19290959e-05 9.99993623e-01 -1.27023944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13538474999999 meters 0.055649439402889515 Centerline is valid? [True, True] Translation: X:86.08, Y:-19.77, Z:-1.27 [[ 9.57921255e-01 -2.87007558e-01 -3.67856845e-03 8.60833744e+01] [ 2.87005356e-01 9.57928317e-01 -1.12433241e-03 -1.97729834e+01] [ 3.84649679e-03 2.12530656e-05 9.99992602e-01 -1.27087577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.16538474999999 meters 0.055915401957633296 Centerline is valid? [True, True] Translation: X:86.11, Y:-19.77, Z:-1.27 [[ 9.57678691e-01 -2.87796484e-01 -4.97083780e-03 8.61112956e+01] [ 2.87792476e-01 9.57691591e-01 -1.51892781e-03 -1.97663686e+01] [ 5.19767164e-03 2.40750751e-05 9.99986492e-01 -1.27229193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19538474999999 meters 0.05592790417779741 Centerline is valid? [True, True] Translation: X:86.14, Y:-19.76, Z:-1.27 [[ 9.57451562e-01 -2.88532707e-01 -5.94843029e-03 8.61395345e+01] [ 2.88526977e-01 9.57470039e-01 -1.81857738e-03 -1.97581565e+01] [ 6.22016284e-03 2.49171431e-05 9.99980654e-01 -1.27422950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22538474999999 meters 0.05592790417779741 Centerline is valid? [True, True] Translation: X:86.17, Y:-19.75, Z:-1.27 [[ 9.57369807e-01 -2.88803871e-01 -5.94777485e-03 8.61659530e+01] [ 2.88798133e-01 9.57388283e-01 -1.82072269e-03 -1.97499102e+01] [ 6.22016171e-03 2.53986610e-05 9.99980654e-01 -1.27460063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25538474999999 meters 0.05591263505433187 Centerline is valid? [True, True] Translation: X:86.19, Y:-19.74, Z:-1.28 [[ 9.57477159e-01 -2.88441694e-01 -6.23536145e-03 8.61927232e+01] [ 2.88435396e-01 9.57497461e-01 -1.90640397e-03 -1.97414554e+01] [ 6.52022915e-03 2.68393124e-05 9.99978743e-01 -1.27577282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.28538474999999 meters 0.055888258405015684 Centerline is valid? [True, True] Translation: X:86.22, Y:-19.73, Z:-1.28 [[ 9.57556259e-01 -2.88174876e-01 -6.42280794e-03 8.62197025e+01] [ 2.88168182e-01 9.57577799e-01 -1.96428385e-03 -1.97325817e+01] [ 6.71639554e-03 3.00634055e-05 9.99977444e-01 -1.27606279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.31538474999999 meters 0.05611255109634816 Centerline is valid? [True, True] Translation: X:86.25, Y:-19.72, Z:-1.28 [[ 9.58025286e-01 -2.86606471e-01 -6.65444734e-03 8.62460676e+01] [ 2.86599238e-01 9.58048396e-01 -2.03661346e-03 -1.97224350e+01] [ 6.95898919e-03 4.39676557e-05 9.99975785e-01 -1.27609799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.34538475 meters 0.05597068154856731 Centerline is valid? [True, True] Translation: X:86.27, Y:-19.71, Z:-1.28 [[ 9.57995594e-01 -2.86724194e-01 -5.80331306e-03 8.62731762e+01] [ 2.86718674e-01 9.58013171e-01 -1.77951604e-03 -1.97133336e+01] [ 6.06988064e-03 4.08502943e-05 9.99981577e-01 -1.27600214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.37538475 meters 0.055805167495755 Centerline is valid? [True, True] Translation: X:86.30, Y:-19.71, Z:-1.27 [[ 9.57028845e-01 -2.89971873e-01 -3.47880138e-03 8.63003736e+01] [ 2.89969913e-01 9.57035168e-01 -1.06621929e-03 -1.97079918e+01] [ 3.63850887e-03 1.16548822e-05 9.99993381e-01 -1.27391802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.40538475 meters 0.05589351483771857 Centerline is valid? [True, True] Translation: X:86.33, Y:-19.70, Z:-1.27 [[ 9.56915800e-01 -2.90341843e-01 -3.71029326e-03 8.63265692e+01] [ 2.90339601e-01 9.56922993e-01 -1.14104387e-03 -1.96988175e+01] [ 3.88175771e-03 1.46378382e-05 9.99992466e-01 -1.27411523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.43538475 meters 0.055920602340804405 Centerline is valid? [True, True] Translation: X:86.35, Y:-19.69, Z:-1.28 [[ 9.57461397e-01 -2.88543405e-01 -3.22141706e-03 8.63517862e+01] [ 2.88541709e-01 9.57466816e-01 -9.89384218e-04 -1.96883372e+01] [ 3.36988022e-03 1.77840121e-05 9.99994322e-01 -1.27603188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.46538475 meters 0.05589425840714985 Centerline is valid? [True, True] Translation: X:86.38, Y:-19.68, Z:-1.28 [[ 9.57500515e-01 -2.88423937e-01 -2.09654653e-03 8.63786903e+01] [ 2.88423218e-01 9.57502811e-01 -6.44189375e-04 -1.96796046e+01] [ 2.19324883e-03 1.21189627e-05 9.99997595e-01 -1.27692283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49538474999999 meters 0.05576168382717966 Centerline is valid? [True, True] Translation: X:86.41, Y:-19.67, Z:-1.27 [[ 9.57530836e-01 -2.88328085e-01 -1.26999540e-03 8.64070701e+01] [ 2.88327817e-01 9.57531679e-01 -3.92991840e-04 -1.96715278e+01] [ 1.32937141e-03 1.01268052e-05 9.99999116e-01 -1.27438864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.52538474999999 meters 0.055810450994149594 Centerline is valid? [True, True] Translation: X:86.43, Y:-19.66, Z:-1.27 [[ 9.57520681e-01 -2.88362175e-01 -1.18383390e-03 8.64344604e+01] [ 2.88361940e-01 9.57521413e-01 -3.67743080e-04 -1.96641573e+01] [ 1.23958950e-03 1.07489635e-05 9.99999232e-01 -1.27319454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55538474999999 meters 0.05565697766470375 Centerline is valid? [True, True] Translation: X:86.46, Y:-19.66, Z:-1.27 [[ 9.57404553e-01 -2.88749591e-01 -4.41074404e-04 8.64614601e+01] [ 2.88749559e-01 9.57404655e-01 -1.36801421e-04 -1.96561654e+01] [ 4.61788042e-04 3.61426396e-06 9.99999893e-01 -1.27440856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.58538474999999 meters 0.05578194845979257 Centerline is valid? [True, True] Translation: X:86.49, Y:-19.65, Z:-1.28 [[ 9.57199323e-01 -2.89429244e-01 -4.10531258e-04 8.64887753e+01] [ 2.89429215e-01 9.57199411e-01 -1.30294169e-04 -1.96494654e+01] [ 4.30671221e-04 5.89775063e-06 9.99999907e-01 -1.27529562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61538474999999 meters 0.05561896029342779 Centerline is valid? [True, True] Translation: X:86.52, Y:-19.64, Z:-1.28 [[ 9.56839713e-01 -2.90614414e-01 -1.01306745e-03 8.65161878e+01] [ 2.90614242e-01 9.56840249e-01 -3.15894804e-04 -1.96421481e+01] [ 1.06114729e-03 7.84886407e-06 9.99999437e-01 -1.27685407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.64538474999999 meters 0.055688296570076005 Centerline is valid? [True, True] Translation: X:86.54, Y:-19.63, Z:-1.28 [[ 9.56723466e-01 -2.90994342e-01 -1.58176106e-03 8.65440497e+01] [ 2.90993928e-01 9.56724774e-01 -4.91010545e-04 -1.96341653e+01] [ 1.65619129e-03 9.47844460e-06 9.99998628e-01 -1.27806094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67538474999999 meters 0.055723899668635946 Centerline is valid? [True, True] Translation: X:86.57, Y:-19.63, Z:-1.28 [[ 9.55720186e-01 -2.94271150e-01 -1.84853762e-03 8.65722503e+01] [ 2.94270589e-01 9.55721973e-01 -5.74482405e-04 -1.96311017e+01] [ 1.93574162e-03 5.07417753e-06 9.99998126e-01 -1.27589771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.70538475 meters 0.05592989090133755 Centerline is valid? [True, True] Translation: X:86.60, Y:-19.62, Z:-1.28 [[ 9.55009036e-01 -2.96561903e-01 -2.96306847e-03 8.65988802e+01] [ 2.96560489e-01 9.55013632e-01 -9.15794558e-04 -1.96244179e+01] [ 3.10136056e-03 -4.13695530e-06 9.99995191e-01 -1.27741305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.73538475 meters 0.05593163514759919 Centerline is valid? [True, True] Translation: X:86.63, Y:-19.62, Z:-1.28 [[ 9.53948530e-01 -2.99961090e-01 -2.35525285e-03 8.66260591e+01] [ 2.99960205e-01 9.53951437e-01 -7.29004174e-04 -1.96198720e+01] [ 2.46546972e-03 -1.10496663e-05 9.99996961e-01 -1.27784026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.76538475 meters 0.0560484112460685 Centerline is valid? [True, True] Translation: X:86.65, Y:-19.61, Z:-1.28 [[ 9.53554967e-01 -3.01202930e-01 -3.11755900e-03 8.66519922e+01] [ 3.01201386e-01 9.53560063e-01 -9.64464156e-04 -1.96110427e+01] [ 3.26327919e-03 -1.93435061e-05 9.99994675e-01 -1.28069022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.79538475 meters 0.05592821518701339 Centerline is valid? [True, True] Translation: X:86.68, Y:-19.60, Z:-1.28 [[ 9.53838673e-01 -3.00300039e-01 -3.41647891e-03 8.66783696e+01] [ 3.00298167e-01 9.53844792e-01 -1.06032834e-03 -1.96000561e+01] [ 3.57720726e-03 -1.45801764e-05 9.99993602e-01 -1.28258151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.82538475 meters 0.055981508043539796 Centerline is valid? [True, True] Translation: X:86.70, Y:-19.59, Z:-1.28 [[ 9.54592717e-01 -2.97907132e-01 -2.02143041e-03 8.67043820e+01] [ 2.97906474e-01 9.54594857e-01 -6.26435189e-04 -1.95886224e+01] [ 2.11626658e-03 -4.20673704e-06 9.99997761e-01 -1.28287596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.85538475 meters 0.055705835285089 Centerline is valid? [True, True] Translation: X:86.73, Y:-19.58, Z:-1.28 [[ 9.55412648e-01 -2.95271014e-01 -1.30374305e-03 8.67316320e+01] [ 2.95270733e-01 9.55413538e-01 -4.07003435e-04 -1.95774258e+01] [ 1.36579008e-03 3.89906251e-06 9.99999067e-01 -1.27974543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.88538474999999 meters 0.0557898864654251 Centerline is valid? [True, True] Translation: X:86.76, Y:-19.57, Z:-1.28 [[ 9.55704604e-01 -2.94325232e-01 -1.16954928e-03 8.67576040e+01] [ 2.94325004e-01 9.55705319e-01 -3.66309226e-04 -1.95670509e+01] [ 1.22555852e-03 5.85581624e-06 9.99999249e-01 -1.27926686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91538474999999 meters 0.05574744089178197 Centerline is valid? [True, True] Translation: X:86.78, Y:-19.56, Z:-1.28 [[ 9.56246339e-01 -2.92558410e-01 -1.58589375e-03 8.67830068e+01] [ 2.92557995e-01 9.56247654e-01 -4.92762505e-04 -1.95563696e+01] [ 1.66066899e-03 7.23644669e-06 9.99998621e-01 -1.28075595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.94538474999999 meters 0.05594215785870325 Centerline is valid? [True, True] Translation: X:86.81, Y:-19.55, Z:-1.28 [[ 9.56610388e-01 -2.91364071e-01 -1.88278913e-03 8.68102425e+01] [ 2.91363479e-01 9.56612240e-01 -5.87450573e-04 -1.95452858e+01] [ 1.97226111e-03 1.33853314e-05 9.99998055e-01 -1.28223659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97538474999999 meters 0.056070573618478864 Centerline is valid? [True, True] Translation: X:86.84, Y:-19.54, Z:-1.29 [[ 9.56521671e-01 -2.91650879e-01 -2.46144792e-03 8.68366201e+01] [ 2.91649876e-01 9.56524837e-01 -7.65004873e-04 -1.95361231e+01] [ 2.57755042e-03 1.38627579e-05 9.99996678e-01 -1.28525839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.00538474999999 meters 0.0561249331215202 Centerline is valid? [True, True] Translation: X:86.86, Y:-19.53, Z:-1.29 [[ 9.56487985e-01 -2.91757114e-01 -2.91927421e-03 8.68635804e+01] [ 2.91755701e-01 9.56492439e-01 -9.08060910e-04 -1.95274132e+01] [ 3.05719694e-03 1.68344546e-05 9.99995327e-01 -1.28611848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03538474999999 meters 0.05626000566024835 Centerline is valid? [True, True] Translation: X:86.89, Y:-19.52, Z:-1.29 [[ 9.56858565e-01 -2.90537543e-01 -3.10191275e-03 8.68908985e+01] [ 2.90535935e-01 9.56863593e-01 -9.67097759e-04 -1.95183478e+01] [ 3.24908559e-03 2.41586527e-05 9.99994721e-01 -1.28628712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.06538474999999 meters 0.05616034559039226 Centerline is valid? [True, True] Translation: X:86.92, Y:-19.51, Z:-1.28 [[ 9.56885444e-01 -2.90443808e-01 -3.55553514e-03 8.69188081e+01] [ 2.90441691e-01 9.56892049e-01 -1.10926579e-03 -1.95100085e+01] [ 3.72444268e-03 2.87646488e-05 9.99993064e-01 -1.28495128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.09538475 meters 0.0560834251756767 Centerline is valid? [True, True] Translation: X:86.95, Y:-19.51, Z:-1.28 [[ 9.55948542e-01 -2.93527233e-01 -2.03677485e-03 8.69468792e+01] [ 2.93526547e-01 9.55950712e-01 -6.34854147e-04 -1.95050029e+01] [ 2.13340334e-03 9.04040930e-06 9.99997724e-01 -1.28391196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.12538475 meters 0.05600112488729998 Centerline is valid? [True, True] Translation: X:86.98, Y:-19.50, Z:-1.28 [[ 9.54665868e-01 -2.97677968e-01 -9.52577870e-04 8.69754991e+01] [ 2.97677817e-01 9.54666343e-01 -3.00064224e-04 -1.94997897e+01] [ 9.98716540e-04 2.89977165e-06 9.99999501e-01 -1.28279799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.15538475 meters 0.056242514728647566 Centerline is valid? [True, True] Translation: X:87.00, Y:-19.49, Z:-1.29 [[ 9.54382398e-01 -2.98580970e-01 -1.90869556e-03 8.70025377e+01] [ 2.98580375e-01 9.54384307e-01 -5.95685738e-04 -1.94917473e+01] [ 1.99948951e-03 -1.38705318e-06 9.99998001e-01 -1.28777972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.18538475 meters 0.056425294544264044 Centerline is valid? [True, True] Translation: X:87.03, Y:-19.48, Z:-1.29 [[ 9.54127308e-01 -2.99382322e-01 -3.36231418e-03 8.70301407e+01] [ 2.99380475e-01 9.54133233e-01 -1.05138936e-03 -1.94829027e+01] [ 3.52286308e-03 -3.45191311e-06 9.99993795e-01 -1.28933103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.21538475 meters 0.0565914147191917 Centerline is valid? [True, True] Translation: X:87.06, Y:-19.48, Z:-1.29 [[ 9.53540044e-01 -3.01240552e-01 -3.93890413e-03 8.70580287e+01] [ 3.01238032e-01 9.53548179e-01 -1.23220104e-03 -1.94762912e+01] [ 4.12712378e-03 -1.15946898e-05 9.99991483e-01 -1.29055028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.24538474999999 meters 0.056690577817517254 Centerline is valid? [True, True] Translation: X:87.09, Y:-19.47, Z:-1.29 [[ 9.53709108e-01 -3.00687595e-01 -5.08992550e-03 8.70858036e+01] [ 3.00683378e-01 9.53722690e-01 -1.59260548e-03 -1.94677816e+01] [ 5.33325415e-03 -1.15736341e-05 9.99985778e-01 -1.29160898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27538474999999 meters 0.05656471553059414 Centerline is valid? [True, True] Translation: X:87.11, Y:-19.46, Z:-1.29 [[ 9.54072115e-01 -2.99548580e-01 -4.12896999e-03 8.71129368e+01] [ 2.99545799e-01 9.54081049e-01 -1.29077440e-03 -1.94600043e+01] [ 4.32602166e-03 -5.32375260e-06 9.99990643e-01 -1.29120204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.30538474999999 meters 0.05644352107140047 Centerline is valid? [True, True] Translation: X:87.14, Y:-19.45, Z:-1.29 [[ 9.54117163e-01 -2.99423837e-01 -2.40952345e-03 8.71406964e+01] [ 2.99422882e-01 9.54120205e-01 -7.56531058e-04 -1.94512517e+01] [ 2.52549844e-03 3.52812472e-07 9.99996811e-01 -1.28984530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33538474999999 meters 0.05648586689019313 Centerline is valid? [True, True] Translation: X:87.17, Y:-19.44, Z:-1.29 [[ 9.54280670e-01 -2.98908264e-01 -1.50086123e-03 8.71682281e+01] [ 2.98907890e-01 9.54281850e-01 -4.72963334e-04 -1.94412001e+01] [ 1.57361728e-03 2.72050348e-06 9.99998762e-01 -1.28877797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.36538474999999 meters 0.05650436611597156 Centerline is valid? [True, True] Translation: X:87.19, Y:-19.43, Z:-1.29 [[ 9.54262189e-01 -2.98969695e-01 -8.91849416e-04 8.71947005e+01] [ 2.98969564e-01 9.54262606e-01 -2.80309796e-04 -1.94321757e+01] [ 9.34862682e-04 8.53209209e-07 9.99999563e-01 -1.29195886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39538474999999 meters 0.05662154866009581 Centerline is valid? [True, True] Translation: X:87.22, Y:-19.42, Z:-1.29 [[ 9.54083004e-01 -2.99541967e-01 -4.80094863e-04 8.72213548e+01] [ 2.99541928e-01 9.54083125e-01 -1.54219642e-04 -1.94235798e+01] [ 5.04245662e-04 3.32979880e-06 9.99999873e-01 -1.29114103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.42538474999999 meters 0.05669159041449711 Centerline is valid? [True, True] Translation: X:87.25, Y:-19.41, Z:-1.29 [[ 9.54350509e-01 -2.98686350e-01 -1.25328174e-03 8.72484503e+01] [ 2.98686087e-01 9.54351332e-01 -3.96247587e-04 -1.94146844e+01] [ 1.31442485e-03 3.82126636e-06 9.99999136e-01 -1.29155915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.45538475 meters 0.05666543213633879 Centerline is valid? [True, True] Translation: X:87.28, Y:-19.41, Z:-1.29 [[ 9.54199243e-01 -2.99171553e-01 -4.31116826e-04 8.72760974e+01] [ 2.99171521e-01 9.54199341e-01 -1.38739741e-04 -1.94065522e+01] [ 4.52878375e-04 3.40747884e-06 9.99999897e-01 -1.29098114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.48538475 meters 0.05680256053292253 Centerline is valid? [True, True] Translation: X:87.30, Y:-19.40, Z:-1.29 [[ 9.54345950e-01 -2.98699258e-01 -1.60053057e-03 8.73031046e+01] [ 2.98698833e-01 9.54347292e-01 -5.03572380e-04 -1.93984925e+01] [ 1.67787871e-03 2.50564767e-06 9.99998592e-01 -1.29392067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.51538475 meters 0.05694017657425069 Centerline is valid? [True, True] Translation: X:87.33, Y:-19.39, Z:-1.30 [[ 9.53463393e-01 -3.01506083e-01 -1.28022429e-03 8.73302683e+01] [ 3.01505810e-01 9.53464253e-01 -4.05926305e-04 -1.93916511e+01] [ 1.34303735e-03 1.04080957e-06 9.99999098e-01 -1.29528055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.54538475 meters 0.05709950938622465 Centerline is valid? [True, True] Translation: X:87.36, Y:-19.38, Z:-1.30 [[ 9.53129950e-01 -3.02554285e-01 -2.05027510e-03 8.73574822e+01] [ 3.02553595e-01 9.53132155e-01 -6.46104043e-04 -1.93845759e+01] [ 2.14966467e-03 -4.49698960e-06 9.99997689e-01 -1.29690803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.57538475 meters 0.05726413491900074 Centerline is valid? [True, True] Translation: X:87.38, Y:-19.38, Z:-1.30 [[ 9.52697823e-01 -3.03912784e-01 -1.96933543e-03 8.73847624e+01] [ 3.03912145e-01 9.52699858e-01 -6.23210551e-04 -1.93780970e+01] [ 2.06558724e-03 -4.77362163e-06 9.99997867e-01 -1.29763418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.60538475 meters 0.057415532109654326 Centerline is valid? [True, True] Translation: X:87.41, Y:-19.37, Z:-1.30 [[ 9.51312112e-01 -3.08225414e-01 -1.53595130e-03 8.74141639e+01] [ 3.08225030e-01 9.51313352e-01 -4.87032916e-04 -1.93738294e+01] [ 1.61128690e-03 -1.00983225e-05 9.99998702e-01 -1.29593454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63538474999999 meters 0.057438163400220815 Centerline is valid? [True, True] Translation: X:87.44, Y:-19.37, Z:-1.30 [[ 9.50723261e-01 -3.10038954e-01 -1.06194557e-03 8.74417775e+01] [ 3.10038769e-01 9.50723854e-01 -3.38598338e-04 -1.93678632e+01] [ 1.11459566e-03 -7.33098026e-06 9.99999379e-01 -1.29535788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.66538474999999 meters 0.05770209538833498 Centerline is valid? [True, True] Translation: X:87.47, Y:-19.36, Z:-1.29 [[ 9.49711532e-01 -3.13125703e-01 -5.47339778e-04 8.74699471e+01] [ 3.13125654e-01 9.49711690e-01 -1.73762455e-04 -1.93635582e+01] [ 5.74224476e-04 -6.36191916e-06 9.99999835e-01 -1.29489356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69538474999999 meters 0.0578009444368587 Centerline is valid? [True, True] Translation: X:87.50, Y:-19.36, Z:-1.30 [[ 9.49363910e-01 -3.14175612e-01 -1.36036287e-03 8.74981367e+01] [ 3.14175315e-01 9.49364885e-01 -4.32550277e-04 -1.93559738e+01] [ 1.42737749e-03 -1.67448104e-05 9.99998981e-01 -1.29610721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72538474999999 meters 0.05779474573593341 Centerline is valid? [True, True] Translation: X:87.52, Y:-19.35, Z:-1.30 [[ 9.49141182e-01 -3.14849456e-01 -9.14415590e-04 8.75243570e+01] [ 3.14849320e-01 9.49141623e-01 -2.92819388e-04 -1.93468152e+01] [ 9.60103922e-04 -9.97618612e-06 9.99999539e-01 -1.29575504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75538474999999 meters 0.05764155765986602 Centerline is valid? [True, True] Translation: X:87.55, Y:-19.34, Z:-1.30 [[ 9.49618670e-01 -3.13404729e-01 -1.36287027e-03 8.75507850e+01] [ 3.13404432e-01 9.49619648e-01 -4.31801533e-04 -1.93384528e+01] [ 1.42953703e-03 -1.70827864e-05 9.99998978e-01 -1.29704807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.78538474999999 meters 0.057713893224695806 Centerline is valid? [True, True] Translation: X:87.58, Y:-19.33, Z:-1.30 [[ 9.49882800e-01 -3.12602819e-01 -1.46425602e-03 8.75774845e+01] [ 3.12602475e-01 9.49883928e-01 -4.63932904e-04 -1.93299498e+01] [ 1.53589999e-03 -1.70481698e-05 9.99998820e-01 -1.29957760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.81538474999999 meters 0.05721508230290579 Centerline is valid? [True, True] Translation: X:87.60, Y:-19.32, Z:-1.30 [[ 9.51087301e-01 -3.08913345e-01 -2.34310229e-03 8.76032857e+01] [ 3.08912448e-01 9.51090188e-01 -7.44551991e-04 -1.93166808e+01] [ 2.45850364e-03 -1.56795214e-05 9.99996978e-01 -1.29839875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.84538475 meters 0.05711780756403983 Centerline is valid? [True, True] Translation: X:87.63, Y:-19.31, Z:-1.30 [[ 9.51514199e-01 -3.07595681e-01 -2.37189138e-03 8.76294450e+01] [ 3.07594763e-01 9.51517155e-01 -7.51635559e-04 -1.93074474e+01] [ 2.48809519e-03 -1.43894601e-05 9.99996905e-01 -1.30108866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.87538475 meters 0.05692638173640142 Centerline is valid? [True, True] Translation: X:87.66, Y:-19.30, Z:-1.30 [[ 9.51004422e-01 -3.09175733e-01 -9.77482634e-04 8.76575169e+01] [ 3.09175575e-01 9.51004924e-01 -3.12986333e-04 -1.92994689e+01] [ 1.02635858e-03 -4.56236815e-06 9.99999473e-01 -1.29749518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.90538475 meters 0.05706383568422949 Centerline is valid? [True, True] Translation: X:87.68, Y:-19.29, Z:-1.30 [[ 9.50420290e-01 -3.10968104e-01 3.31927620e-04 8.76838477e+01] [ 3.10968087e-01 9.50420348e-01 1.03429780e-04 -1.92934385e+01] [-3.47634128e-04 4.91713533e-06 9.99999940e-01 -1.29635397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.93538475 meters 0.05727045195316724 Centerline is valid? [True, True] Translation: X:87.71, Y:-19.28, Z:-1.30 [[ 9.49623170e-01 -3.13392360e-01 1.03153212e-03 8.77107908e+01] [ 3.13392193e-01 9.49623730e-01 3.23517008e-04 -1.92837257e+01] [-1.08095514e-03 1.60548678e-05 9.99999416e-01 -1.29608208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.96538475 meters 0.05739389916034822 Centerline is valid? [True, True] Translation: X:87.74, Y:-19.28, Z:-1.30 [[ 9.49430266e-01 -3.13976589e-01 9.33161586e-04 8.77377907e+01] [ 3.13976451e-01 9.49430725e-01 2.94705009e-04 -1.92755619e+01] [-9.78502755e-04 1.31889074e-05 9.99999521e-01 -1.29771190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99538474999999 meters 0.05729851634462343 Centerline is valid? [True, True] Translation: X:87.76, Y:-19.26, Z:-1.30 [[ 9.49612841e-01 -3.13423892e-01 9.56903717e-04 8.77639507e+01] [ 3.13423749e-01 9.49613323e-01 2.99806180e-04 -1.92634796e+01] [-1.00265494e-03 1.52165514e-05 9.99999497e-01 -1.29826802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.02538474999999 meters 0.0571938991957714 Centerline is valid? [True, True] Translation: X:87.79, Y:-19.25, Z:-1.30 [[ 9.49761086e-01 -3.12974530e-01 9.07454352e-04 8.77902814e+01] [ 3.12974402e-01 9.49761519e-01 2.84393905e-04 -1.92532349e+01] [-9.50873273e-04 1.39037183e-05 9.99999548e-01 -1.29845669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05538474999999 meters 0.057104118206906564 Centerline is valid? [True, True] Translation: X:87.82, Y:-19.24, Z:-1.30 [[ 9.50515457e-01 -3.10674960e-01 1.19809241e-03 8.78158745e+01] [ 3.10674729e-01 9.50516212e-01 3.79599093e-04 -1.92416903e+01] [-1.25673819e-03 1.14022283e-05 9.99999210e-01 -1.29898556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.08538474999999 meters 0.056950371413925976 Centerline is valid? [True, True] Translation: X:87.84, Y:-19.23, Z:-1.30 [[ 9.50839229e-01 -3.09680615e-01 1.63605295e-03 8.78427759e+01] [ 3.09680184e-01 9.50840637e-01 5.17051279e-04 -1.92308363e+01] [-1.71574639e-03 1.50205390e-05 9.99998528e-01 -1.29848475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11538474999999 meters 0.056950371413925976 Centerline is valid? [True, True] Translation: X:87.87, Y:-19.22, Z:-1.30 [[ 9.50753280e-01 -3.09944390e-01 1.63605320e-03 8.78690915e+01] [ 3.09943959e-01 9.50754687e-01 5.17052003e-04 -1.92222786e+01] [-1.71574261e-03 1.54959170e-05 9.99998528e-01 -1.29885584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.14538474999999 meters 0.05709442706003347 Centerline is valid? [True, True] Translation: X:87.90, Y:-19.21, Z:-1.30 [[ 9.51237059e-01 -3.08453355e-01 2.14148963e-03 8.78956633e+01] [ 3.08452608e-01 9.51239469e-01 6.79087042e-04 -1.92087713e+01] [-2.24653614e-03 1.45753013e-05 9.99997476e-01 -1.30001454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17538474999999 meters 0.05699074959696858 Centerline is valid? [True, True] Translation: X:87.92, Y:-19.20, Z:-1.30 [[ 9.51519525e-01 -3.07585276e-01 1.37504728e-03 8.79214766e+01] [ 3.07584965e-01 9.51520519e-01 4.37156139e-04 -1.91985042e+01] [-1.44284849e-03 6.98126873e-06 9.99998959e-01 -1.30102915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.20538475 meters 0.0570039449114985 Centerline is valid? [True, True] Translation: X:87.95, Y:-19.19, Z:-1.30 [[ 9.51844936e-01 -3.06579698e-01 3.25223565e-04 8.79480908e+01] [ 3.06579682e-01 9.51844992e-01 1.00399804e-04 -1.91875333e+01] [-3.40342964e-04 4.14189168e-06 9.99999942e-01 -1.30289878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.23538475 meters 0.05698463321453426 Centerline is valid? [True, True] Translation: X:87.97, Y:-19.18, Z:-1.30 [[ 9.52032288e-01 -3.05997060e-01 -5.67193071e-04 8.79747491e+01] [ 3.05997004e-01 9.52032457e-01 -1.84590741e-04 -1.91771622e+01] [ 5.96470437e-04 2.17696552e-06 9.99999822e-01 -1.30246238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.26538475 meters 0.05703547226354459 Centerline is valid? [True, True] Translation: X:88.00, Y:-19.17, Z:-1.31 [[ 9.52494927e-01 -3.04546318e-01 -2.22574836e-03 8.80005095e+01] [ 3.04545486e-01 9.52497528e-01 -7.12188289e-04 -1.91664234e+01] [ 2.33691413e-03 5.14115837e-07 9.99997269e-01 -1.30644748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.29538475 meters 0.05701391672393256 Centerline is valid? [True, True] Translation: X:88.03, Y:-19.16, Z:-1.31 [[ 9.52622081e-01 -3.04146281e-01 -2.49217317e-03 8.80267746e+01] [ 3.04145227e-01 9.52625341e-01 -8.00920436e-04 -1.91567216e+01] [ 2.61770428e-03 4.99191990e-06 9.99996574e-01 -1.30562550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.32538475 meters 0.057108623573826914 Centerline is valid? [True, True] Translation: X:88.05, Y:-19.15, Z:-1.31 [[ 9.53045384e-01 -3.02807462e-01 -3.48382103e-03 8.80529469e+01] [ 3.02805407e-01 9.53051751e-01 -1.11551866e-03 -1.91462008e+01] [ 3.65804911e-03 8.22006508e-06 9.99993309e-01 -1.30788375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.35538475 meters 0.05715333635203494 Centerline is valid? [True, True] Translation: X:88.08, Y:-19.14, Z:-1.31 [[ 9.52981666e-01 -3.03010603e-01 -3.24336443e-03 8.80796357e+01] [ 3.03008810e-01 9.52987185e-01 -1.04235388e-03 -1.91368276e+01] [ 3.40672902e-03 1.05761405e-05 9.99994197e-01 -1.30636776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.38538474999999 meters 0.05712765177415542 Centerline is valid? [True, True] Translation: X:88.11, Y:-19.13, Z:-1.31 [[ 9.53003560e-01 -3.02943603e-01 -3.06396671e-03 8.81057711e+01] [ 3.02942000e-01 9.53008485e-01 -9.85810047e-04 -1.91277111e+01] [ 3.21863112e-03 1.12762818e-05 9.99994820e-01 -1.30622544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41538474999999 meters 0.057075150044496974 Centerline is valid? [True, True] Translation: X:88.13, Y:-19.12, Z:-1.30 [[ 9.52762289e-01 -3.03709359e-01 -2.15539604e-03 8.81330136e+01] [ 3.03708571e-01 9.52764727e-01 -6.92131240e-04 -1.91212047e+01] [ 2.26379206e-03 4.82429340e-06 9.99997438e-01 -1.30471537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.44538474999999 meters 0.0570421210774667 Centerline is valid? [True, True] Translation: X:88.16, Y:-19.11, Z:-1.31 [[ 9.52081251e-01 -3.05841407e-01 -1.52502458e-03 8.81613649e+01] [ 3.05841010e-01 9.52082472e-01 -4.92649082e-04 -1.91136318e+01] [ 1.60262166e-03 2.62689488e-06 9.99998716e-01 -1.30504752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47538474999999 meters 0.05697481038888601 Centerline is valid? [True, True] Translation: X:88.19, Y:-19.11, Z:-1.30 [[ 9.51630702e-01 -3.07243917e-01 -4.26429173e-04 8.81895626e+01] [ 3.07243885e-01 9.51630798e-01 -1.40290743e-04 -1.91058418e+01] [ 4.48906612e-04 2.48722294e-06 9.99999899e-01 -1.30463621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.50538474999999 meters 0.05716611236398475 Centerline is valid? [True, True] Translation: X:88.22, Y:-19.10, Z:-1.31 [[ 9.50542515e-01 -3.10594145e-01 4.52513332e-04 8.82175904e+01] [ 3.10594113e-01 9.50542622e-01 1.41606561e-04 -1.90996053e+01] [-4.74115378e-04 5.94492078e-06 9.99999888e-01 -1.30534225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53538474999999 meters 0.05723797826267828 Centerline is valid? [True, True] Translation: X:88.25, Y:-19.09, Z:-1.31 [[ 9.49895812e-01 -3.12566314e-01 4.95882401e-04 8.82455230e+01] [ 3.12566275e-01 9.49895941e-01 1.56180517e-04 -1.90925218e+01] [-5.19853448e-04 6.64089583e-06 9.99999865e-01 -1.30708597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.56538474999999 meters 0.05755912218508682 Centerline is valid? [True, True] Translation: X:88.27, Y:-19.09, Z:-1.31 [[ 9.48410074e-01 -3.17045053e-01 -8.75382137e-04 8.82744040e+01] [ 3.17044924e-01 9.48410478e-01 -2.85262796e-04 -1.90875458e+01] [ 9.20662749e-04 -6.98935386e-06 9.99999576e-01 -1.30637642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.59538475 meters 0.05824932367271593 Centerline is valid? [True, True] Translation: X:88.30, Y:-19.09, Z:-1.31 [[ 9.46895430e-01 -3.21539201e-01 -1.25951651e-03 8.83028095e+01] [ 3.21538944e-01 9.46896268e-01 -4.07063526e-04 -1.90862130e+01] [ 1.32351836e-03 -1.95370151e-05 9.99999124e-01 -1.30737885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.62538475 meters 0.05870561592291938 Centerline is valid? [True, True] Translation: X:88.33, Y:-19.08, Z:-1.31 [[ 9.46017271e-01 -3.24115537e-01 -6.64045865e-04 8.83305468e+01] [ 3.24115466e-01 9.46017504e-01 -2.15045576e-04 -1.90804075e+01] [ 6.97898624e-04 -1.17907053e-05 9.99999756e-01 -1.30775599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.65538475 meters 0.05877191267262824 Centerline is valid? [True, True] Translation: X:88.36, Y:-19.07, Z:-1.31 [[ 9.45192254e-01 -3.26511318e-01 -1.40106669e-03 8.83577202e+01] [ 3.26511005e-01 9.45193292e-01 -4.52633304e-04 -1.90719934e+01] [ 1.47206874e-03 -2.96382018e-05 9.99998916e-01 -1.30631969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.68538475 meters 0.05869261384267215 Centerline is valid? [True, True] Translation: X:88.38, Y:-19.06, Z:-1.31 [[ 9.45265647e-01 -3.26294540e-01 -2.17487543e-03 8.83841048e+01] [ 3.26293781e-01 9.45268148e-01 -7.05291753e-04 -1.90627322e+01] [ 2.28597332e-03 -4.29602627e-05 9.99997386e-01 -1.30706545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.71538475 meters 0.05857769135508657 Centerline is valid? [True, True] Translation: X:88.41, Y:-19.05, Z:-1.31 [[ 9.45176240e-01 -3.26553370e-01 -2.18446383e-03 8.84107875e+01] [ 3.26552603e-01 9.45178763e-01 -7.09060546e-04 -1.90525179e+01] [ 2.29625493e-03 -4.31551671e-05 9.99997363e-01 -1.30842225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.74538474999999 meters 0.05835562694585211 Centerline is valid? [True, True] Translation: X:88.44, Y:-19.04, Z:-1.31 [[ 9.46241625e-01 -3.23447166e-01 -2.95274570e-03 8.84360771e+01] [ 3.23445759e-01 9.46246230e-01 -9.55359758e-04 -1.90392378e+01] [ 3.10303289e-03 -5.10519041e-05 9.99995184e-01 -1.30964473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77538474999999 meters 0.0580687111213384 Centerline is valid? [True, True] Translation: X:88.46, Y:-19.03, Z:-1.31 [[ 9.47237999e-01 -3.20516750e-01 -3.03102888e-03 8.84614693e+01] [ 3.20515253e-01 9.47242847e-01 -9.80332306e-04 -1.90273852e+01] [ 3.18533335e-03 -4.28829785e-05 9.99994926e-01 -1.30952936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.80538474999999 meters 0.05718972480520682 Centerline is valid? [True, True] Translation: X:88.49, Y:-19.01, Z:-1.31 [[ 9.48847146e-01 -3.15725448e-01 -2.55639855e-03 8.84867466e+01] [ 3.15724358e-01 9.48850590e-01 -8.29787606e-04 -1.90117136e+01] [ 2.68762533e-03 -1.97756885e-05 9.99996388e-01 -1.30961439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83538474999999 meters 0.056982612727312344 Centerline is valid? [True, True] Translation: X:88.51, Y:-19.00, Z:-1.31 [[ 9.49832326e-01 -3.12753923e-01 -1.88057369e-03 8.85117500e+01] [ 3.12753329e-01 9.49834188e-01 -6.09330533e-04 -1.89985504e+01] [ 1.97680369e-03 -9.39384388e-06 9.99998046e-01 -1.30976933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.86538474999999 meters 0.05692575083002148 Centerline is valid? [True, True] Translation: X:88.54, Y:-18.99, Z:-1.31 [[ 9.49974608e-01 -3.12322324e-01 -1.73466730e-03 8.85381029e+01] [ 3.12321813e-01 9.49976192e-01 -5.65189469e-04 -1.89885903e+01] [ 1.82441392e-03 -4.85879163e-06 9.99998336e-01 -1.30966148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89538474999999 meters 0.0569973234489664 Centerline is valid? [True, True] Translation: X:88.57, Y:-18.98, Z:-1.31 [[ 9.49334859e-01 -3.14266316e-01 -8.66988296e-05 8.85655308e+01] [ 3.14266314e-01 9.49334863e-01 -3.13466410e-05 -1.89807204e+01] [ 9.21574146e-05 2.51193746e-06 9.99999996e-01 -1.31044164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.92538474999999 meters 0.0570804737299205 Centerline is valid? [True, True] Translation: X:88.59, Y:-18.97, Z:-1.31 [[ 9.48908947e-01 -3.15548971e-01 -8.10635104e-04 8.85933447e+01] [ 3.15548859e-01 9.48909293e-01 -2.66063285e-04 -1.89731673e+01] [ 8.53175179e-04 -3.32515003e-06 9.99999636e-01 -1.31080732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.95538475 meters 0.05724667323739868 Centerline is valid? [True, True] Translation: X:88.62, Y:-18.97, Z:-1.31 [[ 9.47736101e-01 -3.19055295e-01 -4.08246046e-05 8.86216245e+01] [ 3.19055294e-01 9.47736102e-01 -1.66611761e-05 -1.89670526e+01] [ 4.40067878e-05 2.76509186e-06 9.99999999e-01 -1.30999492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.98538475 meters 0.057822589762834914 Centerline is valid? [True, True] Translation: X:88.65, Y:-18.96, Z:-1.31 [[ 9.46429268e-01 -3.22905394e-01 -1.93565710e-03 8.86501233e+01] [ 3.22904777e-01 9.46431247e-01 -6.31923334e-04 -1.89612710e+01] [ 2.03601782e-03 -2.69621862e-05 9.99997927e-01 -1.31238215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.01538475 meters 0.05810449515083342 Centerline is valid? [True, True] Translation: X:88.68, Y:-18.95, Z:-1.31 [[ 9.46111649e-01 -3.23835443e-01 -1.83131571e-03 8.86767393e+01] [ 3.23834896e-01 9.46113421e-01 -5.96028785e-04 -1.89543881e+01] [ 1.92564762e-03 -2.91341551e-05 9.99998146e-01 -1.31295150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.04538475 meters 0.058630826224704655 Centerline is valid? [True, True] Translation: X:88.70, Y:-18.95, Z:-1.32 [[ 9.45074720e-01 -3.26833251e-01 -3.71472139e-03 8.87041636e+01] [ 3.26831027e-01 9.45082018e-01 -1.20800283e-03 -1.89485240e+01] [ 3.90553188e-03 -7.24332718e-05 9.99992371e-01 -1.31585218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.07538475 meters 0.05906740277685867 Centerline is valid? [True, True] Translation: X:88.73, Y:-18.94, Z:-1.32 [[ 9.44429395e-01 -3.28681179e-01 -4.66900860e-03 8.87308870e+01] [ 3.28677686e-01 9.44440931e-01 -1.51855189e-03 -1.89415347e+01] [ 4.90872225e-03 -1.00433905e-04 9.99987947e-01 -1.31696753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.10538475 meters 0.059636639267789754 Centerline is valid? [True, True] Translation: X:88.76, Y:-18.93, Z:-1.32 [[ 9.43516866e-01 -3.31277245e-01 -5.59555817e-03 8.87592856e+01] [ 3.31272255e-01 9.43533449e-01 -1.82319651e-03 -1.89346426e+01] [ 5.88357981e-03 -1.33436518e-04 9.99982683e-01 -1.31802221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13538474999999 meters 0.06002871856903932 Centerline is valid? [True, True] Translation: X:88.79, Y:-18.93, Z:-1.32 [[ 9.43164993e-01 -3.32277230e-01 -5.62476318e-03 8.87863299e+01] [ 3.32272215e-01 9.43181755e-01 -1.83108831e-03 -1.89270749e+01] [ 5.91360296e-03 -1.41934121e-04 9.99982504e-01 -1.31777709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.16538474999999 meters 0.06048257158644988 Centerline is valid? [True, True] Translation: X:88.81, Y:-18.92, Z:-1.32 [[ 9.42482022e-01 -3.34217213e-01 -5.14715887e-03 8.88140421e+01] [ 3.34213024e-01 9.42496066e-01 -1.67907835e-03 -1.89191658e+01] [ 5.41235387e-03 -1.37746372e-04 9.99985344e-01 -1.31809979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19538474999999 meters 0.059444682085821286 Centerline is valid? [True, True] Translation: X:88.84, Y:-18.91, Z:-1.31 [[ 9.42218128e-01 -3.34958271e-01 -5.28738340e-03 8.88399789e+01] [ 3.34953866e-01 9.42232952e-01 -1.72412468e-03 -1.89068525e+01] [ 5.55945669e-03 -1.46527977e-04 9.99984535e-01 -1.31406146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.22538474999999 meters 0.06032814468185718 Centerline is valid? [True, True] Translation: X:88.87, Y:-18.90, Z:-1.32 [[ 9.42533625e-01 -3.34090027e-01 -3.77078934e-03 8.88676028e+01] [ 3.34087775e-01 9.42541163e-01 -1.23060978e-03 -1.89005849e+01] [ 3.96525863e-03 -9.98835253e-05 9.99992133e-01 -1.31604682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25538474999999 meters 0.05852837775917703 Centerline is valid? [True, True] Translation: X:88.89, Y:-18.88, Z:-1.31 [[ 9.42865956e-01 -3.33162414e-01 -2.56784246e-03 8.88930489e+01] [ 3.33161359e-01 9.42869451e-01 -8.41058257e-04 -1.88840500e+01] [ 2.70134921e-03 -6.25006833e-05 9.99996349e-01 -1.31237780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.28538474999999 meters 0.058831161532448766 Centerline is valid? [True, True] Translation: X:88.92, Y:-18.87, Z:-1.31 [[ 9.44321578e-01 -3.29023068e-01 -7.60087236e-04 8.89193742e+01] [ 3.29022974e-01 9.44321884e-01 -2.49158010e-04 -1.88742262e+01] [ 7.99745743e-04 -1.48008773e-05 9.99999680e-01 -1.31403109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.31538474999999 meters 0.05764115948538506 Centerline is valid? [True, True] Translation: X:88.94, Y:-18.86, Z:-1.31 [[ 9.44966042e-01 -3.27167745e-01 -6.67611209e-04 8.89448523e+01] [ 3.27167670e-01 9.44966278e-01 -2.21396167e-04 -1.88587179e+01] [ 7.03303764e-04 -9.20894406e-06 9.99999753e-01 -1.31191919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.34538475 meters 0.05701872986007856 Centerline is valid? [True, True] Translation: X:88.97, Y:-18.84, Z:-1.31 [[ 9.46842734e-01 -3.21695020e-01 -1.07308881e-03 8.89694578e+01] [ 3.21694828e-01 9.46843342e-01 -3.51637392e-04 -1.88424854e+01] [ 1.12916700e-03 -1.22618117e-05 9.99999362e-01 -1.31350187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.37538475 meters 0.05665661472525436 Centerline is valid? [True, True] Translation: X:89.00, Y:-18.83, Z:-1.31 [[ 9.47607514e-01 -3.19434559e-01 -1.25004955e-03 8.89953257e+01] [ 3.19434293e-01 9.47608338e-01 -4.12118228e-04 -1.88296253e+01] [ 1.31620218e-03 -8.78236513e-06 9.99999134e-01 -1.31331905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.40538475 meters 0.05615160280102135 Centerline is valid? [True, True] Translation: X:89.02, Y:-18.82, Z:-1.32 [[ 9.49101558e-01 -3.14961688e-01 -2.31679605e-03 8.90202366e+01] [ 3.14960775e-01 9.49104386e-01 -7.58766570e-04 -1.88169958e+01] [ 2.43786369e-03 -9.55334381e-06 9.99997028e-01 -1.31565138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.43538475 meters 0.055921639284041716 Centerline is valid? [True, True] Translation: X:89.05, Y:-18.81, Z:-1.31 [[ 9.49640213e-01 -3.13327433e-01 -3.06356353e-03 8.90465340e+01] [ 3.13325816e-01 9.49645154e-01 -1.00668948e-03 -1.88054531e+01] [ 3.22472169e-03 -3.90073090e-06 9.99994801e-01 -1.31399851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.46538475 meters 0.05586346098959371 Centerline is valid? [True, True] Translation: X:89.07, Y:-18.79, Z:-1.32 [[ 9.50692451e-01 -3.10120806e-01 -2.99140831e-03 8.90720420e+01] [ 3.10119245e-01 9.50697158e-01 -9.83997714e-04 -1.87916860e+01] [ 3.14908154e-03 7.78591077e-06 9.99995042e-01 -1.31577004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49538474999999 meters 0.05589611871291468 Centerline is valid? [True, True] Translation: X:89.10, Y:-18.78, Z:-1.32 [[ 9.51575300e-01 -3.07397701e-01 -3.33178568e-03 8.90977981e+01] [ 3.07395758e-01 9.51581133e-01 -1.09305556e-03 -1.87805480e+01] [ 3.50646716e-03 1.59478867e-05 9.99993852e-01 -1.31794076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.52538474999999 meters 0.05615804707946733 Centerline is valid? [True, True] Translation: X:89.12, Y:-18.77, Z:-1.32 [[ 9.53095684e-01 -3.02647394e-01 -3.62923441e-03 8.91227708e+01] [ 3.02645050e-01 9.53102593e-01 -1.19164465e-03 -1.87675884e+01] [ 3.81968087e-03 3.73815396e-05 9.99992704e-01 -1.32031911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55538474999999 meters 0.056337985294948184 Centerline is valid? [True, True] Translation: X:89.15, Y:-18.76, Z:-1.32 [[ 9.54023939e-01 -2.99710730e-01 -3.43535814e-03 8.91493389e+01] [ 2.99708601e-01 9.54030123e-01 -1.13062683e-03 -1.87567837e+01] [ 3.61629614e-03 4.90386812e-05 9.99993460e-01 -1.32037100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58538474999999 meters 0.05715446721671798 Centerline is valid? [True, True] Translation: X:89.17, Y:-18.74, Z:-1.32 [[ 9.55563186e-01 -2.94778364e-01 -2.17130773e-03 8.91742323e+01] [ 2.94777500e-01 9.55565652e-01 -7.14928255e-04 -1.87444366e+01] [ 2.28557246e-03 4.31064575e-05 9.99997387e-01 -1.32118552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61538474999999 meters 0.057056484659289974 Centerline is valid? [True, True] Translation: X:89.20, Y:-18.74, Z:-1.32 [[ 9.55784024e-01 -2.94067399e-01 -1.12439573e-03 8.92017441e+01] [ 2.94067163e-01 9.55784685e-01 -3.73345717e-04 -1.87371465e+01] [ 1.18446902e-03 2.61900095e-05 9.99999298e-01 -1.32003925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.64538474999999 meters 0.05687860543957838 Centerline is valid? [True, True] Translation: X:89.23, Y:-18.73, Z:-1.32 [[ 9.55487994e-01 -2.95029971e-01 -1.00162844e-04 8.92297492e+01] [ 2.95029969e-01 9.55487999e-01 -3.63126541e-05 -1.87313344e+01] [ 1.06417716e-04 5.14526439e-06 9.99999994e-01 -1.31947966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67538474999999 meters 0.05671016780617157 Centerline is valid? [True, True] Translation: X:89.26, Y:-18.73, Z:-1.32 [[ 9.55142795e-01 -2.96145449e-01 3.37623815e-04 8.92579445e+01] [ 2.96145429e-01 9.55142855e-01 1.07736158e-04 -1.87251065e+01] [-3.54384548e-04 -2.91766533e-06 9.99999937e-01 -1.32005054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.70538475 meters 0.05609568977499583 Centerline is valid? [True, True] Translation: X:89.29, Y:-18.72, Z:-1.32 [[ 9.53812735e-01 -3.00401592e-01 -3.87942703e-04 8.92875197e+01] [ 3.00401564e-01 9.53812814e-01 -1.31122159e-04 -1.87238916e+01] [ 4.09414026e-04 8.52739083e-06 9.99999916e-01 -1.32181743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.73538475 meters 0.05585117222865194 Centerline is valid? [True, True] Translation: X:89.32, Y:-18.72, Z:-1.32 [[ 9.52894475e-01 -3.03300039e-01 -1.09807630e-03 8.93167766e+01] [ 3.03299819e-01 9.52895108e-01 -3.65298813e-04 -1.87195959e+01] [ 1.15714668e-03 1.50448765e-05 9.99999330e-01 -1.32314423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.76538475 meters 0.055555958615965684 Centerline is valid? [True, True] Translation: X:89.35, Y:-18.72, Z:-1.33 [[ 9.50731671e-01 -3.10000675e-01 -2.97840102e-03 8.93463588e+01] [ 3.09999116e-01 9.50736337e-01 -9.83217784e-04 -1.87214036e+01] [ 3.13647225e-03 1.14746053e-05 9.99995081e-01 -1.32610601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.79538475 meters 0.05565128275480329 Centerline is valid? [True, True] Translation: X:89.38, Y:-18.72, Z:-1.33 [[ 9.49519104e-01 -3.13683650e-01 -4.00493142e-03 8.93760014e+01] [ 3.13680852e-01 9.49527550e-01 -1.32479169e-03 -1.87184956e+01] [ 4.21835822e-03 1.64471994e-06 9.99991103e-01 -1.32741573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.82538475 meters 0.056001387802728925 Centerline is valid? [True, True] Translation: X:89.41, Y:-18.72, Z:-1.33 [[ 9.47067601e-01 -3.20992299e-01 -5.18686876e-03 8.94072303e+01] [ 3.20987714e-01 9.47081804e-01 -1.71609413e-03 -1.87216739e+01] [ 5.46324202e-03 -3.96639889e-05 9.99985076e-01 -1.32920764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.85538475 meters 0.056478376852044966 Centerline is valid? [True, True] Translation: X:89.44, Y:-18.72, Z:-1.33 [[ 9.46035587e-01 -3.24007084e-01 -6.00642160e-03 8.94357454e+01] [ 3.24001010e-01 9.46054652e-01 -1.98517080e-03 -1.87182925e+01] [ 6.32561250e-03 -6.80444464e-05 9.99979991e-01 -1.33028039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.88538474999999 meters 0.057096912303417194 Centerline is valid? [True, True] Translation: X:89.46, Y:-18.71, Z:-1.33 [[ 9.44695307e-01 -3.27886650e-01 -6.41268578e-03 8.94635329e+01] [ 3.27879812e-01 9.44717066e-01 -2.11992694e-03 -1.87143577e+01] [ 6.75326943e-03 -9.99051787e-05 9.99977191e-01 -1.33111604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91538474999999 meters 0.05670598852114856 Centerline is valid? [True, True] Translation: X:89.49, Y:-18.70, Z:-1.33 [[ 9.43888451e-01 -3.30217109e-01 -5.59037665e-03 8.94906651e+01] [ 3.30211930e-01 9.43905001e-01 -1.85202704e-03 -1.87049565e+01] [ 5.88835550e-03 -9.79021282e-05 9.99982659e-01 -1.32810470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.94538474999999 meters 0.05681141452513043 Centerline is valid? [True, True] Translation: X:89.52, Y:-18.70, Z:-1.33 [[ 9.43362440e-01 -3.31717675e-01 -5.53993073e-03 8.95181456e+01] [ 3.31712606e-01 9.43378701e-01 -1.83691047e-03 -1.86965256e+01] [ 5.83558833e-03 -1.04792511e-04 9.99982967e-01 -1.32679624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97538474999999 meters 0.057056367829668636 Centerline is valid? [True, True] Translation: X:89.55, Y:-18.68, Z:-1.33 [[ 9.42712587e-01 -3.33570630e-01 -4.85928765e-03 8.95450396e+01] [ 3.33566744e-01 9.42725106e-01 -1.61313685e-03 -1.86849487e+01] [ 5.11906754e-03 -1.00172345e-04 9.99986892e-01 -1.32619966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.00538474999999 meters 0.05708918472411956 Centerline is valid? [True, True] Translation: X:89.57, Y:-18.68, Z:-1.33 [[ 9.42485650e-01 -3.34222384e-01 -4.02472327e-03 8.95705855e+01] [ 3.34219721e-01 9.42494239e-01 -1.33677581e-03 -1.86758768e+01] [ 4.24005889e-03 -8.52498662e-05 9.99991007e-01 -1.32569981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03538474999999 meters 0.05708918472411956 Centerline is valid? [True, True] Translation: X:89.60, Y:-18.67, Z:-1.33 [[ 9.42390372e-01 -3.34490948e-01 -4.02396783e-03 8.95968173e+01] [ 3.34488278e-01 9.42398960e-01 -1.33905273e-03 -1.86670137e+01] [ 4.24008412e-03 -8.40596717e-05 9.99991007e-01 -1.32607151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.06538474999999 meters 0.056844491475088556 Centerline is valid? [True, True] Translation: X:89.62, Y:-18.66, Z:-1.33 [[ 9.42409340e-01 -3.34449664e-01 -2.83867082e-03 8.96239013e+01] [ 3.34448331e-01 9.42413613e-01 -9.46077985e-04 -1.86576191e+01] [ 2.99161749e-03 -5.77959892e-05 9.99995523e-01 -1.32549903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.09538475 meters 0.05693127096082982 Centerline is valid? [True, True] Translation: X:89.65, Y:-18.65, Z:-1.32 [[ 9.42062379e-01 -3.35436493e-01 -9.12364049e-04 8.96499101e+01] [ 3.35436356e-01 9.42062821e-01 -3.04280608e-04 -1.86486481e+01] [ 9.61571069e-04 -1.93887585e-05 9.99999538e-01 -1.32259306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.12538475 meters 0.05688750943930622 Centerline is valid? [True, True] Translation: X:89.68, Y:-18.64, Z:-1.32 [[ 9.42004631e-01 -3.35599189e-01 6.78305875e-04 8.96773807e+01] [ 3.35599116e-01 9.42004875e-01 2.22008334e-04 -1.86386328e+01] [-7.13473258e-04 1.85059732e-05 9.99999745e-01 -1.32233812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.15538475 meters 0.05701153937933389 Centerline is valid? [True, True] Translation: X:89.70, Y:-18.63, Z:-1.32 [[ 9.41746164e-01 -3.36322107e-01 1.26583971e-03 8.97040656e+01] [ 3.36321850e-01 9.41747014e-01 4.17214704e-04 -1.86289491e+01] [-1.33241930e-03 3.28192070e-05 9.99999112e-01 -1.32179143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.18538475 meters 0.05727756211362714 Centerline is valid? [True, True] Translation: X:89.73, Y:-18.62, Z:-1.32 [[ 9.41650936e-01 -3.36588679e-01 1.25541309e-03 8.97294217e+01] [ 3.36588423e-01 9.41651772e-01 4.16209865e-04 -1.86181763e+01] [-1.32225349e-03 3.06331042e-05 9.99999125e-01 -1.32381665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.21538475 meters 0.05765962342063497 Centerline is valid? [True, True] Translation: X:89.75, Y:-18.61, Z:-1.33 [[ 9.41838869e-01 -3.36064702e-01 2.46844067e-04 8.97543319e+01] [ 3.36064692e-01 9.41838901e-01 8.04972890e-05 -1.86078811e+01] [-2.59539642e-04 7.14009960e-06 9.99999966e-01 -1.32598721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.24538474999999 meters 0.05796085430948099 Centerline is valid? [True, True] Translation: X:89.78, Y:-18.60, Z:-1.33 [[ 9.41746487e-01 -3.36320533e-01 -1.43317762e-03 8.97816269e+01] [ 3.36320190e-01 9.41747577e-01 -4.80958101e-04 -1.85982661e+01] [ 1.51144764e-03 -2.90659680e-05 9.99998857e-01 -1.32789151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27538474999999 meters 0.058205133214811425 Centerline is valid? [True, True] Translation: X:89.81, Y:-18.59, Z:-1.33 [[ 9.41545332e-01 -3.36865831e-01 -3.71483109e-03 8.98088957e+01] [ 3.36863550e-01 9.41552657e-01 -1.24224015e-03 -1.85882057e+01] [ 3.91617734e-03 -8.17657731e-05 9.99992328e-01 -1.33022105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.30538474999999 meters 0.058533257315690104 Centerline is valid? [True, True] Translation: X:89.84, Y:-18.58, Z:-1.33 [[ 9.41005931e-01 -3.38369884e-01 -3.69587872e-03 8.98369376e+01] [ 3.38367635e-01 9.41013185e-01 -1.23685278e-03 -1.85794916e+01] [ 3.89638434e-03 -8.66799346e-05 9.99992405e-01 -1.33192119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33538474999999 meters 0.05940940977448584 Centerline is valid? [True, True] Translation: X:89.86, Y:-18.57, Z:-1.33 [[ 9.40233797e-01 -3.40483067e-01 -5.62916387e-03 8.98644033e+01] [ 3.40477910e-01 9.40250636e-01 -1.87997224e-03 -1.85715919e+01] [ 5.93292362e-03 -1.48992505e-04 9.99982389e-01 -1.33461804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.36538474999999 meters 0.05863216527599059 Centerline is valid? [True, True] Translation: X:89.89, Y:-18.56, Z:-1.33 [[ 9.40007402e-01 -3.41108422e-01 -5.57924369e-03 8.98908493e+01] [ 3.41103342e-01 9.40023948e-01 -1.86750795e-03 -1.85588487e+01] [ 5.88164537e-03 -1.47627365e-04 9.99982692e-01 -1.33273682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39538474999999 meters 0.05872086843562554 Centerline is valid? [True, True] Translation: X:89.92, Y:-18.55, Z:-1.33 [[ 9.39932703e-01 -3.41327048e-01 -4.72873248e-03 8.99166365e+01] [ 3.41323403e-01 9.39944589e-01 -1.58240101e-03 -1.85494666e+01] [ 4.98486277e-03 -1.26676603e-04 9.99987567e-01 -1.33363689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.42538474999999 meters 0.05931235318005743 Centerline is valid? [True, True] Translation: X:89.94, Y:-18.54, Z:-1.34 [[ 9.40272641e-01 -3.40390097e-01 -4.68434358e-03 8.99442401e+01] [ 3.40386494e-01 9.40284302e-01 -1.57040094e-03 -1.85422524e+01] [ 4.93916366e-03 -1.17882253e-04 9.99987795e-01 -1.33637837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.45538475 meters 0.05780093712887973 Centerline is valid? [True, True] Translation: X:89.97, Y:-18.53, Z:-1.33 [[ 9.41616637e-01 -3.36674111e-01 -2.94136786e-03 8.99696509e+01] [ 3.36672676e-01 9.41621229e-01 -9.85045972e-04 -1.85275930e+01] [ 3.10129390e-03 -6.27425118e-05 9.99995189e-01 -1.33210621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.48538475 meters 0.057399782192172996 Centerline is valid? [True, True] Translation: X:90.00, Y:-18.52, Z:-1.33 [[ 9.42393873e-01 -3.34496853e-01 -2.37566289e-03 8.99971151e+01] [ 3.34495902e-01 9.42396866e-01 -7.98570528e-04 -1.85165913e+01] [ 2.50593659e-03 -4.20815299e-05 9.99996859e-01 -1.33158492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.51538475 meters 0.056704741455363854 Centerline is valid? [True, True] Translation: X:90.02, Y:-18.50, Z:-1.33 [[ 9.43871337e-01 -3.30313074e-01 -4.14718938e-04 9.00237781e+01] [ 3.30313044e-01 9.43871428e-01 -1.42071339e-04 -1.85030407e+01] [ 4.38369376e-04 -2.89001013e-06 9.99999904e-01 -1.33020381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.54538475 meters 0.05636780032207529 Centerline is valid? [True, True] Translation: X:90.05, Y:-18.49, Z:-1.33 [[ 9.44702120e-01 -3.27929726e-01 7.62302183e-06 9.00507628e+01] [ 3.27929726e-01 9.44702120e-01 -5.71900129e-07 -1.84908953e+01] [-7.01394215e-06 3.04009073e-06 1.00000000e+00 -1.33084981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.57538475 meters 0.05601873658817872 Centerline is valid? [True, True] Translation: X:90.08, Y:-18.48, Z:-1.33 [[ 9.46111559e-01 -3.23840753e-01 -2.89382850e-04 9.00764084e+01] [ 3.23840737e-01 9.46111604e-01 -1.00436085e-04 -1.84777386e+01] [ 3.06313770e-04 1.30978506e-06 9.99999953e-01 -1.33211756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.60538475 meters 0.055813073664655946 Centerline is valid? [True, True] Translation: X:90.10, Y:-18.47, Z:-1.33 [[ 9.46470090e-01 -3.22791418e-01 -2.62857295e-04 9.01027646e+01] [ 3.22791405e-01 9.46470126e-01 -9.20577184e-05 -1.84676496e+01] [ 2.78502018e-04 2.28180131e-06 9.99999961e-01 -1.33250209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63538474999999 meters 0.055807720380949756 Centerline is valid? [True, True] Translation: X:90.13, Y:-18.46, Z:-1.34 [[ 9.46430867e-01 -3.22905219e-01 -9.13357103e-04 9.01296755e+01] [ 3.22905072e-01 9.46431307e-01 -3.08651769e-04 -1.84601186e+01] [ 9.64095024e-04 -2.81007940e-06 9.99999535e-01 -1.33508845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.66538474999999 meters 0.055949430332729984 Centerline is valid? [True, True] Translation: X:90.16, Y:-18.45, Z:-1.34 [[ 9.45967097e-01 -3.24259970e-01 -1.31301126e-03 9.01579929e+01] [ 3.24259665e-01 9.45968008e-01 -4.44760993e-04 -1.84528937e+01] [ 1.38628484e-03 -5.02732702e-06 9.99999039e-01 -1.33671333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69538474999999 meters 0.05653640351491116 Centerline is valid? [True, True] Translation: X:90.19, Y:-18.45, Z:-1.34 [[ 9.44820178e-01 -3.27579861e-01 -2.50330566e-03 9.01859944e+01] [ 3.27578775e-01 9.44823494e-01 -8.43825316e-04 -1.84494290e+01] [ 2.64160218e-03 -2.27666168e-05 9.99996511e-01 -1.33845118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.72538474999999 meters 0.05648695357566947 Centerline is valid? [True, True] Translation: X:90.21, Y:-18.44, Z:-1.34 [[ 9.44669740e-01 -3.27998458e-01 -4.01166350e-03 9.02137487e+01] [ 3.27995667e-01 9.44678257e-01 -1.35371538e-03 -1.84421512e+01] [ 4.23374784e-03 -3.69942894e-05 9.99991037e-01 -1.34052355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75538474999999 meters 0.05669450718413432 Centerline is valid? [True, True] Translation: X:90.24, Y:-18.44, Z:-1.34 [[ 9.44681232e-01 -3.27931817e-01 -6.17193874e-03 9.02407056e+01] [ 3.27925229e-01 9.44701392e-01 -2.07945475e-03 -1.84353849e+01] [ 6.51255849e-03 -5.95125498e-05 9.99978791e-01 -1.34255955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.78538474999999 meters 0.05678745677715429 Centerline is valid? [True, True] Translation: X:90.27, Y:-18.43, Z:-1.34 [[ 9.44640524e-01 -3.28079560e-01 -4.25233394e-03 9.02677705e+01] [ 3.28076431e-01 9.44650094e-01 -1.43341354e-03 -1.84282461e+01] [ 4.48724134e-03 -4.10300290e-05 9.99989931e-01 -1.34270206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.81538474999999 meters 0.05662828090229475 Centerline is valid? [True, True] Translation: X:90.30, Y:-18.42, Z:-1.34 [[ 9.44546995e-01 -3.28357345e-01 -3.52541180e-03 9.02951646e+01] [ 3.28355185e-01 9.44553573e-01 -1.19147483e-03 -1.84198860e+01] [ 3.72116983e-03 -3.21832752e-05 9.99993076e-01 -1.34281364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.84538475 meters 0.05634338537346714 Centerline is valid? [True, True] Translation: X:90.32, Y:-18.41, Z:-1.34 [[ 9.44786917e-01 -3.27665919e-01 -3.56740396e-03 9.03221713e+01] [ 3.27663709e-01 9.44793652e-01 -1.20390167e-03 -1.84114632e+01] [ 3.76493816e-03 -3.14782664e-05 9.99992912e-01 -1.34336828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.87538475 meters 0.055991640424698445 Centerline is valid? [True, True] Translation: X:90.35, Y:-18.40, Z:-1.34 [[ 9.45139730e-01 -3.26642470e-01 -3.94804688e-03 9.03484626e+01] [ 3.26639739e-01 9.45147976e-01 -1.33612547e-03 -1.84004814e+01] [ 4.16792384e-03 -2.67637386e-05 9.99991314e-01 -1.34273076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.90538475 meters 0.055833718127235685 Centerline is valid? [True, True] Translation: X:90.37, Y:-18.39, Z:-1.34 [[ 9.46598331e-01 -3.22398679e-01 -3.26989875e-03 9.03736629e+01] [ 3.22396783e-01 9.46603978e-01 -1.10566435e-03 -1.83892427e+01] [ 3.45176389e-03 -7.58480590e-06 9.99994043e-01 -1.34346862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.93538475 meters 0.05543489004278923 Centerline is valid? [True, True] Translation: X:90.40, Y:-18.38, Z:-1.34 [[ 9.47218403e-01 -3.20575741e-01 -2.91412745e-03 9.04001399e+01] [ 3.20574217e-01 9.47222885e-01 -9.88463591e-04 -1.83781453e+01] [ 3.07720566e-03 2.09677860e-06 9.99995265e-01 -1.33927507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.96538475 meters 0.05541098755345736 Centerline is valid? [True, True] Translation: X:90.43, Y:-18.37, Z:-1.34 [[ 9.47193526e-01 -3.20647238e-01 -3.12605989e-03 9.04260092e+01] [ 3.20645492e-01 9.47198685e-01 -1.05824388e-03 -1.83686262e+01] [ 3.30032279e-03 4.74378380e-09 9.99994554e-01 -1.34214815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99538474999999 meters 0.05534668456718457 Centerline is valid? [True, True] Translation: X:90.46, Y:-18.36, Z:-1.33 [[ 9.44976317e-01 -3.27138740e-01 6.58452654e-05 9.04550488e+01] [ 3.27138739e-01 9.44976320e-01 1.87894257e-05 -1.83637202e+01] [-6.83689660e-05 3.78497479e-06 9.99999998e-01 -1.33329653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.02538474999999 meters 0.056192174124553435 Centerline is valid? [True, True] Translation: X:90.48, Y:-18.36, Z:-1.34 [[ 9.43748790e-01 -3.30658220e-01 -1.83388431e-03 9.04817753e+01] [ 3.30657636e-01 9.43750572e-01 -6.21792118e-04 -1.83557830e+01] [ 1.93633004e-03 -1.95722921e-05 9.99998125e-01 -1.34060328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05538474999999 meters 0.05613992346471916 Centerline is valid? [True, True] Translation: X:90.51, Y:-18.34, Z:-1.34 [[ 9.43736367e-01 -3.30681325e-01 -3.39572632e-03 9.05076519e+01] [ 3.30679326e-01 9.43742475e-01 -1.15061219e-03 -1.83438896e+01] [ 3.58517713e-03 -3.70219241e-05 9.99993573e-01 -1.34257911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.08538474999999 meters 0.05658161071900901 Centerline is valid? [True, True] Translation: X:90.53, Y:-18.34, Z:-1.35 [[ 9.43974339e-01 -3.29998215e-01 -3.69119252e-03 9.05332546e+01] [ 3.29995843e-01 9.43981555e-01 -1.25158725e-03 -1.83351273e+01] [ 3.89743921e-03 -3.66119439e-05 9.99992404e-01 -1.34652234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11538474999999 meters 0.056401194525298695 Centerline is valid? [True, True] Translation: X:90.56, Y:-18.33, Z:-1.35 [[ 9.44280589e-01 -3.29119633e-01 -3.79960088e-03 9.05597071e+01] [ 3.29117101e-01 9.44288233e-01 -1.29128882e-03 -1.83253708e+01] [ 4.01290690e-03 -3.11746639e-05 9.99991948e-01 -1.34558872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.14538474999999 meters 0.055908733740250495 Centerline is valid? [True, True] Translation: X:90.59, Y:-18.32, Z:-1.34 [[ 9.44676498e-01 -3.27997107e-01 -2.05213457e-03 9.05869386e+01] [ 3.27996366e-01 9.44678727e-01 -6.97377836e-04 -1.83175367e+01] [ 2.16734579e-03 -1.42962292e-05 9.99997651e-01 -1.34233735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17538474999999 meters 0.05582940242094449 Centerline is valid? [True, True] Translation: X:90.61, Y:-18.31, Z:-1.34 [[ 9.44478146e-01 -3.28565525e-01 -2.39313568e-03 9.06145820e+01] [ 3.28564514e-01 9.44481178e-01 -8.15242066e-04 -1.83083461e+01] [ 2.52813204e-03 -1.63211482e-05 9.99996804e-01 -1.34110224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.20538475 meters 0.055970711530627916 Centerline is valid? [True, True] Translation: X:90.64, Y:-18.30, Z:-1.34 [[ 9.44250806e-01 -3.29221708e-01 -1.86588214e-03 9.06410116e+01] [ 3.29221091e-01 9.44252650e-01 -6.37355435e-04 -1.82997065e+01] [ 1.97169540e-03 -1.24643721e-05 9.99998056e-01 -1.34186858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.23538475 meters 0.05596907581854632 Centerline is valid? [True, True] Translation: X:90.67, Y:-18.29, Z:-1.34 [[ 9.44233331e-01 -3.29271156e-01 -1.98061010e-03 9.06665802e+01] [ 3.29270465e-01 9.44235408e-01 -6.74444460e-04 -1.82911983e+01] [ 2.09223730e-03 -1.53234717e-05 9.99997811e-01 -1.34325957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.26538475 meters 0.05613414455502942 Centerline is valid? [True, True] Translation: X:90.69, Y:-18.28, Z:-1.34 [[ 9.43793027e-01 -3.30529852e-01 -2.17684221e-03 9.06943259e+01] [ 3.30529021e-01 9.43795537e-01 -7.41496949e-04 -1.82846874e+01] [ 2.29958084e-03 -1.96898739e-05 9.99997356e-01 -1.34362431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.29538475 meters 0.056150484940113266 Centerline is valid? [True, True] Translation: X:90.72, Y:-18.28, Z:-1.34 [[ 9.43865742e-01 -3.30320272e-01 -2.44521244e-03 9.07217064e+01] [ 3.30319217e-01 9.43868909e-01 -8.35379906e-04 -1.82762211e+01] [ 2.58390292e-03 -1.92141832e-05 9.99996662e-01 -1.34354431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.32538475 meters 0.056004632273370956 Centerline is valid? [True, True] Translation: X:90.75, Y:-18.27, Z:-1.34 [[ 9.43765916e-01 -3.30607493e-01 -2.14026600e-03 9.07483768e+01] [ 3.30606688e-01 9.43768343e-01 -7.29835211e-04 -1.82699824e+01] [ 2.26120428e-03 -1.87926560e-05 9.99997443e-01 -1.34254425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.35538475 meters 0.05595386816114515 Centerline is valid? [True, True] Translation: X:90.78, Y:-18.26, Z:-1.34 [[ 9.43598195e-01 -3.31085650e-01 -2.17705814e-03 9.07752797e+01] [ 3.31084812e-01 9.43600706e-01 -7.45079902e-04 -1.82612815e+01] [ 2.30095886e-03 -1.77348343e-05 9.99997353e-01 -1.34304792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.38538474999999 meters 0.0564086916220125 Centerline is valid? [True, True] Translation: X:90.80, Y:-18.25, Z:-1.35 [[ 9.43272428e-01 -3.32017853e-01 -1.12738614e-03 9.08019530e+01] [ 3.32017630e-01 9.43273102e-01 -3.85171137e-04 -1.82519459e+01] [ 1.19131672e-03 -1.09907609e-05 9.99999290e-01 -1.34537919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41538474999999 meters 0.05631564024412754 Centerline is valid? [True, True] Translation: X:90.83, Y:-18.24, Z:-1.34 [[ 9.43301993e-01 -3.31932206e-01 -1.53617197e-03 9.08276148e+01] [ 3.31931787e-01 9.43303244e-01 -5.27594885e-04 -1.82410347e+01] [ 1.62420174e-03 -1.22230005e-05 9.99998681e-01 -1.34316881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.44538474999999 meters 0.05609870387625209 Centerline is valid? [True, True] Translation: X:90.85, Y:-18.22, Z:-1.34 [[ 9.44998028e-01 -3.27059857e-01 -3.25220741e-03 9.08520503e+01] [ 3.27057961e-01 9.45003624e-01 -1.11359213e-03 -1.82242637e+01] [ 3.43755907e-03 -1.13179562e-05 9.99994092e-01 -1.34303276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47538474999999 meters 0.05590298421115085 Centerline is valid? [True, True] Translation: X:90.88, Y:-18.21, Z:-1.34 [[ 9.46745682e-01 -3.21971018e-01 -2.69763416e-03 9.08757860e+01] [ 3.21969698e-01 9.46749525e-01 -9.21967114e-04 -1.82063424e+01] [ 2.85083055e-03 4.31192830e-06 9.99995936e-01 -1.34479228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.50538474999999 meters 0.05600365691364706 Centerline is valid? [True, True] Translation: X:90.90, Y:-18.19, Z:-1.34 [[ 9.47111595e-01 -3.20897323e-01 -2.12942657e-03 9.09013571e+01] [ 3.20896490e-01 9.47113989e-01 -7.31271760e-04 -1.81941322e+01] [ 2.25147285e-03 9.27044987e-06 9.99997465e-01 -1.34475574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53538474999999 meters 0.05604900419906471 Centerline is valid? [True, True] Translation: X:90.93, Y:-18.18, Z:-1.35 [[ 9.47365213e-01 -3.20148456e-01 -2.02975643e-03 9.09259969e+01] [ 3.20147701e-01 9.47367387e-01 -6.95322037e-04 -1.81831060e+01] [ 2.14553132e-03 8.90205553e-06 9.99997698e-01 -1.34632147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.56538474999999 meters 0.0563189239737561 Centerline is valid? [True, True] Translation: X:90.95, Y:-18.17, Z:-1.35 [[ 9.47880460e-01 -3.18614723e-01 -2.70048599e-03 9.09525679e+01] [ 3.18613375e-01 9.47884306e-01 -9.26903678e-04 -1.81709013e+01] [ 2.85507345e-03 1.81829294e-05 9.99995924e-01 -1.34687421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.59538475 meters 0.05657076274939241 Centerline is valid? [True, True] Translation: X:90.98, Y:-18.16, Z:-1.35 [[ 9.48099615e-01 -3.17957404e-01 -3.19513855e-03 9.09783952e+01] [ 3.17955521e-01 9.48104999e-01 -1.09454217e-03 -1.81618182e+01] [ 3.37734462e-03 2.18230626e-05 9.99994297e-01 -1.34854630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.62538475 meters 0.05666057265864053 Centerline is valid? [True, True] Translation: X:91.01, Y:-18.15, Z:-1.35 [[ 9.48162028e-01 -3.17763278e-01 -3.90748629e-03 9.10057058e+01] [ 3.17760449e-01 9.48170079e-01 -1.34111883e-03 -1.81521011e+01] [ 4.13111990e-03 2.99533484e-05 9.99991466e-01 -1.34843378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.65538475 meters 0.05678188288866882 Centerline is valid? [True, True] Translation: X:91.03, Y:-18.14, Z:-1.35 [[ 9.47910803e-01 -3.18509827e-01 -4.07419195e-03 9.10310655e+01] [ 3.18506758e-01 9.47919559e-01 -1.39828127e-03 -1.81433275e+01] [ 4.30737256e-03 2.77882463e-05 9.99990723e-01 -1.34910432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.68538475 meters 0.056726508163392156 Centerline is valid? [True, True] Translation: X:91.06, Y:-18.13, Z:-1.35 [[ 9.48077481e-01 -3.18013830e-01 -4.03653254e-03 9.10566747e+01] [ 3.18010816e-01 9.48086074e-01 -1.38488569e-03 -1.81348465e+01] [ 4.26739309e-03 2.93179300e-05 9.99990894e-01 -1.35055083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.71538475 meters 0.056859615839456486 Centerline is valid? [True, True] Translation: X:91.08, Y:-18.13, Z:-1.35 [[ 9.47879048e-01 -3.18621323e-01 -2.40059457e-03 9.10837383e+01] [ 3.18620251e-01 9.47882088e-01 -8.26466071e-04 -1.81262286e+01] [ 2.53881030e-03 1.85118284e-05 9.99996777e-01 -1.35047739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.74538474999999 meters 0.056706241697826926 Centerline is valid? [True, True] Translation: X:91.11, Y:-18.12, Z:-1.35 [[ 9.47471312e-01 -3.19839115e-01 -1.02604643e-03 9.11122470e+01] [ 3.19838918e-01 9.47471868e-01 -3.55283423e-04 -1.81189776e+01] [ 1.08578366e-03 8.45126998e-06 9.99999411e-01 -1.34971463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77538474999999 meters 0.05677936287973261 Centerline is valid? [True, True] Translation: X:91.14, Y:-18.11, Z:-1.35 [[ 9.47194228e-01 -3.20656038e-01 -1.67333681e-03 9.11399684e+01] [ 3.20655518e-01 9.47195706e-01 -5.77827919e-04 -1.81117460e+01] [ 1.77026145e-03 1.07505879e-05 9.99998433e-01 -1.35050044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.80538474999999 meters 0.056717286681875555 Centerline is valid? [True, True] Translation: X:91.17, Y:-18.10, Z:-1.35 [[ 9.47050473e-01 -3.21074417e-01 -2.57317921e-03 9.11684278e+01] [ 3.21073190e-01 9.47053968e-01 -8.87730122e-04 -1.81041828e+01] [ 2.72196701e-03 1.45463749e-05 9.99996295e-01 -1.35017817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83538474999999 meters 0.05666926435983458 Centerline is valid? [True, True] Translation: X:91.20, Y:-18.10, Z:-1.35 [[ 9.46147964e-01 -3.23718213e-01 -3.24794378e-03 9.11967191e+01] [ 3.23716272e-01 9.46153539e-01 -1.12113617e-03 -1.80995206e+01] [ 3.43598570e-03 9.34845920e-06 9.99994097e-01 -1.35016233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.86538474999999 meters 0.056636841484644346 Centerline is valid? [True, True] Translation: X:91.22, Y:-18.09, Z:-1.35 [[ 9.45823967e-01 -3.24664128e-01 -3.19804327e-03 9.12240776e+01] [ 3.24662248e-01 9.45829374e-01 -1.10486026e-03 -1.80919377e+01] [ 3.38351176e-03 6.71939880e-06 9.99994276e-01 -1.35233815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89538474999999 meters 0.056850909995184454 Centerline is valid? [True, True] Translation: X:91.25, Y:-18.09, Z:-1.35 [[ 9.44944980e-01 -3.27200356e-01 -4.34889723e-03 9.12518735e+01] [ 3.27196923e-01 9.44954987e-01 -1.49889847e-03 -1.80871238e+01] [ 4.59995223e-03 -6.56920616e-06 9.99989420e-01 -1.35442680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.92538474999999 meters 0.056850909995184454 Centerline is valid? [True, True] Translation: X:91.28, Y:-18.08, Z:-1.35 [[ 9.44858814e-01 -3.27449110e-01 -4.34770736e-03 9.12779680e+01] [ 3.27445663e-01 9.44868817e-01 -1.50235152e-03 -1.80779354e+01] [ 4.59995678e-03 -4.12784793e-06 9.99989420e-01 -1.35479925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.95538475 meters 0.05700176244561627 Centerline is valid? [True, True] Translation: X:91.31, Y:-18.07, Z:-1.36 [[ 9.44362658e-01 -3.28871333e-01 -4.77655622e-03 9.13057048e+01] [ 3.28867190e-01 9.44374738e-01 -1.65091837e-03 -1.80702110e+01] [ 5.05379876e-03 -1.17869638e-05 9.99987229e-01 -1.35567941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.98538475 meters 0.058354219726857545 Centerline is valid? [True, True] Translation: X:91.34, Y:-18.08, Z:-1.35 [[ 9.40307799e-01 -3.40323563e-01 -1.05643120e-03 9.13381373e+01] [ 3.40323366e-01 9.40308392e-01 -3.65662033e-04 -1.80778403e+01] [ 1.11781453e-03 -1.56933609e-05 9.99999375e-01 -1.35092849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.01538475 meters 0.05807216867454439 Centerline is valid? [True, True] Translation: X:91.37, Y:-18.07, Z:-1.35 [[ 9.39742190e-01 -3.41871511e-01 -2.91325217e-03 9.13650361e+01] [ 3.41870025e-01 9.39746704e-01 -1.00912422e-03 -1.80661297e+01] [ 3.08270994e-03 -4.76369822e-05 9.99995247e-01 -1.35075176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.04538475 meters 0.058700867284431996 Centerline is valid? [True, True] Translation: X:91.39, Y:-18.05, Z:-1.36 [[ 9.40242633e-01 -3.40428366e-01 -7.23319715e-03 9.13905510e+01] [ 3.40419185e-01 9.40270448e-01 -2.50252341e-03 -1.80504519e+01] [ 7.65309148e-03 -1.09339878e-04 9.99970709e-01 -1.36062082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.07538475 meters 0.05906024976242243 Centerline is valid? [True, True] Translation: X:91.42, Y:-18.04, Z:-1.36 [[ 9.39738868e-01 -3.41798134e-01 -8.05579223e-03 9.14182511e+01] [ 3.41786783e-01 9.39773387e-01 -2.78875049e-03 -1.80425008e+01] [ 8.52380886e-03 -1.32666074e-04 9.99963663e-01 -1.36193851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.10538475 meters 0.05900062116590158 Centerline is valid? [True, True] Translation: X:91.45, Y:-18.03, Z:-1.36 [[ 9.39786535e-01 -3.41685072e-01 -7.25123795e-03 9.14451607e+01] [ 3.41675880e-01 9.39814502e-01 -2.50913414e-03 -1.80340980e+01] [ 7.67215226e-03 -1.19522628e-04 9.99970561e-01 -1.36093267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13538474999999 meters 0.0589091840490802 Centerline is valid? [True, True] Translation: X:91.47, Y:-18.02, Z:-1.36 [[ 9.39717225e-01 -3.41882508e-01 -6.92006765e-03 9.14713755e+01] [ 3.41874109e-01 9.39742698e-01 -2.39900720e-03 -1.80244160e+01] [ 7.32326165e-03 -1.11403573e-04 9.99973178e-01 -1.36052268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.16538474999999 meters 0.058318376143604654 Centerline is valid? [True, True] Translation: X:91.50, Y:-18.01, Z:-1.36 [[ 9.40525728e-01 -3.39666295e-01 -6.17760008e-03 9.14981439e+01] [ 3.39659544e-01 9.40546012e-01 -2.14306789e-03 -1.80123506e+01] [ 6.53824505e-03 -8.26703373e-05 9.99978622e-01 -1.35873989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19538474999999 meters 0.05801116138653933 Centerline is valid? [True, True] Translation: X:91.52, Y:-18.00, Z:-1.36 [[ 9.40802028e-01 -3.38894899e-01 -6.46465640e-03 9.15239704e+01] [ 3.38887472e-01 9.40824235e-01 -2.24505272e-03 -1.80000516e+01] [ 6.84294233e-03 -7.86409130e-05 9.99976584e-01 -1.35750783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22538474999999 meters 0.05791359442461048 Centerline is valid? [True, True] Translation: X:91.55, Y:-17.99, Z:-1.36 [[ 9.41463978e-01 -3.37074466e-01 -5.13640831e-03 9.15487878e+01] [ 3.37069757e-01 9.41477988e-01 -1.78242876e-03 -1.79856957e+01] [ 5.43662658e-03 -5.32354346e-05 9.99985220e-01 -1.35798746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25538474999999 meters 0.057792544184632644 Centerline is valid? [True, True] Translation: X:91.57, Y:-17.97, Z:-1.36 [[ 9.41781625e-01 -3.36185012e-01 -5.19696883e-03 9.15748440e+01] [ 3.36180156e-01 9.41795963e-01 -1.80748961e-03 -1.79735229e+01] [ 5.50213518e-03 -4.48572852e-05 9.99984862e-01 -1.35812482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.28538474999999 meters 0.05760875039269719 Centerline is valid? [True, True] Translation: X:91.60, Y:-17.96, Z:-1.36 [[ 9.42700049e-01 -3.33615481e-01 -4.16266719e-03 9.16001583e+01] [ 3.33612334e-01 9.42709239e-01 -1.44941310e-03 -1.79574119e+01] [ 4.40773147e-03 -2.23553164e-05 9.99990286e-01 -1.35543791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.31538474999999 meters 0.05754267190456755 Centerline is valid? [True, True] Translation: X:91.63, Y:-17.95, Z:-1.36 [[ 9.43399773e-01 -3.31620880e-01 -4.94583822e-03 9.16253364e+01] [ 3.31616421e-01 9.43412737e-01 -1.71967525e-03 -1.79459161e+01] [ 5.23624699e-03 -1.77799316e-05 9.99986291e-01 -1.35861016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.34538475 meters 0.057572292141402914 Centerline is valid? [True, True] Translation: X:91.65, Y:-17.93, Z:-1.36 [[ 9.44937336e-01 -3.27207151e-01 -5.37695723e-03 9.16478078e+01] [ 3.27201805e-01 9.44952634e-01 -1.87049468e-03 -1.79287321e+01] [ 5.69300913e-03 8.15014882e-06 9.99983795e-01 -1.36246279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.37538475 meters 0.05738895906689098 Centerline is valid? [True, True] Translation: X:91.67, Y:-17.91, Z:-1.36 [[ 9.45938084e-01 -3.24321077e-01 -4.12076075e-03 9.16731156e+01] [ 3.24317897e-01 9.45947059e-01 -1.43647380e-03 -1.79121669e+01] [ 4.36390024e-03 2.23788119e-05 9.99990478e-01 -1.36003728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.40538475 meters 0.05747401790054449 Centerline is valid? [True, True] Translation: X:91.70, Y:-17.90, Z:-1.36 [[ 9.46572757e-01 -3.22458598e-01 -4.52416683e-03 9.16995921e+01] [ 3.22454738e-01 9.46583568e-01 -1.57823344e-03 -1.79004384e+01] [ 4.79141692e-03 3.50737506e-05 9.99988520e-01 -1.35860983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.43538475 meters 0.05752546774109454 Centerline is valid? [True, True] Translation: X:91.73, Y:-17.89, Z:-1.36 [[ 9.46780320e-01 -3.21857489e-01 -3.84477873e-03 9.17257228e+01] [ 3.21854688e-01 9.46788126e-01 -1.34337896e-03 -1.78890688e+01] [ 4.07256743e-03 3.44247046e-05 9.99991706e-01 -1.35963433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.46538475 meters 0.05781791046227629 Centerline is valid? [True, True] Translation: X:91.75, Y:-17.88, Z:-1.36 [[ 9.47169696e-01 -3.20707355e-01 -4.04464182e-03 9.17501917e+01] [ 3.20704253e-01 9.47178331e-01 -1.41103682e-03 -1.78762586e+01] [ 4.28352697e-03 3.93574804e-05 9.99990825e-01 -1.36364868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49538474999999 meters 0.05753174961265665 Centerline is valid? [True, True] Translation: X:91.78, Y:-17.87, Z:-1.36 [[ 9.46827413e-01 -3.21719621e-01 -3.78618886e-03 9.17788697e+01] [ 3.21716899e-01 9.46834983e-01 -1.32383013e-03 -1.78690859e+01] [ 4.01079819e-03 3.53577170e-05 9.99991956e-01 -1.36047288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.52538474999999 meters 0.05734559913766565 Centerline is valid? [True, True] Translation: X:91.81, Y:-17.86, Z:-1.36 [[ 9.46351671e-01 -3.23120053e-01 -3.45641657e-03 9.18068087e+01] [ 3.23117789e-01 9.46357982e-01 -1.20971941e-03 -1.78606969e+01] [ 3.66189201e-03 2.79903017e-05 9.99993295e-01 -1.36153190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55538474999999 meters 0.05735206057368268 Centerline is valid? [True, True] Translation: X:91.84, Y:-17.85, Z:-1.36 [[ 9.45666652e-01 -3.25119769e-01 -3.42337834e-03 9.18352469e+01] [ 3.25117558e-01 9.45672848e-01 -1.19905842e-03 -1.78530944e+01] [ 3.62723354e-03 2.09091539e-05 9.99993421e-01 -1.36195889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.58538474999999 meters 0.05746390418061456 Centerline is valid? [True, True] Translation: X:91.86, Y:-17.85, Z:-1.36 [[ 9.44749460e-01 -3.27778740e-01 -3.09106378e-03 9.18624505e+01] [ 3.27776957e-01 9.44754517e-01 -1.08114086e-03 -1.78474592e+01] [ 3.27467145e-03 8.22776367e-06 9.99994638e-01 -1.36267711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61538474999999 meters 0.05751112668426817 Centerline is valid? [True, True] Translation: X:91.89, Y:-17.84, Z:-1.36 [[ 9.44449230e-01 -3.28646931e-01 -2.61668827e-03 9.18907489e+01] [ 3.28645654e-01 9.44452855e-01 -9.16385686e-04 -1.78392984e+01] [ 2.77250605e-03 5.51652683e-06 9.99996157e-01 -1.36338599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.64538474999999 meters 0.057590493389178765 Centerline is valid? [True, True] Translation: X:91.92, Y:-17.83, Z:-1.36 [[ 9.44193040e-01 -3.29374679e-01 -3.43859437e-03 9.19187769e+01] [ 3.29372470e-01 9.44199301e-01 -1.20623553e-03 -1.78324812e+01] [ 3.64402184e-03 6.34086580e-06 9.99993361e-01 -1.36319759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67538474999999 meters 0.057635949469424366 Centerline is valid? [True, True] Translation: X:91.95, Y:-17.82, Z:-1.37 [[ 9.43995189e-01 -3.29941072e-01 -3.46000415e-03 9.19451988e+01] [ 3.29938844e-01 9.44001530e-01 -1.21245102e-03 -1.78248713e+01] [ 3.66628660e-03 2.95815933e-06 9.99993279e-01 -1.36574700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.70538475 meters 0.057711066350343884 Centerline is valid? [True, True] Translation: X:91.97, Y:-17.82, Z:-1.37 [[ 9.43857627e-01 -3.30335500e-01 -3.35211288e-03 9.19719787e+01] [ 3.30333401e-01 9.43863580e-01 -1.17766528e-03 -1.78158438e+01] [ 3.55296191e-03 4.23350473e-06 9.99993688e-01 -1.36647806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.73538475 meters 0.05767453330285653 Centerline is valid? [True, True] Translation: X:92.00, Y:-17.81, Z:-1.37 [[ 9.43893085e-01 -3.30234532e-01 -3.31627525e-03 9.19983314e+01] [ 3.30232472e-01 9.43898911e-01 -1.16632272e-03 -1.78066091e+01] [ 3.51538864e-03 5.74217543e-06 9.99993821e-01 -1.36508275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.76538475 meters 0.05758867510618158 Centerline is valid? [True, True] Translation: X:92.02, Y:-17.80, Z:-1.37 [[ 9.43858908e-01 -3.30333715e-01 -3.16206515e-03 9.20243112e+01] [ 3.30331840e-01 9.43864205e-01 -1.11321392e-03 -1.77967725e+01] [ 3.35229220e-03 6.18607306e-06 9.99994381e-01 -1.36545922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.79538475 meters 0.057685991563812156 Centerline is valid? [True, True] Translation: X:92.05, Y:-17.79, Z:-1.37 [[ 9.43949314e-01 -3.30073224e-01 -3.37039216e-03 9.20506451e+01] [ 3.30071101e-01 9.43955331e-01 -1.18394955e-03 -1.77864301e+01] [ 3.57228969e-03 5.11931011e-06 9.99993619e-01 -1.36689847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.82538475 meters 0.05768266439997832 Centerline is valid? [True, True] Translation: X:92.08, Y:-17.78, Z:-1.37 [[ 9.43882466e-01 -3.30273864e-01 -2.25044849e-03 9.20776497e+01] [ 3.30272910e-01 9.43885149e-01 -7.93648059e-04 -1.77759599e+01] [ 2.38628612e-03 5.84831616e-06 9.99997153e-01 -1.36674965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.85538475 meters 0.05762916155516121 Centerline is valid? [True, True] Translation: X:92.10, Y:-17.76, Z:-1.37 [[ 9.44172250e-01 -3.29441440e-01 -2.66471299e-03 9.21040487e+01] [ 3.29440099e-01 9.44176010e-01 -9.40071970e-04 -1.77646228e+01] [ 2.82565674e-03 9.72655463e-06 9.99996008e-01 -1.36556255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.88538474999999 meters 0.057585384539613794 Centerline is valid? [True, True] Translation: X:92.13, Y:-17.76, Z:-1.37 [[ 9.43672928e-01 -3.30864417e-01 -3.18462595e-03 9.21305862e+01] [ 3.30862519e-01 9.43678302e-01 -1.12083790e-03 -1.77559074e+01] [ 3.37610779e-03 4.03101967e-06 9.99994301e-01 -1.36711514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91538474999999 meters 0.0578113245221805 Centerline is valid? [True, True] Translation: X:92.16, Y:-17.75, Z:-1.37 [[ 9.43749061e-01 -3.30646932e-01 -3.21184292e-03 9.21560614e+01] [ 3.30644996e-01 9.43754527e-01 -1.13129951e-03 -1.77463170e+01] [ 3.40525201e-03 5.68305577e-06 9.99994202e-01 -1.36985834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.94538474999999 meters 0.05781893930886782 Centerline is valid? [True, True] Translation: X:92.18, Y:-17.74, Z:-1.37 [[ 9.43183582e-01 -3.32259217e-01 -2.92297770e-03 9.21827436e+01] [ 3.32257611e-01 9.43188111e-01 -1.03285412e-03 -1.77382487e+01] [ 3.10009312e-03 2.98946429e-06 9.99995195e-01 -1.36782448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97538474999999 meters 0.05787951598884526 Centerline is valid? [True, True] Translation: X:92.21, Y:-17.73, Z:-1.37 [[ 9.42062517e-01 -3.35417781e-01 -3.62312128e-03 9.22101429e+01] [ 3.35415339e-01 9.42069484e-01 -1.27978772e-03 -1.77296308e+01] [ 3.84249555e-03 -9.61041835e-06 9.99992618e-01 -1.36913074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.00538474999999 meters 0.05789006505339401 Centerline is valid? [True, True] Translation: X:92.24, Y:-17.72, Z:-1.37 [[ 9.41739416e-01 -3.36329223e-01 -3.08629814e-03 9.22365530e+01] [ 3.36327450e-01 9.41744474e-01 -1.09208775e-03 -1.77205633e+01] [ 3.27380525e-03 -9.54470218e-06 9.99994641e-01 -1.36988275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03538474999999 meters 0.05784616981449273 Centerline is valid? [True, True] Translation: X:92.26, Y:-17.71, Z:-1.37 [[ 9.41992029e-01 -3.35607882e-01 -4.28561984e-03 9.22631455e+01] [ 3.35604460e-01 9.42001778e-01 -1.51559246e-03 -1.77090812e+01] [ 4.54570629e-03 -1.05971155e-05 9.99989668e-01 -1.37150576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.06538474999999 meters 0.0578577902196894 Centerline is valid? [True, True] Translation: X:92.29, Y:-17.70, Z:-1.37 [[ 9.42176629e-01 -3.35101521e-01 -3.18911904e-03 9.22903417e+01] [ 3.35099617e-01 9.42182026e-01 -1.12952082e-03 -1.76982473e+01] [ 3.38323478e-03 -4.46444911e-06 9.99994277e-01 -1.37196907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.09538475 meters 0.057768287164649774 Centerline is valid? [True, True] Translation: X:92.32, Y:-17.69, Z:-1.37 [[ 9.42420054e-01 -3.34402656e-01 -4.39390522e-03 9.23169720e+01] [ 3.34399035e-01 9.42430297e-01 -1.55609897e-03 -1.76875746e+01] [ 4.66131303e-03 -2.81879036e-06 9.99989136e-01 -1.37271616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.12538475 meters 0.05778305258707801 Centerline is valid? [True, True] Translation: X:92.34, Y:-17.68, Z:-1.37 [[ 9.42373227e-01 -3.34526370e-01 -4.98089755e-03 9.23436754e+01] [ 3.34521731e-01 9.42386390e-01 -1.76182772e-03 -1.76779478e+01] [ 5.28330789e-03 -5.91919339e-06 9.99986043e-01 -1.37341030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.15538475 meters 0.057638108739109836 Centerline is valid? [True, True] Translation: X:92.37, Y:-17.67, Z:-1.37 [[ 9.42527902e-01 -3.34082375e-01 -5.48828679e-03 9.23708100e+01] [ 3.34076713e-01 9.42543881e-01 -1.94498160e-03 -1.76664819e+01] [ 5.82273520e-03 -3.09388622e-07 9.99983048e-01 -1.37275428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.18538475 meters 0.05764850028023738 Centerline is valid? [True, True] Translation: X:92.40, Y:-17.66, Z:-1.37 [[ 9.42536498e-01 -3.34060806e-01 -5.32231995e-03 9.23972234e+01] [ 3.34055468e-01 9.42551525e-01 -1.88841713e-03 -1.76568425e+01] [ 5.64740693e-03 1.95198125e-06 9.99984053e-01 -1.37263431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.21538475 meters 0.057858897275849384 Centerline is valid? [True, True] Translation: X:92.42, Y:-17.65, Z:-1.37 [[ 9.42924836e-01 -3.32967168e-01 -5.06140073e-03 9.24222638e+01] [ 3.32962333e-01 9.42938420e-01 -1.79447244e-03 -1.76462141e+01] [ 5.37008962e-03 6.79683822e-06 9.99985581e-01 -1.37470459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.24538474999999 meters 0.05769043589506439 Centerline is valid? [True, True] Translation: X:92.45, Y:-17.63, Z:-1.37 [[ 9.43302147e-01 -3.31908534e-01 -4.21714991e-03 9.24488417e+01] [ 3.31905152e-01 9.43311574e-01 -1.49825233e-03 -1.76341045e+01] [ 4.47536905e-03 1.36108562e-05 9.99989985e-01 -1.37272625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27538474999999 meters 0.057824253873078726 Centerline is valid? [True, True] Translation: X:92.48, Y:-17.62, Z:-1.37 [[ 9.43662839e-01 -3.30873333e-01 -4.82531006e-03 9.24758980e+01] [ 3.30868890e-01 9.43675176e-01 -1.71475878e-03 -1.76225736e+01] [ 5.12089327e-03 2.16091585e-05 9.99986888e-01 -1.37328498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.30538474999999 meters 0.05783361419809745 Centerline is valid? [True, True] Translation: X:92.50, Y:-17.61, Z:-1.38 [[ 9.44253279e-01 -3.29168840e-01 -5.79821924e-03 9.25011196e+01] [ 3.29162406e-01 9.44271080e-01 -2.05847876e-03 -1.76097251e+01] [ 6.15267781e-03 3.51695267e-05 9.99981071e-01 -1.37543008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33538474999999 meters 0.05785296107136217 Centerline is valid? [True, True] Translation: X:92.53, Y:-17.60, Z:-1.38 [[ 9.44657783e-01 -3.28004366e-01 -5.89985836e-03 9.25273064e+01] [ 3.27997658e-01 9.44676206e-01 -2.09821745e-03 -1.75978578e+01] [ 6.26168030e-03 4.69577205e-05 9.99980394e-01 -1.37702780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.36538474999999 meters 0.05799773438197548 Centerline is valid? [True, True] Translation: X:92.55, Y:-17.59, Z:-1.38 [[ 9.44733230e-01 -3.27785815e-01 -5.96523428e-03 9.25527149e+01] [ 3.27778940e-01 9.44752061e-01 -2.12369001e-03 -1.75866415e+01] [ 6.33178284e-03 5.10423559e-05 9.99979953e-01 -1.37781772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39538474999999 meters 0.05829627652532266 Centerline is valid? [True, True] Translation: X:92.58, Y:-17.57, Z:-1.38 [[ 9.45404383e-01 -3.25848895e-01 -5.74886006e-03 9.25782775e+01] [ 3.25842485e-01 9.45421860e-01 -2.04470731e-03 -1.75743165e+01] [ 6.10136359e-03 5.98524063e-05 9.99981385e-01 -1.37812844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.42538474999999 meters 0.05838804744462986 Centerline is valid? [True, True] Translation: X:92.60, Y:-17.56, Z:-1.38 [[ 9.46567498e-01 -3.22457495e-01 -5.57995772e-03 9.26038465e+01] [ 3.22451394e-01 9.46583941e-01 -1.98517599e-03 -1.75613734e+01] [ 5.92203325e-03 7.98379226e-05 9.99982461e-01 -1.37772610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.45538475 meters 0.05876394922971397 Centerline is valid? [True, True] Translation: X:92.63, Y:-17.55, Z:-1.38 [[ 9.47088507e-01 -3.20922795e-01 -5.64980885e-03 9.26289164e+01] [ 3.20916505e-01 9.47105354e-01 -2.01135568e-03 -1.75494374e+01] [ 5.99645410e-03 9.18149376e-05 9.99982017e-01 -1.37889762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.48538475 meters 0.05972720620114173 Centerline is valid? [True, True] Translation: X:92.65, Y:-17.53, Z:-1.38 [[ 9.48467703e-01 -3.16791198e-01 -7.23555292e-03 9.26547855e+01] [ 3.16780770e-01 9.48495290e-01 -2.57474506e-03 -1.75346319e+01] [ 7.67854443e-03 1.49978508e-04 9.99970508e-01 -1.38013973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.51538475 meters 0.060237754093774895 Centerline is valid? [True, True] Translation: X:92.68, Y:-17.52, Z:-1.38 [[ 9.48927891e-01 -3.15410339e-01 -7.22328020e-03 9.26812077e+01] [ 3.15399873e-01 9.48955368e-01 -2.57478062e-03 -1.75229558e+01] [ 7.66668295e-03 1.65059489e-04 9.99970597e-01 -1.38158772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.54538475 meters 0.06095607411581821 Centerline is valid? [True, True] Translation: X:92.71, Y:-17.51, Z:-1.38 [[ 9.49544949e-01 -3.13555289e-01 -6.88996296e-03 9.27065479e+01] [ 3.13545720e-01 9.49569930e-01 -2.45553576e-03 -1.75106840e+01] [ 7.31244787e-03 1.71323179e-04 9.99973249e-01 -1.38269777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.57538475 meters 0.06107473338305283 Centerline is valid? [True, True] Translation: X:92.73, Y:-17.50, Z:-1.38 [[ 9.49649453e-01 -3.13255475e-01 -6.07649415e-03 9.27325772e+01] [ 3.13248001e-01 9.49668881e-01 -2.16954749e-03 -1.75010742e+01] [ 6.45028003e-03 1.56859940e-04 9.99979184e-01 -1.38292378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.60538475 meters 0.060992491454567546 Centerline is valid? [True, True] Translation: X:92.76, Y:-17.49, Z:-1.38 [[ 9.49548724e-01 -3.13556813e-01 -6.27261651e-03 9.27588611e+01] [ 3.13548845e-01 9.49569428e-01 -2.24123718e-03 -1.74924152e+01] [ 6.65904006e-03 1.61392245e-04 9.99977815e-01 -1.38350227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63538474999999 meters 0.05971955843497152 Centerline is valid? [True, True] Translation: X:92.79, Y:-17.49, Z:-1.38 [[ 9.48419269e-01 -3.16956477e-01 -6.28340149e-03 9.27896854e+01] [ 3.16948548e-01 9.48440073e-01 -2.24616514e-03 -1.74906959e+01] [ 6.67136636e-03 1.38791318e-04 9.99977737e-01 -1.38028762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.66538474999999 meters 0.060443172478775876 Centerline is valid? [True, True] Translation: X:92.82, Y:-17.48, Z:-1.39 [[ 9.48173539e-01 -3.17651308e-01 -8.03656722e-03 9.28151234e+01] [ 3.17638381e-01 9.48207582e-01 -2.87079744e-03 -1.74802375e+01] [ 8.53224653e-03 1.69291967e-04 9.99963585e-01 -1.38587278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69538474999999 meters 0.06011476443421293 Centerline is valid? [True, True] Translation: X:92.84, Y:-17.47, Z:-1.39 [[ 9.48215881e-01 -3.17480028e-01 -9.64755059e-03 9.28427796e+01] [ 3.17461343e-01 9.48264936e-01 -3.45073775e-03 -1.74722140e+01] [ 1.02439743e-02 2.09319964e-04 9.99947507e-01 -1.38627186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72538474999999 meters 0.06032682406822509 Centerline is valid? [True, True] Translation: X:92.87, Y:-17.46, Z:-1.39 [[ 9.47893650e-01 -3.18360488e-01 -1.20095192e-02 9.28695593e+01] [ 3.18331628e-01 9.47969693e-01 -4.29369351e-03 -1.74646628e+01] [ 1.27516026e-02 2.46955002e-04 9.99918665e-01 -1.38877026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75538474999999 meters 0.06021348735394669 Centerline is valid? [True, True] Translation: X:92.90, Y:-17.46, Z:-1.39 [[ 9.47681683e-01 -3.18988195e-01 -1.20813486e-02 9.28968286e+01] [ 3.18958959e-01 9.47758657e-01 -4.32570228e-03 -1.74562569e+01] [ 1.28300507e-02 2.45934429e-04 9.99917661e-01 -1.38892789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.78538474999999 meters 0.06105820652256119 Centerline is valid? [True, True] Translation: X:92.92, Y:-17.45, Z:-1.39 [[ 9.47642706e-01 -3.19144837e-01 -1.09487687e-02 9.29230939e+01] [ 3.19120851e-01 9.47705927e-01 -3.91891682e-03 -1.74459301e+01] [ 1.16269151e-02 2.19752543e-04 9.99932381e-01 -1.39158677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.81538474999999 meters 0.05987196890250785 Centerline is valid? [True, True] Translation: X:92.95, Y:-17.44, Z:-1.39 [[ 9.46977717e-01 -3.21140115e-01 -1.01108964e-02 9.29522838e+01] [ 3.21119722e-01 9.47031675e-01 -3.62376812e-03 -1.74413522e+01] [ 1.07390765e-02 1.84819421e-04 9.99942317e-01 -1.38636158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.84538475 meters 0.05987196890250785 Centerline is valid? [True, True] Translation: X:92.98, Y:-17.43, Z:-1.39 [[ 9.46894049e-01 -3.21386764e-01 -1.01098033e-02 9.29782591e+01] [ 3.21366353e-01 9.46947999e-01 -3.62681826e-03 -1.74318432e+01] [ 1.07390694e-02 1.85261997e-04 9.99942317e-01 -1.38673276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.87538475 meters 0.05915449346124302 Centerline is valid? [True, True] Translation: X:93.01, Y:-17.42, Z:-1.39 [[ 9.46269359e-01 -3.23285790e-01 -7.78448715e-03 9.30057184e+01] [ 3.23273764e-01 9.46301370e-01 -2.79124577e-03 -1.74240939e+01] [ 8.26884095e-03 1.24749884e-04 9.99965805e-01 -1.38547751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.90538475 meters 0.05937920829684164 Centerline is valid? [True, True] Translation: X:93.03, Y:-17.41, Z:-1.39 [[ 9.46339809e-01 -3.23089477e-01 -7.35907864e-03 9.30320373e+01] [ 3.23078685e-01 9.46368414e-01 -2.64364844e-03 -1.74137281e+01] [ 7.81853457e-03 1.24228303e-04 9.99969427e-01 -1.38613171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.93538475 meters 0.05964025021384149 Centerline is valid? [True, True] Translation: X:93.06, Y:-17.40, Z:-1.39 [[ 9.45922534e-01 -3.24334476e-01 -6.14065979e-03 9.30582016e+01] [ 3.24326997e-01 9.45942461e-01 -2.20456890e-03 -1.74039409e+01] [ 6.52372853e-03 9.37696474e-05 9.99978716e-01 -1.38937825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.96538475 meters 0.05915343553457603 Centerline is valid? [True, True] Translation: X:93.09, Y:-17.40, Z:-1.39 [[ 9.45941806e-01 -3.24284702e-01 -5.79069650e-03 9.30854906e+01] [ 3.24278025e-01 9.45959525e-01 -2.08314854e-03 -1.73968685e+01] [ 6.15329772e-03 9.27416672e-05 9.99981064e-01 -1.38552124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99538474999999 meters 0.05849749332471974 Centerline is valid? [True, True] Translation: X:93.11, Y:-17.39, Z:-1.38 [[ 9.45035147e-01 -3.26913627e-01 -6.00420885e-03 9.31145473e+01] [ 3.26906494e-01 9.45054217e-01 -2.16111078e-03 -1.73927473e+01] [ 6.38079946e-03 7.95107792e-05 9.99979639e-01 -1.38373699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.02538474999999 meters 0.05854240037273379 Centerline is valid? [True, True] Translation: X:93.14, Y:-17.38, Z:-1.39 [[ 9.44904519e-01 -3.27279010e-01 -6.62563256e-03 9.31406272e+01] [ 3.27270346e-01 9.44927745e-01 -2.38289315e-03 -1.73836870e+01] [ 7.04061494e-03 8.32334456e-05 9.99975211e-01 -1.38621486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05538474999999 meters 0.0585376909151914 Centerline is valid? [True, True] Translation: X:93.17, Y:-17.38, Z:-1.39 [[ 9.44954899e-01 -3.27094492e-01 -8.33254706e-03 9.31683016e+01] [ 3.27080746e-01 9.44991630e-01 -3.00075923e-03 -1.73758441e+01] [ 8.85571905e-03 1.10166434e-04 9.99960781e-01 -1.38716162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08538474999999 meters 0.05851048059383076 Centerline is valid? [True, True] Translation: X:93.20, Y:-17.37, Z:-1.39 [[ 9.45181313e-01 -3.26405790e-01 -9.56793963e-03 9.31958510e+01] [ 3.26387610e-01 9.45229730e-01 -3.44765406e-03 -1.73656374e+01] [ 1.01692352e-02 1.35801240e-04 9.99948283e-01 -1.38823934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11538474999999 meters 0.05844697440741743 Centerline is valid? [True, True] Translation: X:93.22, Y:-17.36, Z:-1.39 [[ 9.44235934e-01 -3.29115629e-01 -1.00699278e-02 9.32229303e+01] [ 3.29095660e-01 9.44289622e-01 -3.62716431e-03 -1.73587814e+01] [ 1.07026848e-02 1.10929353e-04 9.99942718e-01 -1.39038242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.14538474999999 meters 0.05867444221186764 Centerline is valid? [True, True] Translation: X:93.25, Y:-17.35, Z:-1.39 [[ 9.44219121e-01 -3.29126669e-01 -1.12199277e-02 9.32483729e+01] [ 3.29101864e-01 9.44285772e-01 -4.04269634e-03 -1.73485965e+01] [ 1.19253773e-02 1.24692064e-04 9.99928882e-01 -1.39395340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.17538474999999 meters 0.05820972205198631 Centerline is valid? [True, True] Translation: X:93.28, Y:-17.35, Z:-1.39 [[ 9.42404702e-01 -3.34284907e-01 -1.12684594e-02 9.32778001e+01] [ 3.34260201e-01 9.42472067e-01 -4.06461043e-03 -1.73452126e+01] [ 1.19789461e-02 6.39104886e-05 9.99928248e-01 -1.39417426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.20538475 meters 0.05777808820675069 Centerline is valid? [True, True] Translation: X:93.30, Y:-17.34, Z:-1.39 [[ 9.41507300e-01 -3.36785734e-01 -1.18056957e-02 9.33047008e+01] [ 3.36758764e-01 9.41581313e-01 -4.26226248e-03 -1.73373829e+01] [ 1.25514916e-02 3.72797668e-05 9.99921226e-01 -1.39228668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.23538475 meters 0.05821367741069506 Centerline is valid? [True, True] Translation: X:93.33, Y:-17.33, Z:-1.40 [[ 9.41245168e-01 -3.37490241e-01 -1.25646804e-02 9.33308507e+01] [ 3.37459776e-01 9.41329027e-01 -4.53462981e-03 -1.73283832e+01] [ 1.33578917e-02 2.81241574e-05 9.99910779e-01 -1.39839543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.26538475 meters 0.05816346940083587 Centerline is valid? [True, True] Translation: X:93.36, Y:-17.32, Z:-1.40 [[ 9.41629477e-01 -3.36385236e-01 -1.33754026e-02 9.33581405e+01] [ 3.36350525e-01 9.41724466e-01 -4.83254430e-03 -1.73173774e+01] [ 1.42215404e-02 5.16424611e-05 9.99898867e-01 -1.39702661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.29538475 meters 0.057581237680371995 Centerline is valid? [True, True] Translation: X:93.39, Y:-17.31, Z:-1.39 [[ 9.41413476e-01 -3.37046006e-01 -1.18599179e-02 9.33868534e+01] [ 3.37018760e-01 9.41488178e-01 -4.28562681e-03 -1.73099401e+01] [ 1.26104259e-02 3.75320094e-05 9.99920485e-01 -1.39097729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.32538475 meters 0.0577506644119027 Centerline is valid? [True, True] Translation: X:93.41, Y:-17.30, Z:-1.40 [[ 9.41346929e-01 -3.37236996e-01 -1.17118655e-02 9.34121237e+01] [ 3.37210400e-01 9.41419782e-01 -4.23548263e-03 -1.73006064e+01] [ 1.24541433e-02 3.76957218e-05 9.99922443e-01 -1.39619003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.35538475 meters 0.057381663987587095 Centerline is valid? [True, True] Translation: X:93.44, Y:-17.29, Z:-1.39 [[ 9.41418518e-01 -3.37019891e-01 -1.21970019e-02 9.34397364e+01] [ 3.36990977e-01 9.41497526e-01 -4.41477894e-03 -1.72905046e+01] [ 1.29713155e-02 4.58750518e-05 9.99915868e-01 -1.39183470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.38538474999999 meters 0.05738172831920484 Centerline is valid? [True, True] Translation: X:93.47, Y:-17.28, Z:-1.39 [[ 9.41386990e-01 -3.37110209e-01 -1.21343092e-02 9.34657140e+01] [ 3.37081546e-01 9.41465190e-01 -4.39622209e-03 -1.72802521e+01] [ 1.29060411e-02 4.82945664e-05 9.99916712e-01 -1.39244145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41538474999999 meters 0.057178300110249575 Centerline is valid? [True, True] Translation: X:93.49, Y:-17.27, Z:-1.39 [[ 9.41772018e-01 -3.36069424e-01 -1.10818535e-02 9.34908101e+01] [ 3.36045461e-01 9.41837215e-01 -4.01365523e-03 -1.72671027e+01] [ 1.17861688e-02 5.59416387e-05 9.99930539e-01 -1.39276180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.44538474999999 meters 0.057359598134131246 Centerline is valid? [True, True] Translation: X:93.52, Y:-17.25, Z:-1.39 [[ 9.42136272e-01 -3.35048005e-01 -1.10488988e-02 9.35160919e+01] [ 3.35024045e-01 9.42201055e-01 -4.00760129e-03 -1.72547725e+01] [ 1.17530229e-02 7.40597760e-05 9.99930928e-01 -1.39330615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47538474999999 meters 0.057016727468362526 Centerline is valid? [True, True] Translation: X:93.54, Y:-17.25, Z:-1.39 [[ 9.41228123e-01 -3.37629603e-01 -9.79139883e-03 9.35432237e+01] [ 3.37610900e-01 9.41279050e-01 -3.55393922e-03 -1.72463025e+01] [ 1.04163537e-02 3.93845749e-05 9.99945748e-01 -1.39146721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.50538474999999 meters 0.05694318446091544 Centerline is valid? [True, True] Translation: X:93.57, Y:-17.24, Z:-1.39 [[ 9.41093101e-01 -3.38044708e-01 -8.33965492e-03 9.35699914e+01] [ 3.38031134e-01 9.41130052e-01 -3.02960673e-03 -1.72353225e+01] [ 8.87284239e-03 3.20789893e-05 9.99960635e-01 -1.39052225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53538474999999 meters 0.05710850604887762 Centerline is valid? [True, True] Translation: X:93.60, Y:-17.22, Z:-1.39 [[ 9.41718847e-01 -3.36292495e-01 -8.54236509e-03 9.35951241e+01] [ 3.36278158e-01 9.41757588e-01 -3.10568849e-03 -1.72206726e+01] [ 9.08925688e-03 5.20745864e-05 9.99958690e-01 -1.38939745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.56538474999999 meters 0.057445152565151855 Centerline is valid? [True, True] Translation: X:93.62, Y:-17.21, Z:-1.39 [[ 9.42437451e-01 -3.34253908e-01 -9.27237667e-03 9.36197815e+01] [ 3.34236933e-01 9.42483060e-01 -3.36947144e-03 -1.72069902e+01] [ 9.86531694e-03 7.63453366e-05 9.99951334e-01 -1.39375949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.59538475 meters 0.058152650529068685 Centerline is valid? [True, True] Translation: X:93.64, Y:-17.19, Z:-1.40 [[ 9.44006545e-01 -3.29779713e-01 -9.84804367e-03 9.36444936e+01] [ 3.29760275e-01 9.44057902e-01 -3.58305064e-03 -1.71910035e+01] [ 1.04787409e-02 1.34929667e-04 9.99945087e-01 -1.39516735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.62538475 meters 0.05811989535989003 Centerline is valid? [True, True] Translation: X:93.67, Y:-17.18, Z:-1.39 [[ 9.44656020e-01 -3.27893116e-01 -1.05408065e-02 9.36716969e+01] [ 3.27870698e-01 9.44714812e-01 -3.83791644e-03 -1.71803192e+01] [ 1.12164824e-02 1.69489298e-04 9.99937079e-01 -1.39287842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.65538475 meters 0.058389205676482515 Centerline is valid? [True, True] Translation: X:93.70, Y:-17.17, Z:-1.39 [[ 9.44988337e-01 -3.26918240e-01 -1.10230280e-02 9.36971256e+01] [ 3.26893673e-01 9.45052606e-01 -4.01218048e-03 -1.71697750e+01] [ 1.17289964e-02 1.88105629e-04 9.99931195e-01 -1.39298055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.68538475 meters 0.058474178730270436 Centerline is valid? [True, True] Translation: X:93.72, Y:-17.16, Z:-1.39 [[ 9.45229345e-01 -3.26216035e-01 -1.11617125e-02 9.37236316e+01] [ 3.26190736e-01 9.45295222e-01 -4.06772149e-03 -1.71591260e+01] [ 1.18780694e-02 2.04082510e-04 9.99929432e-01 -1.39343228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.71538475 meters 0.05848401676976074 Centerline is valid? [True, True] Translation: X:93.75, Y:-17.15, Z:-1.39 [[ 9.45268296e-01 -3.26112463e-01 -1.08862302e-02 9.37499468e+01] [ 3.26088347e-01 9.45330958e-01 -3.97114047e-03 -1.71496551e+01] [ 1.15861288e-02 2.03920361e-04 9.99932858e-01 -1.39457507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.74538474999999 meters 0.05856845614193067 Centerline is valid? [True, True] Translation: X:93.78, Y:-17.14, Z:-1.40 [[ 9.45019724e-01 -3.26844962e-01 -1.04924753e-02 9.37765899e+01] [ 3.26822622e-01 9.45077952e-01 -3.82599848e-03 -1.71402428e+01] [ 1.11667154e-02 1.86465742e-04 9.99937633e-01 -1.39569048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77538474999999 meters 0.0586748006830383 Centerline is valid? [True, True] Translation: X:93.80, Y:-17.13, Z:-1.40 [[ 9.45016033e-01 -3.26823357e-01 -1.14538729e-02 9.38030593e+01] [ 3.26796721e-01 9.45085420e-01 -4.17751032e-03 -1.71317883e+01] [ 1.21901962e-02 2.04726118e-04 9.99925676e-01 -1.39589161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.80538474999999 meters 0.05843541192075814 Centerline is valid? [True, True] Translation: X:93.83, Y:-17.12, Z:-1.40 [[ 9.44751804e-01 -3.27616113e-01 -1.05693398e-02 9.38307235e+01] [ 3.27593427e-01 9.44810906e-01 -3.85976052e-03 -1.71228909e+01] [ 1.12505473e-02 1.84069455e-04 9.99936694e-01 -1.39607804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83538474999999 meters 0.05802291300188131 Centerline is valid? [True, True] Translation: X:93.86, Y:-17.12, Z:-1.40 [[ 9.43655569e-01 -3.30780359e-01 -9.92584544e-03 9.38589406e+01] [ 3.30760537e-01 9.43707760e-01 -3.62377119e-03 -1.71180205e+01] [ 1.05657697e-02 1.36513902e-04 9.99944171e-01 -1.39544906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.86538474999999 meters 0.057526675002411036 Centerline is valid? [True, True] Translation: X:93.89, Y:-17.11, Z:-1.39 [[ 9.43567339e-01 -3.31056578e-01 -9.06743980e-03 9.38873873e+01] [ 3.31040006e-01 9.43610898e-01 -3.31480640e-03 -1.71098138e+01] [ 9.65352347e-03 1.26057727e-04 9.99953396e-01 -1.39208887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89538474999999 meters 0.05766945421926951 Centerline is valid? [True, True] Translation: X:93.91, Y:-17.10, Z:-1.39 [[ 9.43564653e-01 -3.31096870e-01 -7.78511742e-03 9.39137769e+01] [ 3.31084662e-01 9.43596763e-01 -2.84523995e-03 -1.71002657e+01] [ 8.28806164e-03 1.07134874e-04 9.99965648e-01 -1.39394785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.92538474999999 meters 0.057504474138228345 Centerline is valid? [True, True] Translation: X:93.94, Y:-17.09, Z:-1.39 [[ 9.43139391e-01 -3.32318942e-01 -7.22556979e-03 9.39403248e+01] [ 3.32308449e-01 9.43167065e-01 -2.64242416e-03 -1.70926265e+01] [ 7.69304705e-03 9.10564265e-05 9.99970404e-01 -1.39377309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.95538475 meters 0.057385882472204996 Centerline is valid? [True, True] Translation: X:93.97, Y:-17.09, Z:-1.39 [[ 9.42869722e-01 -3.33083337e-01 -7.22339299e-03 9.39677741e+01] [ 3.33072872e-01 9.42897388e-01 -2.64171152e-03 -1.70857765e+01] [ 7.69082846e-03 8.48735570e-05 9.99970422e-01 -1.39431728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.98538475 meters 0.0573294553912172 Centerline is valid? [True, True] Translation: X:94.00, Y:-17.08, Z:-1.39 [[ 9.42883475e-01 -3.33039889e-01 -7.42869074e-03 9.39951386e+01] [ 3.33028787e-01 9.42912734e-01 -2.72084319e-03 -1.70769091e+01] [ 7.91075641e-03 9.14702136e-05 9.99968705e-01 -1.39456236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.01538475 meters 0.05724652864750799 Centerline is valid? [True, True] Translation: X:94.02, Y:-17.07, Z:-1.39 [[ 9.43043106e-01 -3.32576025e-01 -7.93013411e-03 9.40225831e+01] [ 3.32563339e-01 9.43076443e-01 -2.90672418e-03 -1.70679986e+01] [ 8.44542944e-03 1.03894318e-04 9.99964331e-01 -1.39266027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.04538475 meters 0.057588065172921435 Centerline is valid? [True, True] Translation: X:94.05, Y:-17.06, Z:-1.40 [[ 9.42651974e-01 -3.33688376e-01 -7.70215622e-03 9.40483846e+01] [ 3.33676457e-01 9.42683436e-01 -2.82173809e-03 -1.70585934e+01] [ 8.20227629e-03 8.98887830e-05 9.99966357e-01 -1.39629871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.07538475 meters 0.05706202154533148 Centerline is valid? [True, True] Translation: X:94.08, Y:-17.05, Z:-1.39 [[ 9.41075772e-01 -3.38075024e-01 -9.03708113e-03 9.40763284e+01] [ 3.38058766e-01 9.41119160e-01 -3.31617728e-03 -1.70542839e+01] [ 9.62608692e-03 6.57095963e-05 9.99953666e-01 -1.39408166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.10538475 meters 0.05718594010530906 Centerline is valid? [True, True] Translation: X:94.10, Y:-17.04, Z:-1.40 [[ 9.40789796e-01 -3.38842963e-01 -1.00003047e-02 9.41023977e+01] [ 3.38823109e-01 9.40842943e-01 -3.66851271e-03 -1.70440625e+01] [ 1.06517658e-02 6.29650014e-05 9.99943266e-01 -1.39689684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13538474999999 meters 0.05783862400459115 Centerline is valid? [True, True] Translation: X:94.13, Y:-17.03, Z:-1.40 [[ 9.40721889e-01 -3.38987157e-01 -1.14032876e-02 9.41282979e+01] [ 3.38961350e-01 9.40790998e-01 -4.18339103e-03 -1.70333610e+01] [ 1.21462262e-02 7.01337437e-05 9.99926229e-01 -1.40395127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.16538474999999 meters 0.05772827621621023 Centerline is valid? [True, True] Translation: X:94.16, Y:-17.03, Z:-1.40 [[ 9.40467475e-01 -3.39700440e-01 -1.11596987e-02 9.41550794e+01] [ 3.39675706e-01 9.40533682e-01 -4.09971207e-03 -1.70251263e+01] [ 1.18887465e-02 6.49673293e-05 9.99929324e-01 -1.40419083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19538474999999 meters 0.057460872600558245 Centerline is valid? [True, True] Translation: X:94.18, Y:-17.02, Z:-1.40 [[ 9.39742535e-01 -3.41756906e-01 -9.28359166e-03 9.41837924e+01] [ 3.41739862e-01 9.39788389e-01 -3.41335586e-03 -1.70187181e+01] [ 9.89114959e-03 3.51023624e-05 9.99951081e-01 -1.39958300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.22538474999999 meters 0.057312588609805044 Centerline is valid? [True, True] Translation: X:94.21, Y:-17.01, Z:-1.40 [[ 9.39324186e-01 -3.42917733e-01 -8.80348295e-03 9.42119743e+01] [ 3.42902433e-01 9.39365439e-01 -3.23931429e-03 -1.70102049e+01] [ 9.38050594e-03 2.40305294e-05 9.99956002e-01 -1.39933435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25538474999999 meters 0.05719676310845319 Centerline is valid? [True, True] Translation: X:94.24, Y:-17.00, Z:-1.40 [[ 9.38970924e-01 -3.43896667e-01 -8.28772759e-03 9.42388433e+01] [ 3.43883156e-01 9.39007499e-01 -3.04834606e-03 -1.70034055e+01] [ 8.83055441e-03 1.22983913e-05 9.99961010e-01 -1.39878459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.28538474999999 meters 0.057118485095520866 Centerline is valid? [True, True] Translation: X:94.27, Y:-16.99, Z:-1.40 [[ 9.38685331e-01 -3.44683945e-01 -7.92635261e-03 9.42658269e+01] [ 3.44671573e-01 9.38718796e-01 -2.92044079e-03 -1.69943288e+01] [ 8.44724523e-03 9.38651038e-06 9.99964321e-01 -1.39964922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.31538474999999 meters 0.05738912661625449 Centerline is valid? [True, True] Translation: X:94.29, Y:-16.99, Z:-1.40 [[ 9.38433552e-01 -3.45376745e-01 -7.57441204e-03 9.42924499e+01] [ 3.45365451e-01 9.38464120e-01 -2.79315912e-03 -1.69858789e+01] [ 8.07300613e-03 5.25401048e-06 9.99967413e-01 -1.40032409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.34538475 meters 0.0573568089566343 Centerline is valid? [True, True] Translation: X:94.32, Y:-16.98, Z:-1.40 [[ 9.38199666e-01 -3.46006596e-01 -7.79884666e-03 9.43190974e+01] [ 3.45994626e-01 9.38232080e-01 -2.87813889e-03 -1.69764721e+01] [ 8.31298316e-03 1.90991692e-06 9.99965447e-01 -1.40050209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.37538475 meters 0.0573682817202263 Centerline is valid? [True, True] Translation: X:94.35, Y:-16.97, Z:-1.40 [[ 9.38245033e-01 -3.45864415e-01 -8.60607576e-03 9.43455722e+01] [ 3.45849852e-01 9.38284502e-01 -3.17384578e-03 -1.69672943e+01] [ 9.17266782e-03 1.43500171e-06 9.99957930e-01 -1.40166206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.40538475 meters 0.05724529107682401 Centerline is valid? [True, True] Translation: X:94.37, Y:-16.96, Z:-1.40 [[ 9.38107261e-01 -3.46247852e-01 -8.19706909e-03 9.43717134e+01] [ 3.46234611e-01 9.38143073e-01 -3.02803543e-03 -1.69581735e+01] [ 8.73847434e-03 2.51299978e-06 9.99961819e-01 -1.40135387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.43538475 meters 0.05737765945839743 Centerline is valid? [True, True] Translation: X:94.40, Y:-16.95, Z:-1.40 [[ 9.38024290e-01 -3.46490278e-01 -7.41074589e-03 9.43975811e+01] [ 3.46479476e-01 9.38053563e-01 -2.73603158e-03 -1.69478206e+01] [ 7.89968493e-03 -1.20727078e-06 9.99968797e-01 -1.40184682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.46538475 meters 0.05729817413611698 Centerline is valid? [True, True] Translation: X:94.42, Y:-16.94, Z:-1.40 [[ 9.37999494e-01 -3.46553801e-01 -7.57708601e-03 9.44236364e+01] [ 3.46542471e-01 9.38030097e-01 -2.80227175e-03 -1.69373154e+01] [ 8.07867265e-03 2.74737935e-06 9.99967367e-01 -1.40204654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49538474999999 meters 0.05734238459678619 Centerline is valid? [True, True] Translation: X:94.45, Y:-16.93, Z:-1.40 [[ 9.37907083e-01 -3.46785414e-01 -8.37733045e-03 9.44504121e+01] [ 3.46771561e-01 9.37944495e-01 -3.09972587e-03 -1.69269171e+01] [ 8.93241070e-03 2.23489215e-06 9.99960105e-01 -1.40232248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.52538474999999 meters 0.05744090862700003 Centerline is valid? [True, True] Translation: X:94.48, Y:-16.92, Z:-1.41 [[ 9.37947316e-01 -3.46669690e-01 -8.65782558e-03 9.44766305e+01] [ 3.46654902e-01 9.37987274e-01 -3.20203163e-03 -1.69170898e+01] [ 9.23097753e-03 2.05929647e-06 9.99957394e-01 -1.40583449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55538474999999 meters 0.05753624900113402 Centerline is valid? [True, True] Translation: X:94.50, Y:-16.91, Z:-1.41 [[ 9.38301221e-01 -3.45657894e-01 -1.05564609e-02 9.45032695e+01] [ 3.45635792e-01 9.38360602e-01 -3.90891923e-03 -1.69057016e+01] [ 1.12569158e-02 1.90529554e-05 9.99936639e-01 -1.40505636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.58538474999999 meters 0.057637214308592956 Centerline is valid? [True, True] Translation: X:94.53, Y:-16.90, Z:-1.41 [[ 9.38387130e-01 -3.45419277e-01 -1.07292365e-02 9.45286624e+01] [ 3.45396444e-01 9.38448466e-01 -3.97168047e-03 -1.68954187e+01] [ 1.14407306e-02 2.11336924e-05 9.99934552e-01 -1.40969804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61538474999999 meters 0.05771224912952786 Centerline is valid? [True, True] Translation: X:94.55, Y:-16.88, Z:-1.41 [[ 9.38506495e-01 -3.45074938e-01 -1.13509966e-02 9.45549049e+01] [ 3.45049346e-01 9.38575136e-01 -4.20268592e-03 -1.68848916e+01] [ 1.21040048e-02 2.75940615e-05 9.99926743e-01 -1.41150583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.64538474999999 meters 0.05758811240419042 Centerline is valid? [True, True] Translation: X:94.58, Y:-16.88, Z:-1.41 [[ 9.38391532e-01 -3.45386534e-01 -1.13787155e-02 9.45813510e+01] [ 3.45360766e-01 9.38460517e-01 -4.21902395e-03 -1.68752524e+01] [ 1.21356693e-02 2.93344399e-05 9.99926360e-01 -1.40808475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.67538474999999 meters 0.057527023102395644 Centerline is valid? [True, True] Translation: X:94.61, Y:-16.87, Z:-1.41 [[ 9.37877961e-01 -3.46795537e-01 -1.08529069e-02 9.46084937e+01] [ 3.46772206e-01 9.37940753e-01 -4.02263045e-03 -1.68675481e+01] [ 1.15744140e-02 9.24996174e-06 9.99933014e-01 -1.40915793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.70538475 meters 0.0574847839135169 Centerline is valid? [True, True] Translation: X:94.64, Y:-16.86, Z:-1.41 [[ 9.37366532e-01 -3.48175746e-01 -1.08459545e-02 9.46354166e+01] [ 3.48152471e-01 9.37429277e-01 -4.02577280e-03 -1.68604863e+01] [ 1.15689917e-02 -2.42117437e-06 9.99933077e-01 -1.40926247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.73538475 meters 0.0574847839135169 Centerline is valid? [True, True] Translation: X:94.66, Y:-16.85, Z:-1.41 [[ 9.37276693e-01 -3.48417549e-01 -1.08449156e-02 9.46612859e+01] [ 3.48394258e-01 9.37339432e-01 -4.02857206e-03 -1.68506778e+01] [ 1.15689922e-02 -2.41960417e-06 9.99933077e-01 -1.40963333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.76538475 meters 0.0572640922731212 Centerline is valid? [True, True] Translation: X:94.69, Y:-16.84, Z:-1.41 [[ 9.37370063e-01 -3.48180887e-01 -1.03651251e-02 9.46881928e+01] [ 3.48159566e-01 9.37427368e-01 -3.85312107e-03 -1.68407430e+01] [ 1.10581350e-02 3.08289592e-06 9.99938857e-01 -1.40623379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.79538475 meters 0.05739157276119931 Centerline is valid? [True, True] Translation: X:94.72, Y:-16.83, Z:-1.41 [[ 9.36668036e-01 -3.50076100e-01 -9.98572029e-03 9.47154824e+01] [ 3.50056431e-01 9.36721263e-01 -3.71093216e-03 -1.68329542e+01] [ 1.06529452e-02 -1.96540705e-05 9.99943256e-01 -1.41007482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.82538475 meters 0.05745126212880799 Centerline is valid? [True, True] Translation: X:94.74, Y:-16.82, Z:-1.41 [[ 9.36531346e-01 -3.50405830e-01 -1.11710820e-02 9.47429695e+01] [ 3.50381177e-01 9.36597968e-01 -4.15651679e-03 -1.68226745e+01] [ 1.19192804e-02 -2.14286062e-05 9.99928963e-01 -1.40783939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.85538475 meters 0.05751900308242473 Centerline is valid? [True, True] Translation: X:94.77, Y:-16.81, Z:-1.41 [[ 9.36478822e-01 -3.50547278e-01 -1.11364900e-02 9.47686833e+01] [ 3.50522791e-01 9.36545037e-01 -4.14341040e-03 -1.68130111e+01] [ 1.18822857e-02 -2.33774540e-05 9.99929403e-01 -1.41231563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.88538474999999 meters 0.057427414544769954 Centerline is valid? [True, True] Translation: X:94.79, Y:-16.80, Z:-1.41 [[ 9.36984856e-01 -3.49153898e-01 -1.22855752e-02 9.47944793e+01] [ 3.49123914e-01 9.37065395e-01 -4.57571277e-03 -1.68000037e+01] [ 1.31100153e-02 -1.81452952e-06 9.99914060e-01 -1.41023966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91538474999999 meters 0.05733342382618896 Centerline is valid? [True, True] Translation: X:94.82, Y:-16.79, Z:-1.41 [[ 9.36976411e-01 -3.49173094e-01 -1.23836479e-02 9.48199594e+01] [ 3.49142576e-01 9.37058243e-01 -4.61644890e-03 -1.67888013e+01] [ 1.32161391e-02 1.84500880e-06 9.99912663e-01 -1.41039777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.94538474999999 meters 0.05725121664763885 Centerline is valid? [True, True] Translation: X:94.84, Y:-16.77, Z:-1.41 [[ 9.38048718e-01 -3.46320504e-01 -1.12566098e-02 9.48443687e+01] [ 3.46295097e-01 9.38116255e-01 -4.19506640e-03 -1.67747373e+01] [ 1.20128461e-02 3.70678885e-05 9.99927842e-01 -1.40969146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97538474999999 meters 0.05708663887097941 Centerline is valid? [True, True] Translation: X:94.87, Y:-16.76, Z:-1.41 [[ 9.37480922e-01 -3.47916410e-01 -9.14833474e-03 9.48709847e+01] [ 3.47899659e-01 9.37525558e-01 -3.41408701e-03 -1.67642749e+01] [ 9.76461453e-03 1.79389052e-05 9.99952325e-01 -1.40681410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.00538474999999 meters 0.05717652876424991 Centerline is valid? [True, True] Translation: X:94.90, Y:-16.75, Z:-1.41 [[ 9.37471427e-01 -3.47947397e-01 -8.94053204e-03 9.48959841e+01] [ 3.47931405e-01 9.37514058e-01 -3.33592558e-03 -1.67532986e+01] [ 9.54260110e-03 1.66430339e-05 9.99954468e-01 -1.40646204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03538474999999 meters 0.057393295863692496 Centerline is valid? [True, True] Translation: X:94.92, Y:-16.74, Z:-1.41 [[ 9.37039577e-01 -3.49097051e-01 -9.38513051e-03 9.49225234e+01] [ 3.49079447e-01 9.37086575e-01 -3.50584156e-03 -1.67414035e+01] [ 1.00185588e-02 8.95612210e-06 9.99949813e-01 -1.40785127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.06538474999999 meters 0.05731777907956513 Centerline is valid? [True, True] Translation: X:94.95, Y:-16.73, Z:-1.41 [[ 9.37353756e-01 -3.48225218e-01 -1.03505775e-02 9.49482043e+01] [ 3.48203724e-01 9.37410901e-01 -3.86898389e-03 -1.67285596e+01] [ 1.10500220e-02 2.24969350e-05 9.99938946e-01 -1.40710431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.09538475 meters 0.05750681360966317 Centerline is valid? [True, True] Translation: X:94.97, Y:-16.71, Z:-1.41 [[ 9.37989630e-01 -3.46505788e-01 -1.04495095e-02 9.49743732e+01] [ 3.46483742e-01 9.38047833e-01 -3.90891222e-03 -1.67148477e+01] [ 1.11566004e-02 4.59339772e-05 9.99937762e-01 -1.40702832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.12538475 meters 0.057837577318096786 Centerline is valid? [True, True] Translation: X:95.00, Y:-16.70, Z:-1.41 [[ 9.38746128e-01 -3.44446964e-01 -1.05827887e-02 9.49987660e+01] [ 3.44424236e-01 9.38805775e-01 -3.95751707e-03 -1.67009355e+01] [ 1.12983379e-02 7.01349172e-05 9.99936169e-01 -1.40976155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.15538475 meters 0.05777831143457867 Centerline is valid? [True, True] Translation: X:95.02, Y:-16.69, Z:-1.41 [[ 9.39160063e-01 -3.43291915e-01 -1.13594721e-02 9.50241008e+01] [ 3.43265631e-01 9.39228754e-01 -4.24895790e-03 -1.66892480e+01] [ 1.21277757e-02 9.11352032e-05 9.99926452e-01 -1.40979063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.18538475 meters 0.05753579215146252 Centerline is valid? [True, True] Translation: X:95.05, Y:-16.68, Z:-1.41 [[ 9.38368039e-01 -3.45487741e-01 -1.01805369e-02 9.50520086e+01] [ 3.45466705e-01 9.38423261e-01 -3.81300504e-03 -1.66802804e+01] [ 1.08709991e-02 6.09655343e-05 9.99940907e-01 -1.40864022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.21538475 meters 0.057761146517294304 Centerline is valid? [True, True] Translation: X:95.08, Y:-16.67, Z:-1.41 [[ 9.38229241e-01 -3.45824730e-01 -1.14519937e-02 9.50776779e+01] [ 3.45798140e-01 9.38299127e-01 -4.28882942e-03 -1.66685650e+01] [ 1.22285790e-02 6.38270556e-05 9.99925226e-01 -1.41086699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.24538474999999 meters 0.0578913367984227 Centerline is valid? [True, True] Translation: X:95.10, Y:-16.66, Z:-1.41 [[ 9.38275527e-01 -3.45642284e-01 -1.30555489e-02 9.51042322e+01] [ 3.45607642e-01 9.38366349e-01 -4.89409993e-03 -1.66568254e+01] [ 1.39424956e-02 7.99167318e-05 9.99902795e-01 -1.41279497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27538474999999 meters 0.058154887793306874 Centerline is valid? [True, True] Translation: X:95.13, Y:-16.65, Z:-1.41 [[ 9.38742719e-01 -3.44400963e-01 -1.22508851e-02 9.51300396e+01] [ 3.44370365e-01 9.38822650e-01 -4.59164176e-03 -1.66450544e+01] [ 1.30827743e-02 9.15284791e-05 9.99914413e-01 -1.41268812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.30538474999999 meters 0.05779259656801993 Centerline is valid? [True, True] Translation: X:95.16, Y:-16.63, Z:-1.41 [[ 9.38781570e-01 -3.44353284e-01 -1.04871181e-02 9.51571154e+01] [ 3.44330803e-01 9.38840140e-01 -3.93562673e-03 -1.66347161e+01] [ 1.12009734e-02 8.36560482e-05 9.99937264e-01 -1.41000728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33538474999999 meters 0.05792309734421176 Centerline is valid? [True, True] Translation: X:95.18, Y:-16.62, Z:-1.41 [[ 9.39358623e-01 -3.42750436e-01 -1.12923265e-02 9.51824296e+01] [ 3.42724258e-01 9.39426488e-01 -4.23754137e-03 -1.66222160e+01] [ 1.20607298e-02 1.10416796e-04 9.99927261e-01 -1.41101625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.36538474999999 meters 0.058064693253692484 Centerline is valid? [True, True] Translation: X:95.21, Y:-16.61, Z:-1.41 [[ 9.39841883e-01 -3.41440377e-01 -1.07565910e-02 9.52075326e+01] [ 3.41416478e-01 9.39903428e-01 -4.04169329e-03 -1.66093218e+01] [ 1.14901541e-02 1.26075198e-04 9.99933978e-01 -1.41032245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39538474999999 meters 0.058513980716587054 Centerline is valid? [True, True] Translation: X:95.23, Y:-16.60, Z:-1.41 [[ 9.40485051e-01 -3.39678922e-01 -1.03003862e-02 9.52317546e+01] [ 3.39656918e-01 9.40541445e-01 -3.86881548e-03 -1.65953976e+01] [ 1.10020952e-02 1.39965703e-04 9.99939465e-01 -1.41230949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.42538474999999 meters 0.0585513599553215 Centerline is valid? [True, True] Translation: X:95.26, Y:-16.58, Z:-1.41 [[ 9.40583287e-01 -3.39407084e-01 -1.02913574e-02 9.52571108e+01] [ 3.39385042e-01 9.40639574e-01 -3.87091216e-03 -1.65838998e+01] [ 1.09942731e-02 1.48182513e-04 9.99939550e-01 -1.41399154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.45538475 meters 0.058053989749696853 Centerline is valid? [True, True] Translation: X:95.29, Y:-16.58, Z:-1.41 [[ 9.39378498e-01 -3.42721244e-01 -1.04969792e-02 9.52856855e+01] [ 3.42698490e-01 9.39437138e-01 -3.95076794e-03 -1.65782654e+01] [ 1.12152642e-02 1.13967522e-04 9.99937100e-01 -1.40892268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.48538475 meters 0.05778950286138745 Centerline is valid? [True, True] Translation: X:95.31, Y:-16.57, Z:-1.41 [[ 9.38767288e-01 -3.44387228e-01 -1.06497131e-02 9.53124634e+01] [ 3.44363874e-01 9.38827688e-01 -4.01190629e-03 -1.65698113e+01] [ 1.13798948e-02 9.88699317e-05 9.99935242e-01 -1.40944758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.51538475 meters 0.0578957591216113 Centerline is valid? [True, True] Translation: X:95.34, Y:-16.56, Z:-1.41 [[ 9.38030768e-01 -3.46332645e-01 -1.23279230e-02 9.53389194e+01] [ 3.46301545e-01 9.38111769e-01 -4.64200939e-03 -1.65606165e+01] [ 1.31726490e-02 8.51688592e-05 9.99913233e-01 -1.41145676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.54538475 meters 0.0580316249298572 Centerline is valid? [True, True] Translation: X:95.36, Y:-16.55, Z:-1.41 [[ 9.37769947e-01 -3.47033887e-01 -1.24501871e-02 9.53644368e+01] [ 3.47002145e-01 9.37852587e-01 -4.69436858e-03 -1.65498401e+01] [ 1.33055451e-02 8.19961510e-05 9.99911474e-01 -1.41259815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.57538475 meters 0.0581371711478841 Centerline is valid? [True, True] Translation: X:95.39, Y:-16.54, Z:-1.41 [[ 9.38622386e-01 -3.44685271e-01 -1.34194129e-02 9.53890925e+01] [ 3.44648178e-01 9.38718301e-01 -5.05815153e-03 -1.65365396e+01] [ 1.43405188e-02 1.22718044e-04 9.99897162e-01 -1.41483486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.60538474999998 meters 0.058401360233377615 Centerline is valid? [True, True] Translation: X:95.42, Y:-16.52, Z:-1.42 [[ 9.38892535e-01 -3.43887346e-01 -1.49097457e-02 9.54152693e+01] [ 3.43841362e-01 9.39010899e-01 -5.62571892e-03 -1.65247386e+01] [ 1.59350273e-02 1.55358222e-04 9.99873017e-01 -1.41614044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63538474999999 meters 0.05844615040608301 Centerline is valid? [True, True] Translation: X:95.44, Y:-16.51, Z:-1.42 [[ 9.39056389e-01 -3.43453793e-01 -1.45804831e-02 9.54407576e+01] [ 3.43409761e-01 9.39169562e-01 -5.50178683e-03 -1.65144573e+01] [ 1.55831555e-02 1.59407872e-04 9.99878563e-01 -1.41687882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.66538474999999 meters 0.05848191374453872 Centerline is valid? [True, True] Translation: X:95.47, Y:-16.50, Z:-1.42 [[ 9.39017892e-01 -3.43530976e-01 -1.52271757e-02 9.54684270e+01] [ 3.43482872e-01 9.39141331e-01 -5.75125987e-03 -1.65047661e+01] [ 1.62762060e-02 1.70261871e-04 9.99867519e-01 -1.41704040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69538474999999 meters 0.058178295738506094 Centerline is valid? [True, True] Translation: X:95.50, Y:-16.50, Z:-1.42 [[ 9.38748933e-01 -3.44307796e-01 -1.42331786e-02 9.54954257e+01] [ 3.44265848e-01 9.38856816e-01 -5.37640877e-03 -1.64969477e+01] [ 1.52140562e-02 1.47100687e-04 9.99884249e-01 -1.41676386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.72538474999999 meters 0.058055102298750966 Centerline is valid? [True, True] Translation: X:95.52, Y:-16.49, Z:-1.42 [[ 9.38556136e-01 -3.44844799e-01 -1.39443267e-02 9.55229880e+01] [ 3.44804520e-01 9.38659706e-01 -5.27238996e-03 -1.64879389e+01] [ 1.49071339e-02 1.40367067e-04 9.99888873e-01 -1.41590830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75538474999999 meters 0.05779402200399437 Centerline is valid? [True, True] Translation: X:95.55, Y:-16.48, Z:-1.42 [[ 9.38139536e-01 -3.46001909e-01 -1.33000167e-02 9.55518987e+01] [ 3.45965340e-01 9.38233801e-01 -5.03179835e-03 -1.64810897e+01] [ 1.42195370e-02 1.19184187e-04 9.99898890e-01 -1.41614804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.78538474999999 meters 0.05775025616396588 Centerline is valid? [True, True] Translation: X:95.58, Y:-16.47, Z:-1.42 [[ 9.37670915e-01 -3.47292152e-01 -1.27049890e-02 9.55785707e+01] [ 3.47258907e-01 9.37756979e-01 -4.80612964e-03 -1.64733947e+01] [ 1.35833232e-02 9.46473832e-05 9.99907738e-01 -1.41626704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.81538474999999 meters 0.05742466305470981 Centerline is valid? [True, True] Translation: X:95.61, Y:-16.46, Z:-1.41 [[ 9.37745829e-01 -3.47088693e-01 -1.27357340e-02 9.56052770e+01] [ 3.47055179e-01 9.37832303e-01 -4.82437934e-03 -1.64639369e+01] [ 1.36184702e-02 1.04039177e-04 9.99907259e-01 -1.41270993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.84538475 meters 0.057714438733285425 Centerline is valid? [True, True] Translation: X:95.63, Y:-16.45, Z:-1.42 [[ 9.37659087e-01 -3.47312802e-01 -1.30098165e-02 9.56310625e+01] [ 3.47277872e-01 9.37749331e-01 -4.92669417e-03 -1.64538959e+01] [ 1.39110506e-02 1.01538181e-04 9.99903231e-01 -1.41684348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.87538475 meters 0.0570493120589692 Centerline is valid? [True, True] Translation: X:95.66, Y:-16.45, Z:-1.41 [[ 9.36249272e-01 -3.51122559e-01 -1.22576334e-02 9.56605649e+01] [ 3.51091808e-01 9.36329507e-01 -4.64713613e-03 -1.64503163e+01] [ 1.31088982e-02 4.73231543e-05 9.99914074e-01 -1.41192224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.90538475 meters 0.05701483832196194 Centerline is valid? [True, True] Translation: X:95.69, Y:-16.44, Z:-1.41 [[ 9.35153487e-01 -3.53927135e-01 -1.49511923e-02 9.56891677e+01] [ 3.53881683e-01 9.35272999e-01 -5.67200889e-03 -1.64437719e+01] [ 1.59909243e-02 1.32457950e-05 9.99872137e-01 -1.40844179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.93538475 meters 0.05707746167397627 Centerline is valid? [True, True] Translation: X:95.71, Y:-16.43, Z:-1.41 [[ 9.35192268e-01 -3.53823357e-01 -1.49817564e-02 9.57147443e+01] [ 3.53777622e-01 9.35312264e-01 -5.68880228e-03 -1.64329912e+01] [ 1.60254516e-02 1.99137567e-05 9.99871584e-01 -1.40981801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.96538475 meters 0.05728348461798541 Centerline is valid? [True, True] Translation: X:95.74, Y:-16.43, Z:-1.41 [[ 9.34257898e-01 -3.56297516e-01 -1.46376562e-02 9.57412847e+01] [ 3.56254088e-01 9.34372559e-01 -5.56278406e-03 -1.64251276e+01] [ 1.56590304e-02 -1.76499216e-05 9.99877390e-01 -1.41353361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99538474999999 meters 0.05720917365669736 Centerline is valid? [True, True] Translation: X:95.77, Y:-16.41, Z:-1.41 [[ 9.33865027e-01 -3.57272244e-01 -1.58951644e-02 9.57677496e+01] [ 3.57221117e-01 9.34000291e-01 -6.04409047e-03 -1.64123340e+01] [ 1.70054740e-02 -3.37236838e-05 9.99855396e-01 -1.41326177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.02538474999999 meters 0.05754246104686817 Centerline is valid? [True, True] Translation: X:95.79, Y:-16.40, Z:-1.42 [[ 9.34315725e-01 -3.56032297e-01 -1.71793158e-02 9.57935485e+01] [ 3.55972285e-01 9.34473650e-01 -6.53672071e-03 -1.63997967e+01] [ 1.83809016e-02 -7.99935419e-06 9.99831057e-01 -1.41662213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05538474999999 meters 0.05760628973072092 Centerline is valid? [True, True] Translation: X:95.82, Y:-16.39, Z:-1.42 [[ 9.34499754e-01 -3.55529733e-01 -1.75732505e-02 9.58202704e+01] [ 3.55466761e-01 9.34664972e-01 -6.69126543e-03 -1.63878604e+01] [ 1.88040455e-02 6.27944532e-06 9.99823188e-01 -1.41702631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.08538474999999 meters 0.05751518320670068 Centerline is valid? [True, True] Translation: X:95.85, Y:-16.38, Z:-1.42 [[ 9.35049127e-01 -3.54120889e-01 -1.67787258e-02 9.58457059e+01] [ 3.54063239e-01 9.35199655e-01 -6.38966257e-03 -1.63766885e+01] [ 1.79541716e-02 3.39183996e-05 9.99838810e-01 -1.41696843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11538474999999 meters 0.05744632908751884 Centerline is valid? [True, True] Translation: X:95.87, Y:-16.37, Z:-1.42 [[ 9.35292594e-01 -3.53493820e-01 -1.64280793e-02 9.58717999e+01] [ 3.53438333e-01 9.35436859e-01 -6.26325083e-03 -1.63664020e+01] [ 1.75814513e-02 5.16591741e-05 9.99845433e-01 -1.41589726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.14538474999999 meters 0.057613261239503444 Centerline is valid? [True, True] Translation: X:95.90, Y:-16.36, Z:-1.42 [[ 9.35793985e-01 -3.52093352e-01 -1.78854218e-02 9.58971588e+01] [ 3.52027340e-01 9.35964884e-01 -6.81814767e-03 -1.63558855e+01] [ 1.91407513e-02 8.42240996e-05 9.99816795e-01 -1.41748620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.17538474999999 meters 0.05734262776721821 Centerline is valid? [True, True] Translation: X:95.92, Y:-16.34, Z:-1.41 [[ 9.36249235e-01 -3.50959266e-01 -1.62777110e-02 9.59238398e+01] [ 3.50904299e-01 9.36390721e-01 -6.21210483e-03 -1.63435515e+01] [ 1.74224933e-02 1.04159644e-04 9.99848211e-01 -1.41289584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.20538475 meters 0.05755634028810792 Centerline is valid? [True, True] Translation: X:95.95, Y:-16.33, Z:-1.42 [[ 9.36354431e-01 -3.50687041e-01 -1.60928237e-02 9.59482608e+01] [ 3.50633267e-01 9.36492706e-01 -6.14203303e-03 -1.63317199e+01] [ 1.72247434e-02 1.08440503e-04 9.99851637e-01 -1.41719536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.23538475 meters 0.057884073853929886 Centerline is valid? [True, True] Translation: X:95.97, Y:-16.32, Z:-1.42 [[ 9.37188050e-01 -3.48472855e-01 -1.56597627e-02 9.59730588e+01] [ 3.48421612e-01 9.37318862e-01 -5.97763299e-03 -1.63186189e+01] [ 1.67612338e-02 1.45966425e-04 9.99859510e-01 -1.41765854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.26538475 meters 0.058113295634825736 Centerline is valid? [True, True] Translation: X:96.00, Y:-16.31, Z:-1.42 [[ 9.37678313e-01 -3.47143143e-01 -1.58436077e-02 9.59979597e+01] [ 3.47090476e-01 9.37812139e-01 -6.04922795e-03 -1.63058511e+01] [ 1.69582757e-02 1.73064521e-04 9.99856183e-01 -1.41945870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.29538475 meters 0.05837657189200078 Centerline is valid? [True, True] Translation: X:96.02, Y:-16.29, Z:-1.42 [[ 9.37986350e-01 -3.46299292e-01 -1.60750758e-02 9.60238922e+01] [ 3.46244845e-01 9.38124065e-01 -6.14377188e-03 -1.62924772e+01] [ 1.72079993e-02 1.96862045e-04 9.99851912e-01 -1.42061308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.32538475 meters 0.0582042282514155 Centerline is valid? [True, True] Translation: X:96.05, Y:-16.28, Z:-1.42 [[ 9.38949082e-01 -3.43696906e-01 -1.57181126e-02 9.60496972e+01] [ 3.43644492e-01 9.39080603e-01 -6.00694859e-03 -1.62802291e+01] [ 1.68251443e-02 2.38776045e-04 9.99858419e-01 -1.41628316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35538474999998 meters 0.05851910396904364 Centerline is valid? [True, True] Translation: X:96.08, Y:-16.27, Z:-1.42 [[ 9.39441301e-01 -3.42334901e-01 -1.60267712e-02 9.60762487e+01] [ 3.42280097e-01 9.39577959e-01 -6.13148072e-03 -1.62682272e+01] [ 1.71574208e-02 2.74521422e-04 9.99852763e-01 -1.41644530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.38538474999999 meters 0.05918825810364295 Centerline is valid? [True, True] Translation: X:96.10, Y:-16.25, Z:-1.42 [[ 9.40514950e-01 -3.39379807e-01 -1.59052151e-02 9.61004645e+01] [ 3.39325419e-01 9.40649372e-01 -6.08433679e-03 -1.62532738e+01] [ 1.70261316e-02 3.25365940e-04 9.99854992e-01 -1.41739471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41538474999999 meters 0.058631599710886335 Centerline is valid? [True, True] Translation: X:96.13, Y:-16.24, Z:-1.41 [[ 9.41205213e-01 -3.37452780e-01 -1.60738102e-02 9.61273679e+01] [ 3.37396829e-01 9.41342384e-01 -6.15596868e-03 -1.62433616e+01] [ 1.72083076e-02 3.70777209e-04 9.99851857e-01 -1.41231596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.44538474999999 meters 0.05874596766859026 Centerline is valid? [True, True] Translation: X:96.15, Y:-16.23, Z:-1.41 [[ 9.40956561e-01 -3.38219361e-01 -1.44365847e-02 9.61532476e+01] [ 3.38174326e-01 9.41067246e-01 -5.52843263e-03 -1.62340327e+01] [ 1.54556200e-02 3.19932642e-04 9.99880504e-01 -1.41329128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47538474999999 meters 0.057519300868021477 Centerline is valid? [True, True] Translation: X:96.18, Y:-16.23, Z:-1.41 [[ 9.38865262e-01 -3.44059554e-01 -1.24515921e-02 9.61828222e+01] [ 3.44026492e-01 9.38947807e-01 -4.77375895e-03 -1.62295928e+01] [ 1.33338524e-02 1.98238914e-04 9.99911081e-01 -1.40974360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.50538474999999 meters 0.05745381575523322 Centerline is valid? [True, True] Translation: X:96.21, Y:-16.22, Z:-1.41 [[ 9.38309853e-01 -3.45536616e-01 -1.33815623e-02 9.62096888e+01] [ 3.45498527e-01 9.38405248e-01 -5.13407926e-03 -1.62196054e+01] [ 1.43313407e-02 1.94047078e-04 9.99897282e-01 -1.41207716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53538474999999 meters 0.05765476727688557 Centerline is valid? [True, True] Translation: X:96.24, Y:-16.21, Z:-1.42 [[ 9.38186861e-01 -3.45842212e-01 -1.40917928e-02 9.62356750e+01] [ 3.45800022e-01 9.38292665e-01 -5.40550142e-03 -1.62095300e+01] [ 1.50916764e-02 1.98428155e-04 9.99886094e-01 -1.41632449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.56538474999999 meters 0.05788064471588904 Centerline is valid? [True, True] Translation: X:96.26, Y:-16.20, Z:-1.42 [[ 9.38162090e-01 -3.45919295e-01 -1.38468094e-02 9.62619477e+01] [ 3.45878461e-01 9.38264249e-01 -5.31873252e-03 -1.61994582e+01] [ 1.48318184e-02 2.00520105e-04 9.99889982e-01 -1.41784169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.59538475 meters 0.05756001046217738 Centerline is valid? [True, True] Translation: X:96.29, Y:-16.19, Z:-1.42 [[ 9.37392971e-01 -3.48064561e-01 -1.20614548e-02 9.62892242e+01] [ 3.48033770e-01 9.37470555e-01 -4.63189990e-03 -1.61920128e+01] [ 1.29194589e-02 1.44116838e-04 9.99916530e-01 -1.41572964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.62538475 meters 0.05690252095114168 Centerline is valid? [True, True] Translation: X:96.32, Y:-16.19, Z:-1.41 [[ 9.36200342e-01 -3.51324706e-01 -9.99349579e-03 9.63178036e+01] [ 3.51303746e-01 9.36253675e-01 -3.83849148e-03 -1.61864733e+01] [ 1.07050041e-02 8.28445301e-05 9.99942696e-01 -1.41160854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.65538475 meters 0.05690252095114168 Centerline is valid? [True, True] Translation: X:96.34, Y:-16.18, Z:-1.41 [[ 9.36104016e-01 -3.51581344e-01 -9.99144870e-03 9.63435691e+01] [ 3.51560342e-01 9.36157333e-01 -3.84381991e-03 -1.61763858e+01] [ 1.07049833e-02 8.56181383e-05 9.99942696e-01 -1.41198121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.68538475 meters 0.05697884010694507 Centerline is valid? [True, True] Translation: X:96.37, Y:-16.17, Z:-1.41 [[ 9.35845063e-01 -3.52231271e-01 -1.12760677e-02 9.63692747e+01] [ 3.52204594e-01 9.35912990e-01 -4.33588172e-03 -1.61663497e+01] [ 1.20806514e-02 8.62306429e-05 9.99927023e-01 -1.41310462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.71538475 meters 0.057388752489527836 Centerline is valid? [True, True] Translation: X:96.40, Y:-16.15, Z:-1.42 [[ 9.36119456e-01 -3.51450011e-01 -1.27770631e-02 9.63953428e+01] [ 3.51415610e-01 9.36206642e-01 -4.91853432e-03 -1.61527969e+01] [ 1.36905902e-02 1.14276264e-04 9.99906273e-01 -1.41689593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.74538474999999 meters 0.057708640585796445 Centerline is valid? [True, True] Translation: X:96.42, Y:-16.14, Z:-1.42 [[ 9.35830869e-01 -3.52204339e-01 -1.31410731e-02 9.64211309e+01] [ 3.52167963e-01 9.35923123e-01 -5.06307745e-03 -1.61412034e+01] [ 1.40822720e-02 1.10319214e-04 9.99900834e-01 -1.42165400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77538474999999 meters 0.05768644495144688 Centerline is valid? [True, True] Translation: X:96.45, Y:-16.13, Z:-1.42 [[ 9.36039359e-01 -3.51662038e-01 -1.28113187e-02 9.64461825e+01] [ 3.51627419e-01 9.36127020e-01 -4.93562871e-03 -1.61298261e+01] [ 1.37286949e-02 1.15131792e-04 9.99905750e-01 -1.42218968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.80538474999999 meters 0.057997827726569355 Centerline is valid? [True, True] Translation: X:96.47, Y:-16.12, Z:-1.42 [[ 9.36786813e-01 -3.49675229e-01 -1.25579097e-02 9.64708729e+01] [ 3.49641771e-01 9.36870970e-01 -4.83920737e-03 -1.61177660e+01] [ 1.34572920e-02 1.42535865e-04 9.99909436e-01 -1.42184137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83538474999999 meters 0.05828276180264236 Centerline is valid? [True, True] Translation: X:96.50, Y:-16.11, Z:-1.42 [[ 9.37449497e-01 -3.47890230e-01 -1.26817821e-02 9.64969158e+01] [ 3.47855875e-01 9.37535256e-01 -4.89211980e-03 -1.61051550e+01] [ 1.35915385e-02 1.74682846e-04 9.99907616e-01 -1.42101473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.86538474999999 meters 0.058532871615334735 Centerline is valid? [True, True] Translation: X:96.52, Y:-16.09, Z:-1.42 [[ 9.37839844e-01 -3.46827296e-01 -1.29326741e-02 9.65225109e+01] [ 3.46791481e-01 9.37928990e-01 -4.98790784e-03 -1.60928711e+01] [ 1.38598726e-02 1.92917495e-04 9.99903929e-01 -1.42238699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89538474999999 meters 0.059017124912101114 Centerline is valid? [True, True] Translation: X:96.55, Y:-16.08, Z:-1.42 [[ 9.38662581e-01 -3.44615961e-01 -1.23449881e-02 9.65480515e+01] [ 3.44583065e-01 9.38743730e-01 -4.76662201e-03 -1.60783566e+01] [ 1.32314342e-02 2.20375879e-04 9.99912436e-01 -1.42340696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.92538474999999 meters 0.05871610112570361 Centerline is valid? [True, True] Translation: X:96.57, Y:-16.07, Z:-1.42 [[ 9.38907838e-01 -3.43959371e-01 -1.20009828e-02 9.65745189e+01] [ 3.43928169e-01 9.38984504e-01 -4.63846481e-03 -1.60682836e+01] [ 1.28641803e-02 2.27614918e-04 9.99917227e-01 -1.42054816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.95538475 meters 0.05881759810334308 Centerline is valid? [True, True] Translation: X:96.60, Y:-16.06, Z:-1.42 [[ 9.39348863e-01 -3.42787896e-01 -1.09622930e-02 9.65989581e+01] [ 3.42761786e-01 9.39412800e-01 -4.23659594e-03 -1.60564059e+01] [ 1.17503721e-02 2.22186467e-04 9.99930937e-01 -1.42051028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.98538475 meters 0.0591200855937842 Centerline is valid? [True, True] Translation: X:96.62, Y:-16.04, Z:-1.42 [[ 9.39932787e-01 -3.41231858e-01 -9.33671795e-03 9.66236243e+01] [ 3.41212787e-01 9.39979135e-01 -3.61372889e-03 -1.60431423e+01] [ 1.00094395e-02 2.10854714e-04 9.99949882e-01 -1.41997919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.01538475 meters 0.058751810748962005 Centerline is valid? [True, True] Translation: X:96.65, Y:-16.03, Z:-1.42 [[ 9.40344232e-01 -3.40115183e-01 -8.62480920e-03 9.66507967e+01] [ 3.40098839e-01 9.40383761e-01 -3.34078411e-03 -1.60336442e+01] [ 9.24688191e-03 2.08199469e-04 9.99957225e-01 -1.41704563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.04538475 meters 0.05863756856577528 Centerline is valid? [True, True] Translation: X:96.68, Y:-16.02, Z:-1.42 [[ 9.40144517e-01 -3.40675595e-01 -8.27199277e-03 9.66769343e+01] [ 3.40660594e-01 9.40180888e-01 -3.20274645e-03 -1.60241368e+01] [ 8.86826706e-03 1.93102544e-04 9.99960658e-01 -1.41682447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.07538475 meters 0.059458639957285904 Centerline is valid? [True, True] Translation: X:96.70, Y:-16.01, Z:-1.42 [[ 9.40201630e-01 -3.40493834e-01 -9.21108930e-03 9.67017669e+01] [ 3.40475218e-01 9.40246724e-01 -3.56712029e-03 -1.60106542e+01] [ 9.87527900e-03 2.17664678e-04 9.99951215e-01 -1.42161950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.10538474999998 meters 0.05857738724927898 Centerline is valid? [True, True] Translation: X:96.73, Y:-16.00, Z:-1.42 [[ 9.39094146e-01 -3.43517913e-01 -9.88068634e-03 9.67300645e+01] [ 3.43496606e-01 9.39146102e-01 -3.83143843e-03 -1.60046300e+01] [ 1.05955758e-02 2.04099181e-04 9.99943844e-01 -1.42130378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13538474999999 meters 0.05873623427551417 Centerline is valid? [True, True] Translation: X:96.76, Y:-15.99, Z:-1.42 [[ 9.38900709e-01 -3.44031089e-01 -1.03955869e-02 9.67572030e+01] [ 3.44007504e-01 9.38958234e-01 -4.03384750e-03 -1.59943507e+01] [ 1.11487909e-02 2.11222362e-04 9.99937828e-01 -1.42261955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.16538474999999 meters 0.0590962168718599 Centerline is valid? [True, True] Translation: X:96.78, Y:-15.98, Z:-1.43 [[ 9.39382043e-01 -3.42664478e-01 -1.19345157e-02 9.67825782e+01] [ 3.42633303e-01 9.39457816e-01 -4.62937576e-03 -1.59832090e+01] [ 1.27982966e-02 2.59589938e-04 9.99918065e-01 -1.42559978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19538474999999 meters 0.05926568105224317 Centerline is valid? [True, True] Translation: X:96.81, Y:-15.97, Z:-1.43 [[ 9.39624017e-01 -3.42036232e-01 -1.08592684e-02 9.68090332e+01] [ 3.42010306e-01 9.39686732e-01 -4.21861113e-03 -1.59736349e+01] [ 1.16472283e-02 2.49926617e-04 9.99932138e-01 -1.42611355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.22538474999999 meters 0.05895344788474208 Centerline is valid? [True, True] Translation: X:96.84, Y:-15.97, Z:-1.42 [[ 9.39166370e-01 -3.43305495e-01 -1.03858278e-02 9.68366899e+01] [ 3.43281829e-01 9.39223768e-01 -4.03733716e-03 -1.59657013e+01] [ 1.11406563e-02 2.26465334e-04 9.99937915e-01 -1.42382759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25538474999999 meters 0.058632328008462624 Centerline is valid? [True, True] Translation: X:96.86, Y:-15.96, Z:-1.42 [[ 9.38289662e-01 -3.45708382e-01 -9.91084855e-03 9.68635860e+01] [ 3.45686978e-01 9.38341984e-01 -3.85155159e-03 -1.59583122e+01] [ 1.06312790e-02 1.87819755e-04 9.99943469e-01 -1.42426897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.28538474999999 meters 0.05766558200804637 Centerline is valid? [True, True] Translation: X:96.89, Y:-15.95, Z:-1.42 [[ 9.36051944e-01 -3.51771491e-01 -7.97349347e-03 9.68931260e+01] [ 3.51757851e-01 9.36085898e-01 -3.09924106e-03 -1.59546473e+01] [ 8.55409945e-03 9.63116914e-05 9.99963408e-01 -1.42286401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.31538474999999 meters 0.057462934930497 Centerline is valid? [True, True] Translation: X:96.92, Y:-15.95, Z:-1.42 [[ 9.35225783e-01 -3.53970063e-01 -7.61115934e-03 9.69194193e+01] [ 3.53957690e-01 9.35256750e-01 -2.96044335e-03 -1.59464976e+01] [ 8.16629647e-03 7.46545694e-05 9.99966652e-01 -1.42448700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.34538475 meters 0.05740292632902196 Centerline is valid? [True, True] Translation: X:96.95, Y:-15.94, Z:-1.42 [[ 9.34809265e-01 -3.55091735e-01 -6.44187047e-03 9.69474241e+01] [ 3.55082873e-01 9.34831459e-01 -2.50931440e-03 -1.59380881e+01] [ 6.91309998e-03 5.83324699e-05 9.99976103e-01 -1.42415777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.37538475 meters 0.05720260581682886 Centerline is valid? [True, True] Translation: X:96.98, Y:-15.93, Z:-1.42 [[ 9.34659813e-01 -3.55503086e-01 -5.34697899e-03 9.69753707e+01] [ 3.55496975e-01 9.34675106e-01 -2.08494841e-03 -1.59301166e+01] [ 5.73889374e-03 4.78826366e-05 9.99983531e-01 -1.42267272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.40538475 meters 0.05699418600401999 Centerline is valid? [True, True] Translation: X:97.00, Y:-15.92, Z:-1.42 [[ 9.33944121e-01 -3.57389267e-01 -4.61417204e-03 9.70034225e+01] [ 3.57384731e-01 9.33955519e-01 -1.80097118e-03 -1.59216840e+01] [ 4.95307921e-03 3.29718156e-05 9.99987733e-01 -1.42243729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.43538475 meters 0.05698559136565645 Centerline is valid? [True, True] Translation: X:97.03, Y:-15.91, Z:-1.42 [[ 9.33679133e-01 -3.58088845e-01 -3.95657805e-03 9.70306664e+01] [ 3.58085510e-01 9.33687516e-01 -1.54587887e-03 -1.59123102e+01] [ 4.24776951e-03 2.65615755e-05 9.99990978e-01 -1.42330391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.46538475 meters 0.05704893770446152 Centerline is valid? [True, True] Translation: X:97.06, Y:-15.90, Z:-1.43 [[ 9.33791313e-01 -3.57778616e-01 -5.31461164e-03 9.70568679e+01] [ 3.57772604e-01 9.33806436e-01 -2.07444367e-03 -1.59013829e+01] [ 5.70501014e-03 3.56750373e-05 9.99983726e-01 -1.42719025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49538474999999 meters 0.057106199282634953 Centerline is valid? [True, True] Translation: X:97.08, Y:-15.89, Z:-1.43 [[ 9.33469999e-01 -3.58599756e-01 -6.32260138e-03 9.70838137e+01] [ 3.58591245e-01 9.33491410e-01 -2.47091720e-03 -1.58918450e+01] [ 6.78816438e-03 3.92975711e-05 9.99976959e-01 -1.42841411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.52538474999999 meters 0.057320948282422964 Centerline is valid? [True, True] Translation: X:97.11, Y:-15.88, Z:-1.43 [[ 9.33306381e-01 -3.59029901e-01 -6.06046687e-03 9.71095833e+01] [ 3.59022100e-01 9.33326057e-01 -2.36695961e-03 -1.58824320e+01] [ 6.50620092e-03 3.32569607e-05 9.99978834e-01 -1.43166560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55538474999999 meters 0.05720135893507602 Centerline is valid? [True, True] Translation: X:97.14, Y:-15.87, Z:-1.43 [[ 9.33161026e-01 -3.59386677e-01 -7.19139358e-03 9.71373731e+01] [ 3.59375673e-01 9.33188735e-01 -2.81251684e-03 -1.58734301e+01] [ 7.72170856e-03 4.01191881e-05 9.99970186e-01 -1.43213580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.58538474999999 meters 0.057256758173049704 Centerline is valid? [True, True] Translation: X:97.16, Y:-15.87, Z:-1.43 [[ 9.32803039e-01 -3.60309702e-01 -7.44372274e-03 9.71633854e+01] [ 3.60297949e-01 9.32832738e-01 -2.91036897e-03 -1.58656106e+01] [ 7.99238244e-03 3.28429825e-05 9.99968060e-01 -1.43319619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61538474999999 meters 0.057192381495372535 Centerline is valid? [True, True] Translation: X:97.19, Y:-15.86, Z:-1.43 [[ 9.32578963e-01 -3.60891644e-01 -7.32790414e-03 9.71900090e+01] [ 3.60880237e-01 9.32607753e-01 -2.86955476e-03 -1.58553574e+01] [ 7.86965855e-03 3.15906178e-05 9.99969033e-01 -1.43417945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.64538474999999 meters 0.05728457248120316 Centerline is valid? [True, True] Translation: X:97.22, Y:-15.84, Z:-1.44 [[ 9.33044692e-01 -3.59684932e-01 -7.37237377e-03 9.72157415e+01] [ 3.59673364e-01 9.33073817e-01 -2.88497268e-03 -1.58434981e+01] [ 7.91665014e-03 4.01619693e-05 9.99968662e-01 -1.43679577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.67538474999999 meters 0.05742788515317063 Centerline is valid? [True, True] Translation: X:97.24, Y:-15.83, Z:-1.44 [[ 9.33015882e-01 -3.59774038e-01 -6.63363676e-03 9.72421396e+01] [ 3.59764646e-01 9.33039463e-01 -2.59985902e-03 -1.58321290e+01] [ 7.12480666e-03 3.91617770e-05 9.99974617e-01 -1.43737090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.70538475 meters 0.05729196472788311 Centerline is valid? [True, True] Translation: X:97.27, Y:-15.82, Z:-1.44 [[ 9.33560429e-01 -3.58380199e-01 -5.34396130e-03 9.72684831e+01] [ 3.58374069e-01 9.33575723e-01 -2.09646337e-03 -1.58191244e+01] [ 5.74032349e-03 4.20380859e-05 9.99983523e-01 -1.43691095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.73538475 meters 0.05726678395819675 Centerline is valid? [True, True] Translation: X:97.29, Y:-15.81, Z:-1.44 [[ 9.33817132e-01 -3.57728260e-01 -4.00691613e-03 9.72945205e+01] [ 3.57724800e-01 9.33825728e-01 -1.57379509e-03 -1.58062537e+01] [ 4.30475235e-03 3.62635452e-05 9.99990734e-01 -1.43650806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.76538475 meters 0.05738942967905955 Centerline is valid? [True, True] Translation: X:97.32, Y:-15.79, Z:-1.44 [[ 9.34691335e-01 -3.55447153e-01 -3.07069255e-03 9.73186689e+01] [ 3.55445112e-01 9.34696379e-01 -1.20500424e-03 -1.57927498e+01] [ 3.29848053e-03 3.48443616e-05 9.99994559e-01 -1.43602470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.79538475 meters 0.05730089555409833 Centerline is valid? [True, True] Translation: X:97.35, Y:-15.78, Z:-1.43 [[ 9.34726991e-01 -3.55364158e-01 -1.32931189e-03 9.73461104e+01] [ 3.55363771e-01 9.34727936e-01 -5.24470956e-04 -1.57821445e+01] [ 1.42892313e-03 1.78478739e-05 9.99998979e-01 -1.43455976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.82538475 meters 0.057241652801657626 Centerline is valid? [True, True] Translation: X:97.37, Y:-15.77, Z:-1.43 [[ 9.34369627e-01 -3.56303930e-01 -9.53190484e-04 9.73732605e+01] [ 3.56303731e-01 9.34370114e-01 -3.77382579e-04 -1.57716462e+01] [ 1.02509560e-03 1.29894942e-05 9.99999475e-01 -1.43491586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85538474999998 meters 0.057113412446390996 Centerline is valid? [True, True] Translation: X:97.40, Y:-15.76, Z:-1.44 [[ 9.33999435e-01 -3.57272066e-01 -1.31409042e-03 9.74000026e+01] [ 3.57271689e-01 9.34000359e-01 -5.19896700e-04 -1.57618463e+01] [ 1.41310549e-03 1.60959221e-05 9.99999001e-01 -1.43663885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.88538474999999 meters 0.05698010707298475 Centerline is valid? [True, True] Translation: X:97.43, Y:-15.76, Z:-1.44 [[ 9.33024462e-01 -3.59809250e-01 -1.62990224e-03 9.74282634e+01] [ 3.59808674e-01 9.33025886e-01 -6.44103336e-04 -1.57554563e+01] [ 1.75249532e-03 1.45112037e-05 9.99998464e-01 -1.43556529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91538474999999 meters 0.057122244776014464 Centerline is valid? [True, True] Translation: X:97.45, Y:-15.75, Z:-1.44 [[ 9.32767802e-01 -3.60469271e-01 -2.47628704e-03 9.74543467e+01] [ 3.60467953e-01 9.32771089e-01 -9.74866688e-04 -1.57460930e+01] [ 2.66121844e-03 1.67021376e-05 9.99996459e-01 -1.43664608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.94538474999999 meters 0.05728519572756178 Centerline is valid? [True, True] Translation: X:97.48, Y:-15.74, Z:-1.44 [[ 9.32704283e-01 -3.60629731e-01 -2.98643090e-03 9.74808540e+01] [ 3.60627815e-01 9.32709063e-01 -1.17571245e-03 -1.57362817e+01] [ 3.20946803e-03 1.96019853e-05 9.99994849e-01 -1.44000705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97538474999999 meters 0.05732856549227277 Centerline is valid? [True, True] Translation: X:97.51, Y:-15.73, Z:-1.44 [[ 9.32298766e-01 -3.61668475e-01 -3.86331804e-03 9.75087119e+01] [ 3.61665266e-01 9.32306770e-01 -1.52369783e-03 -1.57273571e+01] [ 4.15287103e-03 2.33136638e-05 9.99991377e-01 -1.44165366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.00538474999999 meters 0.05742382400999997 Centerline is valid? [True, True] Translation: X:97.54, Y:-15.72, Z:-1.44 [[ 9.32134171e-01 -3.62096008e-01 -3.51688881e-03 9.75351751e+01] [ 3.62093345e-01 9.32140805e-01 -1.38886658e-03 -1.57174116e+01] [ 3.78113861e-03 2.11679622e-05 9.99992851e-01 -1.44152486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03538474999999 meters 0.057499331786596435 Centerline is valid? [True, True] Translation: X:97.56, Y:-15.71, Z:-1.44 [[ 9.32080974e-01 -3.62222741e-01 -4.44347186e-03 9.75620427e+01] [ 3.62218493e-01 9.32091565e-01 -1.75449706e-03 -1.57076231e+01] [ 4.77724137e-03 2.58256501e-05 9.99988589e-01 -1.44184110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.06538474999999 meters 0.05740356093670474 Centerline is valid? [True, True] Translation: X:97.59, Y:-15.70, Z:-1.44 [[ 9.31116285e-01 -3.64708655e-01 -3.17176875e-03 9.75909082e+01] [ 3.64706499e-01 9.31121688e-01 -1.25398170e-03 -1.57005633e+01] [ 3.41064065e-03 1.08381012e-05 9.99994184e-01 -1.43821384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.09538475 meters 0.057332009708066206 Centerline is valid? [True, True] Translation: X:97.62, Y:-15.69, Z:-1.44 [[ 9.31012925e-01 -3.64967306e-01 -3.71481435e-03 9.76167417e+01] [ 3.64964356e-01 9.31020336e-01 -1.46733781e-03 -1.56903187e+01] [ 3.99409803e-03 1.03356351e-05 9.99992024e-01 -1.43897912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.12538475 meters 0.05736277481649612 Centerline is valid? [True, True] Translation: X:97.64, Y:-15.68, Z:-1.44 [[ 9.31308509e-01 -3.64216330e-01 -3.30538518e-03 9.76408030e+01] [ 3.64213989e-01 9.31314375e-01 -1.30607499e-03 -1.56776080e+01] [ 3.55404657e-03 1.24912303e-05 9.99993684e-01 -1.44163694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.15538475 meters 0.05731291861718684 Centerline is valid? [True, True] Translation: X:97.67, Y:-15.67, Z:-1.44 [[ 9.31516475e-01 -3.63694462e-01 -1.84246861e-03 9.76672459e+01] [ 3.63693727e-01 9.31518297e-01 -7.30867838e-04 -1.56650086e+01] [ 1.98210581e-03 1.07211546e-05 9.99998036e-01 -1.44125780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.18538475 meters 0.0572390516428179 Centerline is valid? [True, True] Translation: X:97.69, Y:-15.65, Z:-1.44 [[ 9.31387403e-01 -3.64027188e-01 -1.30826745e-03 9.76932185e+01] [ 3.64026819e-01 9.31388322e-01 -5.17920109e-04 -1.56541525e+01] [ 1.40704203e-03 6.13982570e-06 9.99999010e-01 -1.44180420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.21538475 meters 0.05724492483074748 Centerline is valid? [True, True] Translation: X:97.72, Y:-15.64, Z:-1.44 [[ 9.31807191e-01 -3.62951326e-01 -1.30146031e-03 9.77193727e+01] [ 3.62950956e-01 9.31808100e-01 -5.18326276e-04 -1.56427094e+01] [ 1.40083846e-03 1.06138888e-05 9.99999019e-01 -1.43957581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.24538474999999 meters 0.057245492012414835 Centerline is valid? [True, True] Translation: X:97.75, Y:-15.63, Z:-1.44 [[ 9.32082583e-01 -3.62244204e-01 -1.09361466e-03 9.77450537e+01] [ 3.62243941e-01 9.32083224e-01 -4.36472022e-04 -1.56309303e+01] [ 1.17744934e-03 1.06726850e-05 9.99999307e-01 -1.44035965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27538474999999 meters 0.057344642855437715 Centerline is valid? [True, True] Translation: X:97.77, Y:-15.62, Z:-1.44 [[ 9.32583664e-01 -3.60952945e-01 -8.24816229e-04 9.77700376e+01] [ 3.60952794e-01 9.32584029e-01 -3.30349986e-04 -1.56180016e+01] [ 8.88451242e-04 1.03592775e-05 9.99999605e-01 -1.44073642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.30538474999999 meters 0.05750739152104985 Centerline is valid? [True, True] Translation: X:97.80, Y:-15.61, Z:-1.44 [[ 9.32831607e-01 -3.60309314e-01 -1.54658140e-03 9.77962357e+01] [ 3.60308788e-01 9.32832889e-01 -6.16046777e-04 -1.56056345e+01] [ 1.66466939e-03 1.74210354e-05 9.99998614e-01 -1.44211125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33538474999999 meters 0.057487927272456864 Centerline is valid? [True, True] Translation: X:97.82, Y:-15.59, Z:-1.44 [[ 9.33118117e-01 -3.59565029e-01 -1.88914415e-03 9.78215810e+01] [ 3.59564246e-01 9.33120030e-01 -7.50466517e-04 -1.55931167e+01] [ 2.03263976e-03 2.10052090e-05 9.99997934e-01 -1.44405754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.36538474999999 meters 0.05762899815276612 Centerline is valid? [True, True] Translation: X:97.85, Y:-15.58, Z:-1.44 [[ 9.33687067e-01 -3.58084140e-01 -2.05183603e-03 9.78477809e+01] [ 3.58083208e-01 9.33689321e-01 -8.17251834e-04 -1.55806824e+01] [ 2.20842231e-03 2.83294395e-05 9.99997561e-01 -1.44433680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39538474999999 meters 0.05794156503698214 Centerline is valid? [True, True] Translation: X:97.87, Y:-15.57, Z:-1.45 [[ 9.34609060e-01 -3.55660905e-01 -3.35060756e-03 9.78718975e+01] [ 3.55658419e-01 9.34615064e-01 -1.33072150e-03 -1.55673119e+01] [ 3.60481391e-03 5.20325853e-05 9.99993501e-01 -1.44590593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.42538474999999 meters 0.05813680804040635 Centerline is valid? [True, True] Translation: X:97.90, Y:-15.56, Z:-1.45 [[ 9.34662447e-01 -3.55516791e-01 -3.73126636e-03 9.78984982e+01] [ 3.55513696e-01 9.34669892e-01 -1.48474352e-03 -1.55555929e+01] [ 4.01535358e-03 6.12177208e-05 9.99991937e-01 -1.44656573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.45538475 meters 0.05864088558037106 Centerline is valid? [True, True] Translation: X:97.92, Y:-15.54, Z:-1.45 [[ 9.34938791e-01 -3.54787511e-01 -3.90879645e-03 9.79225730e+01] [ 3.54784116e-01 9.34946960e-01 -1.55335695e-03 -1.55413821e+01] [ 4.20562901e-03 6.55147736e-05 9.99991154e-01 -1.45094806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.48538475 meters 0.05820140102765723 Centerline is valid? [True, True] Translation: X:97.95, Y:-15.53, Z:-1.45 [[ 9.34589947e-01 -3.55697391e-01 -4.58220113e-03 9.79501728e+01] [ 3.55692717e-01 9.34601177e-01 -1.82485591e-03 -1.55332702e+01] [ 4.93162706e-03 7.56364143e-05 9.99987837e-01 -1.44986024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.51538475 meters 0.057501540156977546 Centerline is valid? [True, True] Translation: X:97.98, Y:-15.53, Z:-1.45 [[ 9.32197399e-01 -3.61930452e-01 -3.78902873e-03 9.79803027e+01] [ 3.61927306e-01 9.32205099e-01 -1.50946859e-03 -1.55317206e+01] [ 4.07847455e-03 3.57697297e-05 9.99991682e-01 -1.44775364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.54538475 meters 0.057501540156977546 Centerline is valid? [True, True] Translation: X:98.01, Y:-15.52, Z:-1.45 [[ 9.32102135e-01 -3.62175729e-01 -3.78829958e-03 9.80059347e+01] [ 3.62172578e-01 9.32109833e-01 -1.51130068e-03 -1.55213248e+01] [ 4.07846772e-03 3.66683683e-05 9.99991682e-01 -1.44812504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.57538475 meters 0.057229900171126384 Centerline is valid? [True, True] Translation: X:98.03, Y:-15.52, Z:-1.45 [[ 9.30620027e-01 -3.65969209e-01 -3.59217735e-03 9.80347761e+01] [ 3.65966401e-01 9.30626960e-01 -1.43371479e-03 -1.55150842e+01] [ 3.86767255e-03 1.96274785e-05 9.99992520e-01 -1.44757218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.60538474999998 meters 0.05713527548866843 Centerline is valid? [True, True] Translation: X:98.06, Y:-15.51, Z:-1.45 [[ 9.29559467e-01 -3.68640987e-01 -4.79789968e-03 9.80624409e+01] [ 3.68636013e-01 9.29571849e-01 -1.91508745e-03 -1.55075242e+01] [ 5.16597220e-03 1.15090570e-05 9.99986656e-01 -1.45040227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63538474999999 meters 0.057405723496496835 Centerline is valid? [True, True] Translation: X:98.09, Y:-15.50, Z:-1.45 [[ 9.29646790e-01 -3.68406577e-01 -5.78278535e-03 9.80887311e+01] [ 3.68399341e-01 9.29664775e-01 -2.30902046e-03 -1.54963845e+01] [ 6.22671017e-03 1.61991453e-05 9.99980614e-01 -1.45324379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.66538474999999 meters 0.057224393404235324 Centerline is valid? [True, True] Translation: X:98.12, Y:-15.49, Z:-1.45 [[ 9.29221294e-01 -3.69489758e-01 -5.01046126e-03 9.81156375e+01] [ 3.69484344e-01 9.29234803e-01 -2.00021859e-03 -1.54886701e+01] [ 5.39495527e-03 7.35870962e-06 9.99985447e-01 -1.45395194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69538474999999 meters 0.057210878166750086 Centerline is valid? [True, True] Translation: X:98.14, Y:-15.48, Z:-1.45 [[ 9.28935595e-01 -3.70209758e-01 -4.83682378e-03 9.81415884e+01] [ 3.70204720e-01 9.28948188e-01 -1.93146770e-03 -1.54802615e+01] [ 5.20820687e-03 3.59410211e-06 9.99986437e-01 -1.45345029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.72538474999999 meters 0.05708170511673313 Centerline is valid? [True, True] Translation: X:98.17, Y:-15.47, Z:-1.45 [[ 9.28669813e-01 -3.70865633e-01 -5.57325250e-03 9.81687820e+01] [ 3.70858957e-01 9.28686536e-01 -2.22534739e-03 -1.54717255e+01] [ 6.00110943e-03 -2.77666011e-07 9.99981993e-01 -1.45327705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75538474999999 meters 0.05706296644810522 Centerline is valid? [True, True] Translation: X:98.20, Y:-15.46, Z:-1.45 [[ 9.28716690e-01 -3.70735817e-01 -6.34536556e-03 9.81953145e+01] [ 3.70727133e-01 9.28738367e-01 -2.53752597e-03 -1.54610820e+01] [ 6.83393621e-03 4.24353782e-06 9.99976648e-01 -1.45187070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.78538474999999 meters 0.057155409123849206 Centerline is valid? [True, True] Translation: X:98.22, Y:-15.45, Z:-1.46 [[ 9.28751297e-01 -3.70648996e-01 -6.35213692e-03 9.82197485e+01] [ 3.70640297e-01 9.28773020e-01 -2.53936544e-03 -1.54502746e+01] [ 6.84090663e-03 4.08103425e-06 9.99976601e-01 -1.45627395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.81538474999999 meters 0.05710752795321915 Centerline is valid? [True, True] Translation: X:98.25, Y:-15.44, Z:-1.46 [[ 9.28944318e-01 -3.70168920e-01 -6.11750420e-03 9.82454538e+01] [ 3.70160817e-01 9.28964461e-01 -2.44930657e-03 -1.54385763e+01] [ 6.58960116e-03 1.08090711e-05 9.99978288e-01 -1.45688421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.84538475 meters 0.057126417175166956 Centerline is valid? [True, True] Translation: X:98.27, Y:-15.43, Z:-1.46 [[ 9.29505651e-01 -3.68762018e-01 -5.81545971e-03 9.82689946e+01] [ 3.68754675e-01 9.29523842e-01 -2.32723848e-03 -1.54257847e+01] [ 6.26380561e-03 1.87033579e-05 9.99980382e-01 -1.45704220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.87538475 meters 0.05725195020804427 Centerline is valid? [True, True] Translation: X:98.30, Y:-15.41, Z:-1.46 [[ 9.29766215e-01 -3.68099039e-01 -6.15494768e-03 9.82954672e+01] [ 3.68090779e-01 9.29786587e-01 -2.46610489e-03 -1.54129787e+01] [ 6.63055863e-03 2.73215200e-05 9.99978017e-01 -1.45766984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.90538475 meters 0.057337659822455325 Centerline is valid? [True, True] Translation: X:98.32, Y:-15.40, Z:-1.46 [[ 9.30854336e-01 -3.65350530e-01 -5.40329403e-03 9.83195903e+01] [ 3.65344104e-01 9.30870017e-01 -2.16726783e-03 -1.53972271e+01] [ 5.82157686e-03 4.33490379e-05 9.99983054e-01 -1.45674393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.93538475 meters 0.05724340246008501 Centerline is valid? [True, True] Translation: X:98.35, Y:-15.38, Z:-1.45 [[ 9.31440471e-01 -3.63856035e-01 -5.23792427e-03 9.83458509e+01] [ 3.63849965e-01 9.31455197e-01 -2.10222370e-03 -1.53839655e+01] [ 5.64379856e-03 5.22776642e-05 9.99984072e-01 -1.45380496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.96538475 meters 0.05848270390713397 Centerline is valid? [True, True] Translation: X:98.37, Y:-15.36, Z:-1.46 [[ 9.33247129e-01 -3.59206525e-01 -4.52413611e-03 9.83675538e+01] [ 3.59201949e-01 9.33258093e-01 -1.81446984e-03 -1.53634278e+01] [ 4.87395605e-03 6.82702636e-05 9.99988120e-01 -1.45745312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99538474999999 meters 0.059997293821297634 Centerline is valid? [True, True] Translation: X:98.39, Y:-15.34, Z:-1.46 [[ 9.35243300e-01 -3.53986489e-01 -3.67915956e-03 9.83891466e+01] [ 3.53983420e-01 9.35250533e-01 -1.47592029e-03 -1.53425302e+01] [ 3.96339178e-03 7.79830782e-05 9.99992143e-01 -1.45778010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.02538474999999 meters 0.059042910724165704 Centerline is valid? [True, True] Translation: X:98.42, Y:-15.33, Z:-1.45 [[ 9.35849992e-01 -3.52378959e-01 -3.72304509e-03 9.84165045e+01] [ 3.52375790e-01 9.35857394e-01 -1.49702257e-03 -1.53336915e+01] [ 4.01175853e-03 8.90776014e-05 9.99991949e-01 -1.45406231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05538474999999 meters 0.058587149619309435 Centerline is valid? [True, True] Translation: X:98.44, Y:-15.32, Z:-1.45 [[ 9.36733725e-01 -3.50022188e-01 -3.79412037e-03 9.84433398e+01] [ 3.50018872e-01 9.36741404e-01 -1.52703965e-03 -1.53229572e+01] [ 4.08860740e-03 1.02415806e-04 9.99991636e-01 -1.45156451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.08538474999999 meters 0.05892295534498724 Centerline is valid? [True, True] Translation: X:98.47, Y:-15.31, Z:-1.45 [[ 9.36910634e-01 -3.49552237e-01 -3.42018909e-03 9.84690039e+01] [ 3.49549546e-01 9.36916872e-01 -1.37481343e-03 -1.53112440e+01] [ 3.68500197e-03 9.25517762e-05 9.99993206e-01 -1.45183009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11538474999999 meters 0.057531335842104764 Centerline is valid? [True, True] Translation: X:98.50, Y:-15.31, Z:-1.45 [[ 9.34290059e-01 -3.56503767e-01 -2.67406332e-03 9.84993696e+01] [ 3.56502141e-01 9.34293884e-01 -1.07804986e-03 -1.53084523e+01] [ 2.88268984e-03 5.39019718e-05 9.99995844e-01 -1.44908028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.14538474999999 meters 0.05730889073230492 Centerline is valid? [True, True] Translation: X:98.53, Y:-15.30, Z:-1.45 [[ 9.33241428e-01 -3.59239713e-01 -2.69543231e-03 9.85257684e+01] [ 3.59238078e-01 9.33245320e-01 -1.08477050e-03 -1.52992510e+01] [ 2.90519223e-03 4.40508465e-05 9.99995779e-01 -1.45102217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17538474999999 meters 0.056915518357278365 Centerline is valid? [True, True] Translation: X:98.55, Y:-15.29, Z:-1.45 [[ 9.31835738e-01 -3.62860812e-01 -3.76684597e-03 9.85542347e+01] [ 3.62857636e-01 9.31843350e-01 -1.51888201e-03 -1.52923082e+01] [ 4.06125313e-03 4.85197183e-05 9.99991752e-01 -1.45260843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.20538475 meters 0.057078431659383894 Centerline is valid? [True, True] Translation: X:98.58, Y:-15.28, Z:-1.46 [[ 9.31889726e-01 -3.62706913e-01 -5.02340807e-03 9.85795905e+01] [ 3.62701279e-01 9.31903263e-01 -2.02248998e-03 -1.52815189e+01] [ 5.41490147e-03 6.27411025e-05 9.99985337e-01 -1.45541732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.23538475 meters 0.056852228602923334 Centerline is valid? [True, True] Translation: X:98.61, Y:-15.27, Z:-1.46 [[ 9.31081402e-01 -3.64786899e-01 -4.23568962e-03 9.86067767e+01] [ 3.64782908e-01 9.31091036e-01 -1.70678566e-03 -1.52746705e+01] [ 4.56642569e-03 4.40492091e-05 9.99989573e-01 -1.45574891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.26538475 meters 0.05643168720960591 Centerline is valid? [True, True] Translation: X:98.64, Y:-15.27, Z:-1.45 [[ 9.29789410e-01 -3.68071232e-01 -3.90151486e-03 9.86357392e+01] [ 3.68067863e-01 9.29797595e-01 -1.57509137e-03 -1.52686176e+01] [ 4.20736495e-03 2.84810347e-05 9.99991149e-01 -1.45330157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.29538475 meters 0.05634071852234984 Centerline is valid? [True, True] Translation: X:98.66, Y:-15.26, Z:-1.46 [[ 9.29216914e-01 -3.69499448e-01 -5.10731522e-03 9.86616863e+01] [ 3.69493711e-01 9.29230949e-01 -2.05933600e-03 -1.52598347e+01] [ 5.50679888e-03 2.64489907e-05 9.99984837e-01 -1.45524784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.32538475 meters 0.05649756109869202 Centerline is valid? [True, True] Translation: X:98.69, Y:-15.25, Z:-1.46 [[ 9.29358829e-01 -3.69138799e-01 -5.35848730e-03 9.86884192e+01] [ 3.69132457e-01 9.29374277e-01 -2.16402515e-03 -1.52482398e+01] [ 5.77886591e-03 3.31643002e-05 9.99983302e-01 -1.45772145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35538474999998 meters 0.05641484915983973 Centerline is valid? [True, True] Translation: X:98.72, Y:-15.24, Z:-1.46 [[ 9.28816848e-01 -3.70498649e-01 -5.47852167e-03 9.87153551e+01] [ 3.70492031e-01 9.28833004e-01 -2.21465352e-03 -1.52387085e+01] [ 5.90915788e-03 2.72588809e-05 9.99982540e-01 -1.45807471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.38538474999999 meters 0.056484764901753456 Centerline is valid? [True, True] Translation: X:98.74, Y:-15.23, Z:-1.46 [[ 9.28405314e-01 -3.71528328e-01 -5.50221950e-03 9.87411498e+01] [ 3.71521660e-01 9.28421618e-01 -2.22593044e-03 -1.52284779e+01] [ 5.93537575e-03 2.23719276e-05 9.99982385e-01 -1.45839660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41538474999999 meters 0.05644785565455585 Centerline is valid? [True, True] Translation: X:98.77, Y:-15.22, Z:-1.46 [[ 9.28103090e-01 -3.72276648e-01 -5.89511012e-03 9.87674230e+01] [ 3.72269025e-01 9.28121812e-01 -2.38243275e-03 -1.52179484e+01] [ 6.35830436e-03 1.65763050e-05 9.99979786e-01 -1.46002144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.44538474999999 meters 0.05635145760258148 Centerline is valid? [True, True] Translation: X:98.79, Y:-15.21, Z:-1.46 [[ 9.28228109e-01 -3.71972384e-01 -5.39658864e-03 9.87942266e+01] [ 3.71965963e-01 9.28243796e-01 -2.18578098e-03 -1.52078892e+01] [ 5.82240009e-03 2.15560569e-05 9.99983049e-01 -1.45818344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47538474999999 meters 0.056350051483559246 Centerline is valid? [True, True] Translation: X:98.82, Y:-15.20, Z:-1.46 [[ 9.28304364e-01 -3.71782691e-01 -5.35150371e-03 9.88190461e+01] [ 3.71776374e-01 9.28319789e-01 -2.16743146e-03 -1.51975258e+01] [ 5.77372030e-03 2.24734335e-05 9.99983332e-01 -1.45940248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.50538474999999 meters 0.05631093719012877 Centerline is valid? [True, True] Translation: X:98.85, Y:-15.19, Z:-1.46 [[ 9.28193860e-01 -3.72057592e-01 -5.41356634e-03 9.88450102e+01] [ 3.72051114e-01 9.28209646e-01 -2.19565836e-03 -1.51865117e+01] [ 5.84183586e-03 2.38732166e-05 9.99982936e-01 -1.45831087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53538474999999 meters 0.05641281504659514 Centerline is valid? [True, True] Translation: X:98.87, Y:-15.17, Z:-1.46 [[ 9.28682132e-01 -3.70834998e-01 -5.55888136e-03 9.88699696e+01] [ 3.70828160e-01 9.28698769e-01 -2.25218378e-03 -1.51744059e+01] [ 5.99771484e-03 3.01730876e-05 9.99982013e-01 -1.46105174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.56538474999999 meters 0.05658618248851364 Centerline is valid? [True, True] Translation: X:98.89, Y:-15.16, Z:-1.46 [[ 9.29144159e-01 -3.69667441e-01 -6.09217865e-03 9.88945881e+01] [ 3.69659195e-01 9.29164130e-01 -2.46949356e-03 -1.51613699e+01] [ 6.57352524e-03 4.24856638e-05 9.99978393e-01 -1.46208098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.59538475 meters 0.05662008017842616 Centerline is valid? [True, True] Translation: X:98.92, Y:-15.15, Z:-1.46 [[ 9.29474895e-01 -3.68832015e-01 -6.27408214e-03 9.89206768e+01] [ 3.68823225e-01 9.29496069e-01 -2.54681378e-03 -1.51494506e+01] [ 6.77108114e-03 5.31722618e-05 9.99977075e-01 -1.45892973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.62538475 meters 0.056821263764332906 Centerline is valid? [True, True] Translation: X:98.95, Y:-15.14, Z:-1.46 [[ 9.29937131e-01 -3.67679632e-01 -5.34985607e-03 9.89454233e+01] [ 3.67673229e-01 9.29952518e-01 -2.17039130e-03 -1.51354690e+01] [ 5.77312079e-03 5.13286017e-05 9.99983334e-01 -1.46247643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.65538475 meters 0.056177128448787285 Centerline is valid? [True, True] Translation: X:98.97, Y:-15.13, Z:-1.45 [[ 9.29793720e-01 -3.68062681e-01 -3.67444632e-03 9.89736818e+01] [ 3.68059648e-01 9.29800980e-01 -1.49465259e-03 -1.51267190e+01] [ 3.96662963e-03 3.73031730e-05 9.99992132e-01 -1.45429892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.68538475 meters 0.056254558393936414 Centerline is valid? [True, True] Translation: X:99.00, Y:-15.11, Z:-1.46 [[ 9.29346550e-01 -3.69197000e-01 -2.92655579e-03 9.89982772e+01] [ 3.69195086e-01 9.29351158e-01 -1.18908760e-03 -1.51142100e+01] [ 3.15880559e-03 2.46044444e-05 9.99995011e-01 -1.45803463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.71538475 meters 0.05618734939377619 Centerline is valid? [True, True] Translation: X:99.02, Y:-15.10, Z:-1.46 [[ 9.29253972e-01 -3.69423957e-01 -3.60495015e-03 9.90247197e+01] [ 3.69421043e-01 9.29260964e-01 -1.46768912e-03 -1.51023659e+01] [ 3.89213897e-03 3.21115020e-05 9.99992425e-01 -1.45781041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.74538474999999 meters 0.05611893895911673 Centerline is valid? [True, True] Translation: X:99.05, Y:-15.09, Z:-1.46 [[ 9.28826926e-01 -3.70490573e-01 -4.15659777e-03 9.90512737e+01] [ 3.70486703e-01 9.28836226e-01 -1.69373175e-03 -1.50920986e+01] [ 4.48831023e-03 3.32194507e-05 9.99989927e-01 -1.45719445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77538474999999 meters 0.05614646361986713 Centerline is valid? [True, True] Translation: X:99.08, Y:-15.08, Z:-1.46 [[ 9.29359765e-01 -3.69143937e-01 -4.81462139e-03 9.90762809e+01] [ 3.69138743e-01 9.29372235e-01 -1.95882599e-03 -1.50802000e+01] [ 5.19766418e-03 4.31907811e-05 9.99986491e-01 -1.45910916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.80538474999999 meters 0.05601457752096902 Centerline is valid? [True, True] Translation: X:99.10, Y:-15.07, Z:-1.46 [[ 9.29514756e-01 -3.68764153e-01 -3.91375884e-03 9.91032464e+01] [ 3.68760701e-01 9.29522995e-01 -1.59602583e-03 -1.50685890e+01] [ 4.22648596e-03 4.02891099e-05 9.99991068e-01 -1.45906919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83538474999999 meters 0.056311282896873566 Centerline is valid? [True, True] Translation: X:99.13, Y:-15.06, Z:-1.46 [[ 9.29522303e-01 -3.68746766e-01 -3.75655644e-03 9.91278330e+01] [ 3.68743585e-01 9.29529893e-01 -1.53209670e-03 -1.50563352e+01] [ 4.05678720e-03 3.89119612e-05 9.99991770e-01 -1.46440853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.86538474999999 meters 0.055950773507003504 Centerline is valid? [True, True] Translation: X:99.15, Y:-15.05, Z:-1.46 [[ 9.29508237e-01 -3.68782654e-01 -3.71368546e-03 9.91544514e+01] [ 3.68779536e-01 9.29515655e-01 -1.51708389e-03 -1.50479002e+01] [ 4.01140299e-03 4.06107759e-05 9.99991953e-01 -1.46087647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89538474999999 meters 0.05587164222722069 Centerline is valid? [True, True] Translation: X:99.18, Y:-15.04, Z:-1.46 [[ 9.29528121e-01 -3.68727241e-01 -4.20644678e-03 9.91816557e+01] [ 3.68723252e-01 9.29537638e-01 -1.71556377e-03 -1.50393352e+01] [ 4.54262570e-03 4.36500341e-05 9.99989681e-01 -1.45924706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.92538474999999 meters 0.05596118243493253 Centerline is valid? [True, True] Translation: X:99.21, Y:-15.03, Z:-1.46 [[ 9.29580572e-01 -3.68596922e-01 -4.03364297e-03 9.92061804e+01] [ 3.68593248e-01 9.29589322e-01 -1.64625180e-03 -1.50286438e+01] [ 4.35643478e-03 4.35501260e-05 9.99990510e-01 -1.46091577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.95538475 meters 0.055851344368053425 Centerline is valid? [True, True] Translation: X:99.23, Y:-15.02, Z:-1.46 [[ 9.29555405e-01 -3.68645374e-01 -5.22845469e-03 9.92332232e+01] [ 3.68639186e-01 9.29570108e-01 -2.13664725e-03 -1.50176988e+01] [ 5.64788031e-03 5.87187134e-05 9.99984049e-01 -1.46302628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.98538475 meters 0.05589698263345275 Centerline is valid? [True, True] Translation: X:99.26, Y:-15.01, Z:-1.46 [[ 9.29662909e-01 -3.68379706e-01 -4.82362476e-03 9.92589258e+01] [ 3.68374424e-01 9.29675421e-01 -1.97363335e-03 -1.50072902e+01] [ 5.21145185e-03 5.79137349e-05 9.99986419e-01 -1.46315238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.01538475 meters 0.055884481021887956 Centerline is valid? [True, True] Translation: X:99.29, Y:-15.00, Z:-1.46 [[ 9.29976082e-01 -3.67582597e-01 -5.24615336e-03 9.92853589e+01] [ 3.67576332e-01 9.29990876e-01 -2.14715310e-03 -1.49952019e+01] [ 5.66813087e-03 6.84392216e-05 9.99983934e-01 -1.46389396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.04538475 meters 0.05606349532012597 Centerline is valid? [True, True] Translation: X:99.31, Y:-14.98, Z:-1.46 [[ 9.30189154e-01 -3.67049040e-01 -4.81040660e-03 9.93102164e+01] [ 3.67043762e-01 9.30201590e-01 -1.96939421e-03 -1.49839651e+01] [ 5.19751213e-03 6.62793997e-05 9.99986491e-01 -1.46406492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.07538475 meters 0.05611659164569507 Centerline is valid? [True, True] Translation: X:99.34, Y:-14.97, Z:-1.46 [[ 9.30354967e-01 -3.66629614e-01 -4.72877510e-03 9.93358260e+01] [ 3.66624514e-01 9.30366982e-01 -1.93495228e-03 -1.49723115e+01] [ 5.10890703e-03 6.65075916e-05 9.99986947e-01 -1.46478012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.10538474999998 meters 0.05594849265085586 Centerline is valid? [True, True] Translation: X:99.36, Y:-14.96, Z:-1.46 [[ 9.30260404e-01 -3.66878944e-01 -3.92707221e-03 9.93626285e+01] [ 3.66875413e-01 9.30268691e-01 -1.61061705e-03 -1.49615153e+01] [ 4.24413381e-03 5.75470261e-05 9.99990992e-01 -1.46453088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13538474999999 meters 0.05587325243839502 Centerline is valid? [True, True] Translation: X:99.39, Y:-14.95, Z:-1.46 [[ 9.29880009e-01 -3.67848574e-01 -3.25512781e-03 9.93884266e+01] [ 3.67846156e-01 9.29885705e-01 -1.33443109e-03 -1.49513253e+01] [ 3.51776539e-03 4.34745426e-05 9.99993812e-01 -1.46497460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.16538474999999 meters 0.055830252243145306 Centerline is valid? [True, True] Translation: X:99.41, Y:-14.94, Z:-1.47 [[ 9.29317051e-01 -3.69273614e-01 -2.61079856e-03 9.94146768e+01] [ 3.69272064e-01 9.29320718e-01 -1.07028424e-03 -1.49421192e+01] [ 2.82149693e-03 3.05384211e-05 9.99996019e-01 -1.46566579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19538474999999 meters 0.055452229962355506 Centerline is valid? [True, True] Translation: X:99.44, Y:-14.93, Z:-1.46 [[ 9.28492957e-01 -3.71343846e-01 -2.13955586e-03 9.94421156e+01] [ 3.71342804e-01 9.28495421e-01 -8.80160245e-04 -1.49333446e+01] [ 2.31340991e-03 2.27139157e-05 9.99997324e-01 -1.46458332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.22538474999999 meters 0.05532584231173043 Centerline is valid? [True, True] Translation: X:99.47, Y:-14.92, Z:-1.46 [[ 9.27883905e-01 -3.72865367e-01 -1.69618086e-03 9.94694024e+01] [ 3.72864711e-01 9.27885455e-01 -6.99126648e-04 -1.49236999e+01] [ 1.83454167e-03 1.62623764e-05 9.99998317e-01 -1.46324582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25538474999999 meters 0.05549993776793088 Centerline is valid? [True, True] Translation: X:99.50, Y:-14.91, Z:-1.46 [[ 9.28369280e-01 -3.71656699e-01 -1.33370796e-03 9.94950685e+01] [ 3.71656294e-01 9.28370238e-01 -5.48291739e-04 -1.49119922e+01] [ 1.44195107e-03 1.33362482e-05 9.99998960e-01 -1.46493785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.28538474999999 meters 0.05559861276866202 Centerline is valid? [True, True] Translation: X:99.52, Y:-14.90, Z:-1.47 [[ 9.28187436e-01 -3.72107498e-01 -2.02321901e-03 9.95223465e+01] [ 3.72106564e-01 9.28189641e-01 -8.33960867e-04 -1.49012060e+01] [ 2.18825402e-03 2.12189237e-05 9.99997606e-01 -1.46585643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.31538474999999 meters 0.05546510895800033 Centerline is valid? [True, True] Translation: X:99.55, Y:-14.89, Z:-1.47 [[ 9.27752963e-01 -3.73189236e-01 -2.05772271e-03 9.95486215e+01] [ 3.73188277e-01 9.27755245e-01 -8.46022971e-04 -1.48929558e+01] [ 2.22478970e-03 1.69823254e-05 9.99997525e-01 -1.46519276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.34538475 meters 0.05531496710902871 Centerline is valid? [True, True] Translation: X:99.58, Y:-14.88, Z:-1.46 [[ 9.27314991e-01 -3.74280198e-01 -1.11350788e-03 9.95759461e+01] [ 3.74279915e-01 9.27315660e-01 -4.60970404e-04 -1.48836762e+01] [ 1.20510539e-03 1.07011320e-05 9.99999274e-01 -1.46432616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.37538475 meters 0.05561990424297913 Centerline is valid? [True, True] Translation: X:99.60, Y:-14.87, Z:-1.47 [[ 9.27531386e-01 -3.73729983e-01 -3.38045268e-03 9.96027702e+01] [ 3.73727388e-01 9.27537546e-01 -1.39316361e-03 -1.48727090e+01] [ 3.65616380e-03 2.88352242e-05 9.99993316e-01 -1.46742933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.40538475 meters 0.055561414982044234 Centerline is valid? [True, True] Translation: X:99.63, Y:-14.86, Z:-1.47 [[ 9.27302571e-01 -3.74291743e-01 -3.95385477e-03 9.96298782e+01] [ 3.74288195e-01 9.27311000e-01 -1.62996560e-03 -1.48612314e+01] [ 4.27653568e-03 3.15901308e-05 9.99990855e-01 -1.46896444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.43538475 meters 0.05564828846787125 Centerline is valid? [True, True] Translation: X:99.66, Y:-14.85, Z:-1.47 [[ 9.27179752e-01 -3.74603696e-01 -3.12694604e-03 9.96564739e+01] [ 3.74601474e-01 9.27185025e-01 -1.29064129e-03 -1.48504302e+01] [ 3.38273653e-03 2.52978738e-05 9.99994278e-01 -1.47011347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.46538475 meters 0.05564828846787125 Centerline is valid? [True, True] Translation: X:99.68, Y:-14.84, Z:-1.47 [[ 9.27078322e-01 -3.74854651e-01 -3.12642197e-03 9.96819871e+01] [ 3.74852426e-01 9.27083594e-01 -1.29191278e-03 -1.48397312e+01] [ 3.38273402e-03 2.57574721e-05 9.99994278e-01 -1.47048457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49538474999999 meters 0.055688616104590305 Centerline is valid? [True, True] Translation: X:99.71, Y:-14.83, Z:-1.47 [[ 9.27109285e-01 -3.74773775e-01 -3.60438493e-03 9.97076282e+01] [ 3.74770825e-01 9.27116291e-01 -1.48723133e-03 -1.48291273e+01] [ 3.89905928e-03 2.80076620e-05 9.99992398e-01 -1.47134742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.52538474999999 meters 0.05555896041775213 Centerline is valid? [True, True] Translation: X:99.73, Y:-14.82, Z:-1.47 [[ 9.27286318e-01 -3.74343703e-01 -2.62230497e-03 9.97334470e+01] [ 3.74342139e-01 9.27290026e-01 -1.08213871e-03 -1.48181618e+01] [ 2.83672906e-03 2.18131675e-05 9.99995976e-01 -1.47087860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55538474999999 meters 0.055573957797771516 Centerline is valid? [True, True] Translation: X:99.76, Y:-14.81, Z:-1.47 [[ 9.26472645e-01 -3.76351984e-01 -2.76088969e-03 9.97605279e+01] [ 3.76350249e-01 9.26476759e-01 -1.14279028e-03 -1.48095297e+01] [ 2.98799152e-03 1.97024119e-05 9.99995536e-01 -1.47036224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.58538474999999 meters 0.05501812600278239 Centerline is valid? [True, True] Translation: X:99.79, Y:-14.81, Z:-1.47 [[ 9.23625608e-01 -3.83294980e-01 -8.32753179e-04 9.97904352e+01] [ 3.83294823e-01 9.23625984e-01 -3.47104232e-04 -1.48062708e+01] [ 9.02195783e-04 1.40437496e-06 9.99999593e-01 -1.46794511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61538474999999 meters 0.05491897899421753 Centerline is valid? [True, True] Translation: X:99.82, Y:-14.80, Z:-1.47 [[ 9.22897098e-01 -3.85042789e-01 -1.73123094e-03 9.98177482e+01] [ 3.85042118e-01 9.22898722e-01 -7.18727874e-04 -1.47959344e+01] [ 1.87449181e-03 -3.28495828e-06 9.99998243e-01 -1.46866948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.64538474999999 meters 0.05532308759831398 Centerline is valid? [True, True] Translation: X:99.84, Y:-14.79, Z:-1.47 [[ 9.22806761e-01 -3.85242975e-01 -3.94105732e-03 9.98439171e+01] [ 3.85239529e-01 9.22815177e-01 -1.62962855e-03 -1.47855076e+01] [ 4.26467046e-03 -1.44188234e-05 9.99990906e-01 -1.47499018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.67538474999999 meters 0.05525778572953617 Centerline is valid? [True, True] Translation: X:99.87, Y:-14.77, Z:-1.47 [[ 9.23482279e-01 -3.83612314e-01 -4.69820545e-03 9.98694463e+01] [ 3.83607377e-01 9.23494230e-01 -1.94614167e-03 -1.47725496e+01] [ 5.08532953e-03 -5.03892880e-06 9.99987070e-01 -1.47367705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.70538475 meters 0.055417394389276155 Centerline is valid? [True, True] Translation: X:99.90, Y:-14.76, Z:-1.48 [[ 9.23903500e-01 -3.82613153e-01 -3.08174674e-03 9.98955751e+01] [ 3.82611026e-01 9.23908640e-01 -1.27579010e-03 -1.47628682e+01] [ 3.33538651e-03 -4.03341281e-07 9.99994438e-01 -1.47515141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.73538475 meters 0.05515243547680462 Centerline is valid? [True, True] Translation: X:99.92, Y:-14.75, Z:-1.47 [[ 9.24526192e-01 -3.81104055e-01 -3.31963450e-03 9.99213855e+01] [ 3.81101564e-01 9.24532151e-01 -1.37802101e-03 -1.47517453e+01] [ 3.59427822e-03 8.89861855e-06 9.99993541e-01 -1.47171010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.76538475 meters 0.05539982971160314 Centerline is valid? [True, True] Translation: X:99.95, Y:-14.74, Z:-1.47 [[ 9.24806249e-01 -3.80422529e-01 -3.47866671e-03 9.99468582e+01] [ 3.80419785e-01 9.24812792e-01 -1.44499340e-03 -1.47397983e+01] [ 3.76682351e-03 1.29852819e-05 9.99992905e-01 -1.47240465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.79538475 meters 0.05531999621648703 Centerline is valid? [True, True] Translation: X:99.97, Y:-14.73, Z:-1.47 [[ 9.24856283e-01 -3.80300131e-01 -3.55899186e-03 9.99717301e+01] [ 3.80297261e-01 9.24863130e-01 -1.47774408e-03 -1.47280515e+01] [ 3.85356662e-03 1.32260445e-05 9.99992575e-01 -1.47376428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.82538475 meters 0.05553975666775637 Centerline is valid? [True, True] Translation: X:100.00, Y:-14.71, Z:-1.48 [[ 9.25156904e-01 -3.79571198e-01 -3.22643263e-03 9.99965147e+01] [ 3.79568825e-01 9.25162529e-01 -1.34219335e-03 -1.47143665e+01] [ 3.49443251e-03 1.70862008e-05 9.99993894e-01 -1.47573305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85538474999998 meters 0.05560625514987698 Centerline is valid? [True, True] Translation: X:100.02, Y:-14.70, Z:-1.48 [[ 9.25478211e-01 -3.78786701e-01 -3.27354545e-03 1.00021151e+02] [ 3.78784260e-01 9.25484000e-01 -1.35985568e-03 -1.47027536e+01] [ 3.54470919e-03 1.85493119e-05 9.99993717e-01 -1.47648745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.88538474999999 meters 0.05559839561868242 Centerline is valid? [True, True] Translation: X:100.05, Y:-14.69, Z:-1.48 [[ 9.24534759e-01 -3.81083511e-01 -3.29188597e-03 1.00047831e+02] [ 3.81081046e-01 9.24540620e-01 -1.37075982e-03 -1.46944087e+01] [ 3.56585625e-03 1.28397507e-05 9.99993642e-01 -1.47607776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91538474999999 meters 0.05564318163485952 Centerline is valid? [True, True] Translation: X:100.07, Y:-14.68, Z:-1.48 [[ 9.24563889e-01 -3.81011685e-01 -3.42208517e-03 1.00073179e+02] [ 3.81009017e-01 9.24570222e-01 -1.42592858e-03 -1.46831930e+01] [ 3.70725350e-03 1.45167663e-05 9.99993128e-01 -1.47677573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.94538474999999 meters 0.05574719875299283 Centerline is valid? [True, True] Translation: X:100.10, Y:-14.67, Z:-1.48 [[ 9.24382198e-01 -3.81441854e-01 -4.43444798e-03 1.00099276e+02] [ 3.81437395e-01 9.24392834e-01 -1.84430128e-03 -1.46724684e+01] [ 4.80266563e-03 1.33749809e-05 9.99988467e-01 -1.48003111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97538474999999 meters 0.05570647006589977 Centerline is valid? [True, True] Translation: X:100.12, Y:-14.66, Z:-1.48 [[ 9.24124905e-01 -3.82066403e-01 -4.29234215e-03 1.00124939e+02] [ 3.82062213e-01 9.24134873e-01 -1.78944358e-03 -1.46615489e+01] [ 4.65038934e-03 1.37276316e-05 9.99989187e-01 -1.48038642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.00538474999999 meters 0.055758044729739935 Centerline is valid? [True, True] Translation: X:100.15, Y:-14.66, Z:-1.48 [[ 9.22213203e-01 -3.86662461e-01 -3.86638618e-03 1.00152777e+02] [ 3.86659102e-01 9.22221308e-01 -1.61182416e-03 -1.46576739e+01] [ 4.18889561e-03 -8.52788739e-06 9.99991227e-01 -1.48145742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03538474999999 meters 0.05568111807304718 Centerline is valid? [True, True] Translation: X:100.18, Y:-14.65, Z:-1.48 [[ 9.21837138e-01 -3.87567052e-01 -2.84097496e-03 1.00180023e+02] [ 3.87565235e-01 9.21841516e-01 -1.18668918e-03 -1.46466580e+01] [ 3.07885029e-03 -7.12897389e-06 9.99995260e-01 -1.47934754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.06538474999999 meters 0.05577264467487673 Centerline is valid? [True, True] Translation: X:100.21, Y:-14.64, Z:-1.48 [[ 9.22050133e-01 -3.87063502e-01 -2.32333955e-03 1.00206866e+02] [ 3.87062282e-01 9.22053060e-01 -9.71742074e-04 -1.46364244e+01] [ 2.51836823e-03 -3.28219985e-06 9.99996829e-01 -1.47917972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.09538475 meters 0.05597987663265813 Centerline is valid? [True, True] Translation: X:100.23, Y:-14.63, Z:-1.48 [[ 9.21023327e-01 -3.89503208e-01 -1.81184921e-03 1.00233845e+02] [ 3.89502472e-01 9.21025109e-01 -7.57072988e-04 -1.46303070e+01] [ 1.96364098e-03 -8.43786676e-06 9.99998072e-01 -1.47978547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.12538475 meters 0.05598748352803799 Centerline is valid? [True, True] Translation: X:100.26, Y:-14.62, Z:-1.48 [[ 9.19733246e-01 -3.92543225e-01 -7.56715654e-04 1.00259729e+02] [ 3.92543094e-01 9.19733558e-01 -3.19684348e-04 -1.46202731e+01] [ 8.21466704e-04 -3.01918155e-06 9.99999663e-01 -1.47812972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.15538475 meters 0.05639509263231389 Centerline is valid? [True, True] Translation: X:100.28, Y:-14.61, Z:-1.48 [[ 9.19805154e-01 -3.92363688e-01 -3.03559376e-03 1.00284437e+02] [ 3.92361639e-01 9.19810163e-01 -1.26827974e-03 -1.46085011e+01] [ 3.28979691e-03 -2.44803060e-05 9.99994588e-01 -1.48305759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.18538475 meters 0.05640384733631415 Centerline is valid? [True, True] Translation: X:100.31, Y:-14.60, Z:-1.48 [[ 9.19952701e-01 -3.92015739e-01 -3.26922889e-03 1.00310030e+02] [ 3.92013348e-01 9.19958510e-01 -1.36921031e-03 -1.45968305e+01] [ 3.54430693e-03 -2.19726443e-05 9.99993719e-01 -1.48402573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.21538475 meters 0.056306605798831184 Centerline is valid? [True, True] Translation: X:100.33, Y:-14.58, Z:-1.48 [[ 9.20299669e-01 -3.91203206e-01 -2.92763871e-03 1.00334609e+02] [ 3.91201289e-01 9.20304325e-01 -1.22489576e-03 -1.45844302e+01] [ 3.17350172e-03 -1.80248772e-05 9.99994964e-01 -1.48454793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.24538474999999 meters 0.056277315079280264 Centerline is valid? [True, True] Translation: X:100.36, Y:-14.57, Z:-1.48 [[ 9.20535067e-01 -3.90647624e-01 -3.10223493e-03 1.00359938e+02] [ 3.90645459e-01 9.20540294e-01 -1.30082832e-03 -1.45722306e+01] [ 3.36389775e-03 -1.44159001e-05 9.99994342e-01 -1.48460634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27538474999999 meters 0.0560643108229867 Centerline is valid? [True, True] Translation: X:100.39, Y:-14.56, Z:-1.48 [[ 9.20675349e-01 -3.90323389e-01 -2.13411571e-03 1.00385913e+02] [ 3.90322359e-01 9.20677822e-01 -8.96440840e-04 -1.45593033e+01] [ 2.31473483e-03 -7.66209547e-06 9.99997321e-01 -1.48153884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.30538474999999 meters 0.05613922481793102 Centerline is valid? [True, True] Translation: X:100.41, Y:-14.55, Z:-1.48 [[ 9.21402169e-01 -3.88600525e-01 -2.77039943e-03 1.00410158e+02] [ 3.88598787e-01 9.21406334e-01 -1.16245802e-03 -1.45464897e+01] [ 3.00439537e-03 -5.48251986e-06 9.99995487e-01 -1.48417656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33538474999999 meters 0.056072422261265846 Centerline is valid? [True, True] Translation: X:100.44, Y:-14.53, Z:-1.48 [[ 9.21902529e-01 -3.87418555e-01 -1.60929397e-03 1.00435226e+02] [ 3.87417963e-01 9.21903934e-01 -6.77420581e-04 -1.45301149e+01] [ 1.74605974e-03 1.04635588e-06 9.99998476e-01 -1.48301955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.36538474999999 meters 0.05626091131714988 Centerline is valid? [True, True] Translation: X:100.46, Y:-14.52, Z:-1.49 [[ 9.22527605e-01 -3.85927114e-01 -1.75524623e-03 1.00458974e+02] [ 3.85926409e-01 9.22529275e-01 -7.37248746e-04 -1.45164235e+01] [ 1.90379031e-03 2.73644716e-06 9.99998188e-01 -1.48649294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39538474999999 meters 0.05632481027315854 Centerline is valid? [True, True] Translation: X:100.48, Y:-14.50, Z:-1.49 [[ 9.23111448e-01 -3.84527861e-01 -1.89189493e-03 1.00484013e+02] [ 3.84527035e-01 9.23113386e-01 -7.97041300e-04 -1.45031280e+01] [ 2.05291812e-03 8.27319936e-06 9.99997893e-01 -1.48725877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.42538474999999 meters 0.05653618337758211 Centerline is valid? [True, True] Translation: X:100.51, Y:-14.49, Z:-1.49 [[ 9.23989151e-01 -3.82407205e-01 -2.96285289e-03 1.00507598e+02] [ 3.82405182e-01 9.23993901e-01 -1.24378847e-03 -1.44878945e+01] [ 3.21329168e-03 1.62367539e-05 9.99994837e-01 -1.48858622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.45538475 meters 0.05668672043481171 Centerline is valid? [True, True] Translation: X:100.53, Y:-14.47, Z:-1.49 [[ 9.25078182e-01 -3.79767553e-01 -2.63887112e-03 1.00532407e+02] [ 3.79765929e-01 9.25081945e-01 -1.11102797e-03 -1.44726506e+01] [ 2.86310440e-03 2.56343925e-05 9.99995901e-01 -1.48796496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.48538475 meters 0.05687172073699623 Centerline is valid? [True, True] Translation: X:100.56, Y:-14.46, Z:-1.49 [[ 9.25726667e-01 -3.78177006e-01 -3.50563619e-03 1.00556725e+02] [ 3.78174135e-01 9.25733304e-01 -1.47407277e-03 -1.44597471e+01] [ 3.80274460e-03 3.88475435e-05 9.99992769e-01 -1.48844666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.51538475 meters 0.05715233929576598 Centerline is valid? [True, True] Translation: X:100.58, Y:-14.44, Z:-1.49 [[ 9.26911848e-01 -3.75268663e-01 -2.80302120e-03 1.00581816e+02] [ 3.75266807e-01 9.26916085e-01 -1.18127177e-03 -1.44444744e+01] [ 3.04145972e-03 4.30539834e-05 9.99995374e-01 -1.48816588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.54538475 meters 0.05742000934610937 Centerline is valid? [True, True] Translation: X:100.61, Y:-14.43, Z:-1.49 [[ 9.27447233e-01 -3.73943890e-01 -2.75618346e-03 1.00607147e+02] [ 3.73942095e-01 9.27451328e-01 -1.15957507e-03 -1.44314264e+01] [ 2.98984202e-03 4.47916735e-05 9.99995529e-01 -1.48825891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.57538475 meters 0.05768701166326601 Centerline is valid? [True, True] Translation: X:100.63, Y:-14.42, Z:-1.49 [[ 9.28259523e-01 -3.71922334e-01 -2.83481648e-03 1.00632077e+02] [ 3.71920424e-01 9.28263850e-01 -1.19293109e-03 -1.44175311e+01] [ 3.07513538e-03 5.30234935e-05 9.99995270e-01 -1.48820319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.60538474999998 meters 0.05833522576061896 Centerline is valid? [True, True] Translation: X:100.66, Y:-14.40, Z:-1.49 [[ 9.29686563e-01 -3.68340371e-01 -2.87500790e-03 1.00655847e+02] [ 3.68338389e-01 9.29691006e-01 -1.21012174e-03 -1.44010741e+01] [ 3.11860568e-03 6.60581393e-05 9.99995135e-01 -1.48927478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63538474999999 meters 0.05868022595842808 Centerline is valid? [True, True] Translation: X:100.68, Y:-14.39, Z:-1.49 [[ 9.30058531e-01 -3.67400889e-01 -2.77776944e-03 1.00680622e+02] [ 3.67399033e-01 9.30062677e-01 -1.16951360e-03 -1.43874377e+01] [ 3.01318002e-03 6.71662904e-05 9.99995458e-01 -1.49039904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.66538474999999 meters 0.05880364630386334 Centerline is valid? [True, True] Translation: X:100.71, Y:-14.37, Z:-1.49 [[ 9.30099095e-01 -3.67305139e-01 -1.61492900e-03 1.00706630e+02] [ 3.67304506e-01 9.30100496e-01 -6.83197577e-04 -1.43743459e+01] [ 1.75298824e-03 4.22707494e-05 9.99998463e-01 -1.49038313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69538474999999 meters 0.058631619614608915 Centerline is valid? [True, True] Translation: X:100.73, Y:-14.36, Z:-1.49 [[ 9.29554259e-01 -3.68679911e-01 -2.00061767e-03 1.00732625e+02] [ 3.68678949e-01 9.29556411e-01 -8.43420413e-04 -1.43632261e+01] [ 2.17063914e-03 4.64194164e-05 9.99997643e-01 -1.49227755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.72538474999999 meters 0.058642793319889384 Centerline is valid? [True, True] Translation: X:100.76, Y:-14.35, Z:-1.49 [[ 9.29334289e-01 -3.69234671e-01 -1.88057722e-03 1.00758595e+02] [ 3.69233815e-01 9.29336191e-01 -7.96219073e-04 -1.43524766e+01] [ 2.04168016e-03 4.55809837e-05 9.99997915e-01 -1.49168882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75538474999999 meters 0.058419598336474206 Centerline is valid? [True, True] Translation: X:100.79, Y:-14.34, Z:-1.49 [[ 9.28826524e-01 -3.70513490e-01 -1.02028885e-03 1.00786185e+02] [ 3.70513237e-01 9.28827085e-01 -4.33565124e-04 -1.43424320e+01] [ 1.10831364e-03 2.46762639e-05 9.99999386e-01 -1.49107977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.78538474999999 meters 0.0582118891318961 Centerline is valid? [True, True] Translation: X:100.81, Y:-14.33, Z:-1.49 [[ 9.28411408e-01 -3.71552796e-01 -8.81699724e-04 1.00812391e+02] [ 3.71552609e-01 9.28411826e-01 -3.72998077e-04 -1.43322114e+01] [ 9.57168929e-04 1.86978367e-05 9.99999542e-01 -1.49181837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.81538474999999 meters 0.0579370145893425 Centerline is valid? [True, True] Translation: X:100.84, Y:-14.32, Z:-1.49 [[ 9.27758097e-01 -3.73180930e-01 -9.51963743e-04 1.00839572e+02] [ 3.73180711e-01 9.27758586e-01 -4.05067986e-04 -1.43223835e+01] [ 1.03435618e-03 2.05505978e-05 9.99999465e-01 -1.49337079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.84538475 meters 0.05782086398723394 Centerline is valid? [True, True] Translation: X:100.87, Y:-14.31, Z:-1.49 [[ 9.27322611e-01 -3.74262242e-01 -7.41054431e-04 1.00867076e+02] [ 3.74262109e-01 9.27322907e-01 -3.16277995e-04 -1.43119425e+01] [ 8.05567661e-04 1.59431414e-05 9.99999675e-01 -1.49410895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.87538475 meters 0.05776987935717065 Centerline is valid? [True, True] Translation: X:100.89, Y:-14.30, Z:-1.49 [[ 9.26925010e-01 -3.75244395e-01 -1.29208562e-03 1.00893651e+02] [ 3.75243998e-01 9.26925910e-01 -5.46845617e-04 -1.43023697e+01] [ 1.40286839e-03 2.20375072e-05 9.99999016e-01 -1.49463314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.90538475 meters 0.057698693718443106 Centerline is valid? [True, True] Translation: X:100.92, Y:-14.29, Z:-1.49 [[ 9.26810267e-01 -3.75528636e-01 -9.85949906e-04 1.00920004e+02] [ 3.75528401e-01 9.26810791e-01 -4.20490398e-04 -1.42918013e+01] [ 1.07169520e-03 1.94626263e-05 9.99999426e-01 -1.49492228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.93538475 meters 0.05758149405767327 Centerline is valid? [True, True] Translation: X:100.95, Y:-14.28, Z:-1.49 [[ 9.26297348e-01 -3.76792924e-01 -5.61241074e-04 1.00947144e+02] [ 3.76792849e-01 9.26297518e-01 -2.38420773e-04 -1.42836772e+01] [ 6.09711474e-04 9.37690681e-06 9.99999814e-01 -1.49450691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.96538475 meters 0.05734051186956994 Centerline is valid? [True, True] Translation: X:100.97, Y:-14.28, Z:-1.49 [[ 9.25313535e-01 -3.79202148e-01 -7.70710368e-04 1.00974724e+02] [ 3.79202005e-01 9.25313855e-01 -3.29285147e-04 -1.42756062e+01] [ 8.38014617e-04 1.24370865e-05 9.99999649e-01 -1.49399824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99538474999999 meters 0.057148713551696165 Centerline is valid? [True, True] Translation: X:101.00, Y:-14.27, Z:-1.49 [[ 9.25048371e-01 -3.79848141e-01 -9.49610255e-04 1.01001024e+02] [ 3.79847924e-01 9.25048858e-01 -4.05716067e-04 -1.42657072e+01] [ 1.03254638e-03 1.45995022e-05 9.99999467e-01 -1.49442200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.02538474999999 meters 0.057168225774994495 Centerline is valid? [True, True] Translation: X:101.03, Y:-14.26, Z:-1.50 [[ 9.24742971e-01 -3.80589317e-01 -1.48623464e-03 1.01026570e+02] [ 3.80588794e-01 9.24744165e-01 -6.30902275e-04 -1.42560451e+01] [ 1.61450148e-03 1.77781940e-05 9.99998697e-01 -1.49625440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05538474999999 meters 0.057318010837507066 Centerline is valid? [True, True] Translation: X:101.05, Y:-14.24, Z:-1.50 [[ 9.24681398e-01 -3.80735806e-01 -2.13516827e-03 1.01053097e+02] [ 3.80734725e-01 9.24683862e-01 -9.07816785e-04 -1.42448950e+01] [ 2.31999400e-03 2.65085886e-05 9.99997308e-01 -1.49807680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.08538474999999 meters 0.057187002025807454 Centerline is valid? [True, True] Translation: X:101.08, Y:-14.23, Z:-1.50 [[ 9.24578968e-01 -3.80988475e-01 -1.23049270e-03 1.01079945e+02] [ 3.80988114e-01 9.24579786e-01 -5.24856506e-04 -1.42339860e+01] [ 1.33765295e-03 1.64681946e-05 9.99999105e-01 -1.49820713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11538474999999 meters 0.057229761254924925 Centerline is valid? [True, True] Translation: X:101.10, Y:-14.22, Z:-1.50 [[ 9.24672173e-01 -3.80763286e-01 -8.31750123e-04 1.01104554e+02] [ 3.80763122e-01 9.24672547e-01 -3.54306262e-04 -1.42232993e+01] [ 9.04003321e-04 1.09173687e-05 9.99999591e-01 -1.49853493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.14538474999999 meters 0.0571551260564734 Centerline is valid? [True, True] Translation: X:101.13, Y:-14.21, Z:-1.50 [[ 9.24267156e-01 -3.81744941e-01 -1.01255073e-03 1.01130336e+02] [ 3.81744698e-01 9.24267710e-01 -4.31017667e-04 -1.42143443e+01] [ 1.10040676e-03 1.18396013e-05 9.99999394e-01 -1.49935412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.17538474999999 meters 0.05714534444235626 Centerline is valid? [True, True] Translation: X:101.16, Y:-14.20, Z:-1.50 [[ 9.24301177e-01 -3.81661001e-01 -1.48850330e-03 1.01157693e+02] [ 3.81660473e-01 9.24302375e-01 -6.34927644e-04 -1.42034952e+01] [ 1.61815425e-03 1.87614954e-05 9.99998691e-01 -1.49944492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.20538475 meters 0.05714027044284548 Centerline is valid? [True, True] Translation: X:101.18, Y:-14.19, Z:-1.50 [[ 9.24205173e-01 -3.81893448e-01 -1.48094069e-03 1.01183892e+02] [ 3.81892924e-01 9.24206359e-01 -6.32854406e-04 -1.41942305e+01] [ 1.61037775e-03 1.93265457e-05 9.99998703e-01 -1.49945330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.23538475 meters 0.057096086142659735 Centerline is valid? [True, True] Translation: X:101.21, Y:-14.18, Z:-1.50 [[ 9.24539532e-01 -3.81077441e-01 -2.57645766e-03 1.01209857e+02] [ 3.81075867e-01 9.24543121e-01 -1.09574788e-03 -1.41836019e+01] [ 2.79961101e-03 3.12363925e-05 9.99996081e-01 -1.50086179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.26538475 meters 0.05719113803126388 Centerline is valid? [True, True] Translation: X:101.24, Y:-14.17, Z:-1.50 [[ 9.24484181e-01 -3.81216189e-01 -1.79330704e-03 1.01236411e+02] [ 3.81215421e-01 9.24485920e-01 -7.65630488e-04 -1.41720093e+01] [ 1.94975784e-03 2.41769773e-05 9.99998099e-01 -1.50099578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.29538475 meters 0.05721826632126508 Centerline is valid? [True, True] Translation: X:101.26, Y:-14.16, Z:-1.50 [[ 9.24312697e-01 -3.81629035e-01 -2.30611776e-03 1.01262549e+02] [ 3.81627766e-01 9.24315573e-01 -9.84791793e-04 -1.41615388e+01] [ 2.50740570e-03 3.01769889e-05 9.99996856e-01 -1.50209655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.32538475 meters 0.05729576787253518 Centerline is valid? [True, True] Translation: X:101.29, Y:-14.15, Z:-1.50 [[ 9.24266416e-01 -3.81735384e-01 -3.11258038e-03 1.01288793e+02] [ 3.81733075e-01 9.24271656e-01 -1.32823007e-03 -1.41500249e+01] [ 3.38390224e-03 3.94635715e-05 9.99994274e-01 -1.50367638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35538474999998 meters 0.05729576787253518 Centerline is valid? [True, True] Translation: X:101.31, Y:-14.14, Z:-1.50 [[ 9.24168062e-01 -3.81973440e-01 -3.11206923e-03 1.01314162e+02] [ 3.81971128e-01 9.24173301e-01 -1.32942946e-03 -1.41390103e+01] [ 3.38389803e-03 3.98956481e-05 9.99994274e-01 -1.50404747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.38538474999999 meters 0.0570497111366807 Centerline is valid? [True, True] Translation: X:101.34, Y:-14.13, Z:-1.50 [[ 9.23896364e-01 -3.82621778e-01 -4.01036637e-03 1.01341577e+02] [ 3.82617946e-01 9.23905067e-01 -1.71302580e-03 -1.41290473e+01] [ 4.36063879e-03 4.82201686e-05 9.99990491e-01 -1.50329686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41538474999999 meters 0.05703120171991137 Centerline is valid? [True, True] Translation: X:101.37, Y:-14.12, Z:-1.51 [[ 9.22753433e-01 -3.85370981e-01 -3.91275723e-03 1.01368662e+02] [ 3.85367366e-01 9.22761728e-01 -1.66951904e-03 -1.41205426e+01] [ 4.25392681e-03 3.27054735e-05 9.99990951e-01 -1.50625761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44538474999999 meters 0.05693632005129216 Centerline is valid? [True, True] Translation: X:101.40, Y:-14.11, Z:-1.51 [[ 9.22292883e-01 -3.86475448e-01 -3.54494749e-03 1.01395642e+02] [ 3.86472478e-01 9.22299695e-01 -1.51554026e-03 -1.41103922e+01] [ 3.85522308e-03 2.77473540e-05 9.99992568e-01 -1.50625323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47538474999999 meters 0.05666796976522525 Centerline is valid? [True, True] Translation: X:101.42, Y:-14.10, Z:-1.51 [[ 9.21448362e-01 -3.88482612e-01 -3.76501786e-03 1.01421488e+02] [ 3.88479284e-01 9.21456054e-01 -1.60819946e-03 -1.41019333e+01] [ 4.09405603e-03 1.92413164e-05 9.99991619e-01 -1.50742528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.50538474999999 meters 0.05643113567753649 Centerline is valid? [True, True] Translation: X:101.45, Y:-14.09, Z:-1.50 [[ 9.21079115e-01 -3.89364818e-01 -2.88158636e-03 1.01449192e+02] [ 3.89362863e-01 9.21083622e-01 -1.23391403e-03 -1.40937257e+01] [ 3.13462471e-03 1.45497257e-05 9.99995087e-01 -1.50368996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53538474999999 meters 0.05649773357907543 Centerline is valid? [True, True] Translation: X:101.48, Y:-14.08, Z:-1.51 [[ 9.20843616e-01 -3.89927238e-01 -1.94536206e-03 1.01475000e+02] [ 3.89926350e-01 9.20845671e-01 -8.32104342e-04 -1.40835231e+01] [ 2.11583838e-03 7.69004344e-06 9.99997762e-01 -1.50554457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.56538474999999 meters 0.05630278705385645 Centerline is valid? [True, True] Translation: X:101.50, Y:-14.07, Z:-1.50 [[ 9.20687184e-01 -3.90297394e-01 -1.74755932e-03 1.01501338e+02] [ 3.90296672e-01 9.20688842e-01 -7.50814903e-04 -1.40737661e+01] [ 1.90199946e-03 9.19907246e-06 9.99998191e-01 -1.50196055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.59538475 meters 0.056344162825827396 Centerline is valid? [True, True] Translation: X:101.53, Y:-14.06, Z:-1.50 [[ 9.20874269e-01 -3.89857496e-01 -1.30894883e-03 1.01527085e+02] [ 3.89857088e-01 9.20875199e-01 -5.63920935e-04 -1.40621694e+01] [ 1.42522732e-03 8.99729840e-06 9.99998984e-01 -1.50089618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.62538475 meters 0.05626157681769967 Centerline is valid? [True, True] Translation: X:101.55, Y:-14.05, Z:-1.50 [[ 9.21139750e-01 -3.89229795e-01 -1.31411413e-03 1.01550697e+02] [ 3.89229385e-01 9.21140688e-01 -5.65135735e-04 -1.40493243e+01] [ 1.43045166e-03 9.07715396e-06 9.99998977e-01 -1.50256455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.65538475 meters 0.056356142172369846 Centerline is valid? [True, True] Translation: X:101.58, Y:-14.03, Z:-1.50 [[ 9.21808552e-01 -3.87641502e-01 -1.74896917e-03 1.01576086e+02] [ 3.87640772e-01 9.21810211e-01 -7.52487792e-04 -1.40349196e+01] [ 1.90391314e-03 1.56779219e-05 9.99998187e-01 -1.50277435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.68538475 meters 0.05658773762017444 Centerline is valid? [True, True] Translation: X:101.60, Y:-14.02, Z:-1.50 [[ 9.22326893e-01 -3.86407383e-01 -1.56108027e-03 1.01601480e+02] [ 3.86406798e-01 9.22328214e-01 -6.72490086e-04 -1.40216414e+01] [ 1.69968351e-03 1.70436631e-05 9.99998555e-01 -1.50311457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.71538475 meters 0.05706594834513146 Centerline is valid? [True, True] Translation: X:101.63, Y:-14.01, Z:-1.51 [[ 9.23181274e-01 -3.84354926e-01 -2.76156419e-03 1.01625489e+02] [ 3.84353098e-01 9.23185404e-01 -1.18569603e-03 -1.40065384e+01] [ 3.00516386e-03 3.31966190e-05 9.99995484e-01 -1.50604059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.74538474999999 meters 0.05691781695143045 Centerline is valid? [True, True] Translation: X:101.65, Y:-14.00, Z:-1.51 [[ 9.22410963e-01 -3.86185594e-01 -4.32460813e-03 1.01652992e+02] [ 3.86181124e-01 9.22421100e-01 -1.85851160e-03 -1.39963940e+01] [ 4.70684019e-03 4.42294487e-05 9.99988922e-01 -1.50741162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77538474999999 meters 0.05696398598940897 Centerline is valid? [True, True] Translation: X:101.68, Y:-13.98, Z:-1.51 [[ 9.22245901e-01 -3.86557736e-01 -5.96791020e-03 1.01679162e+02] [ 3.86549229e-01 9.22265208e-01 -2.56508029e-03 -1.39841509e+01] [ 6.49554757e-03 5.87436989e-05 9.99978902e-01 -1.50949946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80538474999999 meters 0.057007569993211105 Centerline is valid? [True, True] Translation: X:101.71, Y:-13.97, Z:-1.51 [[ 9.22308562e-01 -3.86403984e-01 -6.23519793e-03 1.01705193e+02] [ 3.86394684e-01 9.22329636e-01 -2.68150839e-03 -1.39715040e+01] [ 6.78705336e-03 6.39308123e-05 9.99976966e-01 -1.51178538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83538474999999 meters 0.05709031713319346 Centerline is valid? [True, True] Translation: X:101.73, Y:-13.96, Z:-1.51 [[ 9.21813666e-01 -3.87583365e-01 -6.22103275e-03 1.01731632e+02] [ 3.87574118e-01 9.21834656e-01 -2.67785104e-03 -1.39623585e+01] [ 6.77265410e-03 5.73684060e-05 9.99977064e-01 -1.51218114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.86538474999999 meters 0.05680336115523845 Centerline is valid? [True, True] Translation: X:101.76, Y:-13.95, Z:-1.51 [[ 9.21109753e-01 -3.89263520e-01 -5.54382255e-03 1.01757981e+02] [ 3.89256213e-01 9.21126436e-01 -2.38546783e-03 -1.39536231e+01] [ 6.03513711e-03 3.93103143e-05 9.99981788e-01 -1.51128217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89538474999999 meters 0.05671409812752585 Centerline is valid? [True, True] Translation: X:101.78, Y:-13.95, Z:-1.51 [[ 9.20304449e-01 -3.91163055e-01 -5.58430999e-03 1.01784575e+02] [ 3.91155676e-01 9.20321391e-01 -2.40281485e-03 -1.39458062e+01] [ 6.07925234e-03 2.69866471e-05 9.99981521e-01 -1.51044741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.92538474999999 meters 0.056480926247107294 Centerline is valid? [True, True] Translation: X:101.81, Y:-13.94, Z:-1.51 [[ 9.20016954e-01 -3.91846924e-01 -4.97927622e-03 1.01810598e+02] [ 3.91841064e-01 9.20030428e-01 -2.14306361e-03 -1.39362536e+01] [ 5.42083851e-03 2.05699565e-05 9.99985307e-01 -1.51048400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.95538475 meters 0.05634022011859331 Centerline is valid? [True, True] Translation: X:101.84, Y:-13.93, Z:-1.51 [[ 9.19182237e-01 -3.93805744e-01 -4.58821032e-03 1.01838209e+02] [ 3.93800773e-01 9.19193688e-01 -1.97865090e-03 -1.39269440e+01] [ 4.99665806e-03 1.18999865e-05 9.99987517e-01 -1.50754223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.98538475 meters 0.056301924552420175 Centerline is valid? [True, True] Translation: X:101.86, Y:-13.92, Z:-1.51 [[ 9.19075976e-01 -3.94061172e-01 -3.89139019e-03 1.01864755e+02] [ 3.94057601e-01 9.19084214e-01 -1.67773128e-03 -1.39163795e+01] [ 4.23764404e-03 8.53063147e-06 9.99991021e-01 -1.50731486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.01538475 meters 0.05629147868092642 Centerline is valid? [True, True] Translation: X:101.89, Y:-13.91, Z:-1.51 [[ 9.18769590e-01 -3.94774309e-01 -3.96057486e-03 1.01891008e+02] [ 3.94770601e-01 9.18778126e-01 -1.71107880e-03 -1.39065358e+01] [ 4.31437950e-03 8.56864815e-06 9.99990693e-01 -1.50860030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.04538475 meters 0.056271391321840974 Centerline is valid? [True, True] Translation: X:101.92, Y:-13.90, Z:-1.51 [[ 9.18143307e-01 -3.96227392e-01 -4.08926943e-03 1.01917570e+02] [ 3.96223456e-01 9.18152413e-01 -1.76613023e-03 -1.38992429e+01] [ 4.45436177e-03 1.29618128e-06 9.99990079e-01 -1.50862051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.07538475 meters 0.05617476836774647 Centerline is valid? [True, True] Translation: X:101.95, Y:-13.89, Z:-1.51 [[ 9.17283665e-01 -3.98202715e-01 -5.02754777e-03 1.01945745e+02] [ 3.98196786e-01 9.17297443e-01 -2.17296917e-03 -1.38917486e+01] [ 5.47703893e-03 -8.72424244e-06 9.99985001e-01 -1.50862056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.10538474999998 meters 0.056398217140432125 Centerline is valid? [True, True] Translation: X:101.97, Y:-13.88, Z:-1.51 [[ 9.17022495e-01 -3.98795745e-01 -5.63013919e-03 1.01972141e+02] [ 3.98788334e-01 9.17039778e-01 -2.43121156e-03 -1.38815790e+01] [ 6.13261841e-03 -1.57581371e-05 9.99981195e-01 -1.51065567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13538474999999 meters 0.05650359504280206 Centerline is valid? [True, True] Translation: X:102.00, Y:-13.87, Z:-1.51 [[ 9.16613846e-01 -3.99714783e-01 -6.86647519e-03 1.01999167e+02] [ 3.99703756e-01 9.16639565e-01 -2.96913587e-03 -1.38712739e+01] [ 7.48089033e-03 -2.30048772e-05 9.99972017e-01 -1.51226929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.16538474999999 meters 0.056388004815267546 Centerline is valid? [True, True] Translation: X:102.02, Y:-13.86, Z:-1.51 [[ 9.16615481e-01 -3.99706425e-01 -7.12985811e-03 1.02024397e+02] [ 3.99694543e-01 9.16643209e-01 -3.08199427e-03 -1.38598129e+01] [ 7.76742893e-03 -2.47617223e-05 9.99969833e-01 -1.51317143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19538474999999 meters 0.056424306672723065 Centerline is valid? [True, True] Translation: X:102.05, Y:-13.85, Z:-1.51 [[ 9.17254448e-01 -3.98208194e-01 -8.63206849e-03 1.02049795e+02] [ 3.98190673e-01 9.17295064e-01 -3.73545891e-03 -1.38460292e+01] [ 9.40564417e-03 -1.08428649e-05 9.99955766e-01 -1.51398587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.22538474999999 meters 0.05657732776168244 Centerline is valid? [True, True] Translation: X:102.07, Y:-13.83, Z:-1.52 [[ 9.17859037e-01 -3.96803135e-01 -9.05872499e-03 1.02074193e+02] [ 3.96783770e-01 9.17903738e-01 -3.92023807e-03 -1.38333471e+01] [ 9.87060028e-03 3.87088598e-06 9.99951284e-01 -1.51543590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25538474999999 meters 0.056554770828340435 Centerline is valid? [True, True] Translation: X:102.10, Y:-13.82, Z:-1.52 [[ 9.19347024e-01 -3.93314871e-01 -1.02206545e-02 1.02098010e+02] [ 3.93289958e-01 9.19403834e-01 -4.42704233e-03 -1.38159259e+01] [ 1.11381305e-02 5.03073989e-05 9.99937968e-01 -1.51522492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.28538474999999 meters 0.0567463536240581 Centerline is valid? [True, True] Translation: X:102.12, Y:-13.80, Z:-1.52 [[ 9.20421014e-01 -3.90802451e-01 -9.92981438e-03 1.02121904e+02] [ 3.90778803e-01 9.20474572e-01 -4.29987439e-03 -1.38010953e+01] [ 1.08205431e-02 7.73337704e-05 9.99941453e-01 -1.51640947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.31538474999999 meters 0.05684628950290503 Centerline is valid? [True, True] Translation: X:102.14, Y:-13.78, Z:-1.51 [[ 9.22339918e-01 -3.86270109e-01 -9.19123997e-03 1.02144817e+02] [ 3.86249570e-01 9.22385704e-01 -3.98527416e-03 -1.37812937e+01] [ 1.00172606e-02 1.25664951e-04 9.99949818e-01 -1.51445339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.34538475 meters 0.05723215483266727 Centerline is valid? [True, True] Translation: X:102.17, Y:-13.77, Z:-1.52 [[ 9.23173509e-01 -3.84297301e-01 -8.13980295e-03 1.02167430e+02] [ 3.84281118e-01 9.23209384e-01 -3.52916216e-03 -1.37655268e+01] [ 8.87098996e-03 1.30056439e-04 9.99960644e-01 -1.51610895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.37538475 meters 0.056698816669890836 Centerline is valid? [True, True] Translation: X:102.19, Y:-13.75, Z:-1.51 [[ 9.22446116e-01 -3.86053767e-01 -7.46002290e-03 1.02194389e+02] [ 3.86040198e-01 9.22476275e-01 -3.23854184e-03 -1.37541035e+01] [ 8.13194541e-03 1.07511623e-04 9.99966929e-01 -1.51333366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.40538475 meters 0.056608306736103904 Centerline is valid? [True, True] Translation: X:102.22, Y:-13.74, Z:-1.51 [[ 9.22448000e-01 -3.86045946e-01 -7.62989720e-03 1.02220556e+02] [ 3.86031764e-01 9.22479548e-01 -3.31074612e-03 -1.37429732e+01] [ 8.31652424e-03 1.08608461e-04 9.99965411e-01 -1.51055377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.43538475 meters 0.056776614749471474 Centerline is valid? [True, True] Translation: X:102.24, Y:-13.73, Z:-1.51 [[ 9.22670450e-01 -3.85543366e-01 -5.96259734e-03 1.02244313e+02] [ 3.85534689e-01 9.22689712e-01 -2.58818730e-03 -1.37271869e+01] [ 6.49948567e-03 8.92558307e-05 9.99978874e-01 -1.51338936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.46538475 meters 0.05684176890122845 Centerline is valid? [True, True] Translation: X:102.27, Y:-13.71, Z:-1.51 [[ 9.23153004e-01 -3.84389284e-01 -5.78002374e-03 1.02270006e+02] [ 3.84381082e-01 9.23171094e-01 -2.51296721e-03 -1.37145632e+01] [ 6.30190851e-03 9.81214482e-05 9.99980138e-01 -1.51210581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49538474999999 meters 0.057393217016257644 Centerline is valid? [True, True] Translation: X:102.29, Y:-13.70, Z:-1.51 [[ 9.24516401e-01 -3.81105150e-01 -5.31877646e-03 1.02294779e+02] [ 3.81098140e-01 9.24531693e-01 -2.31426361e-03 -1.36990246e+01] [ 5.79935519e-03 1.12598852e-04 9.99983177e-01 -1.51279880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.52538474999999 meters 0.057899647277719825 Centerline is valid? [True, True] Translation: X:102.32, Y:-13.69, Z:-1.51 [[ 9.25184414e-01 -3.79471028e-01 -5.96154781e-03 1.02318978e+02] [ 3.79462192e-01 9.25203610e-01 -2.59322821e-03 -1.36861246e+01] [ 6.49970053e-03 1.37032324e-04 9.99978867e-01 -1.51403232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55538474999999 meters 0.0575795902938159 Centerline is valid? [True, True] Translation: X:102.35, Y:-13.68, Z:-1.51 [[ 9.24897044e-01 -3.80178653e-01 -5.44517100e-03 1.02346098e+02] [ 3.80171275e-01 9.24913064e-01 -2.37179398e-03 -1.36761217e+01] [ 5.93801524e-03 1.23567640e-04 9.99982362e-01 -1.51264468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.58538474999999 meters 0.0576038678243042 Centerline is valid? [True, True] Translation: X:102.37, Y:-13.66, Z:-1.51 [[ 9.25470216e-01 -3.78774253e-01 -5.91133639e-03 1.02371788e+02] [ 3.78765541e-01 9.25489084e-01 -2.57288171e-03 -1.36639031e+01] [ 6.44541866e-03 1.42114867e-04 9.99979218e-01 -1.51285284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61538474999999 meters 0.05785726808662917 Centerline is valid? [True, True] Translation: X:102.40, Y:-13.65, Z:-1.52 [[ 9.25632751e-01 -3.78370360e-01 -6.31510515e-03 1.02395853e+02] [ 3.78360404e-01 9.25654280e-01 -2.74919051e-03 -1.36504744e+01] [ 6.88581632e-03 1.55355033e-04 9.99976280e-01 -1.51566488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.64538474999999 meters 0.058615264268271995 Centerline is valid? [True, True] Translation: X:102.42, Y:-13.64, Z:-1.52 [[ 9.25729888e-01 -3.78119315e-01 -7.06814713e-03 1.02420043e+02] [ 3.78106832e-01 9.25756854e-01 -3.07758021e-03 -1.36372014e+01] [ 7.70707817e-03 1.76493262e-04 9.99970284e-01 -1.51870120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.67538474999999 meters 0.058057661053801564 Centerline is valid? [True, True] Translation: X:102.45, Y:-13.63, Z:-1.52 [[ 9.25003541e-01 -3.79879323e-01 -7.75563613e-03 1.02448090e+02] [ 3.79864318e-01 9.25036036e-01 -3.38127385e-03 -1.36283173e+01] [ 8.45871892e-03 1.81600856e-04 9.99964208e-01 -1.51759826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.70538475 meters 0.05760069796346819 Centerline is valid? [True, True] Translation: X:102.48, Y:-13.62, Z:-1.52 [[ 9.24078260e-01 -3.82115436e-01 -8.19528662e-03 1.02475777e+02] [ 3.82098749e-01 9.24114584e-01 -3.57521094e-03 -1.36199254e+01] [ 8.93952717e-03 1.72365945e-04 9.99960027e-01 -1.51712871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.73538475 meters 0.05714583781401521 Centerline is valid? [True, True] Translation: X:102.50, Y:-13.61, Z:-1.52 [[ 9.23243843e-01 -3.84144707e-01 -7.32460565e-03 1.02503090e+02] [ 3.84131444e-01 9.23272888e-01 -3.19507779e-03 -1.36095243e+01] [ 7.98998203e-03 1.36224556e-04 9.99968070e-01 -1.51664811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.76538475 meters 0.05712599542614239 Centerline is valid? [True, True] Translation: X:102.53, Y:-13.60, Z:-1.52 [[ 9.22584918e-01 -3.85715004e-01 -7.81053525e-03 1.02528216e+02] [ 3.85699968e-01 9.22617970e-01 -3.40821169e-03 -1.35984196e+01] [ 8.52073856e-03 1.31841504e-04 9.99963689e-01 -1.51919199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.79538475 meters 0.05731096649230257 Centerline is valid? [True, True] Translation: X:102.55, Y:-13.59, Z:-1.52 [[ 9.22705286e-01 -3.85413216e-01 -8.46217047e-03 1.02552953e+02] [ 3.85395539e-01 9.22744077e-01 -3.69418521e-03 -1.35866393e+01] [ 9.23220548e-03 1.47361467e-04 9.99957371e-01 -1.52056138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.82538475 meters 0.05681505703614666 Centerline is valid? [True, True] Translation: X:102.58, Y:-13.58, Z:-1.52 [[ 9.21573438e-01 -3.88154791e-01 -6.18526943e-03 1.02581403e+02] [ 3.88145386e-01 9.21594190e-01 -2.70352204e-03 -1.35785136e+01] [ 6.74969340e-03 9.07103076e-05 9.99977216e-01 -1.51826810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85538474999998 meters 0.05684853704993784 Centerline is valid? [True, True] Translation: X:102.61, Y:-13.57, Z:-1.52 [[ 9.21736730e-01 -3.87777195e-01 -5.49970526e-03 1.02605786e+02] [ 3.87769756e-01 9.21753134e-01 -2.40336368e-03 -1.35668788e+01] [ 6.00134018e-03 8.26492148e-05 9.99981988e-01 -1.51825553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.88538474999999 meters 0.056929063899103766 Centerline is valid? [True, True] Translation: X:102.63, Y:-13.55, Z:-1.52 [[ 9.21811677e-01 -3.87616537e-01 -4.08075696e-03 1.02631912e+02] [ 3.87612424e-01 9.21820707e-01 -1.78674877e-03 -1.35549865e+01] [ 4.45429964e-03 6.52937821e-05 9.99990077e-01 -1.51761576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91538474999999 meters 0.05685040322148596 Centerline is valid? [True, True] Translation: X:102.66, Y:-13.54, Z:-1.52 [[ 9.22097156e-01 -3.86933690e-01 -4.37660368e-03 1.02659098e+02] [ 3.86928945e-01 9.22107539e-01 -1.91754760e-03 -1.35449065e+01] [ 4.77766302e-03 7.47305437e-05 9.99988584e-01 -1.51549836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94538474999999 meters 0.05648750516762528 Centerline is valid? [True, True] Translation: X:102.69, Y:-13.54, Z:-1.51 [[ 9.20609752e-01 -3.90460182e-01 -4.30470295e-03 1.02686811e+02] [ 3.90455625e-01 9.20619815e-01 -1.88737237e-03 -1.35373941e+01] [ 4.69993859e-03 5.67379300e-05 9.99988954e-01 -1.51493083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97538474999999 meters 0.05651353288184897 Centerline is valid? [True, True] Translation: X:102.71, Y:-13.53, Z:-1.52 [[ 9.19976624e-01 -3.91947592e-01 -4.48294649e-03 1.02712960e+02] [ 3.91942658e-01 9.19987545e-01 -1.96736807e-03 -1.35262554e+01] [ 4.89536011e-03 5.28746705e-05 9.99988016e-01 -1.51743673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.00538474999999 meters 0.05658114938158318 Centerline is valid? [True, True] Translation: X:102.74, Y:-13.52, Z:-1.52 [[ 9.19301965e-01 -3.93520304e-01 -5.06620720e-03 1.02738295e+02] [ 3.93514039e-01 9.19315924e-01 -2.22116523e-03 -1.35156031e+01] [ 5.53151857e-03 4.82979073e-05 9.99984700e-01 -1.51935354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03538474999999 meters 0.056501264079659094 Centerline is valid? [True, True] Translation: X:102.77, Y:-13.51, Z:-1.52 [[ 9.18496080e-01 -3.95390236e-01 -5.61355017e-03 1.02765487e+02] [ 3.95382555e-01 9.18513233e-01 -2.46479296e-03 -1.35063137e+01] [ 6.13067519e-03 4.44028612e-05 9.99981206e-01 -1.52128263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.06538474999999 meters 0.05661363600868701 Centerline is valid? [True, True] Translation: X:102.79, Y:-13.50, Z:-1.52 [[ 9.18547224e-01 -3.95262194e-01 -6.22862743e-03 1.02791214e+02] [ 3.95252752e-01 9.18568340e-01 -2.73246874e-03 -1.34953789e+01] [ 6.80146155e-03 4.80194413e-05 9.99976869e-01 -1.52307423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.09538475 meters 0.056206405720607554 Centerline is valid? [True, True] Translation: X:102.82, Y:-13.49, Z:-1.52 [[ 9.16097932e-01 -4.00925976e-01 -4.78972052e-03 1.02820834e+02] [ 4.00920466e-01 9.16110453e-01 -2.10200528e-03 -1.34925999e+01] [ 5.23066155e-03 5.34570463e-06 9.99986320e-01 -1.52030180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.12538475 meters 0.05621597482016614 Centerline is valid? [True, True] Translation: X:102.85, Y:-13.48, Z:-1.52 [[ 9.14859447e-01 -4.03746101e-01 -4.61283190e-03 1.02848585e+02] [ 4.03741004e-01 9.14871076e-01 -2.02871220e-03 -1.34847809e+01] [ 5.03923113e-03 -6.40285825e-06 9.99987303e-01 -1.51924265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.15538475 meters 0.05619111594074519 Centerline is valid? [True, True] Translation: X:102.87, Y:-13.48, Z:-1.52 [[ 9.14005003e-01 -4.05675782e-01 -4.69192145e-03 1.02874968e+02] [ 4.05670546e-01 9.14017046e-01 -2.06110416e-03 -1.34752044e+01] [ 5.12463622e-03 -1.95148207e-05 9.99986869e-01 -1.52195746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.18538475 meters 0.05630623161390266 Centerline is valid? [True, True] Translation: X:102.90, Y:-13.46, Z:-1.52 [[ 9.13562778e-01 -4.06669701e-01 -4.77545521e-03 1.02900995e+02] [ 4.06664269e-01 9.13575259e-01 -2.10200124e-03 -1.34635160e+01] [ 5.21755794e-03 -2.16969100e-05 9.99986388e-01 -1.52319668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.21538475 meters 0.056393969311324975 Centerline is valid? [True, True] Translation: X:102.93, Y:-13.45, Z:-1.53 [[ 9.13328670e-01 -4.07192974e-01 -4.96222931e-03 1.02926423e+02] [ 4.07187124e-01 9.13342149e-01 -2.18270676e-03 -1.34526482e+01] [ 5.42099604e-03 -2.70272211e-05 9.99985306e-01 -1.52520341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.24538474999999 meters 0.05653198946649782 Centerline is valid? [True, True] Translation: X:102.95, Y:-13.44, Z:-1.53 [[ 9.13506937e-01 -4.06778048e-01 -6.05764651e-03 1.02953137e+02] [ 4.06769303e-01 9.13527022e-01 -2.66734554e-03 -1.34415890e+01] [ 6.61884139e-03 -2.74259940e-05 9.99978095e-01 -1.52607495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27538474999999 meters 0.05653198946649782 Centerline is valid? [True, True] Translation: X:102.98, Y:-13.43, Z:-1.53 [[ 9.13399737e-01 -4.07018716e-01 -6.05676568e-03 1.02978388e+02] [ 4.07009964e-01 9.13419818e-01 -2.66934676e-03 -1.34302855e+01] [ 6.61884390e-03 -2.69833544e-05 9.99978095e-01 -1.52644606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30538474999999 meters 0.05657726693894997 Centerline is valid? [True, True] Translation: X:103.00, Y:-13.42, Z:-1.53 [[ 9.13549382e-01 -4.06680284e-01 -6.21876403e-03 1.03004277e+02] [ 4.06671037e-01 9.13570548e-01 -2.74256036e-03 -1.34186748e+01] [ 6.79662489e-03 -2.35268950e-05 9.99976902e-01 -1.52639350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33538474999999 meters 0.05653288104038838 Centerline is valid? [True, True] Translation: X:103.03, Y:-13.41, Z:-1.53 [[ 9.13343697e-01 -4.07140588e-01 -6.31126056e-03 1.03029074e+02] [ 4.07131084e-01 9.13365502e-01 -2.78196168e-03 -1.34068564e+01] [ 6.89713718e-03 -2.86231917e-05 9.99976214e-01 -1.52722690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.36538474999999 meters 0.05655128333890085 Centerline is valid? [True, True] Translation: X:103.05, Y:-13.39, Z:-1.53 [[ 9.13769006e-01 -4.06191092e-01 -5.91616329e-03 1.03054541e+02] [ 4.06182700e-01 9.13788157e-01 -2.61114852e-03 -1.33926149e+01] [ 6.46674522e-03 -1.70565915e-05 9.99979090e-01 -1.52865949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39538474999999 meters 0.05654306623340304 Centerline is valid? [True, True] Translation: X:103.08, Y:-13.38, Z:-1.53 [[ 9.13829985e-01 -4.06040159e-01 -6.79319728e-03 1.03079731e+02] [ 4.06029098e-01 9.13855234e-01 -2.99714921e-03 -1.33799653e+01] [ 7.42496183e-03 -1.93509485e-05 9.99972434e-01 -1.53044974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.42538474999999 meters 0.0562971151619556 Centerline is valid? [True, True] Translation: X:103.10, Y:-13.37, Z:-1.53 [[ 9.14461169e-01 -4.04642459e-01 -5.02509915e-03 1.03104744e+02] [ 4.04636366e-01 9.14474975e-01 -2.22060099e-03 -1.33652354e+01] [ 5.49387686e-03 -2.68448231e-06 9.99984909e-01 -1.52695940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.45538475 meters 0.056131371561765106 Centerline is valid? [True, True] Translation: X:103.13, Y:-13.35, Z:-1.53 [[ 9.14774283e-01 -4.03937014e-01 -4.78547574e-03 1.03128840e+02] [ 4.03931483e-01 9.14786800e-01 -2.11376423e-03 -1.33524076e+01] [ 5.23151764e-03 6.12842402e-07 9.99986316e-01 -1.52700014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.48538475 meters 0.05627730675425503 Centerline is valid? [True, True] Translation: X:103.15, Y:-13.34, Z:-1.53 [[ 9.16402040e-01 -4.00244687e-01 -3.38994282e-03 1.03152524e+02] [ 4.00241886e-01 9.16408310e-01 -1.49769354e-03 -1.33359123e+01] [ 3.70601565e-03 1.56923077e-05 9.99993133e-01 -1.52672486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.51538475 meters 0.0563098006864927 Centerline is valid? [True, True] Translation: X:103.18, Y:-13.32, Z:-1.53 [[ 9.16851785e-01 -3.99211728e-01 -3.57791896e-03 1.03178063e+02] [ 3.99208586e-01 9.16858765e-01 -1.58399259e-03 -1.33213473e+01] [ 3.91279477e-03 2.39504619e-05 9.99992345e-01 -1.52585523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.54538475 meters 0.056472015432925175 Centerline is valid? [True, True] Translation: X:103.20, Y:-13.30, Z:-1.52 [[ 9.18699604e-01 -3.94943410e-01 -3.27727643e-03 1.03202214e+02] [ 3.94940741e-01 9.18705449e-01 -1.45240498e-03 -1.33036913e+01] [ 3.58446949e-03 3.99938976e-05 9.99993575e-01 -1.52420257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.57538475 meters 0.05733699419879807 Centerline is valid? [True, True] Translation: X:103.22, Y:-13.29, Z:-1.53 [[ 9.19485504e-01 -3.93102336e-01 -4.11847340e-03 1.03224616e+02] [ 3.93098117e-01 9.19494725e-01 -1.82227575e-03 -1.32863216e+01] [ 4.50325542e-03 5.65919998e-05 9.99989859e-01 -1.53088750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.60538474999998 meters 0.05822708881502748 Centerline is valid? [True, True] Translation: X:103.25, Y:-13.27, Z:-1.53 [[ 9.21118068e-01 -3.89273052e-01 -2.82778021e-03 1.03246960e+02] [ 3.89271043e-01 9.21122407e-01 -1.25168268e-03 -1.32685756e+01] [ 3.09197805e-03 5.21745747e-05 9.99995218e-01 -1.53106919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63538474999999 meters 0.05796685287455793 Centerline is valid? [True, True] Translation: X:103.27, Y:-13.26, Z:-1.53 [[ 9.21633991e-01 -3.88046354e-01 -3.28844122e-03 1.03272970e+02] [ 3.88043626e-01 9.21639855e-01 -1.45656734e-03 -1.32569263e+01] [ 3.59597414e-03 6.63633180e-05 9.99993532e-01 -1.52905538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66538474999999 meters 0.05698872397775781 Centerline is valid? [True, True] Translation: X:103.30, Y:-13.25, Z:-1.52 [[ 9.20261428e-01 -3.91304045e-01 -2.21754478e-04 1.03301630e+02] [ 3.91304032e-01 9.20261455e-01 -1.01021584e-04 -1.32503896e+01] [ 2.43602253e-04 6.19284562e-06 9.99999970e-01 -1.52137762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69538474999999 meters 0.057007746292322414 Centerline is valid? [True, True] Translation: X:103.33, Y:-13.24, Z:-1.52 [[ 9.19923884e-01 -3.92096866e-01 -3.09516076e-04 1.03326868e+02] [ 3.92096842e-01 9.19923936e-01 -1.38309177e-04 -1.32374492e+01] [ 3.38961841e-04 5.87363964e-06 9.99999943e-01 -1.52233787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72538474999999 meters 0.05750151656656792 Centerline is valid? [True, True] Translation: X:103.35, Y:-13.22, Z:-1.53 [[ 9.20076186e-01 -3.91728643e-01 -2.91231925e-03 1.03349628e+02] [ 3.91726519e-01 9.20080794e-01 -1.29085352e-03 -1.32208957e+01] [ 3.18523331e-03 4.68508993e-05 9.99994926e-01 -1.52969276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75538474999999 meters 0.05748054078125967 Centerline is valid? [True, True] Translation: X:103.38, Y:-13.21, Z:-1.53 [[ 9.20506644e-01 -3.90703208e-01 -4.30378253e-03 1.03375723e+02] [ 3.90698544e-01 9.20516701e-01 -1.91062959e-03 -1.32077116e+01] [ 4.70819281e-03 7.72656585e-05 9.99988913e-01 -1.53156350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.78538474999999 meters 0.05807284753121776 Centerline is valid? [True, True] Translation: X:103.40, Y:-13.19, Z:-1.54 [[ 9.20912396e-01 -3.89724001e-01 -5.96331560e-03 1.03400501e+02] [ 3.89715046e-01 9.20931697e-01 -2.64427715e-03 -1.31943548e+01] [ 6.52234463e-03 1.11153792e-04 9.99978723e-01 -1.53512147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.81538474999999 meters 0.058198294461035804 Centerline is valid? [True, True] Translation: X:103.43, Y:-13.18, Z:-1.54 [[ 9.21217836e-01 -3.88985657e-01 -6.91787147e-03 1.03426759e+02] [ 3.88973554e-01 9.21243800e-01 -3.07162457e-03 -1.31820618e+01] [ 7.56786410e-03 1.38766287e-04 9.99971354e-01 -1.53618579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.84538475 meters 0.059562835464726106 Centerline is valid? [True, True] Translation: X:103.45, Y:-13.17, Z:-1.54 [[ 9.21479570e-01 -3.88341566e-01 -8.13823045e-03 1.03450683e+02] [ 3.88324800e-01 9.21515491e-01 -3.61243252e-03 -1.31677031e+01] [ 8.90236313e-03 1.68506054e-04 9.99960359e-01 -1.54064514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.87538475 meters 0.05847770944486887 Centerline is valid? [True, True] Translation: X:103.48, Y:-13.16, Z:-1.53 [[ 9.21314492e-01 -3.88733493e-01 -8.11657892e-03 1.03478558e+02] [ 3.88716790e-01 9.21350228e-01 -3.60754437e-03 -1.31607674e+01] [ 8.88058517e-03 1.68632409e-04 9.99960553e-01 -1.53467934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.90538475 meters 0.05854711742881051 Centerline is valid? [True, True] Translation: X:103.50, Y:-13.15, Z:-1.54 [[ 9.21197939e-01 -3.88999310e-01 -8.59612811e-03 1.03504294e+02] [ 3.88980571e-01 9.21238028e-01 -3.82232274e-03 -1.31477422e+01] [ 9.40596102e-03 1.77389012e-04 9.99955747e-01 -1.53603912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.93538475 meters 0.058144961319212145 Centerline is valid? [True, True] Translation: X:103.53, Y:-13.14, Z:-1.54 [[ 9.20583349e-01 -3.90472261e-01 -7.59674348e-03 1.03531580e+02] [ 3.90457657e-01 9.20614682e-01 -3.38017308e-03 -1.31368396e+01] [ 8.31353741e-03 1.45524392e-04 9.99965431e-01 -1.53645319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.96538475 meters 0.0583394246373353 Centerline is valid? [True, True] Translation: X:103.56, Y:-13.13, Z:-1.54 [[ 9.20360153e-01 -3.91000601e-01 -7.46448865e-03 1.03557434e+02] [ 3.90986529e-01 9.20390412e-01 -3.32011744e-03 -1.31256561e+01] [ 8.16841170e-03 1.37189293e-04 9.99966629e-01 -1.53833514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99538474999999 meters 0.05833690736986522 Centerline is valid? [True, True] Translation: X:103.58, Y:-13.12, Z:-1.54 [[ 9.20238086e-01 -3.91311895e-01 -6.07172196e-03 1.03583443e+02] [ 3.91302586e-01 9.20258110e-01 -2.70142687e-03 -1.31156332e+01] [ 6.64465184e-03 1.10075385e-04 9.99977918e-01 -1.53739405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02538474999999 meters 0.05790652239191106 Centerline is valid? [True, True] Translation: X:103.61, Y:-13.11, Z:-1.53 [[ 9.19871635e-01 -3.92202990e-01 -3.60398057e-03 1.03611544e+02] [ 3.92199703e-01 9.19878693e-01 -1.60709584e-03 -1.31072857e+01] [ 3.94553273e-03 6.48417670e-05 9.99992214e-01 -1.53377538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05538474999999 meters 0.057384427301815026 Centerline is valid? [True, True] Translation: X:103.64, Y:-13.10, Z:-1.53 [[ 9.19594854e-01 -3.92854573e-01 -3.25419538e-03 1.03639724e+02] [ 3.92851891e-01 9.19600610e-01 -1.45262452e-03 -1.30988867e+01] [ 3.56323024e-03 5.74092178e-05 9.99993650e-01 -1.53046045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08538474999999 meters 0.057990596175106185 Centerline is valid? [True, True] Translation: X:103.66, Y:-13.08, Z:-1.53 [[ 9.19696784e-01 -3.92622303e-01 -2.35637497e-03 1.03663656e+02] [ 3.92620898e-01 9.19699802e-01 -1.05152582e-03 -1.30843921e+01] [ 2.58001008e-03 4.19228545e-05 9.99996671e-01 -1.53410471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11538474999999 meters 0.05816683845663223 Centerline is valid? [True, True] Translation: X:103.69, Y:-13.07, Z:-1.54 [[ 9.19563983e-01 -3.92930615e-01 -2.75928177e-03 1.03689288e+02] [ 3.92928681e-01 9.19568121e-01 -1.23370407e-03 -1.30726935e+01] [ 3.02210765e-03 5.02688825e-05 9.99995432e-01 -1.53552347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.14538474999999 meters 0.05781604551548577 Centerline is valid? [True, True] Translation: X:103.72, Y:-13.07, Z:-1.54 [[ 9.19628595e-01 -3.92764708e-01 -4.37397339e-03 1.03717579e+02] [ 3.92759853e-01 9.19638993e-01 -1.95453762e-03 -1.30651299e+01] [ 4.79014988e-03 7.95275364e-05 9.99988524e-01 -1.53532637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17538474999999 meters 0.05860926564983209 Centerline is valid? [True, True] Translation: X:103.74, Y:-13.05, Z:-1.54 [[ 9.19401673e-01 -3.93286720e-01 -5.11076352e-03 1.03742589e+02] [ 3.93280112e-01 9.19415874e-01 -2.28138394e-03 -1.30524779e+01] [ 5.59615512e-03 8.75465625e-05 9.99984338e-01 -1.53990716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.20538475 meters 0.05795218543155888 Centerline is valid? [True, True] Translation: X:103.77, Y:-13.05, Z:-1.54 [[ 9.19108309e-01 -3.93950966e-01 -6.52317522e-03 1.03771402e+02] [ 3.93940192e-01 9.19131451e-01 -2.91569255e-03 -1.30466335e+01] [ 7.14429541e-03 1.10096355e-04 9.99974473e-01 -1.53688390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.23538475 meters 0.057961738945969225 Centerline is valid? [True, True] Translation: X:103.80, Y:-13.04, Z:-1.54 [[ 9.18683586e-01 -3.94928012e-01 -7.23419801e-03 1.03797711e+02] [ 3.94914772e-01 9.18712061e-01 -3.23594156e-03 -1.30366033e+01] [ 7.92410893e-03 1.15914740e-04 9.99968597e-01 -1.53855589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.26538475 meters 0.05797720918398551 Centerline is valid? [True, True] Translation: X:103.82, Y:-13.03, Z:-1.54 [[ 9.18384342e-01 -3.95625321e-01 -7.12775936e-03 1.03824010e+02] [ 3.95612469e-01 9.18411995e-01 -3.19073628e-03 -1.30267950e+01] [ 7.80855576e-03 1.10491756e-04 9.99969507e-01 -1.53898967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.29538475 meters 0.057898023945511294 Centerline is valid? [True, True] Translation: X:103.85, Y:-13.02, Z:-1.54 [[ 9.17743757e-01 -3.97116214e-01 -6.71633860e-03 1.03850562e+02] [ 3.97104831e-01 9.17768328e-01 -3.00817485e-03 -1.30164444e+01] [ 7.35863785e-03 9.36431801e-05 9.99972920e-01 -1.54090220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.32538475 meters 0.05753341852358118 Centerline is valid? [True, True] Translation: X:103.88, Y:-13.01, Z:-1.54 [[ 9.17377303e-01 -3.97960943e-01 -6.78027737e-03 1.03876875e+02] [ 3.97949344e-01 9.17402354e-01 -3.03971821e-03 -1.30054494e+01] [ 7.42993155e-03 9.03615546e-05 9.99972394e-01 -1.53950666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35538474999998 meters 0.05797249081353036 Centerline is valid? [True, True] Translation: X:103.90, Y:-12.99, Z:-1.54 [[ 9.17840601e-01 -3.96864968e-01 -8.17479726e-03 1.03901862e+02] [ 3.96848090e-01 9.17876998e-01 -3.66203639e-03 -1.29939471e+01] [ 8.95679232e-03 1.17013011e-04 9.99959880e-01 -1.54103996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38538474999999 meters 0.057979299006434754 Centerline is valid? [True, True] Translation: X:103.93, Y:-12.98, Z:-1.54 [[ 9.17819710e-01 -3.96917142e-01 -7.98520224e-03 1.03927292e+02] [ 3.96900991e-01 9.17854438e-01 -3.58261737e-03 -1.29821475e+01] [ 8.75125555e-03 1.18862157e-04 9.99961700e-01 -1.54098090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41538474999999 meters 0.05799607535668816 Centerline is valid? [True, True] Translation: X:103.95, Y:-12.97, Z:-1.54 [[ 9.17816620e-01 -3.96946253e-01 -6.80619798e-03 1.03952165e+02] [ 3.96934532e-01 9.17841850e-01 -3.05211076e-03 -1.29690183e+01] [ 7.45853728e-03 9.96629714e-05 9.99972180e-01 -1.54069899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44538474999999 meters 0.057473813439033905 Centerline is valid? [True, True] Translation: X:103.98, Y:-12.96, Z:-1.53 [[ 9.16790823e-01 -3.99352765e-01 -3.45771138e-03 1.03979125e+02] [ 3.99349746e-01 9.16797342e-01 -1.55357721e-03 -1.29580196e+01] [ 3.79044595e-03 4.34691681e-05 9.99992815e-01 -1.53389548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47538474999999 meters 0.05753821285741312 Centerline is valid? [True, True] Translation: X:104.00, Y:-12.94, Z:-1.54 [[ 9.16946374e-01 -3.98987482e-01 -4.28200929e-03 1.04002989e+02] [ 3.98982842e-01 9.16956371e-01 -1.92510929e-03 -1.29410895e+01] [ 4.69451021e-03 5.67737480e-05 9.99988979e-01 -1.53562143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.50538474999999 meters 0.058143925132876535 Centerline is valid? [True, True] Translation: X:104.03, Y:-12.92, Z:-1.54 [[ 9.17337763e-01 -3.98056730e-01 -6.50142884e-03 1.04026974e+02] [ 3.98046009e-01 9.17360797e-01 -2.92291674e-03 -1.29235946e+01] [ 7.12764262e-03 9.34341009e-05 9.99974594e-01 -1.54132311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53538474999999 meters 0.05924833488129264 Centerline is valid? [True, True] Translation: X:104.05, Y:-12.90, Z:-1.55 [[ 9.18528688e-01 -3.95208212e-01 -1.07479589e-02 1.04049659e+02] [ 3.95178715e-01 9.18591548e-01 -4.83218497e-03 -1.29026258e+01] [ 1.17827034e-02 1.91135933e-04 9.99930563e-01 -1.55023504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.56538474999999 meters 0.059895153458858284 Centerline is valid? [True, True] Translation: X:104.07, Y:-12.89, Z:-1.55 [[ 9.19408778e-01 -3.93127842e-01 -1.17472871e-02 1.04072871e+02] [ 3.93092425e-01 9.19483792e-01 -5.28228134e-03 -1.28874473e+01] [ 1.28780519e-02 2.38806272e-04 9.99917046e-01 -1.55084115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.59538475 meters 0.0598754266396321 Centerline is valid? [True, True] Translation: X:104.10, Y:-12.88, Z:-1.55 [[ 9.19427532e-01 -3.93105644e-01 -1.09984520e-02 1.04097568e+02] [ 3.93074594e-01 9.19493286e-01 -4.94581473e-03 -1.28750406e+01] [ 1.20572305e-02 2.24106169e-04 9.99927284e-01 -1.55052078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.62538475 meters 0.059252099584367814 Centerline is valid? [True, True] Translation: X:104.12, Y:-12.86, Z:-1.54 [[ 9.20165666e-01 -3.91418934e-01 -9.29330201e-03 1.04123045e+02] [ 3.91396615e-01 9.20212569e-01 -4.18529601e-03 -1.28639739e+01] [ 1.01900174e-02 2.13798740e-04 9.99948058e-01 -1.54346887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.65538475 meters 0.06010264186454839 Centerline is valid? [True, True] Translation: X:104.15, Y:-12.85, Z:-1.55 [[ 9.20571955e-01 -3.90459949e-01 -9.39699593e-03 1.04146443e+02] [ 3.90437100e-01 9.20619888e-01 -4.23006093e-03 -1.28479967e+01] [ 1.03027307e-02 2.25139624e-04 9.99946900e-01 -1.54630382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.68538475 meters 0.06001264223811636 Centerline is valid? [True, True] Translation: X:104.17, Y:-12.83, Z:-1.54 [[ 9.21660025e-01 -3.87919660e-01 -7.81895122e-03 1.04171791e+02] [ 3.87903709e-01 9.21693165e-01 -3.52444670e-03 -1.28345530e+01] [ 8.57387607e-03 2.15341456e-04 9.99963220e-01 -1.54348052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.71538475 meters 0.060439845677725514 Centerline is valid? [True, True] Translation: X:104.20, Y:-12.82, Z:-1.54 [[ 9.22292531e-01 -3.86426885e-01 -7.12388121e-03 1.04197243e+02] [ 3.86413581e-01 9.22320019e-01 -3.21357502e-03 -1.28201982e+01] [ 7.81231004e-03 2.11091790e-04 9.99969461e-01 -1.54313805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.74538474999999 meters 0.05993657229309581 Centerline is valid? [True, True] Translation: X:104.22, Y:-12.81, Z:-1.54 [[ 9.22606666e-01 -3.85671705e-01 -7.36717479e-03 1.04224749e+02] [ 3.85657433e-01 9.22636052e-01 -3.32567638e-03 -1.28114947e+01] [ 8.07984034e-03 2.27085475e-04 9.99967332e-01 -1.54085020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77538474999999 meters 0.060249925953949186 Centerline is valid? [True, True] Translation: X:104.25, Y:-12.80, Z:-1.54 [[ 9.22571511e-01 -3.85736394e-01 -8.32114216e-03 1.04250854e+02] [ 3.85718171e-01 9.22609001e-01 -3.75832496e-03 -1.27994045e+01] [ 9.12688337e-03 2.57707802e-04 9.99958316e-01 -1.54216436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.80538474999999 meters 0.060887379688622525 Centerline is valid? [True, True] Translation: X:104.28, Y:-12.79, Z:-1.55 [[ 9.21845771e-01 -3.87471781e-01 -8.12360454e-03 1.04276396e+02] [ 3.87454493e-01 9.21881535e-01 -3.66766423e-03 -1.27880651e+01] [ 8.91011741e-03 2.33493685e-04 9.99960277e-01 -1.54584159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83538474999999 meters 0.06063771724878389 Centerline is valid? [True, True] Translation: X:104.30, Y:-12.78, Z:-1.55 [[ 9.21358159e-01 -3.88636195e-01 -7.81349875e-03 1.04302937e+02] [ 3.88620206e-01 9.21391264e-01 -3.53201708e-03 -1.27776827e+01] [ 8.57195917e-03 2.17769265e-04 9.99963236e-01 -1.54672531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.86538474999999 meters 0.0596635100574227 Centerline is valid? [True, True] Translation: X:104.33, Y:-12.77, Z:-1.54 [[ 9.20904741e-01 -3.89714503e-01 -7.55413311e-03 1.04331365e+02] [ 3.89699572e-01 9.20935701e-01 -3.41736306e-03 -1.27696341e+01] [ 8.28866681e-03 2.03223405e-04 9.99965628e-01 -1.54487830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89538474999999 meters 0.05809586529400235 Centerline is valid? [True, True] Translation: X:104.36, Y:-12.77, Z:-1.54 [[ 9.17524592e-01 -3.97638816e-01 -5.65643430e-03 1.04361275e+02] [ 3.97630602e-01 9.17542022e-01 -2.55774451e-03 -1.27668114e+01] [ 6.20707466e-03 9.76221156e-05 9.99980731e-01 -1.54125263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.92538474999999 meters 0.05790268674387043 Centerline is valid? [True, True] Translation: X:104.39, Y:-12.76, Z:-1.54 [[ 9.15692485e-01 -4.01814273e-01 -7.25004327e-03 1.04389089e+02] [ 4.01800875e-01 9.15721181e-01 -3.28262221e-03 -1.27571665e+01] [ 7.95802264e-03 9.27987657e-05 9.99968330e-01 -1.54452874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.95538475 meters 0.05810481415672665 Centerline is valid? [True, True] Translation: X:104.41, Y:-12.74, Z:-1.55 [[ 9.15673008e-01 -4.01822371e-01 -9.04015362e-03 1.04414602e+02] [ 4.01801562e-01 9.15717625e-01 -4.09087611e-03 -1.27447288e+01] [ 9.92203354e-03 1.13556988e-04 9.99950769e-01 -1.54804198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.98538475 meters 0.058282141742456106 Centerline is valid? [True, True] Translation: X:104.44, Y:-12.73, Z:-1.55 [[ 9.15760696e-01 -4.01591890e-01 -1.03102288e-02 1.04439259e+02] [ 4.01564799e-01 9.15818724e-01 -4.66647711e-03 -1.27325377e+01] [ 1.13163200e-02 1.33151366e-04 9.99935960e-01 -1.55091436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.01538475 meters 0.05867269353883034 Centerline is valid? [True, True] Translation: X:104.46, Y:-12.72, Z:-1.55 [[ 9.16175910e-01 -4.00632655e-01 -1.07321064e-02 1.04464820e+02] [ 4.00603173e-01 9.16238753e-01 -4.86268750e-03 -1.27194193e+01] [ 1.17813232e-02 1.55761258e-04 9.99930586e-01 -1.55169871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.04538475 meters 0.05899281240178186 Centerline is valid? [True, True] Translation: X:104.49, Y:-12.71, Z:-1.55 [[ 9.17203812e-01 -3.98274132e-01 -1.07183129e-02 1.04490643e+02] [ 3.98244529e-01 9.17266417e-01 -4.85948786e-03 -1.27052156e+01] [ 1.17669568e-02 1.88631299e-04 9.99930749e-01 -1.55204059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.07538475 meters 0.05916181932314479 Centerline is valid? [True, True] Translation: X:104.52, Y:-12.69, Z:-1.55 [[ 9.17296894e-01 -3.98082688e-01 -9.82757249e-03 1.04516429e+02] [ 3.98057789e-01 9.17349521e-01 -4.45575879e-03 -1.26941031e+01] [ 1.07890793e-02 1.75311925e-04 9.99941781e-01 -1.55138676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.10538474999998 meters 0.05960612061237958 Centerline is valid? [True, True] Translation: X:104.54, Y:-12.68, Z:-1.55 [[ 9.18011962e-01 -3.96407222e-01 -1.07401900e-02 1.04541439e+02] [ 3.96377366e-01 9.18074762e-01 -4.86981660e-03 -1.26822753e+01] [ 1.17907279e-02 2.13381665e-04 9.99930464e-01 -1.55146145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13538474999999 meters 0.06048654468640052 Centerline is valid? [True, True] Translation: X:104.56, Y:-12.67, Z:-1.55 [[ 9.18216155e-01 -3.95947388e-01 -1.02351397e-02 1.04564898e+02] [ 3.95920224e-01 9.18273173e-01 -4.64278034e-03 -1.26678426e+01] [ 1.12369510e-02 2.10777108e-04 9.99936841e-01 -1.55491287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.16538474999999 meters 0.06048654468640052 Centerline is valid? [True, True] Translation: X:104.59, Y:-12.66, Z:-1.56 [[ 9.18118560e-01 -3.96173686e-01 -1.02332654e-02 1.04589995e+02] [ 3.96146489e-01 9.18175563e-01 -4.64691203e-03 -1.26562350e+01] [ 1.12369185e-02 2.12544026e-04 9.99936841e-01 -1.55528491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19538474999999 meters 0.05982827951969873 Centerline is valid? [True, True] Translation: X:104.62, Y:-12.65, Z:-1.55 [[ 9.18137001e-01 -3.96144997e-01 -9.67417788e-03 1.04616531e+02] [ 3.96120652e-01 9.18187944e-01 -4.39654086e-03 -1.26463260e+01] [ 1.06243812e-02 2.04485187e-04 9.99943539e-01 -1.55224780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.22538474999999 meters 0.05862873701013538 Centerline is valid? [True, True] Translation: X:104.64, Y:-12.64, Z:-1.55 [[ 9.16126291e-01 -4.00838288e-01 -6.42549592e-03 1.04644716e+02] [ 4.00827668e-01 9.16148818e-01 -2.91944623e-03 -1.26411660e+01] [ 7.05693633e-03 9.90648983e-05 9.99975095e-01 -1.54878713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25538474999999 meters 0.05851036954020381 Centerline is valid? [True, True] Translation: X:104.67, Y:-12.63, Z:-1.55 [[ 9.15563011e-01 -4.02134677e-01 -5.66350735e-03 1.04671596e+02] [ 4.02126428e-01 9.15580524e-01 -2.57703061e-03 -1.26310625e+01] [ 6.22171040e-03 8.19879201e-05 9.99980642e-01 -1.54850862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.28538474999999 meters 0.05857636192270073 Centerline is valid? [True, True] Translation: X:104.70, Y:-12.62, Z:-1.55 [[ 9.15523585e-01 -4.02211543e-01 -6.51456416e-03 1.04696658e+02] [ 4.02200638e-01 9.15546758e-01 -2.96314620e-03 -1.26196838e+01] [ 7.15619970e-03 9.26683761e-05 9.99974390e-01 -1.55106372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.31538474999999 meters 0.05876624289188401 Centerline is valid? [True, True] Translation: X:104.72, Y:-12.61, Z:-1.55 [[ 9.16064218e-01 -4.00983632e-01 -6.20288821e-03 1.04722855e+02] [ 4.00973695e-01 9.16085213e-01 -2.82463741e-03 -1.26062453e+01] [ 6.81500753e-03 1.00354250e-04 9.99976773e-01 -1.55202637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.34538475 meters 0.05892685822790534 Centerline is valid? [True, True] Translation: X:104.75, Y:-12.59, Z:-1.55 [[ 9.16181157e-01 -4.00720332e-01 -5.94162104e-03 1.04748596e+02] [ 4.00711194e-01 9.16200418e-01 -2.70809057e-03 -1.25945438e+01] [ 6.52890264e-03 1.00227496e-04 9.99978681e-01 -1.55189648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.37538475 meters 0.05895114910790792 Centerline is valid? [True, True] Translation: X:104.77, Y:-12.58, Z:-1.55 [[ 9.16465270e-01 -4.00089451e-01 -4.45416544e-03 1.04773892e+02] [ 4.00084314e-01 9.16476091e-01 -2.02890654e-03 -1.25838160e+01] [ 4.89388023e-03 7.73806490e-05 9.99988022e-01 -1.55016085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.40538475 meters 0.05889628412347777 Centerline is valid? [True, True] Translation: X:104.80, Y:-12.57, Z:-1.55 [[ 9.16200390e-01 -4.00698373e-01 -4.20223395e-03 1.04800443e+02] [ 4.00693792e-01 9.16210024e-01 -1.91740262e-03 -1.25726562e+01] [ 4.61842898e-03 7.29159724e-05 9.99989332e-01 -1.55042207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.43538475 meters 0.05790100929316509 Centerline is valid? [True, True] Translation: X:104.83, Y:-12.57, Z:-1.55 [[ 9.14461102e-01 -4.04657965e-01 -3.58119255e-03 1.04829703e+02] [ 4.04654671e-01 9.14468113e-01 -1.63349719e-03 -1.25660130e+01] [ 3.93589404e-03 4.46233535e-05 9.99992253e-01 -1.54738841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.46538475 meters 0.058447028890515694 Centerline is valid? [True, True] Translation: X:104.85, Y:-12.55, Z:-1.55 [[ 9.14560052e-01 -4.04410347e-01 -5.67303595e-03 1.04853577e+02] [ 4.04402081e-01 9.14577644e-01 -2.58670250e-03 -1.25516632e+01] [ 6.23452111e-03 7.15072323e-05 9.99980563e-01 -1.55428764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49538474999999 meters 0.059425327479559586 Centerline is valid? [True, True] Translation: X:104.88, Y:-12.54, Z:-1.56 [[ 9.15212217e-01 -4.02854760e-01 -9.72833190e-03 1.04877545e+02] [ 4.02830327e-01 9.15263908e-01 -4.43914760e-03 -1.25369297e+01] [ 1.06923228e-02 1.43895002e-04 9.99942825e-01 -1.56162866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.52538474999999 meters 0.05988953868944857 Centerline is valid? [True, True] Translation: X:104.90, Y:-12.52, Z:-1.56 [[ 9.15605525e-01 -4.01917716e-01 -1.13433937e-02 1.04902272e+02] [ 4.01884442e-01 9.15675771e-01 -5.17472479e-03 -1.25240963e+01] [ 1.24666843e-02 1.79273168e-04 9.99922272e-01 -1.56467199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55538474999999 meters 0.05894699478407104 Centerline is valid? [True, True] Translation: X:104.93, Y:-12.52, Z:-1.56 [[ 9.15834537e-01 -4.01385482e-01 -1.16959498e-02 1.04930163e+02] [ 4.01349988e-01 9.15909196e-01 -5.34149808e-03 -1.25157760e+01] [ 1.28564277e-02 1.97759123e-04 9.99917333e-01 -1.55773290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.58538474999999 meters 0.06032200270335714 Centerline is valid? [True, True] Translation: X:104.95, Y:-12.50, Z:-1.56 [[ 9.16203247e-01 -4.00559708e-01 -1.11144556e-02 1.04952102e+02] [ 4.00527595e-01 9.16270637e-01 -5.07590784e-03 -1.24992994e+01] [ 1.22170535e-02 1.98917060e-04 9.99925349e-01 -1.56464172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61538474999999 meters 0.05920175882211142 Centerline is valid? [True, True] Translation: X:104.98, Y:-12.49, Z:-1.56 [[ 9.16855466e-01 -3.99093922e-01 -1.00047696e-02 1.04979003e+02] [ 3.99067749e-01 9.16910029e-01 -4.57503873e-03 -1.24901035e+01] [ 1.09993437e-02 2.02068382e-04 9.99939485e-01 -1.55617884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.64538474999999 meters 0.05869213565705635 Centerline is valid? [True, True] Translation: X:105.01, Y:-12.48, Z:-1.55 [[ 9.15946731e-01 -4.01186332e-01 -9.54526934e-03 1.05006614e+02] [ 4.01162594e-01 9.15996451e-01 -4.36758736e-03 -1.24798761e+01] [ 1.04956492e-02 1.71272355e-04 9.99944904e-01 -1.55435013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.67538474999999 meters 0.05848741611620591 Centerline is valid? [True, True] Translation: X:105.03, Y:-12.47, Z:-1.55 [[ 9.15374075e-01 -4.02516075e-01 -8.43282103e-03 1.05032799e+02] [ 4.02497576e-01 9.15412907e-01 -3.86153642e-03 -1.24683281e+01] [ 9.27384369e-03 1.40560309e-04 9.99956987e-01 -1.55422117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.70538475 meters 0.058126167260401984 Centerline is valid? [True, True] Translation: X:105.06, Y:-12.46, Z:-1.55 [[ 9.14514699e-01 -4.04487549e-01 -7.25863201e-03 1.05058475e+02] [ 4.04473884e-01 9.14543499e-01 -3.32654060e-03 -1.24558085e+01] [ 7.98387897e-03 1.06243197e-04 9.99968123e-01 -1.55470605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.73538475 meters 0.05815505039808706 Centerline is valid? [True, True] Translation: X:105.08, Y:-12.44, Z:-1.56 [[ 9.13933886e-01 -4.05795162e-01 -7.42549018e-03 1.05084246e+02] [ 4.05780919e-01 9.13964046e-01 -3.40128160e-03 -1.24444273e+01] [ 8.16685466e-03 9.54242814e-05 9.99966646e-01 -1.55660007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.76538475 meters 0.057686307921319735 Centerline is valid? [True, True] Translation: X:105.11, Y:-12.44, Z:-1.55 [[ 9.12255050e-01 -4.09583615e-01 -5.65566005e-03 1.05112545e+02] [ 4.09575400e-01 9.12272580e-01 -2.59450379e-03 -1.24367883e+01] [ 6.22216983e-03 5.04299561e-05 9.99980641e-01 -1.55465751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.79538475 meters 0.05759153941926712 Centerline is valid? [True, True] Translation: X:105.14, Y:-12.43, Z:-1.55 [[ 9.11617077e-01 -4.11004473e-01 -5.44322538e-03 1.05138687e+02] [ 4.10996897e-01 9.11633327e-01 -2.49569127e-03 -1.24272581e+01] [ 5.98796594e-03 3.79660399e-05 9.99982071e-01 -1.55426851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.82538475 meters 0.057308417815071344 Centerline is valid? [True, True] Translation: X:105.17, Y:-12.42, Z:-1.55 [[ 9.09944812e-01 -4.14698214e-01 -5.08235522e-03 1.05167616e+02] [ 4.14691659e-01 9.09959005e-01 -2.33175936e-03 -1.24197957e+01] [ 5.59171134e-03 1.41620110e-05 9.99984366e-01 -1.55402169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85538474999998 meters 0.057177194943549586 Centerline is valid? [True, True] Translation: X:105.19, Y:-12.41, Z:-1.55 [[ 9.09350750e-01 -4.15999154e-01 -5.09094309e-03 1.05194055e+02] [ 4.15992575e-01 9.09365000e-01 -2.33957805e-03 -1.24097204e+01] [ 5.60278795e-03 9.70253375e-06 9.99984304e-01 -1.55433843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.88538474999999 meters 0.05718743859925691 Centerline is valid? [True, True] Translation: X:105.22, Y:-12.40, Z:-1.56 [[ 9.08639984e-01 -4.17541820e-01 -5.67517882e-03 1.05220360e+02] [ 4.17533692e-01 9.08657707e-01 -2.60534876e-03 -1.24006240e+01] [ 6.24463703e-03 -2.25430448e-06 9.99980502e-01 -1.55642350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91538474999999 meters 0.0573747281827922 Centerline is valid? [True, True] Translation: X:105.25, Y:-12.39, Z:-1.56 [[ 9.07966572e-01 -4.18992860e-01 -6.45654479e-03 1.05246903e+02] [ 4.18982373e-01 9.07989528e-01 -2.96451772e-03 -1.23912295e+01] [ 7.10458681e-03 -1.34954708e-05 9.99974762e-01 -1.55913066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.94538474999999 meters 0.05728528050421128 Centerline is valid? [True, True] Translation: X:105.27, Y:-12.38, Z:-1.56 [[ 9.06694911e-01 -4.21741188e-01 -6.22172061e-03 1.05273917e+02] [ 4.21731482e-01 9.06716256e-01 -2.86136700e-03 -1.23833032e+01] [ 6.84809153e-03 -2.95085582e-05 9.99976551e-01 -1.55803448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97538474999999 meters 0.05734553572470162 Centerline is valid? [True, True] Translation: X:105.30, Y:-12.37, Z:-1.56 [[ 9.05514337e-01 -4.24287730e-01 -4.86907676e-03 1.05301140e+02] [ 4.24281814e-01 9.05527427e-01 -2.24096604e-03 -1.23733269e+01] [ 5.35989695e-03 -3.66338399e-05 9.99985635e-01 -1.55766473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.00538474999999 meters 0.057252699617873715 Centerline is valid? [True, True] Translation: X:105.33, Y:-12.36, Z:-1.56 [[ 9.05592095e-01 -4.24122403e-01 -4.81090348e-03 1.05326258e+02] [ 4.24116614e-01 9.05604873e-01 -2.21632829e-03 -1.23606334e+01] [ 5.29677212e-03 -3.32947124e-05 9.99985971e-01 -1.55771555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03538474999999 meters 0.057193802459906885 Centerline is valid? [True, True] Translation: X:105.35, Y:-12.35, Z:-1.56 [[ 9.05614543e-01 -4.24083553e-01 -3.92931102e-03 1.05351916e+02] [ 4.24079685e-01 9.05623067e-01 -1.81146976e-03 -1.23482159e+01] [ 4.32668923e-03 -2.58476167e-05 9.99990640e-01 -1.55818401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.06538474999999 meters 0.0569247088242786 Centerline is valid? [True, True] Translation: X:105.38, Y:-12.33, Z:-1.56 [[ 9.06392238e-01 -4.22428138e-01 -2.75295334e-03 1.05377479e+02] [ 4.22426225e-01 9.06396419e-01 -1.27117837e-03 -1.23335976e+01] [ 3.03224857e-03 -1.07334780e-05 9.99995403e-01 -1.55664928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.09538475 meters 0.05691270731063243 Centerline is valid? [True, True] Translation: X:105.40, Y:-12.32, Z:-1.56 [[ 9.06313578e-01 -4.22595159e-01 -3.00508000e-03 1.05403305e+02] [ 4.22592877e-01 9.06318560e-01 -1.38883003e-03 -1.23222242e+01] [ 3.31047262e-03 -1.12098904e-05 9.99994520e-01 -1.55675112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.12538475 meters 0.0568755345246041 Centerline is valid? [True, True] Translation: X:105.43, Y:-12.31, Z:-1.56 [[ 9.06509999e-01 -4.22176344e-01 -2.59919611e-03 1.05428710e+02] [ 4.22174641e-01 9.06513726e-01 -1.19925916e-03 -1.23110590e+01] [ 2.86250580e-03 -1.01742651e-05 9.99995903e-01 -1.55739745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.15538475 meters 0.05695315675486663 Centerline is valid? [True, True] Translation: X:105.46, Y:-12.30, Z:-1.56 [[ 9.05780724e-01 -4.23733748e-01 -3.31511953e-03 1.05456368e+02] [ 4.23730977e-01 9.05786791e-01 -1.53245449e-03 -1.23017518e+01] [ 3.65214416e-03 -1.66510975e-05 9.99993331e-01 -1.55775606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.18538475 meters 0.057046585959268134 Centerline is valid? [True, True] Translation: X:105.48, Y:-12.29, Z:-1.56 [[ 9.04424454e-01 -4.26626659e-01 -2.47005390e-03 1.05483423e+02] [ 4.26625125e-01 9.04427827e-01 -1.14407511e-03 -1.22928432e+01] [ 2.72207842e-03 -1.90575465e-05 9.99996295e-01 -1.55609129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.21538475 meters 0.057774664079382615 Centerline is valid? [True, True] Translation: X:105.51, Y:-12.28, Z:-1.57 [[ 9.03512756e-01 -4.28531509e-01 -5.04439649e-03 1.05508638e+02] [ 4.28525177e-01 9.03526836e-01 -2.33022108e-03 -1.22825492e+01] [ 5.55632075e-03 -5.62664276e-05 9.99984562e-01 -1.56509795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.24538474999999 meters 0.05793303990294744 Centerline is valid? [True, True] Translation: X:105.53, Y:-12.27, Z:-1.57 [[ 9.03300732e-01 -4.28959425e-01 -6.44978458e-03 1.05533209e+02] [ 4.28949060e-01 9.03323755e-01 -2.98278898e-03 -1.22664070e+01] [ 7.10573907e-03 -7.22735671e-05 9.99974751e-01 -1.56650454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27538474999999 meters 0.0576736507053653 Centerline is valid? [True, True] Translation: X:105.56, Y:-12.25, Z:-1.57 [[ 9.03205341e-01 -4.29156587e-01 -6.68847639e-03 1.05558095e+02] [ 4.29145425e-01 9.03230103e-01 -3.09599289e-03 -1.22528457e+01] [ 7.36989896e-03 -7.40117263e-05 9.99972839e-01 -1.56597296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.30538474999999 meters 0.057482510306333265 Centerline is valid? [True, True] Translation: X:105.58, Y:-12.24, Z:-1.56 [[ 9.03425706e-01 -4.28702830e-01 -5.98979814e-03 1.05583643e+02] [ 4.28693858e-01 9.03445560e-01 -2.77429286e-03 -1.22399405e+01] [ 6.60080374e-03 -6.14221911e-05 9.99978213e-01 -1.56388602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33538474999999 meters 0.05740772263622955 Centerline is valid? [True, True] Translation: X:105.61, Y:-12.23, Z:-1.56 [[ 9.03463719e-01 -4.28636930e-01 -4.86740181e-03 1.05609122e+02] [ 4.28631010e-01 9.03476829e-01 -2.25327325e-03 -1.22277536e+01] [ 5.36342088e-03 -5.05687229e-05 9.99985615e-01 -1.56202444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.36538474999999 meters 0.05720860626526658 Centerline is valid? [True, True] Translation: X:105.63, Y:-12.22, Z:-1.56 [[ 9.03290329e-01 -4.29014476e-01 -3.62767079e-03 1.05633997e+02] [ 4.29011188e-01 9.03297613e-01 -1.68005911e-03 -1.22153328e+01] [ 3.99763604e-03 -3.87302150e-05 9.99992009e-01 -1.55842358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39538474999999 meters 0.057146911968515415 Centerline is valid? [True, True] Translation: X:105.66, Y:-12.20, Z:-1.56 [[ 9.02643402e-01 -4.30384020e-01 -2.11752086e-03 1.05660385e+02] [ 4.30382895e-01 9.02645886e-01 -9.84095642e-04 -1.22027947e+01] [ 2.33491053e-03 -2.30573201e-05 9.99997274e-01 -1.55750637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.42538474999999 meters 0.057548241342912566 Centerline is valid? [True, True] Translation: X:105.69, Y:-12.19, Z:-1.56 [[ 9.00911801e-01 -4.34002188e-01 -1.66602262e-04 1.05685962e+02] [ 4.34002181e-01 9.00911816e-01 -7.90468467e-05 -1.21914741e+01] [ 1.84400450e-04 -1.09150779e-06 9.99999983e-01 -1.55711160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.45538475 meters 0.05806849765919505 Centerline is valid? [True, True] Translation: X:105.71, Y:-12.18, Z:-1.56 [[ 8.99614360e-01 -4.36684833e-01 6.00019562e-04 1.05711615e+02] [ 4.36684745e-01 8.99614560e-01 2.76762074e-04 -1.21814272e+01] [-6.60644135e-04 1.30402534e-05 9.99999782e-01 -1.55722497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.48538475 meters 0.058792107680855354 Centerline is valid? [True, True] Translation: X:105.74, Y:-12.17, Z:-1.56 [[ 8.98037697e-01 -4.39918239e-01 4.87190548e-04 1.05738862e+02] [ 4.39918183e-01 8.98037829e-01 2.22419205e-04 -1.21707625e+01] [-5.35361808e-04 1.45831503e-05 9.99999857e-01 -1.55811821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.51538475 meters 0.06071560918279123 Centerline is valid? [True, True] Translation: X:105.77, Y:-12.16, Z:-1.56 [[ 8.94732065e-01 -4.46597155e-01 -2.34779870e-03 1.05766319e+02] [ 4.46595829e-01 8.94735143e-01 -1.09084783e-03 -1.21641448e+01] [ 2.58782755e-03 -7.25005698e-05 9.99996649e-01 -1.56078779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.54538475 meters 0.06370769479166762 Centerline is valid? [True, True] Translation: X:105.79, Y:-12.16, Z:-1.56 [[ 8.90487620e-01 -4.54994327e-01 -3.45847079e-03 1.05794700e+02] [ 4.54991509e-01 8.90494325e-01 -1.60783015e-03 -1.21588526e+01] [ 3.81130220e-03 -1.41822000e-04 9.99992727e-01 -1.56299620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.57538475 meters 0.0654163088083858 Centerline is valid? [True, True] Translation: X:105.82, Y:-12.15, Z:-1.56 [[ 8.88509377e-01 -4.58841208e-01 -3.97899883e-03 1.05822177e+02] [ 4.58837521e-01 8.88518268e-01 -1.84861949e-03 -1.21491869e+01] [ 4.38363595e-03 -1.83198207e-04 9.99990375e-01 -1.56332622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.60538474999998 meters 0.06909455236665807 Centerline is valid? [True, True] Translation: X:105.85, Y:-12.14, Z:-1.56 [[ 8.84908771e-01 -4.65744710e-01 -4.28149701e-03 1.05849359e+02] [ 4.65740521e-01 8.84919098e-01 -1.98915876e-03 -1.21421843e+01] [ 4.71521864e-03 -2.33842612e-04 9.99988856e-01 -1.56323260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63538474999999 meters 0.0705504383783348 Centerline is valid? [True, True] Translation: X:105.88, Y:-12.13, Z:-1.56 [[ 8.83750920e-01 -4.67944831e-01 -3.45650439e-03 1.05875476e+02] [ 4.67942113e-01 8.83757657e-01 -1.60693113e-03 -1.21314571e+01] [ 3.80666734e-03 -1.97317102e-04 9.99992735e-01 -1.56263789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.66538474999999 meters 0.07170604606260376 Centerline is valid? [True, True] Translation: X:105.90, Y:-12.12, Z:-1.56 [[ 8.82810220e-01 -4.69697696e-01 -5.49451983e-03 1.05900229e+02] [ 4.69690850e-01 8.82827259e-01 -2.55649162e-03 -1.21161484e+01] [ 6.05149011e-03 -3.23828764e-04 9.99981637e-01 -1.56363117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69538474999999 meters 0.06752746753237295 Centerline is valid? [True, True] Translation: X:105.92, Y:-12.09, Z:-1.56 [[ 8.83165587e-01 -4.69029536e-01 -5.46264508e-03 1.05921402e+02] [ 4.69022746e-01 8.83182424e-01 -2.54345544e-03 -1.20925399e+01] [ 6.01746785e-03 -3.15812477e-04 9.99981845e-01 -1.56107939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.72538474999999 meters 0.06649862809082403 Centerline is valid? [True, True] Translation: X:105.95, Y:-12.07, Z:-1.56 [[ 8.83877142e-01 -4.67685100e-01 -5.64319673e-03 1.05945019e+02] [ 4.67677817e-01 8.83895100e-01 -2.62907980e-03 -1.20746569e+01] [ 6.21757539e-03 -3.15414385e-04 9.99980621e-01 -1.56080681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75538474999999 meters 0.06562192260450744 Centerline is valid? [True, True] Translation: X:105.97, Y:-12.05, Z:-1.56 [[ 8.86903647e-01 -4.61922954e-01 -5.39493767e-03 1.05965466e+02] [ 4.61916199e-01 8.86920016e-01 -2.51199833e-03 -1.20534420e+01] [ 5.94522789e-03 -2.64108620e-04 9.99982292e-01 -1.56208921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.78538474999999 meters 0.06258753461685741 Centerline is valid? [True, True] Translation: X:105.98, Y:-12.03, Z:-1.56 [[ 8.91236539e-01 -4.53473961e-01 -7.66794494e-03 1.05984882e+02] [ 4.53459995e-01 8.91269477e-01 -3.57110789e-03 -1.20269657e+01] [ 8.45360972e-03 -2.94404437e-04 9.99964224e-01 -1.56201142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.81538474999999 meters 0.06157338867346412 Centerline is valid? [True, True] Translation: X:106.01, Y:-12.01, Z:-1.56 [[ 8.93106726e-01 -4.49757483e-01 -8.86468593e-03 1.06007671e+02] [ 4.49738594e-01 8.93150670e-01 -4.13253796e-03 -1.20074067e+01] [ 9.77614005e-03 -2.95993938e-04 9.99952169e-01 -1.56317519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.84538475 meters 0.059790573342626246 Centerline is valid? [True, True] Translation: X:106.03, Y:-11.98, Z:-1.57 [[ 8.97374693e-01 -4.41134612e-01 -1.09048033e-02 1.06025875e+02] [ 4.41105387e-01 8.97440913e-01 -5.08375964e-03 -1.19810969e+01] [ 1.20290390e-02 -2.48130248e-04 9.99927618e-01 -1.56506637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.87538475 meters 0.05915138983429405 Centerline is valid? [True, True] Translation: X:106.05, Y:-11.96, Z:-1.57 [[ 8.99313126e-01 -4.37156864e-01 -1.13920040e-02 1.06048915e+02] [ 4.37124597e-01 8.99385255e-01 -5.31506724e-03 -1.19622916e+01] [ 1.25693185e-02 -1.99815402e-04 9.99920983e-01 -1.56655795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.90538475 meters 0.058855892971683935 Centerline is valid? [True, True] Translation: X:106.07, Y:-11.94, Z:-1.57 [[ 9.00930578e-01 -4.33783167e-01 -1.25003184e-02 1.06071860e+02] [ 4.33744009e-01 9.01017278e-01 -5.83085687e-03 -1.19447283e+01] [ 1.37923304e-02 -1.68740962e-04 9.99904867e-01 -1.56736727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.93538475 meters 0.05803778344282651 Centerline is valid? [True, True] Translation: X:106.09, Y:-11.92, Z:-1.57 [[ 9.04008289e-01 -4.27276061e-01 -1.42891961e-02 1.06092967e+02] [ 4.27223961e-01 9.04121210e-01 -6.67272459e-03 -1.19228684e+01] [ 1.57702608e-02 -7.24886322e-05 9.99875639e-01 -1.56530972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.96538475 meters 0.05819091824101549 Centerline is valid? [True, True] Translation: X:106.11, Y:-11.90, Z:-1.57 [[ 9.06431567e-01 -4.22054492e-01 -1.58688666e-02 1.06114564e+02] [ 4.21989461e-01 9.06570464e-01 -7.40877142e-03 -1.19040184e+01] [ 1.75131510e-02 1.90498403e-05 9.99846633e-01 -1.56687844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99538474999999 meters 0.058786701940535716 Centerline is valid? [True, True] Translation: X:106.14, Y:-11.89, Z:-1.57 [[ 9.07812661e-01 -4.19043500e-01 -1.66948647e-02 1.06137471e+02] [ 4.18970982e-01 9.07966155e-01 -7.79604072e-03 -1.18881106e+01] [ 1.84252523e-02 8.26805989e-05 9.99830237e-01 -1.57170994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.02538474999999 meters 0.05963423942962514 Centerline is valid? [True, True] Translation: X:106.16, Y:-11.87, Z:-1.57 [[ 9.10680127e-01 -4.12659609e-01 -1.93326865e-02 1.06159835e+02] [ 4.12560785e-01 9.10885275e-01 -9.03411054e-03 -1.18665439e+01] [ 2.13378720e-02 2.51276636e-04 9.99772290e-01 -1.57430090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05538474999999 meters 0.06036273724231595 Centerline is valid? [True, True] Translation: X:106.18, Y:-11.85, Z:-1.58 [[ 9.12304645e-01 -4.09015715e-01 -2.01588340e-02 1.06183440e+02] [ 4.08907351e-01 9.12527271e-01 -9.42111378e-03 -1.18496530e+01] [ 2.22488694e-02 3.51830434e-04 9.99752401e-01 -1.57564914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.08538474999999 meters 0.06036273724231595 Centerline is valid? [True, True] Translation: X:106.21, Y:-11.84, Z:-1.58 [[ 9.12200703e-01 -4.09247639e-01 -2.01555762e-02 1.06208406e+02] [ 4.09139178e-01 9.12423282e-01 -9.42808312e-03 -1.18377726e+01] [ 2.22488378e-02 3.53868173e-04 9.99752401e-01 -1.57602133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11538474999999 meters 0.059646377975155804 Centerline is valid? [True, True] Translation: X:106.23, Y:-11.83, Z:-1.57 [[ 9.13717799e-01 -4.05843930e-01 -2.02605344e-02 1.06234560e+02] [ 4.05733503e-01 9.13942291e-01 -9.47694064e-03 -1.18263171e+01] [ 2.23631180e-02 4.38871752e-04 9.99749818e-01 -1.56806458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.14538474999999 meters 0.06045674444949977 Centerline is valid? [True, True] Translation: X:106.26, Y:-11.81, Z:-1.57 [[ 9.15982703e-01 -4.00715823e-01 -2.00628349e-02 1.06260303e+02] [ 4.00606150e-01 9.16202221e-01 -9.39165785e-03 -1.18112229e+01] [ 2.21449998e-02 5.65301112e-04 9.99754610e-01 -1.56791575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.17538474999999 meters 0.06088758540660204 Centerline is valid? [True, True] Translation: X:106.29, Y:-11.80, Z:-1.57 [[ 9.16822209e-01 -3.98752003e-01 -2.08297442e-02 1.06286187e+02] [ 3.98633282e-01 9.17058578e-01 -9.75039844e-03 -1.17986375e+01] [ 2.29900865e-02 6.35952513e-04 9.99735491e-01 -1.56885634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.20538475 meters 0.06195968228928362 Centerline is valid? [True, True] Translation: X:106.31, Y:-11.79, Z:-1.57 [[ 9.18835490e-01 -3.94146483e-01 -1.97457077e-02 1.06312735e+02] [ 3.94038576e-01 9.19047351e-01 -9.25027237e-03 -1.17854737e+01] [ 2.17932027e-02 7.18907979e-04 9.99762241e-01 -1.56943265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.23538475 meters 0.06240356873057092 Centerline is valid? [True, True] Translation: X:106.34, Y:-11.77, Z:-1.57 [[ 9.19484893e-01 -3.92634466e-01 -1.96394671e-02 1.06337914e+02] [ 3.92527329e-01 9.19694303e-01 -9.20250694e-03 -1.17737297e+01] [ 2.16755274e-02 7.52538543e-04 9.99764775e-01 -1.57014682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.26538475 meters 0.06364893828395272 Centerline is valid? [True, True] Translation: X:106.36, Y:-11.76, Z:-1.57 [[ 9.20412800e-01 -3.90469387e-01 -1.93374120e-02 1.06363281e+02] [ 3.90364998e-01 9.20615571e-01 -9.06308909e-03 -1.17631240e+01] [ 2.13411814e-02 7.93134413e-04 9.99771936e-01 -1.57209637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.29538475 meters 0.06363793546394016 Centerline is valid? [True, True] Translation: X:106.39, Y:-11.75, Z:-1.57 [[ 9.20620185e-01 -3.90039327e-01 -1.81051780e-02 1.06390585e+02] [ 3.89947586e-01 9.20797886e-01 -8.49309033e-03 -1.17535032e+01] [ 1.99838489e-02 7.58839940e-04 9.99800015e-01 -1.57071551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.32538475 meters 0.06418047973537226 Centerline is valid? [True, True] Translation: X:106.42, Y:-11.75, Z:-1.57 [[ 9.20846307e-01 -3.89617796e-01 -1.54936336e-02 1.06418324e+02] [ 3.89550558e-01 9.20976407e-01 -7.26783286e-03 -1.17469067e+01] [ 1.71009480e-02 6.57003442e-04 9.99853552e-01 -1.56919402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35538474999998 meters 0.0628257021762885 Centerline is valid? [True, True] Translation: X:106.45, Y:-11.74, Z:-1.57 [[ 9.20215139e-01 -3.91159469e-01 -1.40843176e-02 1.06449410e+02] [ 3.91104004e-01 9.20322736e-01 -6.61213186e-03 -1.17449989e+01] [ 1.55485157e-02 5.76150845e-04 9.99878949e-01 -1.56773428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.38538474999999 meters 0.06202367905960254 Centerline is valid? [True, True] Translation: X:106.48, Y:-11.74, Z:-1.57 [[ 9.19746111e-01 -3.92238202e-01 -1.47066321e-02 1.06477979e+02] [ 3.92177778e-01 9.19863494e-01 -6.90960295e-03 -1.17387323e+01] [ 1.62383042e-02 5.87466141e-04 9.99867977e-01 -1.56769373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41538474999999 meters 0.06387463001994481 Centerline is valid? [True, True] Translation: X:106.50, Y:-11.73, Z:-1.57 [[ 9.19303329e-01 -3.93286491e-01 -1.43918624e-02 1.06502345e+02] [ 3.93228767e-01 9.19415807e-01 -6.76092135e-03 -1.17250545e+01] [ 1.58910848e-02 5.56043189e-04 9.99873574e-01 -1.57462805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.44538474999999 meters 0.06120608814369485 Centerline is valid? [True, True] Translation: X:106.54, Y:-11.73, Z:-1.57 [[ 9.17854550e-01 -3.96763464e-01 -1.10353844e-02 1.06536305e+02] [ 3.96729707e-01 9.17920806e-01 -5.18978805e-03 -1.17286470e+01] [ 1.21887272e-02 3.85405769e-04 9.99925640e-01 -1.56606537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47538474999999 meters 0.06155017411868181 Centerline is valid? [True, True] Translation: X:106.56, Y:-11.72, Z:-1.57 [[ 9.16840491e-01 -3.99107630e-01 -1.07987504e-02 1.06562335e+02] [ 3.99075479e-01 9.16904019e-01 -5.07758653e-03 -1.17190745e+01] [ 1.19279212e-02 3.45820433e-04 9.99928800e-01 -1.56799811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.50538474999999 meters 0.060098735328400966 Centerline is valid? [True, True] Translation: X:106.59, Y:-11.72, Z:-1.57 [[ 9.13948484e-01 -4.05658811e-01 -1.17939633e-02 1.06593730e+02] [ 4.05620948e-01 9.14024532e-01 -5.54985042e-03 -1.17178663e+01] [ 1.30313175e-02 2.88398792e-04 9.99915047e-01 -1.56926274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53538474999999 meters 0.05940849084486973 Centerline is valid? [True, True] Translation: X:106.62, Y:-11.71, Z:-1.57 [[ 9.13213165e-01 -4.07257798e-01 -1.35203607e-02 1.06622324e+02] [ 4.07208146e-01 9.13313194e-01 -6.36674870e-03 -1.17104518e+01] [ 1.49412319e-02 3.08597726e-04 9.99888326e-01 -1.56924587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.56538474999999 meters 0.05879828793433882 Centerline is valid? [True, True] Translation: X:106.65, Y:-11.71, Z:-1.57 [[ 9.09813112e-01 -4.14724888e-01 -1.56002496e-02 1.06652957e+02] [ 4.14659802e-01 9.09946822e-01 -7.35048225e-03 -1.17083246e+01] [ 1.72438255e-02 2.18768734e-04 9.99851290e-01 -1.57233661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.59538475 meters 0.05914701654454925 Centerline is valid? [True, True] Translation: X:106.68, Y:-11.70, Z:-1.58 [[ 9.08734632e-01 -4.17027024e-01 -1.70243888e-02 1.06678917e+02] [ 4.16949932e-01 9.08894067e-01 -8.02057294e-03 -1.16980554e+01] [ 1.88181617e-02 1.90254634e-04 9.99822905e-01 -1.57855256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.62538475 meters 0.0594992213835634 Centerline is valid? [True, True] Translation: X:106.71, Y:-11.69, Z:-1.58 [[ 9.07870726e-01 -4.18821340e-01 -1.89586618e-02 1.06705419e+02] [ 4.18726086e-01 9.08068640e-01 -8.93358701e-03 -1.16897984e+01] [ 2.09573431e-02 1.72055867e-04 9.99780356e-01 -1.58452289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.65538475 meters 0.05910494119496564 Centerline is valid? [True, True] Translation: X:106.73, Y:-11.68, Z:-1.58 [[ 9.07966738e-01 -4.18559681e-01 -2.01046407e-02 1.06732353e+02] [ 4.18452307e-01 9.08189273e-01 -9.48216468e-03 -1.16794553e+01] [ 2.22276708e-02 1.96656853e-04 9.99752915e-01 -1.57907450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.68538475 meters 0.05926543943437292 Centerline is valid? [True, True] Translation: X:106.76, Y:-11.67, Z:-1.58 [[ 9.07947980e-01 -4.18559649e-01 -2.09352713e-02 1.06757876e+02] [ 4.18443225e-01 9.08189286e-01 -9.87362376e-03 -1.16684416e+01] [ 2.31458896e-02 2.04514311e-04 9.99732077e-01 -1.57992350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.71538475 meters 0.05980049797236118 Centerline is valid? [True, True] Translation: X:106.78, Y:-11.66, Z:-1.59 [[ 9.07628879e-01 -4.19290052e-01 -2.01412469e-02 1.06783513e+02] [ 4.19182283e-01 9.07852310e-01 -9.50769594e-03 -1.16561662e+01] [ 2.22717598e-02 1.86605557e-04 9.99751936e-01 -1.58692145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.74538474999999 meters 0.059153646879609084 Centerline is valid? [True, True] Translation: X:106.81, Y:-11.65, Z:-1.58 [[ 9.07095208e-01 -4.20512628e-01 -1.86390217e-02 1.06811538e+02] [ 4.20420489e-01 9.07286673e-01 -8.80372987e-03 -1.16465702e+01] [ 2.06130156e-02 1.49594552e-04 9.99787518e-01 -1.57999695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77538474999999 meters 0.058823067248668204 Centerline is valid? [True, True] Translation: X:106.84, Y:-11.63, Z:-1.58 [[ 9.06926284e-01 -4.20936370e-01 -1.72420243e-02 1.06837599e+02] [ 4.20857489e-01 9.07090158e-01 -8.14981441e-03 -1.16347063e+01] [ 1.90706238e-02 1.34845864e-04 9.99818130e-01 -1.57743106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.80538474999999 meters 0.05869003142469791 Centerline is valid? [True, True] Translation: X:106.86, Y:-11.62, Z:-1.58 [[ 9.06961204e-01 -4.20912461e-01 -1.59397431e-02 1.06862195e+02] [ 4.20845050e-01 9.07101254e-01 -7.53386766e-03 -1.16215107e+01] [ 1.76300597e-02 1.24763688e-04 9.99844571e-01 -1.57826379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83538474999999 meters 0.058623207611786216 Centerline is valid? [True, True] Translation: X:106.89, Y:-11.61, Z:-1.58 [[ 9.06228297e-01 -4.22498168e-01 -1.56706965e-02 1.06889047e+02] [ 4.22433128e-01 9.06363772e-01 -7.41381884e-03 -1.16096389e+01] [ 1.73356765e-02 9.87910713e-05 9.99849721e-01 -1.57881314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.86538474999999 meters 0.05862086103421732 Centerline is valid? [True, True] Translation: X:106.92, Y:-11.60, Z:-1.58 [[ 9.05511659e-01 -4.24113327e-01 -1.32861573e-02 1.06915091e+02] [ 4.24066690e-01 9.05609122e-01 -6.28968102e-03 -1.15974610e+01] [ 1.46996028e-02 6.11627320e-05 9.99891953e-01 -1.57822492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89538474999999 meters 0.05858235479831819 Centerline is valid? [True, True] Translation: X:106.94, Y:-11.59, Z:-1.58 [[ 9.05843450e-01 -4.23424143e-01 -1.26348046e-02 1.06939777e+02] [ 4.23381908e-01 9.05931559e-01 -5.98078679e-03 -1.15850287e+01] [ 1.39786777e-02 6.83088814e-05 9.99902291e-01 -1.57890399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.92538474999999 meters 0.0586520599707332 Centerline is valid? [True, True] Translation: X:106.96, Y:-11.57, Z:-1.58 [[ 9.06271761e-01 -4.22554682e-01 -1.09103971e-02 1.06964662e+02] [ 4.22523110e-01 9.06337429e-01 -5.16585613e-03 -1.15733749e+01] [ 1.20713579e-02 7.17746234e-05 9.99927136e-01 -1.57912298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.95538475 meters 0.0587525991210845 Centerline is valid? [True, True] Translation: X:106.99, Y:-11.56, Z:-1.58 [[ 9.06649096e-01 -4.21763889e-01 -1.01311024e-02 1.06990819e+02] [ 4.21736557e-01 9.06705694e-01 -4.80226053e-03 -1.15609967e+01] [ 1.12113483e-02 8.13089151e-05 9.99937148e-01 -1.57815927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.98538475 meters 0.05860806137633104 Centerline is valid? [True, True] Translation: X:107.02, Y:-11.55, Z:-1.58 [[ 9.07067130e-01 -4.20915471e-01 -7.70630086e-03 1.07017276e+02] [ 4.20899598e-01 9.07099863e-01 -3.65619452e-03 -1.15485689e+01] [ 8.52933329e-03 7.28349371e-05 9.99963622e-01 -1.57526485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.01538475 meters 0.05880713934104984 Centerline is valid? [True, True] Translation: X:107.04, Y:-11.54, Z:-1.58 [[ 9.07963983e-01 -4.18995439e-01 -6.65032652e-03 1.07040413e+02] [ 4.18983569e-01 9.07988335e-01 -3.15483760e-03 -1.15350834e+01] [ 7.36028146e-03 7.81013715e-05 9.99972910e-01 -1.57699343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.04538475 meters 0.059153726781527846 Centerline is valid? [True, True] Translation: X:107.07, Y:-11.52, Z:-1.58 [[ 9.08360932e-01 -4.18111415e-01 -7.95375911e-03 1.07066168e+02] [ 4.18094370e-01 9.08395747e-01 -3.77681282e-03 -1.15214206e+01] [ 8.80428950e-03 1.05287303e-04 9.99961236e-01 -1.57856860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.07538475 meters 0.05920831506071749 Centerline is valid? [True, True] Translation: X:107.09, Y:-11.51, Z:-1.58 [[ 9.08751778e-01 -4.17256201e-01 -8.21388965e-03 1.07092833e+02] [ 4.17237963e-01 9.08788891e-01 -3.90302253e-03 -1.15088718e+01] [ 9.09325202e-03 1.19732076e-04 9.99958648e-01 -1.57736622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.10538474999998 meters 0.05977326914697478 Centerline is valid? [True, True] Translation: X:107.12, Y:-11.49, Z:-1.58 [[ 9.09522719e-01 -4.15531676e-01 -1.00920280e-02 1.07116005e+02] [ 4.15504063e-01 9.09578693e-01 -4.79326565e-03 -1.14931812e+01] [ 1.11712473e-02 1.66305379e-04 9.99937586e-01 -1.58273581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13538474999999 meters 0.05981157032091575 Centerline is valid? [True, True] Translation: X:107.14, Y:-11.48, Z:-1.58 [[ 9.08568969e-01 -4.17600690e-01 -1.05874036e-02 1.07142316e+02] [ 4.17570375e-01 9.08630640e-01 -5.03401420e-03 -1.14822737e+01] [ 1.17222471e-02 1.52762982e-04 9.99931280e-01 -1.58485024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.16538474999999 meters 0.05965618132511819 Centerline is valid? [True, True] Translation: X:107.17, Y:-11.47, Z:-1.58 [[ 9.08521955e-01 -4.17673723e-01 -1.16840744e-02 1.07168742e+02] [ 4.17636766e-01 9.08597068e-01 -5.55871510e-03 -1.14701166e+01] [ 1.29378450e-02 1.70515644e-04 9.99916288e-01 -1.58402190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19538474999999 meters 0.059591447190901495 Centerline is valid? [True, True] Translation: X:107.19, Y:-11.46, Z:-1.59 [[ 9.07870227e-01 -4.19091596e-01 -1.15708728e-02 1.07194028e+02] [ 4.19055482e-01 9.07943948e-01 -5.50373999e-03 -1.14585622e+01] [ 1.28122751e-02 1.47844004e-04 9.99917909e-01 -1.58511723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.22538474999999 meters 0.05941275150816417 Centerline is valid? [True, True] Translation: X:107.22, Y:-11.45, Z:-1.58 [[ 9.06939096e-01 -4.21141089e-01 -1.00826493e-02 1.07219542e+02] [ 4.21113732e-01 9.06995133e-01 -4.80131534e-03 -1.14460080e+01] [ 1.11669450e-02 1.08558522e-04 9.99937642e-01 -1.58438315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25538474999999 meters 0.059398942021536325 Centerline is valid? [True, True] Translation: X:107.24, Y:-11.43, Z:-1.58 [[ 9.06672507e-01 -4.21720495e-01 -9.83813619e-03 1.07244321e+02] [ 4.21694441e-01 9.06725876e-01 -4.68882087e-03 -1.14327935e+01] [ 1.08978645e-02 1.02537639e-04 9.99940611e-01 -1.58487206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.28538474999999 meters 0.05938300719153527 Centerline is valid? [True, True] Translation: X:107.27, Y:-11.42, Z:-1.59 [[ 9.06852718e-01 -4.21365396e-01 -8.32770772e-03 1.07269298e+02] [ 4.21346694e-01 9.06890949e-01 -3.97110124e-03 -1.14166427e+01] [ 9.22560741e-03 9.23518383e-05 9.99957439e-01 -1.58539161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.31538474999999 meters 0.059419866016124444 Centerline is valid? [True, True] Translation: X:107.29, Y:-11.40, Z:-1.58 [[ 9.07184674e-01 -4.20674365e-01 -7.00323098e-03 1.07294199e+02] [ 4.20661095e-01 9.07211701e-01 -3.34251621e-03 -1.14022383e+01] [ 7.75952397e-03 8.62926711e-05 9.99969891e-01 -1.58470589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.34538475 meters 0.05917259975530498 Centerline is valid? [True, True] Translation: X:107.32, Y:-11.39, Z:-1.58 [[ 9.08251942e-01 -4.18399468e-01 -4.50505977e-03 1.07319048e+02] [ 4.18393934e-01 9.08263112e-01 -2.15299600e-03 -1.13865225e+01] [ 4.99259198e-03 7.05731129e-05 9.99987534e-01 -1.58148467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.37538475 meters 0.05920174723008041 Centerline is valid? [True, True] Translation: X:107.34, Y:-11.37, Z:-1.58 [[ 9.09025207e-01 -4.16735211e-01 -2.22184083e-03 1.07342887e+02] [ 4.16733859e-01 9.09027922e-01 -1.06233909e-03 -1.13724961e+01] [ 2.46242946e-03 3.97767080e-05 9.99996967e-01 -1.57990207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.40538475 meters 0.059466633388845946 Centerline is valid? [True, True] Translation: X:107.37, Y:-11.36, Z:-1.58 [[ 9.10201331e-01 -4.14158261e-01 -2.54383065e-03 1.07367498e+02] [ 4.14156472e-01 9.10204884e-01 -1.21853886e-03 -1.13568828e+01] [ 2.82007501e-03 5.55717641e-05 9.99996022e-01 -1.57843844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.43538475 meters 0.05999263847846673 Centerline is valid? [True, True] Translation: X:107.39, Y:-11.34, Z:-1.58 [[ 9.11903304e-01 -4.10404257e-01 -8.42462002e-04 1.07388912e+02] [ 4.10404059e-01 9.11903693e-01 -4.04019085e-04 -1.13383181e+01] [ 9.34055363e-04 2.26765139e-05 9.99999564e-01 -1.57903729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.46538475 meters 0.06073441987507394 Centerline is valid? [True, True] Translation: X:107.41, Y:-11.32, Z:-1.58 [[ 9.13178096e-01 -4.07560532e-01 4.21827594e-04 1.07411750e+02] [ 4.07560483e-01 9.13178193e-01 2.00225350e-04 -1.13207713e+01] [-4.66807711e-04 -1.09211463e-05 9.99999891e-01 -1.58112262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49538474999999 meters 0.06080927516639536 Centerline is valid? [True, True] Translation: X:107.44, Y:-11.31, Z:-1.58 [[ 9.13360868e-01 -4.07150537e-01 -6.04695369e-04 1.07437425e+02] [ 4.07150432e-01 9.13361068e-01 -2.92802263e-04 -1.13076193e+01] [ 6.71519806e-04 2.12321483e-05 9.99999774e-01 -1.58240404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.52538474999999 meters 0.060351626304651435 Centerline is valid? [True, True] Translation: X:107.46, Y:-11.30, Z:-1.58 [[ 9.13398058e-01 -4.07061526e-01 -2.21411675e-03 1.07464605e+02] [ 4.07060144e-01 9.13400739e-01 -1.06310187e-03 -1.12975099e+01] [ 2.45512375e-03 6.97565041e-05 9.99996984e-01 -1.58414022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55538474999999 meters 0.06030176332205016 Centerline is valid? [True, True] Translation: X:107.49, Y:-11.29, Z:-1.59 [[ 9.12879253e-01 -4.08221919e-01 -2.51687348e-03 1.07492215e+02] [ 4.08220137e-01 9.12882719e-01 -1.20837715e-03 -1.12870014e+01] [ 2.79089635e-03 7.56639894e-05 9.99996103e-01 -1.58589416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.58538474999999 meters 0.05942012059327417 Centerline is valid? [True, True] Translation: X:107.52, Y:-11.28, Z:-1.59 [[ 9.09844724e-01 -4.14943314e-01 -2.15030171e-03 1.07521439e+02] [ 4.14942036e-01 9.09847264e-01 -1.03096002e-03 -1.12834456e+01] [ 2.38423609e-03 4.57629677e-05 9.99997157e-01 -1.58516170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61538474999999 meters 0.05907188827800841 Centerline is valid? [True, True] Translation: X:107.55, Y:-11.27, Z:-1.59 [[ 9.08955081e-01 -4.16885262e-01 -2.70920783e-03 1.07549143e+02] [ 4.16883233e-01 9.08959116e-01 -1.30173940e-03 -1.12737607e+01] [ 3.00523513e-03 5.37993207e-05 9.99995483e-01 -1.58607901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.64538474999999 meters 0.058944542353413586 Centerline is valid? [True, True] Translation: X:107.58, Y:-11.27, Z:-1.59 [[ 9.06834826e-01 -4.21458908e-01 -4.79449706e-03 1.07577949e+02] [ 4.21452627e-01 9.06847498e-01 -2.30193780e-03 -1.12657308e+01] [ 5.31804985e-03 6.68239834e-05 9.99985857e-01 -1.59020726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67538474999999 meters 0.05870765966316155 Centerline is valid? [True, True] Translation: X:107.61, Y:-11.26, Z:-1.59 [[ 9.05569852e-01 -4.24157960e-01 -5.76787595e-03 1.07605021e+02] [ 4.24148936e-01 9.05588218e-01 -2.76741867e-03 -1.12588733e+01] [ 6.39714316e-03 5.96524667e-05 9.99979536e-01 -1.59086289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.70538475 meters 0.05864169166352316 Centerline is valid? [True, True] Translation: X:107.63, Y:-11.25, Z:-1.59 [[ 9.05142473e-01 -4.25065678e-01 -6.02274872e-03 1.07630900e+02] [ 4.25055828e-01 9.05162508e-01 -2.89430671e-03 -1.12482367e+01] [ 6.68183678e-03 5.97554921e-05 9.99977674e-01 -1.59081645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.73538475 meters 0.05842256301892509 Centerline is valid? [True, True] Translation: X:107.66, Y:-11.24, Z:-1.59 [[ 9.04820571e-01 -4.25767758e-01 -4.64222111e-03 1.07658355e+02] [ 4.25761908e-01 9.04832479e-01 -2.23231644e-03 -1.12374428e+01] [ 5.15088080e-03 4.33649199e-05 9.99986733e-01 -1.58981226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.76538475 meters 0.05823432209535398 Centerline is valid? [True, True] Translation: X:107.68, Y:-11.23, Z:-1.59 [[ 9.04534380e-01 -4.26389512e-01 -3.08852167e-03 1.07684875e+02] [ 4.26386918e-01 9.04539653e-01 -1.48752009e-03 -1.12257023e+01] [ 3.42795329e-03 2.86078206e-05 9.99994124e-01 -1.58819906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.79538475 meters 0.05783768858543917 Centerline is valid? [True, True] Translation: X:107.71, Y:-11.22, Z:-1.58 [[ 9.03445679e-01 -4.28702485e-01 -2.89514190e-04 1.07711402e+02] [ 4.28702462e-01 9.03445726e-01 -1.40416227e-04 -1.12155903e+01] [ 3.21757142e-04 2.74298783e-06 9.99999948e-01 -1.58397662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.82538475 meters 0.05776012706892828 Centerline is valid? [True, True] Translation: X:107.74, Y:-11.20, Z:-1.58 [[ 9.02909359e-01 -4.29828460e-01 1.47790242e-03 1.07736269e+02] [ 4.29827875e-01 9.02910569e-01 7.09094664e-04 -1.12034538e+01] [-1.63920278e-03 -5.00455208e-06 9.99998656e-01 -1.58357642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85538474999998 meters 0.058070054141388876 Centerline is valid? [True, True] Translation: X:107.76, Y:-11.19, Z:-1.58 [[ 9.02177630e-01 -4.31362374e-01 1.42343026e-03 1.07761205e+02] [ 4.31361837e-01 9.02178753e-01 6.80430999e-04 -1.11899275e+01] [-1.57770087e-03 1.43864779e-07 9.99998755e-01 -1.58381053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.88538474999999 meters 0.05823747072967324 Centerline is valid? [True, True] Translation: X:107.79, Y:-11.18, Z:-1.58 [[ 9.01231699e-01 -4.33336613e-01 8.96999409e-04 1.07786712e+02] [ 4.33336402e-01 9.01232145e-01 4.27408120e-04 -1.11772528e+01] [-9.93616289e-04 3.50875045e-06 9.99999506e-01 -1.58453383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91538474999999 meters 0.058356150462627744 Centerline is valid? [True, True] Translation: X:107.81, Y:-11.16, Z:-1.59 [[ 9.00755015e-01 -4.34327528e-01 3.72859019e-05 1.07811552e+02] [ 4.34327528e-01 9.00755016e-01 1.65984688e-05 -1.11639271e+01] [-4.07946355e-05 1.24313960e-06 9.99999999e-01 -1.58892603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.94538474999999 meters 0.05844509807446778 Centerline is valid? [True, True] Translation: X:107.84, Y:-11.15, Z:-1.59 [[ 9.01597409e-01 -4.32570555e-01 -2.19682619e-03 1.07835528e+02] [ 4.32569251e-01 9.01600086e-01 -1.06215679e-03 -1.11474737e+01] [ 2.44011644e-03 7.35835376e-06 9.99997023e-01 -1.59032285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97538474999999 meters 0.05844509807446778 Centerline is valid? [True, True] Translation: X:107.86, Y:-11.14, Z:-1.59 [[ 9.01473458e-01 -4.32828812e-01 -2.19631275e-03 1.07860387e+02] [ 4.32827506e-01 9.01476134e-01 -1.06322099e-03 -1.11353170e+01] [ 2.44011620e-03 7.84093659e-06 9.99997023e-01 -1.59069395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.00538474999999 meters 0.058646913027161025 Centerline is valid? [True, True] Translation: X:107.88, Y:-11.12, Z:-1.59 [[ 9.01986826e-01 -4.31743528e-01 -4.15825025e-03 1.07883832e+02] [ 4.31738865e-01 9.01996411e-01 -2.00664294e-03 -1.11198441e+01] [ 4.61708190e-03 1.46872530e-05 9.99989341e-01 -1.59489985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03538474999999 meters 0.05853803898204933 Centerline is valid? [True, True] Translation: X:107.91, Y:-11.11, Z:-1.59 [[ 9.00741098e-01 -4.34344494e-01 -3.21494963e-03 1.07910360e+02] [ 4.34341710e-01 9.00746835e-01 -1.55510114e-03 -1.11074837e+01] [ 3.57130532e-03 4.35678878e-06 9.99993623e-01 -1.58911517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.06538474999999 meters 0.058419439977134585 Centerline is valid? [True, True] Translation: X:107.93, Y:-11.09, Z:-1.59 [[ 9.01165542e-01 -4.33454776e-01 -4.19790913e-03 1.07934996e+02] [ 4.33450020e-01 9.01175320e-01 -2.03068156e-03 -1.10918751e+01] [ 4.66326073e-03 1.03964540e-05 9.99989127e-01 -1.59069127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.09538475 meters 0.05898642519726094 Centerline is valid? [True, True] Translation: X:107.96, Y:-11.07, Z:-1.60 [[ 9.03433933e-01 -4.28674071e-01 -6.75801938e-03 1.07955715e+02] [ 4.28661638e-01 9.03459207e-01 -3.26519697e-03 -1.10706467e+01] [ 7.50530010e-03 5.29860797e-05 9.99971833e-01 -1.59728564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.12538475 meters 0.0591420120583469 Centerline is valid? [True, True] Translation: X:107.98, Y:-11.05, Z:-1.60 [[ 9.04607479e-01 -4.26167183e-01 -8.17561453e-03 1.07979293e+02] [ 4.26148845e-01 9.04644418e-01 -3.95459064e-03 -1.10529686e+01] [ 9.08134080e-03 9.33235896e-05 9.99958759e-01 -1.60067656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.15538475 meters 0.0591888390741362 Centerline is valid? [True, True] Translation: X:108.00, Y:-11.04, Z:-1.60 [[ 9.05817003e-01 -4.23626531e-01 -6.00988226e-03 1.08003568e+02] [ 4.23616548e-01 9.05836936e-01 -2.90975239e-03 -1.10368185e+01] [ 6.67662164e-03 8.98176184e-05 9.99977707e-01 -1.59892388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.18538475 meters 0.05923252980692207 Centerline is valid? [True, True] Translation: X:108.03, Y:-11.02, Z:-1.60 [[ 9.06351265e-01 -4.22495533e-01 -4.99090449e-03 1.08027935e+02] [ 4.22488615e-01 9.06365003e-01 -2.41921436e-03 -1.10228163e+01] [ 5.54568842e-03 8.40576707e-05 9.99984619e-01 -1.59705362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21538474999998 meters 0.059412907497195064 Centerline is valid? [True, True] Translation: X:108.05, Y:-11.01, Z:-1.60 [[ 9.07080655e-01 -4.20928304e-01 -4.90383561e-03 1.08052822e+02] [ 4.20921597e-01 9.07093906e-01 -2.37798825e-03 -1.10084720e+01] [ 5.44920196e-03 9.28968290e-05 9.99985149e-01 -1.59628630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.24538474999999 meters 0.05978595894149065 Centerline is valid? [True, True] Translation: X:108.08, Y:-10.99, Z:-1.60 [[ 9.08430699e-01 -4.18008655e-01 -4.73601540e-03 1.08075722e+02] [ 4.18002364e-01 9.08443038e-01 -2.29580445e-03 -1.09910948e+01] [ 5.26206635e-03 1.05913609e-04 9.99986150e-01 -1.59639489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27538474999999 meters 0.06016423800417678 Centerline is valid? [True, True] Translation: X:108.10, Y:-10.97, Z:-1.60 [[ 9.09488104e-01 -4.15717233e-01 -3.25135528e-03 1.08098177e+02] [ 4.15714252e-01 9.09493912e-01 -1.57639378e-03 -1.09738699e+01] [ 3.61242189e-03 8.20766599e-05 9.99993472e-01 -1.59752872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.30538474999999 meters 0.06047487664869953 Centerline is valid? [True, True] Translation: X:108.12, Y:-10.96, Z:-1.60 [[ 9.09950927e-01 -4.14708376e-01 -2.50463177e-03 1.08123556e+02] [ 4.14706594e-01 9.09954372e-01 -1.21759414e-03 -1.09595343e+01] [ 2.78404712e-03 6.92636037e-05 9.99996122e-01 -1.59722644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33538474999999 meters 0.060577927346980726 Centerline is valid? [True, True] Translation: X:108.15, Y:-10.95, Z:-1.60 [[ 9.10192690e-01 -4.14181465e-01 -1.72643301e-03 1.08148638e+02] [ 4.14180613e-01 9.10194326e-01 -8.41419827e-04 -1.09456564e+01] [ 1.91989002e-03 5.07990953e-05 9.99998156e-01 -1.59644840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.36538474999999 meters 0.061193110344198526 Centerline is valid? [True, True] Translation: X:108.17, Y:-10.93, Z:-1.60 [[ 9.11065990e-01 -4.12259584e-01 -8.92705272e-04 1.08173027e+02] [ 4.12259355e-01 9.11066427e-01 -4.35010299e-04 -1.09317439e+01] [ 9.92650967e-04 2.82969883e-05 9.99999507e-01 -1.59552825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39538474999999 meters 0.06238359971910501 Centerline is valid? [True, True] Translation: X:108.20, Y:-10.92, Z:-1.60 [[ 9.12297045e-01 -4.09523769e-01 -2.09373022e-03 1.08196721e+02] [ 4.09522513e-01 9.12299445e-01 -1.01708298e-03 -1.09161752e+01] [ 2.32662857e-03 7.04521333e-05 9.99997291e-01 -1.59745462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.42538474999999 meters 0.06204588703958428 Centerline is valid? [True, True] Translation: X:108.22, Y:-10.91, Z:-1.60 [[ 9.12885207e-01 -4.08203387e-01 -3.25485109e-03 1.08223481e+02] [ 4.08200330e-01 9.12891002e-01 -1.58413858e-03 -1.09053289e+01] [ 3.61797500e-03 1.17505383e-04 9.99993448e-01 -1.59717254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.45538475 meters 0.0638638015569197 Centerline is valid? [True, True] Translation: X:108.25, Y:-10.89, Z:-1.60 [[ 9.13338214e-01 -4.07173550e-01 -4.79661520e-03 1.08246281e+02] [ 4.07166908e-01 9.13350792e-01 -2.33234362e-03 -1.08894866e+01] [ 5.33066092e-03 1.77195572e-04 9.99985776e-01 -1.60299048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.48538475 meters 0.06288425669416246 Centerline is valid? [True, True] Translation: X:108.27, Y:-10.88, Z:-1.60 [[ 9.13728139e-01 -4.06290243e-01 -5.39698569e-03 1.08274508e+02] [ 4.06281803e-01 9.13744054e-01 -2.62697988e-03 -1.08806950e+01] [ 5.99877987e-03 2.07648355e-04 9.99981986e-01 -1.60035446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.51538475 meters 0.06250040746050699 Centerline is valid? [True, True] Translation: X:108.30, Y:-10.87, Z:-1.60 [[ 9.13823934e-01 -4.06065015e-01 -6.08451840e-03 1.08301902e+02] [ 4.06054273e-01 9.13844159e-01 -2.96313832e-03 -1.08702955e+01] [ 6.76352841e-03 2.37142016e-04 9.99977099e-01 -1.60000918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.54538475 meters 0.06196528310988733 Centerline is valid? [True, True] Translation: X:108.33, Y:-10.86, Z:-1.60 [[ 9.12848138e-01 -4.08264545e-01 -5.32343998e-03 1.08329250e+02] [ 4.08256351e-01 9.12863639e-01 -2.59393738e-03 -1.08599877e+01] [ 5.91858746e-03 1.94542724e-04 9.99982466e-01 -1.59989806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.57538475 meters 0.0602876487804775 Centerline is valid? [True, True] Translation: X:108.36, Y:-10.86, Z:-1.60 [[ 9.09622121e-01 -4.15427172e-01 -2.80379238e-03 1.08358846e+02] [ 4.15424933e-01 9.09626439e-01 -1.36595006e-03 -1.08561202e+01] [ 3.11785645e-03 7.77331242e-05 9.99995136e-01 -1.59636795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.60538474999998 meters 0.059419110229455806 Centerline is valid? [True, True] Translation: X:108.39, Y:-10.85, Z:-1.59 [[ 9.07705656e-01 -4.19605747e-01 -1.20817367e-03 1.08387114e+02] [ 4.19605331e-01 9.07706459e-01 -5.91778086e-04 -1.08464437e+01] [ 1.34498053e-03 3.02042034e-05 9.99999095e-01 -1.59393572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63538474999999 meters 0.058882494282735655 Centerline is valid? [True, True] Translation: X:108.41, Y:-10.84, Z:-1.60 [[ 9.05471655e-01 -4.24400314e-01 -2.33568919e-03 1.08414199e+02] [ 4.24398785e-01 9.05474667e-01 -1.13972458e-03 -1.08353136e+01] [ 2.59860686e-03 4.07246478e-05 9.99996623e-01 -1.59587566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.66538474999999 meters 0.05914897508473341 Centerline is valid? [True, True] Translation: X:108.44, Y:-10.82, Z:-1.60 [[ 9.05606978e-01 -4.24086173e-01 -5.18841380e-03 1.08439103e+02] [ 4.24078620e-01 9.05621835e-01 -2.53283309e-03 -1.08209637e+01] [ 5.77288032e-03 9.34559536e-05 9.99983332e-01 -1.60035517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69538474999999 meters 0.05968332128799396 Centerline is valid? [True, True] Translation: X:108.46, Y:-10.81, Z:-1.60 [[ 9.05888860e-01 -4.23470266e-01 -6.18928209e-03 1.08464142e+02] [ 4.23459495e-01 9.05909996e-01 -3.02254283e-03 -1.08060001e+01] [ 6.88688952e-03 1.17177614e-04 9.99976278e-01 -1.60473533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.72538474999999 meters 0.06002635683767663 Centerline is valid? [True, True] Translation: X:108.49, Y:-10.79, Z:-1.61 [[ 9.06862392e-01 -4.21355167e-01 -7.77332100e-03 1.08488816e+02] [ 4.21338121e-01 9.06895692e-01 -3.79375258e-03 -1.07919168e+01] [ 8.64810858e-03 1.65215081e-04 9.99962591e-01 -1.60841386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75538474999999 meters 0.06005532200309774 Centerline is valid? [True, True] Translation: X:108.51, Y:-10.78, Z:-1.61 [[ 9.06515607e-01 -4.22119066e-01 -6.70434275e-03 1.08514222e+02] [ 4.22106399e-01 9.06540388e-01 -3.27293101e-03 -1.07808666e+01] [ 7.45932406e-03 1.37017062e-04 9.99972169e-01 -1.60827814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.78538474999999 meters 0.06006726446141394 Centerline is valid? [True, True] Translation: X:108.54, Y:-10.77, Z:-1.60 [[ 9.06973528e-01 -4.21157245e-01 -5.05909241e-03 1.08540030e+02] [ 4.21150013e-01 9.06987631e-01 -2.47053748e-03 -1.07694160e+01] [ 5.62901900e-03 1.10075261e-04 9.99984151e-01 -1.60426245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.81538474999999 meters 0.06062558300149655 Centerline is valid? [True, True] Translation: X:108.56, Y:-10.76, Z:-1.61 [[ 9.07298641e-01 -4.20471983e-01 -3.53374031e-03 1.08564058e+02] [ 4.20468446e-01 9.07305519e-01 -1.72637513e-03 -1.07550399e+01] [ 3.93207446e-03 8.05115104e-05 9.99992266e-01 -1.60561037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.84538475 meters 0.05950903892765277 Centerline is valid? [True, True] Translation: X:108.59, Y:-10.75, Z:-1.60 [[ 9.07167611e-01 -4.20756456e-01 -3.30609851e-03 1.08592285e+02] [ 4.20753347e-01 9.07173632e-01 -1.61948021e-03 -1.07479781e+01] [ 3.68061215e-03 7.80879799e-05 9.99993223e-01 -1.60120217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.87538475 meters 0.0603923596795625 Centerline is valid? [True, True] Translation: X:108.62, Y:-10.73, Z:-1.61 [[ 9.06692436e-01 -4.21789031e-01 -1.68496374e-03 1.08615568e+02] [ 4.21788227e-01 9.06694001e-01 -8.24691127e-04 -1.07328447e+01] [ 1.87559218e-03 3.70433409e-05 9.99998240e-01 -1.60650320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.90538475 meters 0.05937285937732915 Centerline is valid? [True, True] Translation: X:108.64, Y:-10.73, Z:-1.60 [[ 9.06667367e-01 -4.21838535e-01 -2.55640621e-03 1.08644329e+02] [ 4.21836676e-01 9.06670970e-01 -1.25371459e-03 -1.07264266e+01] [ 2.84668442e-03 5.83162086e-05 9.99995946e-01 -1.60319464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.93538475 meters 0.059900029643821635 Centerline is valid? [True, True] Translation: X:108.67, Y:-10.71, Z:-1.61 [[ 9.06686072e-01 -4.21777185e-01 -4.93688228e-03 1.08669794e+02] [ 4.21770276e-01 9.06699506e-01 -2.41674427e-03 -1.07147739e+01] [ 5.49559632e-03 1.08998175e-04 9.99984893e-01 -1.60641172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.96538474999998 meters 0.06015437702162135 Centerline is valid? [True, True] Translation: X:108.70, Y:-10.70, Z:-1.61 [[ 9.06870608e-01 -4.21373126e-01 -5.51265126e-03 1.08695239e+02] [ 4.21364506e-01 9.06887354e-01 -2.69817929e-03 -1.07026966e+01] [ 6.13629396e-03 1.24063913e-04 9.99981165e-01 -1.60821211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99538474999999 meters 0.06051677513219792 Centerline is valid? [True, True] Translation: X:108.72, Y:-10.69, Z:-1.61 [[ 9.06796734e-01 -4.21529272e-01 -5.72324816e-03 1.08718915e+02] [ 4.21519975e-01 9.06814786e-01 -2.80248051e-03 -1.06902151e+01] [ 6.37125362e-03 1.28816750e-04 9.99979695e-01 -1.61046522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.02538474999999 meters 0.059642454244598735 Centerline is valid? [True, True] Translation: X:108.75, Y:-10.68, Z:-1.61 [[ 9.06352286e-01 -4.22486788e-01 -5.51800203e-03 1.08748165e+02] [ 4.22478141e-01 9.06369074e-01 -2.70576851e-03 -1.06837927e+01] [ 6.14449784e-03 1.21144236e-04 9.99981115e-01 -1.60645259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05538474999999 meters 0.059423773735435656 Centerline is valid? [True, True] Translation: X:108.78, Y:-10.67, Z:-1.61 [[ 9.06011674e-01 -4.23223573e-01 -4.96524950e-03 1.08775332e+02] [ 4.23216585e-01 9.06025274e-01 -2.43418544e-03 -1.06724404e+01] [ 5.52884619e-03 1.04024492e-04 9.99984710e-01 -1.60641657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.08538474999999 meters 0.05947834247699266 Centerline is valid? [True, True] Translation: X:108.80, Y:-10.66, Z:-1.61 [[ 9.06098410e-01 -4.23045644e-01 -4.24895445e-03 1.08801156e+02] [ 4.23040506e-01 9.06108368e-01 -2.08705736e-03 -1.06601592e+01] [ 4.73293370e-03 9.35995115e-05 9.99988795e-01 -1.60581355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11538474999999 meters 0.059510532974406644 Centerline is valid? [True, True] Translation: X:108.83, Y:-10.65, Z:-1.61 [[ 9.06426523e-01 -4.22352735e-01 -3.02095847e-03 1.08825259e+02] [ 4.22350132e-01 9.06431554e-01 -1.48446364e-03 -1.06486705e+01] [ 3.36525936e-03 6.96550078e-05 9.99994335e-01 -1.60513959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.14538474999999 meters 0.05960756328580198 Centerline is valid? [True, True] Translation: X:108.85, Y:-10.64, Z:-1.60 [[ 9.06527594e-01 -4.22134047e-01 -3.25095314e-03 1.08850872e+02] [ 4.22131026e-01 9.06533420e-01 -1.59894477e-03 -1.06351695e+01] [ 3.62206669e-03 7.71593759e-05 9.99993437e-01 -1.60466111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.17538474999999 meters 0.05948744223726869 Centerline is valid? [True, True] Translation: X:108.88, Y:-10.62, Z:-1.60 [[ 9.07642102e-01 -4.19737192e-01 -2.55035406e-03 1.08876126e+02] [ 4.19735318e-01 9.07645683e-01 -1.25617091e-03 -1.06203758e+01] [ 2.84207951e-03 6.96799368e-05 9.99995959e-01 -1.60442203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.20538475 meters 0.05983499265152335 Centerline is valid? [True, True] Translation: X:108.90, Y:-10.61, Z:-1.61 [[ 9.07977941e-01 -4.19003498e-01 -3.48233059e-03 1.08901559e+02] [ 4.19000000e-01 9.07984614e-01 -1.71499535e-03 -1.06065922e+01] [ 3.88049164e-03 9.80814279e-05 9.99992466e-01 -1.60560963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.23538475 meters 0.05941543264289648 Centerline is valid? [True, True] Translation: X:108.93, Y:-10.60, Z:-1.61 [[ 9.06071935e-01 -4.23106864e-01 -3.77241244e-03 1.08929062e+02] [ 4.23102793e-01 9.06079783e-01 -1.85817069e-03 -1.05979216e+01] [ 4.20431142e-03 8.75180702e-05 9.99991158e-01 -1.60649624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.26538475 meters 0.059230768909055306 Centerline is valid? [True, True] Translation: X:108.96, Y:-10.59, Z:-1.61 [[ 9.05082171e-01 -4.25210199e-01 -4.74872757e-03 1.08955766e+02] [ 4.25203771e-01 9.05094623e-01 -2.34006057e-03 -1.05856740e+01] [ 5.29306541e-03 9.87702306e-05 9.99985987e-01 -1.60774721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.29538475 meters 0.05917820794297731 Centerline is valid? [True, True] Translation: X:108.98, Y:-10.57, Z:-1.61 [[ 9.04570681e-01 -4.26279109e-01 -6.16469530e-03 1.08980990e+02] [ 4.26268296e-01 9.04591679e-01 -3.03868992e-03 -1.05722395e+01] [ 6.87186211e-03 1.20895651e-04 9.99976381e-01 -1.61216336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.32538475 meters 0.059291123890342266 Centerline is valid? [True, True] Translation: X:109.01, Y:-10.56, Z:-1.61 [[ 9.04449686e-01 -4.26527587e-01 -6.70696238e-03 1.09007011e+02] [ 4.26514780e-01 9.04474544e-01 -3.30776018e-03 -1.05590561e+01] [ 7.47712770e-03 1.31084070e-04 9.99972037e-01 -1.61327056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35538474999998 meters 0.058949435848210094 Centerline is valid? [True, True] Translation: X:109.03, Y:-10.55, Z:-1.61 [[ 9.02747043e-01 -4.30122845e-01 -6.48956889e-03 1.09033210e+02] [ 4.30110933e-01 9.02770363e-01 -3.20267117e-03 -1.05476912e+01] [ 7.23613250e-03 9.99673978e-05 9.99973814e-01 -1.61292435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.38538474999999 meters 0.058688652782555306 Centerline is valid? [True, True] Translation: X:109.06, Y:-10.54, Z:-1.61 [[ 9.02083064e-01 -4.31530409e-01 -5.25844865e-03 1.09058669e+02] [ 4.31522613e-01 9.02098388e-01 -2.59481505e-03 -1.05356071e+01] [ 5.86337965e-03 7.15992054e-05 9.99982808e-01 -1.61133861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41538474999999 meters 0.058463060492791465 Centerline is valid? [True, True] Translation: X:109.08, Y:-10.52, Z:-1.61 [[ 9.02321447e-01 -4.31042954e-01 -4.23999288e-03 1.09083685e+02] [ 4.31037860e-01 9.02331407e-01 -2.09658646e-03 -1.05221468e+01] [ 4.72959756e-03 6.41974715e-05 9.99988813e-01 -1.60825208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.44538474999999 meters 0.058646073092863654 Centerline is valid? [True, True] Translation: X:109.11, Y:-10.51, Z:-1.61 [[ 9.03003120e-01 -4.29619935e-01 -3.47508124e-03 1.09106870e+02] [ 4.29616510e-01 9.03009805e-01 -1.71651155e-03 -1.05059439e+01] [ 3.87548001e-03 5.70630110e-05 9.99992489e-01 -1.60948394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47538474999999 meters 0.058796524034549325 Centerline is valid? [True, True] Translation: X:109.13, Y:-10.49, Z:-1.61 [[ 9.03750618e-01 -4.28049036e-01 -2.97386381e-03 1.09131140e+02] [ 4.28046507e-01 9.03755509e-01 -1.47238915e-03 -1.04893309e+01] [ 3.31790056e-03 5.77205873e-05 9.99994494e-01 -1.61013906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.50538474999999 meters 0.05904897507160916 Centerline is valid? [True, True] Translation: X:109.16, Y:-10.47, Z:-1.61 [[ 9.05890104e-01 -4.23512706e-01 3.26934284e-04 1.09155158e+02] [ 4.23512677e-01 9.05890163e-01 1.57702494e-04 -1.04716196e+01] [-3.62955562e-04 -4.40031533e-06 9.99999934e-01 -1.60756161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53538474999999 meters 0.05941072025720383 Centerline is valid? [True, True] Translation: X:109.18, Y:-10.46, Z:-1.61 [[ 9.06858068e-01 -4.21434200e-01 1.28786542e-03 1.09179494e+02] [ 4.21433724e-01 9.06858982e-01 6.34595824e-04 -1.04568084e+01] [-1.43535271e-03 -3.27384246e-05 9.99998969e-01 -1.60681759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.56538474999999 meters 0.06035139712738618 Centerline is valid? [True, True] Translation: X:109.20, Y:-10.44, Z:-1.61 [[ 9.08684764e-01 -4.17480335e-01 1.47292560e-03 1.09202355e+02] [ 4.17479704e-01 9.08685957e-01 7.27154650e-04 -1.04392099e+01] [-1.64199958e-03 -4.58378055e-05 9.99998651e-01 -1.60798455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.59538475 meters 0.060969236109325725 Centerline is valid? [True, True] Translation: X:109.23, Y:-10.42, Z:-1.61 [[ 9.10322058e-01 -4.13900393e-01 4.63877362e-04 1.09227212e+02] [ 4.13900330e-01 9.10322176e-01 2.28210308e-04 -1.04248512e+01] [-5.16734187e-04 -1.57458841e-05 9.99999866e-01 -1.60858413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.62538475 meters 0.06163907397504215 Centerline is valid? [True, True] Translation: X:109.25, Y:-10.41, Z:-1.61 [[ 9.10436330e-01 -4.13649218e-01 1.17981083e-04 1.09251116e+02] [ 4.13649214e-01 9.10436337e-01 5.63039458e-05 -1.04107379e+01] [-1.30704349e-04 -2.45837553e-06 9.99999991e-01 -1.60971427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.65538475 meters 0.0610554391000462 Centerline is valid? [True, True] Translation: X:109.28, Y:-10.40, Z:-1.61 [[ 9.09644589e-01 -4.15385660e-01 -1.21491514e-03 1.09279423e+02] [ 4.15385221e-01 9.09645399e-01 -6.05318938e-04 -1.04029775e+01] [ 1.35658278e-03 4.59673011e-05 9.99999079e-01 -1.61033383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.68538475 meters 0.06083975087720732 Centerline is valid? [True, True] Translation: X:109.30, Y:-10.39, Z:-1.61 [[ 9.08791897e-01 -4.17242012e-01 -2.52815764e-03 1.09304939e+02] [ 4.17240136e-01 9.08795410e-01 -1.25401391e-03 -1.03922579e+01] [ 2.82080534e-03 8.47888379e-05 9.99996018e-01 -1.61220683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71538474999998 meters 0.05991860132333865 Centerline is valid? [True, True] Translation: X:109.33, Y:-10.38, Z:-1.62 [[ 9.07096271e-01 -4.20908937e-01 -3.46717098e-03 1.09333584e+02] [ 4.20905429e-01 9.07102892e-01 -1.72153622e-03 -1.03837268e+01] [ 3.86969080e-03 1.02248001e-04 9.99992507e-01 -1.61547141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.74538474999999 meters 0.05993104298479507 Centerline is valid? [True, True] Translation: X:109.36, Y:-10.37, Z:-1.62 [[ 9.06262378e-01 -4.22681714e-01 -5.35445072e-03 1.09358535e+02] [ 4.22673385e-01 9.06278184e-01 -2.65740723e-03 -1.03729805e+01] [ 5.97585932e-03 1.45124381e-04 9.99982134e-01 -1.61779816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77538474999999 meters 0.05987380082599378 Centerline is valid? [True, True] Translation: X:109.39, Y:-10.36, Z:-1.62 [[ 9.05280062e-01 -4.24781255e-01 -5.37538338e-03 1.09385554e+02] [ 4.24772904e-01 9.05296012e-01 -2.66675521e-03 -1.03647998e+01] [ 5.99910075e-03 1.30843114e-04 9.99981997e-01 -1.61946915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.80538474999999 meters 0.05933323680701892 Centerline is valid? [True, True] Translation: X:109.41, Y:-10.36, Z:-1.62 [[ 9.04632326e-01 -4.26175993e-01 -3.79177043e-03 1.09412879e+02] [ 4.26171833e-01 9.04640268e-01 -1.88507010e-03 -1.03552612e+01] [ 4.23355984e-03 8.93495961e-05 9.99991034e-01 -1.61844144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83538474999999 meters 0.058899070581364246 Centerline is valid? [True, True] Translation: X:109.44, Y:-10.35, Z:-1.62 [[ 9.03829396e-01 -4.27890953e-01 -1.32496719e-03 1.09441764e+02] [ 4.27890446e-01 9.03830367e-01 -6.59467413e-04 -1.03470210e+01] [ 1.47972572e-03 2.91052297e-05 9.99998905e-01 -1.61501780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.86538474999999 meters 0.05869609908913546 Centerline is valid? [True, True] Translation: X:109.47, Y:-10.34, Z:-1.61 [[ 9.03530352e-01 -4.28524084e-01 -1.09119150e-04 1.09469011e+02] [ 4.28524080e-01 9.03530359e-01 -5.79752050e-05 -1.03366952e+01] [ 1.23436236e-04 5.62217391e-06 9.99999992e-01 -1.61340929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89538474999999 meters 0.05869609908913546 Centerline is valid? [True, True] Translation: X:109.49, Y:-10.32, Z:-1.61 [[ 9.03406822e-01 -4.28784448e-01 -1.08880919e-04 1.09493720e+02] [ 4.28784444e-01 9.03406828e-01 -5.84536275e-05 -1.03242274e+01] [ 1.23427772e-04 6.12096148e-06 9.99999992e-01 -1.61378044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.92538474999999 meters 0.05830769781621633 Centerline is valid? [True, True] Translation: X:109.52, Y:-10.31, Z:-1.61 [[ 9.02396102e-01 -4.30903681e-01 1.81449372e-03 1.09521326e+02] [ 4.30902746e-01 9.02397926e-01 8.98507828e-04 -1.03149160e+01] [-2.02456570e-03 -2.89396346e-05 9.99997950e-01 -1.61197015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.95538475 meters 0.05801656446783889 Centerline is valid? [True, True] Translation: X:109.55, Y:-10.31, Z:-1.61 [[ 9.01198310e-01 -4.33385754e-01 4.28881893e-03 1.09549246e+02] [ 4.33380522e-01 9.01208513e-01 2.13038447e-03 -1.03053259e+01] [-4.78839842e-03 -6.12082985e-05 9.99988534e-01 -1.61111467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.98538475 meters 0.05795869702618848 Centerline is valid? [True, True] Translation: X:109.58, Y:-10.30, Z:-1.61 [[ 8.99257184e-01 -4.37401116e-01 4.09646525e-03 1.09577691e+02] [ 4.37396378e-01 8.99266514e-01 2.03616858e-03 -1.02963537e+01] [-4.57443644e-03 -3.92601587e-05 9.99989536e-01 -1.61203046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.01538475 meters 0.05793272053303714 Centerline is valid? [True, True] Translation: X:109.60, Y:-10.29, Z:-1.61 [[ 8.98918220e-01 -4.38100350e-01 3.75722639e-03 1.09602011e+02] [ 4.38096363e-01 8.98926071e-01 1.86951785e-03 -1.02853705e+01] [-4.19650519e-03 -3.45164438e-05 9.99991194e-01 -1.61381182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.04538475 meters 0.0582012782755178 Centerline is valid? [True, True] Translation: X:109.63, Y:-10.27, Z:-1.62 [[ 8.98622522e-01 -4.38720945e-01 1.22281591e-03 1.09627933e+02] [ 4.38720527e-01 8.98623354e-01 6.05680193e-04 -1.02732543e+01] [-1.36457552e-03 -7.80342041e-06 9.99999069e-01 -1.61710385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.07538475 meters 0.05808483987272114 Centerline is valid? [True, True] Translation: X:109.65, Y:-10.26, Z:-1.62 [[ 8.97546791e-01 -4.40919013e-01 4.26179363e-04 1.09654435e+02] [ 4.40918964e-01 8.97546892e-01 2.08263105e-04 -1.02633919e+01] [-4.74343126e-04 9.84681189e-07 9.99999887e-01 -1.61767149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.10538474999998 meters 0.05828535619325339 Centerline is valid? [True, True] Translation: X:109.68, Y:-10.25, Z:-1.62 [[ 8.97002378e-01 -4.42017655e-01 -2.66945086e-03 1.09679689e+02] [ 4.42015646e-01 8.97006350e-01 -1.33301976e-03 -1.02520022e+01] [ 2.98373264e-03 1.57828507e-05 9.99995549e-01 -1.62113807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13538474999999 meters 0.058186586317432495 Centerline is valid? [True, True] Translation: X:109.70, Y:-10.24, Z:-1.62 [[ 8.96924984e-01 -4.42173405e-01 -2.87284193e-03 1.09704734e+02] [ 4.42171066e-01 8.96929584e-01 -1.43840359e-03 -1.02402107e+01] [ 3.21276073e-03 1.98525385e-05 9.99994839e-01 -1.62259964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.16538474999999 meters 0.05819899398994704 Centerline is valid? [True, True] Translation: X:109.73, Y:-10.23, Z:-1.62 [[ 8.96727267e-01 -4.42573745e-01 -2.94781308e-03 1.09729152e+02] [ 4.42571291e-01 8.96732112e-01 -1.47388366e-03 -1.02278520e+01] [ 3.29570086e-03 1.70542221e-05 9.99994569e-01 -1.62370627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19538474999999 meters 0.05821984526813147 Centerline is valid? [True, True] Translation: X:109.75, Y:-10.21, Z:-1.62 [[ 8.96729034e-01 -4.42571129e-01 -2.79922766e-03 1.09754041e+02] [ 4.42568905e-01 8.96733403e-01 -1.40298419e-03 -1.02149095e+01] [ 3.13108124e-03 1.92455406e-05 9.99995098e-01 -1.62405354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.22538474999999 meters 0.05813338719702206 Centerline is valid? [True, True] Translation: X:109.78, Y:-10.20, Z:-1.62 [[ 8.96536077e-01 -4.42958633e-01 -3.27277702e-03 1.09779981e+02] [ 4.42955597e-01 8.96542051e-01 -1.64008567e-03 -1.02014627e+01] [ 3.66067233e-03 2.07010720e-05 9.99993300e-01 -1.62474753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25538474999999 meters 0.058229644049775674 Centerline is valid? [True, True] Translation: X:109.80, Y:-10.19, Z:-1.62 [[ 8.96787975e-01 -4.42450474e-01 -2.98410885e-03 1.09804606e+02] [ 4.42447941e-01 8.96792940e-01 -1.49753582e-03 -1.01879657e+01] [ 3.33871318e-03 2.26592970e-05 9.99994426e-01 -1.62344139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.28538474999999 meters 0.058204866750246206 Centerline is valid? [True, True] Translation: X:109.83, Y:-10.17, Z:-1.62 [[ 8.97388357e-01 -4.41232267e-01 -2.86755083e-03 1.09828482e+02] [ 4.41229929e-01 8.97392938e-01 -1.43676963e-03 -1.01744237e+01] [ 3.20726898e-03 2.40910894e-05 9.99994856e-01 -1.62372350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.31538474999999 meters 0.058226675873793626 Centerline is valid? [True, True] Translation: X:109.85, Y:-10.16, Z:-1.63 [[ 8.97423529e-01 -4.41158342e-01 -3.21347218e-03 1.09852847e+02] [ 4.41155405e-01 8.97429282e-01 -1.61002542e-03 -1.01604294e+01] [ 3.59414018e-03 2.72340761e-05 9.99993541e-01 -1.62565777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.34538475 meters 0.05820840640110068 Centerline is valid? [True, True] Translation: X:109.88, Y:-10.15, Z:-1.63 [[ 8.97269743e-01 -4.41473270e-01 -2.89145883e-03 1.09878025e+02] [ 4.41470881e-01 8.97274401e-01 -1.45264014e-03 -1.01472233e+01] [ 3.23573378e-03 2.69151692e-05 9.99994765e-01 -1.62556029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.37538475 meters 0.05810783535095937 Centerline is valid? [True, True] Translation: X:109.90, Y:-10.13, Z:-1.62 [[ 8.97345258e-01 -4.41323345e-01 -2.27909003e-03 1.09903429e+02] [ 4.41321855e-01 8.97348151e-01 -1.14685469e-03 -1.01345876e+01] [ 2.55127098e-03 2.33123735e-05 9.99996745e-01 -1.62441301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.40538475 meters 0.058029022874501665 Centerline is valid? [True, True] Translation: X:109.93, Y:-10.12, Z:-1.62 [[ 8.96972421e-01 -4.42083393e-01 -1.65832990e-03 1.09929557e+02] [ 4.42082603e-01 8.96973954e-01 -8.35638100e-04 -1.01218895e+01] [ 1.85690045e-03 1.64255307e-05 9.99998276e-01 -1.62356832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.43538475 meters 0.057831716785434674 Centerline is valid? [True, True] Translation: X:109.96, Y:-10.11, Z:-1.62 [[ 8.93832814e-01 -4.48400032e-01 5.58958810e-04 1.09956018e+02] [ 4.48399945e-01 8.93832989e-01 2.78529464e-04 -1.01128421e+01] [-6.24508444e-04 1.67832552e-06 9.99999805e-01 -1.62292876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.46538474999998 meters 0.05774648112082711 Centerline is valid? [True, True] Translation: X:109.98, Y:-10.10, Z:-1.62 [[ 8.93301684e-01 -4.49456190e-01 1.11123611e-03 1.09981455e+02] [ 4.49455848e-01 8.93302375e-01 5.54043402e-04 -1.01004744e+01] [-1.24168809e-03 4.52366269e-06 9.99999229e-01 -1.62294797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49538474999999 meters 0.057810302951998065 Centerline is valid? [True, True] Translation: X:110.00, Y:-10.08, Z:-1.62 [[ 8.93214661e-01 -4.49629907e-01 7.18348361e-04 1.10004928e+02] [ 4.49629765e-01 8.93214950e-01 3.56770169e-04 -1.00837493e+01] [-8.02054033e-04 4.31845914e-06 9.99999678e-01 -1.62361283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.52538474999999 meters 0.057995613869937235 Centerline is valid? [True, True] Translation: X:110.03, Y:-10.07, Z:-1.63 [[ 8.93799906e-01 -4.48465802e-01 3.90039069e-04 1.10027743e+02] [ 4.48465760e-01 8.93799991e-01 1.94278245e-04 -1.00680094e+01] [-4.35744066e-04 1.27329067e-06 9.99999905e-01 -1.62659931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55538474999999 meters 0.057881783030782584 Centerline is valid? [True, True] Translation: X:110.05, Y:-10.05, Z:-1.63 [[ 8.95790260e-01 -4.44477000e-01 7.52771476e-05 1.10050310e+02] [ 4.44476999e-01 8.95790263e-01 3.41285909e-05 -1.00484030e+01] [-8.26019100e-05 2.88690134e-06 9.99999997e-01 -1.62588812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.58538474999999 meters 0.05801551561350924 Centerline is valid? [True, True] Translation: X:110.07, Y:-10.03, Z:-1.63 [[ 8.96758121e-01 -4.42520659e-01 -5.82328266e-04 1.10074686e+02] [ 4.42520559e-01 8.96758310e-01 -2.96881336e-04 -1.00327537e+01] [ 6.53583836e-04 8.53851919e-06 9.99999786e-01 -1.62636575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61538474999999 meters 0.058134872332010035 Centerline is valid? [True, True] Translation: X:110.10, Y:-10.02, Z:-1.63 [[ 8.97885702e-01 -4.40225167e-01 -1.75161582e-03 1.10098941e+02] [ 4.40224276e-01 8.97887410e-01 -8.85872708e-04 -1.00167057e+01] [ 1.96273725e-03 2.43086338e-05 9.99998074e-01 -1.62748377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.64538474999999 meters 0.05873138001824335 Centerline is valid? [True, True] Translation: X:110.12, Y:-10.00, Z:-1.63 [[ 9.00292456e-01 -4.35280226e-01 -2.14903896e-03 1.10121103e+02] [ 4.35278879e-01 9.00295020e-01 -1.08375052e-03 -9.99878536e+00] [ 2.40650424e-03 4.02611467e-05 9.99997104e-01 -1.62951858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.67538474999999 meters 0.05885823982399333 Centerline is valid? [True, True] Translation: X:110.15, Y:-9.99, Z:-1.63 [[ 9.00462032e-01 -4.34920297e-01 -3.53039678e-03 1.10145217e+02] [ 4.34916660e-01 9.00468950e-01 -1.77987435e-03 -9.98558131e+00] [ 3.95311616e-03 6.72808971e-05 9.99992184e-01 -1.63131631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.70538475 meters 0.058987636648935846 Centerline is valid? [True, True] Translation: X:110.17, Y:-9.97, Z:-1.63 [[ 9.00730780e-01 -4.34355262e-01 -4.42360703e-03 1.10171071e+02] [ 4.34349528e-01 9.00741638e-01 -2.23368277e-03 -9.97298213e+00] [ 4.95473890e-03 9.05551970e-05 9.99987721e-01 -1.63224727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.73538475 meters 0.0589067165404385 Centerline is valid? [True, True] Translation: X:110.20, Y:-9.96, Z:-1.63 [[ 9.00600015e-01 -4.34615025e-01 -5.42160839e-03 1.10197280e+02] [ 4.34606411e-01 9.00616327e-01 -2.73843702e-03 -9.95967302e+00] [ 6.07295491e-03 1.09970652e-04 9.99981553e-01 -1.63434200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.76538475 meters 0.05917364468483756 Centerline is valid? [True, True] Translation: X:110.22, Y:-9.95, Z:-1.64 [[ 9.00242458e-01 -4.35347431e-01 -6.01086543e-03 1.10221985e+02] [ 4.35336845e-01 9.00262517e-01 -3.03830310e-03 -9.94722407e+00] [ 6.73407429e-03 1.18458254e-04 9.99977319e-01 -1.63722758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.79538475 meters 0.059045207776773176 Centerline is valid? [True, True] Translation: X:110.25, Y:-9.93, Z:-1.64 [[ 9.00239567e-01 -4.35350167e-01 -6.24136935e-03 1.10247590e+02] [ 4.35338744e-01 9.00261194e-01 -3.15609094e-03 -9.93441939e+00] [ 6.99286734e-03 1.24128042e-04 9.99975542e-01 -1.63671325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.82538475 meters 0.05895413195128222 Centerline is valid? [True, True] Translation: X:110.27, Y:-9.92, Z:-1.64 [[ 9.00066360e-01 -4.35722987e-01 -5.10156639e-03 1.10273538e+02] [ 4.35715348e-01 9.00080812e-01 -2.58196366e-03 -9.92204790e+00] [ 5.71684294e-03 1.01107853e-04 9.99983654e-01 -1.63655985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85538474999998 meters 0.05877630063902641 Centerline is valid? [True, True] Translation: X:110.30, Y:-9.91, Z:-1.64 [[ 8.99348864e-01 -4.37217638e-01 -3.51523798e-03 1.10299808e+02] [ 4.37214014e-01 8.99355732e-01 -1.78133343e-03 -9.90965942e+00] [ 3.94027982e-03 6.51288890e-05 9.99992235e-01 -1.63626961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.88538474999999 meters 0.05792782237479792 Centerline is valid? [True, True] Translation: X:110.33, Y:-9.90, Z:-1.63 [[ 8.97428569e-01 -4.41158811e-01 -9.31529782e-04 1.10327090e+02] [ 4.41158556e-01 8.97429052e-01 -4.75020881e-04 -9.90011126e+00] [ 1.04554154e-03 1.53449764e-05 9.99999453e-01 -1.63305757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91538474999999 meters 0.05794034466493362 Centerline is valid? [True, True] Translation: X:110.35, Y:-9.89, Z:-1.63 [[ 8.97270524e-01 -4.41479031e-01 -1.36814156e-03 1.10352488e+02] [ 4.41478481e-01 8.97271567e-01 -6.96921988e-04 -9.88709577e+00] [ 1.53527097e-03 2.13224983e-05 9.99998821e-01 -1.63316448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.94538474999999 meters 0.05795849619749516 Centerline is valid? [True, True] Translation: X:110.38, Y:-9.87, Z:-1.63 [[ 8.97355175e-01 -4.41305146e-01 -1.85982535e-03 1.10377512e+02] [ 4.41304133e-01 8.97357102e-01 -9.45912577e-04 -9.87255084e+00] [ 2.08636357e-03 2.80709317e-05 9.99997823e-01 -1.63437808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97538474999999 meters 0.058448757047558995 Centerline is valid? [True, True] Translation: X:110.40, Y:-9.85, Z:-1.64 [[ 8.98977341e-01 -4.37994995e-01 -3.52478982e-04 1.10399843e+02] [ 4.37994958e-01 8.98977410e-01 -1.79911198e-04 -9.85456393e+00] [ 3.95670846e-04 7.35207357e-06 9.99999922e-01 -1.63561890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.00538474999999 meters 0.05895171134602757 Centerline is valid? [True, True] Translation: X:110.42, Y:-9.84, Z:-1.64 [[ 9.00562765e-01 -4.34725957e-01 -2.20410057e-04 1.10423659e+02] [ 4.34725943e-01 9.00562792e-01 -1.13036897e-04 -9.83886482e+00] [ 2.47633169e-04 5.97885047e-06 9.99999969e-01 -1.63522476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03538474999999 meters 0.058788174641299484 Centerline is valid? [True, True] Translation: X:110.45, Y:-9.83, Z:-1.63 [[ 9.00863297e-01 -4.34102610e-01 -4.94665088e-04 1.10449697e+02] [ 4.34102535e-01 9.00863433e-01 -2.54793220e-04 -9.82589982e+00] [ 5.56232090e-04 1.47984915e-05 9.99999845e-01 -1.63420440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.06538474999999 meters 0.059105893649702326 Centerline is valid? [True, True] Translation: X:110.47, Y:-9.81, Z:-1.63 [[ 9.01342350e-01 -4.33106874e-01 -6.35156020e-04 1.10473657e+02] [ 4.33106753e-01 9.01342574e-01 -3.24325479e-04 -9.81163589e+00] [ 7.12960756e-04 1.72379280e-05 9.99999746e-01 -1.63431425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.09538475 meters 0.060039649968353336 Centerline is valid? [True, True] Translation: X:110.50, Y:-9.80, Z:-1.64 [[ 9.02282478e-01 -4.31143475e-01 -1.27789634e-03 1.10496471e+02] [ 4.31142987e-01 9.02283383e-01 -6.49838840e-04 -9.79525248e+00] [ 1.43319841e-03 3.53821529e-05 9.99998972e-01 -1.63694706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.12538475 meters 0.059618835277897395 Centerline is valid? [True, True] Translation: X:110.52, Y:-9.78, Z:-1.64 [[ 9.02581254e-01 -4.30517695e-01 -1.26279981e-03 1.10522090e+02] [ 4.30517217e-01 9.02582137e-01 -6.42360744e-04 -9.78297882e+00] [ 1.41632822e-03 3.61257066e-05 9.99998996e-01 -1.63712451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.15538475 meters 0.05948510754646602 Centerline is valid? [True, True] Translation: X:110.55, Y:-9.77, Z:-1.64 [[ 9.01688399e-01 -4.32385121e-01 -1.06709400e-03 1.10548549e+02] [ 4.32384778e-01 9.01689029e-01 -5.45835576e-04 -9.77205718e+00] [ 1.19819813e-03 3.07784049e-05 9.99999282e-01 -1.63799331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.18538475 meters 0.05886815137819617 Centerline is valid? [True, True] Translation: X:110.58, Y:-9.76, Z:-1.64 [[ 9.00274410e-01 -4.35322586e-01 -4.83445167e-04 1.10576319e+02] [ 4.35322514e-01 9.00274539e-01 -2.49584575e-04 -9.76282537e+00] [ 5.43883177e-04 1.42400397e-05 9.99999852e-01 -1.63680823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21538474999998 meters 0.05927386685146733 Centerline is valid? [True, True] Translation: X:110.60, Y:-9.75, Z:-1.64 [[ 9.00114190e-01 -4.35653426e-01 -7.33662385e-04 1.10599906e+02] [ 4.35653265e-01 9.00114488e-01 -3.74900708e-04 -9.74878245e+00] [ 8.23706920e-04 1.78310339e-05 9.99999661e-01 -1.64035006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.24538474999999 meters 0.05901798357632659 Centerline is valid? [True, True] Translation: X:110.63, Y:-9.74, Z:-1.64 [[ 8.99463499e-01 -4.36993415e-01 -1.47278279e-03 1.10626375e+02] [ 4.36992767e-01 8.99464704e-01 -7.53515116e-04 -9.73906272e+00] [ 1.65399728e-03 3.41639164e-05 9.99998632e-01 -1.64186930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27538474999999 meters 0.05904365273824181 Centerline is valid? [True, True] Translation: X:110.65, Y:-9.73, Z:-1.64 [[ 8.98967607e-01 -4.38007780e-01 -2.53500383e-03 1.10652105e+02] [ 4.38005869e-01 8.98971180e-01 -1.29483823e-03 -9.72780886e+00] [ 2.84604460e-03 5.36710682e-05 9.99995949e-01 -1.64317435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.30538474999999 meters 0.05873853504361375 Centerline is valid? [True, True] Translation: X:110.68, Y:-9.72, Z:-1.64 [[ 8.97863752e-01 -4.40263105e-01 -3.01350251e-03 1.10678786e+02] [ 4.40260429e-01 8.97868808e-01 -1.53582652e-03 -9.71966546e+00] [ 3.38189766e-03 5.22370546e-05 9.99994280e-01 -1.64382594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33538474999999 meters 0.05860178065899791 Centerline is valid? [True, True] Translation: X:110.71, Y:-9.71, Z:-1.64 [[ 8.97112229e-01 -4.41791148e-01 -3.19831227e-03 1.10706629e+02] [ 4.41788132e-01 8.97117929e-01 -1.63332877e-03 -9.70967304e+00] [ 3.59085347e-03 5.23028078e-05 9.99993551e-01 -1.64234034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.36538474999999 meters 0.058440311881541925 Centerline is valid? [True, True] Translation: X:110.73, Y:-9.70, Z:-1.64 [[ 8.96365009e-01 -4.43302129e-01 -3.60466788e-03 1.10732418e+02] [ 4.43298305e-01 8.96372255e-01 -1.84225439e-03 -9.69919231e+00] [ 4.04779957e-03 5.33892144e-05 9.99991806e-01 -1.64389306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39538474999999 meters 0.05855808745154973 Centerline is valid? [True, True] Translation: X:110.76, Y:-9.69, Z:-1.64 [[ 8.96129357e-01 -4.43774950e-01 -3.99621296e-03 1.10756276e+02] [ 4.43770264e-01 8.96138265e-01 -2.04007221e-03 -9.68676753e+00] [ 4.48649229e-03 5.47681207e-05 9.99989934e-01 -1.64481753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.42538474999999 meters 0.05813482981579524 Centerline is valid? [True, True] Translation: X:110.78, Y:-9.68, Z:-1.64 [[ 8.94519589e-01 -4.47019926e-01 -2.80896087e-03 1.10784022e+02] [ 4.47017617e-01 8.94523999e-01 -1.43724040e-03 -9.67787517e+00] [ 3.15515801e-03 2.99846971e-05 9.99995022e-01 -1.64229815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.45538475 meters 0.05804515789157417 Centerline is valid? [True, True] Translation: X:110.81, Y:-9.66, Z:-1.64 [[ 8.94515938e-01 -4.47027393e-01 -2.78336008e-03 1.10809164e+02] [ 4.47025121e-01 8.94520267e-01 -1.42567857e-03 -9.66426642e+00] [ 3.12708938e-03 3.10603255e-05 9.99995110e-01 -1.64234587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.48538475 meters 0.05841361520699171 Centerline is valid? [True, True] Translation: X:110.83, Y:-9.65, Z:-1.64 [[ 8.95145801e-01 -4.45768482e-01 -2.11089375e-03 1.10831822e+02] [ 4.45767174e-01 8.95148289e-01 -1.08018770e-03 -9.64903876e+00] [ 2.37107655e-03 2.59583397e-05 9.99997189e-01 -1.64342577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.51538475 meters 0.058391137314161956 Centerline is valid? [True, True] Translation: X:110.86, Y:-9.63, Z:-1.64 [[ 8.95204558e-01 -4.45650592e-01 -2.08546837e-03 1.10855622e+02] [ 4.45649308e-01 8.95206987e-01 -1.07025237e-03 -9.63468886e+00] [ 2.34388446e-03 2.87072665e-05 9.99997253e-01 -1.64351207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.54538475 meters 0.05854830222876208 Centerline is valid? [True, True] Translation: X:110.88, Y:-9.62, Z:-1.64 [[ 8.96104653e-01 -4.43840496e-01 -1.43719252e-03 1.10880087e+02] [ 4.43839882e-01 8.96105805e-01 -7.38921323e-04 -9.61866311e+00] [ 1.61583977e-03 2.42674767e-05 9.99998694e-01 -1.64330786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.57538475 meters 0.05878863588978515 Centerline is valid? [True, True] Translation: X:110.91, Y:-9.60, Z:-1.64 [[ 8.96640018e-01 -4.42754459e-01 -2.27305910e-03 1.10905277e+02] [ 4.42752923e-01 8.96642898e-01 -1.16716251e-03 -9.60378916e+00] [ 2.55488871e-03 4.01210574e-05 9.99996735e-01 -1.64398371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.60538474999998 meters 0.058889555957908825 Centerline is valid? [True, True] Translation: X:110.93, Y:-9.59, Z:-1.64 [[ 8.97239479e-01 -4.41539144e-01 -2.12182755e-03 1.10930381e+02] [ 4.41537805e-01 8.97241987e-01 -1.08836554e-03 -9.59035510e+00] [ 2.38434876e-03 3.96574520e-05 9.99997157e-01 -1.64290262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63538474999999 meters 0.05896811628202151 Centerline is valid? [True, True] Translation: X:110.95, Y:-9.58, Z:-1.64 [[ 8.97434913e-01 -4.41143117e-01 -1.82421136e-03 1.10953998e+02] [ 4.41142126e-01 8.97436766e-01 -9.36137247e-04 -9.57740572e+00] [ 2.05008485e-03 3.53857716e-05 9.99997898e-01 -1.64347677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.66538474999999 meters 0.05924249573607805 Centerline is valid? [True, True] Translation: X:110.98, Y:-9.56, Z:-1.65 [[ 8.97751470e-01 -4.40492457e-01 -2.94839508e-03 1.10979715e+02] [ 4.40489858e-01 8.97756309e-01 -1.51462446e-03 -9.56345660e+00] [ 3.31412093e-03 6.10182062e-05 9.99994506e-01 -1.64510076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69538474999999 meters 0.05935682531524398 Centerline is valid? [True, True] Translation: X:111.01, Y:-9.55, Z:-1.65 [[ 8.97733718e-01 -4.40522005e-01 -3.81252664e-03 1.11005496e+02] [ 4.40517658e-01 8.97741810e-01 -1.95860435e-03 -9.54964774e+00] [ 4.28547287e-03 7.88198560e-05 9.99990814e-01 -1.64719362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.72538474999999 meters 0.05984029964948637 Centerline is valid? [True, True] Translation: X:111.03, Y:-9.54, Z:-1.65 [[ 8.98094526e-01 -4.39754512e-01 -6.49548131e-03 1.11030071e+02] [ 4.39741904e-01 8.98118005e-01 -3.33280942e-03 -9.53567694e+00] [ 7.29932669e-03 1.36842582e-04 9.99973350e-01 -1.65026542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75538474999999 meters 0.06000620706373788 Centerline is valid? [True, True] Translation: X:111.06, Y:-9.52, Z:-1.65 [[ 8.98345983e-01 -4.39215480e-01 -8.01610890e-03 1.11055922e+02] [ 4.39196215e-01 8.98381729e-01 -4.11748436e-03 -9.52201329e+00] [ 9.00998864e-03 1.78280843e-04 9.99959393e-01 -1.65149995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.78538474999999 meters 0.06000620706373788 Centerline is valid? [True, True] Translation: X:111.08, Y:-9.51, Z:-1.65 [[ 8.98223129e-01 -4.39466692e-01 -8.01474204e-03 1.11080462e+02] [ 4.39447414e-01 8.98258868e-01 -4.12014591e-03 -9.50921723e+00] [ 9.00998001e-03 1.78752683e-04 9.99959393e-01 -1.65187115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.81538474999999 meters 0.06001490344888676 Centerline is valid? [True, True] Translation: X:111.11, Y:-9.50, Z:-1.65 [[ 8.98215068e-01 -4.39478598e-01 -8.26158550e-03 1.11105286e+02] [ 4.39458135e-01 8.98253043e-01 -4.24488706e-03 -9.49661207e+00] [ 9.28653133e-03 1.82200559e-04 9.99956863e-01 -1.65358986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.84538475 meters 0.060115245995186584 Centerline is valid? [True, True] Translation: X:111.13, Y:-9.48, Z:-1.66 [[ 8.97701256e-01 -4.40504924e-01 -9.37375168e-03 1.11131451e+02] [ 4.40478583e-01 8.97750172e-01 -4.82137610e-03 -9.48449203e+00] [ 1.05391271e-02 1.99218514e-04 9.99944442e-01 -1.65580525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.87538475 meters 0.05994747477389221 Centerline is valid? [True, True] Translation: X:111.16, Y:-9.47, Z:-1.66 [[ 8.97389600e-01 -4.41138938e-01 -9.39912418e-03 1.11156359e+02] [ 4.41112449e-01 8.97438799e-01 -4.83825789e-03 -9.47240481e+00] [ 1.05694827e-02 1.95731627e-04 9.99944122e-01 -1.65594877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.90538475 meters 0.05991906989529247 Centerline is valid? [True, True] Translation: X:111.18, Y:-9.46, Z:-1.66 [[ 8.97340697e-01 -4.41214071e-01 -1.04793736e-02 1.11182085e+02] [ 4.41181121e-01 8.97401859e-01 -5.39655691e-03 -9.45998727e+00] [ 1.17852462e-02 2.19248357e-04 9.99930528e-01 -1.65628271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.93538475 meters 0.05981418538147007 Centerline is valid? [True, True] Translation: X:111.21, Y:-9.45, Z:-1.66 [[ 8.97260926e-01 -4.41369185e-01 -1.07737283e-02 1.11207818e+02] [ 4.41334330e-01 8.97325577e-01 -5.55142262e-03 -9.44759269e+00] [ 1.21177688e-02 2.26258451e-04 9.99926552e-01 -1.65599131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.96538474999998 meters 0.059836769863946156 Centerline is valid? [True, True] Translation: X:111.23, Y:-9.43, Z:-1.66 [[ 8.97067135e-01 -4.41769588e-01 -1.04969398e-02 1.11232770e+02] [ 4.41736541e-01 8.97128522e-01 -5.40763825e-03 -9.43426254e+00] [ 1.18060342e-02 2.14132656e-04 9.99930283e-01 -1.65729264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99538474999999 meters 0.05939319168948727 Centerline is valid? [True, True] Translation: X:111.26, Y:-9.42, Z:-1.66 [[ 8.96383409e-01 -4.43180979e-01 -9.34899032e-03 1.11258806e+02] [ 4.43154787e-01 8.96432143e-01 -4.82156199e-03 -9.42214681e+00] [ 1.05175600e-02 1.78918361e-04 9.99944673e-01 -1.65545106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.02538474999999 meters 0.05839511014735023 Centerline is valid? [True, True] Translation: X:111.29, Y:-9.41, Z:-1.65 [[ 8.94069147e-01 -4.47868785e-01 -7.34247309e-03 1.11287091e+02] [ 4.47852764e-01 8.94099290e-01 -3.78949945e-03 -9.41239783e+00] [ 8.26209849e-03 9.97276688e-05 9.99965863e-01 -1.65013382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05538474999999 meters 0.058535028355365656 Centerline is valid? [True, True] Translation: X:111.31, Y:-9.40, Z:-1.65 [[ 8.93689895e-01 -4.48614880e-01 -7.94114721e-03 1.11312761e+02] [ 4.48596146e-01 8.93725170e-01 -4.10102326e-03 -9.39796534e+00] [ 8.93698319e-03 1.02675007e-04 9.99960059e-01 -1.65042078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.08538474999999 meters 0.05892541956461093 Centerline is valid? [True, True] Translation: X:111.33, Y:-9.38, Z:-1.66 [[ 8.93841741e-01 -4.48278520e-01 -9.65977001e-03 1.11333884e+02] [ 4.48250785e-01 8.93893927e-01 -4.98818188e-03 -9.37932445e+00] [ 1.08709045e-02 1.28645683e-04 9.99940902e-01 -1.65656407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11538474999999 meters 0.05932120414433672 Centerline is valid? [True, True] Translation: X:111.36, Y:-9.36, Z:-1.66 [[ 8.94669001e-01 -4.46620635e-01 -9.86846427e-03 1.11357773e+02] [ 4.46591543e-01 8.94723412e-01 -5.09999002e-03 -9.36290973e+00] [ 1.11073068e-02 1.55630292e-04 9.99938300e-01 -1.65763889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.14538474999999 meters 0.05957547822506039 Centerline is valid? [True, True] Translation: X:111.38, Y:-9.35, Z:-1.65 [[ 8.96593774e-01 -4.42696524e-01 -1.18064849e-02 1.11382358e+02] [ 4.42654554e-01 8.96671472e-01 -6.10060289e-03 -9.34689994e+00] [ 1.32872539e-02 2.43568249e-04 9.99911691e-01 -1.65490438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.17538474999999 meters 0.06001043027653666 Centerline is valid? [True, True] Translation: X:111.41, Y:-9.33, Z:-1.66 [[ 8.97616935e-01 -4.40617736e-01 -1.18258108e-02 1.11405453e+02] [ 4.40575434e-01 8.97694789e-01 -6.11162320e-03 -9.33096015e+00] [ 1.33088583e-02 2.75734772e-04 9.99911395e-01 -1.65592085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.20538475 meters 0.060101141905980586 Centerline is valid? [True, True] Translation: X:111.43, Y:-9.32, Z:-1.66 [[ 8.97561237e-01 -4.40720792e-01 -1.22069622e-02 1.11430346e+02] [ 4.40675645e-01 8.97644195e-01 -6.31474389e-03 -9.31617114e+00] [ 1.37405476e-02 2.88558414e-04 9.99905553e-01 -1.65528617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.23538475 meters 0.059972236291592124 Centerline is valid? [True, True] Translation: X:111.46, Y:-9.30, Z:-1.66 [[ 8.97669491e-01 -4.40471030e-01 -1.32195397e-02 1.11455730e+02] [ 4.40417995e-01 8.97766768e-01 -6.84259505e-03 -9.30248466e+00] [ 1.48820283e-02 3.20265659e-04 9.99889205e-01 -1.65501151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.26538475 meters 0.060272312056457854 Centerline is valid? [True, True] Translation: X:111.48, Y:-9.29, Z:-1.66 [[ 8.97714326e-01 -4.40357822e-01 -1.39275678e-02 1.11479601e+02] [ 4.40298957e-01 8.97822295e-01 -7.20795641e-03 -9.28879951e+00] [ 1.56785609e-02 3.38392145e-04 9.99877027e-01 -1.65757248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.29538475 meters 0.06013713310279247 Centerline is valid? [True, True] Translation: X:111.51, Y:-9.28, Z:-1.66 [[ 8.97616411e-01 -4.40573004e-01 -1.34240884e-02 1.11505153e+02] [ 4.40518240e-01 8.97716726e-01 -6.95416392e-03 -9.27528550e+00] [ 1.51148456e-02 3.28615872e-04 9.99885710e-01 -1.65658864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.32538475 meters 0.06013761901939443 Centerline is valid? [True, True] Translation: X:111.53, Y:-9.26, Z:-1.66 [[ 8.97987981e-01 -4.39811227e-01 -1.35525135e-02 1.11530556e+02] [ 4.39755258e-01 8.98090175e-01 -7.02498241e-03 -9.26191447e+00] [ 1.52610454e-02 3.48560682e-04 9.99883483e-01 -1.65657801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35538474999998 meters 0.060255512520731365 Centerline is valid? [True, True] Translation: X:111.56, Y:-9.25, Z:-1.66 [[ 8.98008934e-01 -4.39770873e-01 -1.34734598e-02 1.11555277e+02] [ 4.39715468e-01 8.98109935e-01 -6.98943571e-03 -9.24864648e+00] [ 1.51743983e-02 3.52087030e-04 9.99884800e-01 -1.65716548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.38538474999999 meters 0.06053610496927744 Centerline is valid? [True, True] Translation: X:111.58, Y:-9.23, Z:-1.66 [[ 8.98836123e-01 -4.38098600e-01 -1.27765782e-02 1.11579278e+02] [ 4.38048628e-01 8.98926853e-01 -6.62659468e-03 -9.23361733e+00] [ 1.43883111e-02 3.59460125e-04 9.99896418e-01 -1.65616111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41538474999999 meters 0.06082708033535834 Centerline is valid? [True, True] Translation: X:111.60, Y:-9.22, Z:-1.66 [[ 8.99460934e-01 -4.36832412e-01 -1.21438435e-02 1.11604346e+02] [ 4.36787067e-01 8.99542834e-01 -6.30466565e-03 -9.21800175e+00] [ 1.36779897e-02 3.66526662e-04 9.99906385e-01 -1.65547004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.44538474999999 meters 0.060720222138895365 Centerline is valid? [True, True] Translation: X:111.63, Y:-9.21, Z:-1.66 [[ 8.98706202e-01 -4.38395865e-01 -1.16716341e-02 1.11629162e+02] [ 4.38354123e-01 8.98781930e-01 -6.05852252e-03 -9.20616320e+00] [ 1.31462850e-02 3.28522851e-04 9.99913530e-01 -1.65600625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47538474999999 meters 0.05988216120227791 Centerline is valid? [True, True] Translation: X:111.65, Y:-9.20, Z:-1.66 [[ 8.97023686e-01 -4.41858597e-01 -1.04636026e-02 1.11654838e+02] [ 4.41825268e-01 8.97084677e-01 -5.43270604e-03 -9.19548943e+00] [ 1.17872254e-02 2.50181974e-04 9.99930497e-01 -1.65579418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.50538474999999 meters 0.058836429551351016 Centerline is valid? [True, True] Translation: X:111.68, Y:-9.19, Z:-1.65 [[ 8.93971733e-01 -4.48003278e-01 -1.03731853e-02 1.11683265e+02] [ 4.47970877e-01 8.94031897e-01 -5.39077806e-03 -9.18676947e+00] [ 1.16890448e-02 1.72318276e-04 9.99931666e-01 -1.65460895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53538474999999 meters 0.05887816447196835 Centerline is valid? [True, True] Translation: X:111.71, Y:-9.17, Z:-1.66 [[ 8.93108608e-01 -4.49695273e-01 -1.14531734e-02 1.11709304e+02] [ 4.49655870e-01 8.93182027e-01 -5.95532194e-03 -9.17326044e+00] [ 1.29078487e-02 1.68762640e-04 9.99916676e-01 -1.65681964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.56538474999999 meters 0.05908885954513685 Centerline is valid? [True, True] Translation: X:111.73, Y:-9.16, Z:-1.66 [[ 8.92991955e-01 -4.49881600e-01 -1.31116318e-02 1.11734166e+02] [ 4.49829928e-01 8.93088186e-01 -6.82109226e-03 -9.15843386e+00] [ 1.47785274e-02 1.93176109e-04 9.99890773e-01 -1.65836622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.59538475 meters 0.05927311815860352 Centerline is valid? [True, True] Translation: X:111.76, Y:-9.14, Z:-1.66 [[ 8.93468619e-01 -4.48951836e-01 -1.24930189e-02 1.11757329e+02] [ 4.48904819e-01 8.93555935e-01 -6.50035616e-03 -9.14361474e+00] [ 1.40815581e-02 1.99687840e-04 9.99900830e-01 -1.66019683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.62538475 meters 0.06011133673135505 Centerline is valid? [True, True] Translation: X:111.78, Y:-9.13, Z:-1.66 [[ 8.95373412e-01 -4.45132802e-01 -1.27766216e-02 1.11780358e+02] [ 4.45083213e-01 8.95464526e-01 -6.64956911e-03 -9.12632075e+00] [ 1.44009527e-02 2.67187593e-04 9.99896265e-01 -1.66090575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.65538475 meters 0.06070833222062312 Centerline is valid? [True, True] Translation: X:111.80, Y:-9.11, Z:-1.66 [[ 8.96290274e-01 -4.43281810e-01 -1.28445358e-02 1.11804172e+02] [ 4.43231491e-01 8.96382255e-01 -6.68560588e-03 -9.11106175e+00] [ 1.44772215e-02 2.99140761e-04 9.99895155e-01 -1.66193301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.68538475 meters 0.06073981453734705 Centerline is valid? [True, True] Translation: X:111.83, Y:-9.10, Z:-1.66 [[ 8.98024074e-01 -4.39777091e-01 -1.22013344e-02 1.11829112e+02] [ 4.39731275e-01 8.98106894e-01 -6.35714125e-03 -9.09661036e+00] [ 1.37538276e-02 3.43557548e-04 9.99905353e-01 -1.65947902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71538474999998 meters 0.060716988853693483 Centerline is valid? [True, True] Translation: X:111.85, Y:-9.09, Z:-1.66 [[ 8.97821199e-01 -4.40196738e-01 -1.19969436e-02 1.11854522e+02] [ 4.40152416e-01 8.97901286e-01 -6.25555746e-03 -9.08537514e+00] [ 1.35257470e-02 3.35888416e-04 9.99908466e-01 -1.65851549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.74538474999999 meters 0.06073518761464641 Centerline is valid? [True, True] Translation: X:111.88, Y:-9.07, Z:-1.66 [[ 8.98049786e-01 -4.39723932e-01 -1.22248081e-02 1.11881120e+02] [ 4.39677823e-01 8.98132918e-01 -6.37753419e-03 -9.07328392e+00] [ 1.37838570e-02 3.52366209e-04 9.99904936e-01 -1.65833252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77538474999999 meters 0.060553770314798416 Centerline is valid? [True, True] Translation: X:111.91, Y:-9.06, Z:-1.66 [[ 8.97136364e-01 -4.41576578e-01 -1.25087912e-02 1.11907980e+02] [ 4.41528497e-01 8.97223504e-01 -6.52456910e-03 -9.06388868e+00] [ 1.41042784e-02 3.30440423e-04 9.99900475e-01 -1.65978436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.80538474999999 meters 0.06008043248314979 Centerline is valid? [True, True] Translation: X:111.93, Y:-9.05, Z:-1.66 [[ 8.96256552e-01 -4.43356248e-01 -1.26265850e-02 1.11934909e+02] [ 4.43307343e-01 8.96345436e-01 -6.59238845e-03 -9.05361191e+00] [ 1.42405585e-02 3.11013485e-04 9.99898550e-01 -1.66016294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83538474999999 meters 0.059416326031675515 Centerline is valid? [True, True] Translation: X:111.96, Y:-9.04, Z:-1.66 [[ 8.95146211e-01 -4.45600014e-01 -1.24051507e-02 1.11962924e+02] [ 4.45552965e-01 8.95232122e-01 -6.48099189e-03 -9.04396980e+00] [ 1.39934195e-02 2.74283647e-04 9.99902050e-01 -1.65866281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.86538474999999 meters 0.059013408973561145 Centerline is valid? [True, True] Translation: X:111.99, Y:-9.04, Z:-1.66 [[ 8.93673388e-01 -4.48564649e-01 -1.17316055e-02 1.11991408e+02] [ 4.48522780e-01 8.93750361e-01 -6.13255171e-03 -9.03514048e+00] [ 1.32359726e-02 2.18605937e-04 9.99912377e-01 -1.65958648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89538474999999 meters 0.05889579768406882 Centerline is valid? [True, True] Translation: X:112.02, Y:-9.02, Z:-1.66 [[ 8.93068367e-01 -4.49780145e-01 -1.12566717e-02 1.12017217e+02] [ 4.49741688e-01 8.93139286e-01 -5.88476403e-03 -9.02453677e+00] [ 1.27006257e-02 1.92902090e-04 9.99919325e-01 -1.66001828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.92538474999999 meters 0.05845513497065858 Centerline is valid? [True, True] Translation: X:112.05, Y:-9.02, Z:-1.66 [[ 8.91248375e-01 -4.53379025e-01 -1.11262826e-02 1.12045856e+02] [ 4.53341666e-01 8.91317810e-01 -5.82201247e-03 -9.01748702e+00] [ 1.25566322e-02 1.44851677e-04 9.99921152e-01 -1.65820666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.95538475 meters 0.058152991422009054 Centerline is valid? [True, True] Translation: X:112.07, Y:-9.01, Z:-1.66 [[ 8.90649340e-01 -4.54557284e-01 -1.10194265e-02 1.12072275e+02] [ 4.54520683e-01 8.90717496e-01 -5.76974838e-03 -9.00634105e+00] [ 1.24378771e-02 1.30265328e-04 9.99922638e-01 -1.65776603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.98538475 meters 0.05823530146466407 Centerline is valid? [True, True] Translation: X:112.10, Y:-9.00, Z:-1.66 [[ 8.89881056e-01 -4.56056106e-01 -1.11594997e-02 1.12098302e+02] [ 4.56018702e-01 8.89951019e-01 -5.84182567e-03 -8.99590150e+00] [ 1.25956084e-02 1.09589416e-04 9.99920666e-01 -1.66060399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.01538475 meters 0.058101232350887065 Centerline is valid? [True, True] Translation: X:112.13, Y:-8.99, Z:-1.66 [[ 8.88287682e-01 -4.59166135e-01 -1.05571969e-02 1.12125017e+02] [ 4.59132813e-01 8.88350413e-01 -5.53205621e-03 -8.98562905e+00] [ 1.19186231e-02 6.69018593e-05 9.99928968e-01 -1.66325579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.04538475 meters 0.058268584503032836 Centerline is valid? [True, True] Translation: X:112.15, Y:-8.97, Z:-1.67 [[ 8.88046445e-01 -4.59611137e-01 -1.14505543e-02 1.12150991e+02] [ 4.59571938e-01 8.88120261e-01 -6.00294813e-03 -8.97230069e+00] [ 1.29284911e-02 6.85433130e-05 9.99916421e-01 -1.66544162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.07538475 meters 0.05795133167844648 Centerline is valid? [True, True] Translation: X:112.18, Y:-8.96, Z:-1.66 [[ 8.87694706e-01 -4.60263014e-01 -1.24926822e-02 1.12177385e+02] [ 4.60216361e-01 8.87782605e-01 -6.55343134e-03 -8.96059356e+00] [ 1.41070880e-02 6.81095477e-05 9.99900488e-01 -1.66110170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.10538474999998 meters 0.057999027601170046 Centerline is valid? [True, True] Translation: X:112.20, Y:-8.95, Z:-1.66 [[ 8.86569440e-01 -4.62448815e-01 -1.16499484e-02 1.12204204e+02] [ 4.62408445e-01 8.86645979e-01 -6.11043823e-03 -8.95211662e+00] [ 1.31551448e-02 3.02933019e-05 9.99913467e-01 -1.66088072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13538474999999 meters 0.05789707038375645 Centerline is valid? [True, True] Translation: X:112.23, Y:-8.94, Z:-1.66 [[ 8.86091174e-01 -4.63360996e-01 -1.17905989e-02 1.12229761e+02] [ 4.63319626e-01 8.86169615e-01 -6.19174195e-03 -8.94057896e+00] [ 1.33174822e-02 2.36320046e-05 9.99911318e-01 -1.65853138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.16538474999999 meters 0.0578169289437291 Centerline is valid? [True, True] Translation: X:112.26, Y:-8.93, Z:-1.66 [[ 8.85450052e-01 -4.64580209e-01 -1.19764114e-02 1.12255043e+02] [ 4.64537629e-01 8.85531044e-01 -6.28986842e-03 -8.92998734e+00] [ 1.35276325e-02 5.87055412e-06 9.99908497e-01 -1.66144617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19538474999999 meters 0.058002396221591576 Centerline is valid? [True, True] Translation: X:112.28, Y:-8.92, Z:-1.66 [[ 8.84968284e-01 -4.65497554e-01 -1.19650914e-02 1.12280055e+02] [ 4.65455053e-01 8.85049167e-01 -6.29013755e-03 -8.91734167e+00] [ 1.35177378e-02 -2.64000745e-06 9.99908631e-01 -1.66273988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.22538474999999 meters 0.058113045807421104 Centerline is valid? [True, True] Translation: X:112.31, Y:-8.90, Z:-1.66 [[ 8.84790053e-01 -4.65832980e-01 -1.20911826e-02 1.12305722e+02] [ 4.65789552e-01 8.84872666e-01 -6.36072146e-03 -8.90463423e+00] [ 1.36621908e-02 -4.04342231e-06 9.99906668e-01 -1.66329949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25538474999999 meters 0.05801008842308107 Centerline is valid? [True, True] Translation: X:112.33, Y:-8.89, Z:-1.66 [[ 8.84521219e-01 -4.66352742e-01 -1.17189537e-02 1.12331120e+02] [ 4.66311988e-01 8.84598847e-01 -6.16520171e-03 -8.89257536e+00] [ 1.32417317e-02 -1.14368871e-05 9.99912324e-01 -1.66367574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.28538474999999 meters 0.05801338994654787 Centerline is valid? [True, True] Translation: X:112.36, Y:-8.88, Z:-1.66 [[ 8.84372745e-01 -4.66657411e-01 -1.07567738e-02 1.12355325e+02] [ 4.66623092e-01 8.84438161e-01 -5.65944931e-03 -8.87939960e+00] [ 1.21547252e-02 -1.42963521e-05 9.99926128e-01 -1.66393592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.31538474999999 meters 0.05788577588615311 Centerline is valid? [True, True] Translation: X:112.38, Y:-8.87, Z:-1.66 [[ 8.84468439e-01 -4.66505392e-01 -9.39675989e-03 1.12381017e+02] [ 4.66479136e-01 8.84518354e-01 -4.94940984e-03 -8.86535666e+00] [ 1.06205330e-02 -5.79563885e-06 9.99943601e-01 -1.66406528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.34538475 meters 0.0577172717323233 Centerline is valid? [True, True] Translation: X:112.41, Y:-8.85, Z:-1.66 [[ 8.83935670e-01 -4.67512295e-01 -9.48609447e-03 1.12406476e+02] [ 4.67485551e-01 8.83986569e-01 -5.00053835e-03 -8.85347288e+00] [ 1.07233933e-02 -1.44578880e-05 9.99942503e-01 -1.66302221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.37538475 meters 0.05773690334013349 Centerline is valid? [True, True] Translation: X:112.43, Y:-8.84, Z:-1.67 [[ 8.83451747e-01 -4.68428763e-01 -9.35439693e-03 1.12431138e+02] [ 4.68402798e-01 8.83501269e-01 -4.93211265e-03 -8.84179971e+00] [ 1.05749650e-02 -2.43421565e-05 9.99944083e-01 -1.66545655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.40538475 meters 0.057691405329057144 Centerline is valid? [True, True] Translation: X:112.46, Y:-8.83, Z:-1.66 [[ 8.82987250e-01 -4.69327187e-01 -8.09375662e-03 1.12457063e+02] [ 4.69307751e-01 8.83024343e-01 -4.27130950e-03 -8.82810391e+00] [ 9.15162580e-03 -2.69508846e-05 9.99958123e-01 -1.66366900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.43538475 meters 0.05804312965529898 Centerline is valid? [True, True] Translation: X:112.48, Y:-8.82, Z:-1.66 [[ 8.81864240e-01 -4.71461399e-01 -6.29370745e-03 1.12483203e+02] [ 4.71449708e-01 8.81886698e-01 -3.32045765e-03 -8.81775433e+00] [ 7.11580449e-03 -3.89736737e-05 9.99974682e-01 -1.66397754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.46538474999998 meters 0.05793262583702932 Centerline is valid? [True, True] Translation: X:112.51, Y:-8.81, Z:-1.66 [[ 8.80890357e-01 -4.73285271e-01 -5.76469593e-03 1.12508327e+02] [ 4.73275469e-01 8.80909218e-01 -3.04625334e-03 -8.80579651e+00] [ 6.51992061e-03 -4.48739830e-05 9.99978744e-01 -1.66304158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49538474999999 meters 0.05797104602016311 Centerline is valid? [True, True] Translation: X:112.53, Y:-8.79, Z:-1.66 [[ 8.80827333e-01 -4.73399570e-01 -6.00475810e-03 1.12530813e+02] [ 4.73388922e-01 8.80847799e-01 -3.17556244e-03 -8.78857678e+00] [ 6.79258785e-03 -4.54637687e-05 9.99976929e-01 -1.66281703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.52538474999999 meters 0.058003395174015496 Centerline is valid? [True, True] Translation: X:112.56, Y:-8.77, Z:-1.66 [[ 8.81270473e-01 -4.72581054e-01 -5.43141598e-03 1.12555073e+02] [ 4.72572338e-01 8.81287210e-01 -2.87031693e-03 -8.77427577e+00] [ 6.14309483e-03 -3.72113897e-05 9.99981130e-01 -1.66382242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55538474999999 meters 0.05809725661782918 Centerline is valid? [True, True] Translation: X:112.58, Y:-8.76, Z:-1.67 [[ 8.82008344e-01 -4.71200336e-01 -5.61471894e-03 1.12577694e+02] [ 4.71190982e-01 8.82026214e-01 -2.96925346e-03 -8.75950368e+00] [ 6.35144251e-03 -2.66986053e-05 9.99979829e-01 -1.66657768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.58538474999999 meters 0.058109001260050065 Centerline is valid? [True, True] Translation: X:112.60, Y:-8.74, Z:-1.67 [[ 8.82371463e-01 -4.70523517e-01 -5.31246153e-03 1.12601497e+02] [ 4.70515109e-01 8.82387455e-01 -2.81285564e-03 -8.74430037e+00] [ 6.01116414e-03 -1.76098701e-05 9.99981933e-01 -1.66772461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61538474999999 meters 0.05788462604183988 Centerline is valid? [True, True] Translation: X:112.62, Y:-8.73, Z:-1.67 [[ 8.83379792e-01 -4.68628378e-01 -5.25224265e-03 1.12624417e+02] [ 4.68620130e-01 8.83395406e-01 -2.78023245e-03 -8.72978253e+00] [ 5.94270285e-03 -5.30546887e-06 9.99982342e-01 -1.66789109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.64538474999999 meters 0.05770453638420451 Centerline is valid? [True, True] Translation: X:112.65, Y:-8.72, Z:-1.67 [[ 8.83022388e-01 -4.69308082e-01 -4.62447206e-03 1.12650239e+02] [ 4.69301681e-01 8.83034498e-01 -2.45126907e-03 -8.71596354e+00] [ 5.23396875e-03 -5.74703616e-06 9.99986303e-01 -1.66540479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.67538474999999 meters 0.05772199343337471 Centerline is valid? [True, True] Translation: X:112.67, Y:-8.70, Z:-1.67 [[ 8.83190841e-01 -4.68995621e-01 -4.12872081e-03 1.12674326e+02] [ 4.68990516e-01 8.83200491e-01 -2.18813181e-03 -8.70216614e+00] [ 4.67271249e-03 -3.79292872e-06 9.99989083e-01 -1.66738552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.70538475 meters 0.05772199343337471 Centerline is valid? [True, True] Translation: X:112.70, Y:-8.69, Z:-1.67 [[ 8.83065972e-01 -4.69230703e-01 -4.12739076e-03 1.12698691e+02] [ 4.69225590e-01 8.83075618e-01 -2.19064266e-03 -8.68905692e+00] [ 4.67271494e-03 -2.19536859e-06 9.99989083e-01 -1.66775740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.73538475 meters 0.05787705601599029 Centerline is valid? [True, True] Translation: X:112.72, Y:-8.68, Z:-1.67 [[ 8.82725285e-01 -4.69871837e-01 -4.06550270e-03 1.12723764e+02] [ 4.69866874e-01 8.82734647e-01 -2.15959414e-03 -8.67657936e+00] [ 4.60349255e-03 -3.91669527e-06 9.99989404e-01 -1.66608757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.76538475 meters 0.05772785998810089 Centerline is valid? [True, True] Translation: X:112.75, Y:-8.66, Z:-1.67 [[ 8.81810803e-01 -4.71595452e-01 -2.72704009e-03 1.12749436e+02] [ 4.71593222e-01 8.81815020e-01 -1.45040269e-03 -8.66289670e+00] [ 3.08874823e-03 -7.07286073e-06 9.99995230e-01 -1.66649881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.79538475 meters 0.05772209562187423 Centerline is valid? [True, True] Translation: X:112.77, Y:-8.65, Z:-1.67 [[ 8.82154117e-01 -4.70952565e-01 -2.79184281e-03 1.12773420e+02] [ 4.70950225e-01 8.82158535e-01 -1.48460969e-03 -8.64980815e+00] [ 3.16202871e-03 -5.16444677e-06 9.99995001e-01 -1.66784471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.82538475 meters 0.05781555440790773 Centerline is valid? [True, True] Translation: X:112.80, Y:-8.64, Z:-1.67 [[ 8.82116474e-01 -4.71024402e-01 -2.55717017e-03 1.12797911e+02] [ 4.71022432e-01 8.82120180e-01 -1.36231004e-03 -8.63672095e+00] [ 2.89741268e-03 -2.76838637e-06 9.99995802e-01 -1.66714549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85538474999998 meters 0.05779489163425976 Centerline is valid? [True, True] Translation: X:112.82, Y:-8.62, Z:-1.67 [[ 8.81898521e-01 -4.71435794e-01 -1.81392946e-03 1.12823068e+02] [ 4.71434801e-01 8.81900387e-01 -9.67591799e-04 -8.62338962e+00] [ 2.05586250e-03 -1.83169856e-06 9.99997887e-01 -1.66816179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.88538474999999 meters 0.057833234182344234 Centerline is valid? [True, True] Translation: X:112.85, Y:-8.61, Z:-1.67 [[ 8.82365762e-01 -4.70559886e-01 -2.01413347e-03 1.12846894e+02] [ 4.70558662e-01 8.82368060e-01 -1.07300155e-03 -8.60983043e+00] [ 2.28211853e-03 -9.88123743e-07 9.99997396e-01 -1.66806381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91538474999999 meters 0.05792820728786928 Centerline is valid? [True, True] Translation: X:112.87, Y:-8.60, Z:-1.67 [[ 8.82526159e-01 -4.70257234e-01 -2.39024773e-03 1.12871142e+02] [ 4.70255504e-01 8.82529396e-01 -1.27564106e-03 -8.59524001e+00] [ 2.70934332e-03 1.75944861e-06 9.99996330e-01 -1.66873041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.94538474999999 meters 0.05792224156733782 Centerline is valid? [True, True] Translation: X:112.89, Y:-8.58, Z:-1.67 [[ 8.83091436e-01 -4.69195455e-01 -2.26736972e-03 1.12894486e+02] [ 4.69193898e-01 8.83094347e-01 -1.20879381e-03 -8.58040975e+00] [ 2.56946195e-03 3.63942361e-06 9.99996699e-01 -1.66855961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97538474999999 meters 0.058021900623152205 Centerline is valid? [True, True] Translation: X:112.92, Y:-8.57, Z:-1.67 [[ 8.83144106e-01 -4.69094999e-01 -2.52385924e-03 1.12918417e+02] [ 4.69093062e-01 8.83147712e-01 -1.34812852e-03 -8.56568560e+00] [ 2.86134086e-03 6.66689332e-06 9.99995906e-01 -1.66900722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.00538474999999 meters 0.05809670422060252 Centerline is valid? [True, True] Translation: X:112.94, Y:-8.55, Z:-1.67 [[ 8.84474394e-01 -4.66581567e-01 -2.58614488e-03 1.12941104e+02] [ 4.66579522e-01 8.84478175e-01 -1.38162787e-03 -8.54754865e+00] [ 2.93203080e-03 1.53722314e-05 9.99995701e-01 -1.66960269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03538474999999 meters 0.05828917156138816 Centerline is valid? [True, True] Translation: X:112.96, Y:-8.53, Z:-1.67 [[ 8.85288794e-01 -4.65033366e-01 -2.77849544e-03 1.12964327e+02] [ 4.65031002e-01 8.85293154e-01 -1.48267916e-03 -8.53214468e+00] [ 3.14927827e-03 2.05127298e-05 9.99995041e-01 -1.67177623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.06538474999999 meters 0.05835458331781496 Centerline is valid? [True, True] Translation: X:112.99, Y:-8.52, Z:-1.67 [[ 8.85561998e-01 -4.64512459e-01 -2.84997477e-03 1.12986379e+02] [ 4.64509967e-01 8.85566584e-01 -1.52180158e-03 -8.51671143e+00] [ 3.23073821e-03 2.38079603e-05 9.99994781e-01 -1.67245477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.09538475 meters 0.05849590431358501 Centerline is valid? [True, True] Translation: X:113.01, Y:-8.50, Z:-1.67 [[ 8.86262340e-01 -4.63175348e-01 -2.76809756e-03 1.13009294e+02] [ 4.63172991e-01 8.86266662e-01 -1.47800573e-03 -8.50060089e+00] [ 3.13784840e-03 2.77927858e-05 9.99995077e-01 -1.67356544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.12538475 meters 0.05892706256468936 Centerline is valid? [True, True] Translation: X:113.03, Y:-8.48, Z:-1.67 [[ 8.87711286e-01 -4.60393496e-01 -2.54979568e-03 1.13031558e+02] [ 4.60391477e-01 8.87714947e-01 -1.36403754e-03 -8.48136548e+00] [ 2.89148575e-03 3.69673224e-05 9.99995819e-01 -1.67442421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.15538475 meters 0.05898241995688902 Centerline is valid? [True, True] Translation: X:113.06, Y:-8.47, Z:-1.67 [[ 8.88073039e-01 -4.59695996e-01 -2.42232676e-03 1.13056492e+02] [ 4.59694168e-01 8.88076342e-01 -1.29697073e-03 -8.46672760e+00] [ 2.74742334e-03 3.82752520e-05 9.99996225e-01 -1.67357771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.18538475 meters 0.05980758546076131 Centerline is valid? [True, True] Translation: X:113.08, Y:-8.45, Z:-1.68 [[ 8.89715472e-01 -4.56510853e-01 -2.05444266e-03 1.13077718e+02] [ 4.56509533e-01 8.89717843e-01 -1.09839455e-03 -8.44750197e+00] [ 2.32930332e-03 3.93859632e-05 9.99997286e-01 -1.67624645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21538474999998 meters 0.06022727537859071 Centerline is valid? [True, True] Translation: X:113.10, Y:-8.43, Z:-1.68 [[ 8.90423396e-01 -4.55129591e-01 -1.79770027e-03 1.13102075e+02] [ 4.55128572e-01 8.90425209e-01 -9.63962909e-04 -8.43154524e+00] [ 2.03944569e-03 4.01503681e-05 9.99997920e-01 -1.67707233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.24538474999999 meters 0.06031456961875685 Centerline is valid? [True, True] Translation: X:113.13, Y:-8.42, Z:-1.68 [[ 8.90599212e-01 -4.54783797e-01 -2.17755132e-03 1.13127360e+02] [ 4.54782301e-01 8.90601873e-01 -1.16753289e-03 -8.41684604e+00] [ 2.47030632e-03 4.94920714e-05 9.99996948e-01 -1.67673527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27538474999999 meters 0.06035549573460633 Centerline is valid? [True, True] Translation: X:113.15, Y:-8.40, Z:-1.68 [[ 8.91615628e-01 -4.52778367e-01 -3.64997684e-03 1.13152871e+02] [ 4.52774151e-01 8.91623094e-01 -1.95610161e-03 -8.40329468e+00] [ 4.14008414e-03 9.14755989e-05 9.99991426e-01 -1.67600154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.30538474999999 meters 0.06018861076644724 Centerline is valid? [True, True] Translation: X:113.18, Y:-8.39, Z:-1.68 [[ 8.91621391e-01 -4.52764145e-01 -3.99041479e-03 1.13179010e+02] [ 4.52759100e-01 8.91630315e-01 -2.13971300e-03 -8.39087434e+00] [ 4.52676013e-03 1.01117273e-04 9.99989749e-01 -1.67631500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33538474999999 meters 0.060464724345911505 Centerline is valid? [True, True] Translation: X:113.20, Y:-8.38, Z:-1.68 [[ 8.91905467e-01 -4.52187374e-01 -5.58716806e-03 1.13203822e+02] [ 4.52177488e-01 8.91922955e-01 -2.99350386e-03 -8.37718831e+00] [ 6.33694810e-03 1.43530833e-04 9.99979911e-01 -1.67847386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.36538474999999 meters 0.06041115547053788 Centerline is valid? [True, True] Translation: X:113.23, Y:-8.36, Z:-1.68 [[ 8.91700533e-01 -4.52598555e-01 -4.97063793e-03 1.13228307e+02] [ 4.52590736e-01 8.91714378e-01 -2.66327913e-03 -8.36435788e+00] [ 5.63778559e-03 1.25182741e-04 9.99984100e-01 -1.67934326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39538474999999 meters 0.060464522136927865 Centerline is valid? [True, True] Translation: X:113.25, Y:-8.35, Z:-1.68 [[ 8.91882059e-01 -4.52233258e-01 -5.61004638e-03 1.13253831e+02] [ 4.52223265e-01 8.91899691e-01 -3.00996220e-03 -8.35117629e+00] [ 6.36480364e-03 1.47537792e-04 9.99979734e-01 -1.67975678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.42538474999999 meters 0.060704041431968656 Centerline is valid? [True, True] Translation: X:113.28, Y:-8.34, Z:-1.68 [[ 8.91606541e-01 -4.52781548e-01 -5.16201688e-03 1.13279188e+02] [ 4.52773106e-01 8.91621474e-01 -2.76799251e-03 -8.33887677e+00] [ 5.85586103e-03 1.30737816e-04 9.99982846e-01 -1.68061933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.45538475 meters 0.060488104810783094 Centerline is valid? [True, True] Translation: X:113.30, Y:-8.33, Z:-1.68 [[ 8.91128186e-01 -4.53717210e-01 -5.59015626e-03 1.13304837e+02] [ 4.53707297e-01 8.91145709e-01 -3.00248069e-03 -8.32663158e+00] [ 6.34392092e-03 1.39300484e-04 9.99979867e-01 -1.68086403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.48538475 meters 0.06047857900919443 Centerline is valid? [True, True] Translation: X:113.33, Y:-8.32, Z:-1.68 [[ 8.90780841e-01 -4.54396628e-01 -5.76172290e-03 1.13329431e+02] [ 4.54386120e-01 8.90799464e-01 -3.09332226e-03 -8.31569632e+00] [ 6.53813487e-03 1.37425290e-04 9.99978617e-01 -1.68202828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.51538475 meters 0.060577061261564445 Centerline is valid? [True, True] Translation: X:113.35, Y:-8.30, Z:-1.68 [[ 8.90409494e-01 -4.55126632e-01 -5.53913163e-03 1.13353759e+02] [ 4.55116935e-01 8.90426714e-01 -2.97370785e-03 -8.30259087e+00] [ 6.28560441e-03 1.26865090e-04 9.99980237e-01 -1.68301700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.54538475 meters 0.06039452840779043 Centerline is valid? [True, True] Translation: X:113.38, Y:-8.29, Z:-1.68 [[ 8.90377424e-01 -4.55197569e-01 -4.81837793e-03 1.13380224e+02] [ 4.55190209e-01 8.90390454e-01 -2.59100934e-03 -8.29060587e+00] [ 5.46965887e-03 1.13697764e-04 9.99985035e-01 -1.68230350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.57538475 meters 0.06096741860773195 Centerline is valid? [True, True] Translation: X:113.40, Y:-8.28, Z:-1.68 [[ 8.90878185e-01 -4.54209586e-01 -5.45077536e-03 1.13404125e+02] [ 4.54200164e-01 8.90894850e-01 -2.92871705e-03 -8.27541463e+00] [ 6.18631905e-03 1.33387074e-04 9.99980856e-01 -1.68451309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.60538474999998 meters 0.061112953806415425 Centerline is valid? [True, True] Translation: X:113.43, Y:-8.26, Z:-1.69 [[ 8.90765119e-01 -4.54428212e-01 -5.70119855e-03 1.13428896e+02] [ 4.54417877e-01 8.90783352e-01 -3.06803957e-03 -8.26285544e+00] [ 6.47273649e-03 1.42176093e-04 9.99979042e-01 -1.68546452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63538474999999 meters 0.061205044294929914 Centerline is valid? [True, True] Translation: X:113.45, Y:-8.25, Z:-1.69 [[ 8.90893345e-01 -4.54167098e-01 -6.42618543e-03 1.13454373e+02] [ 4.54153954e-01 8.90916506e-01 -3.45912030e-03 -8.24889321e+00] [ 7.29621330e-03 1.63229736e-04 9.99973369e-01 -1.68706239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.66538474999999 meters 0.06087686531922618 Centerline is valid? [True, True] Translation: X:113.48, Y:-8.24, Z:-1.69 [[ 8.90562678e-01 -4.54814482e-01 -6.47325732e-03 1.13481346e+02] [ 4.54801138e-01 8.90586189e-01 -3.48769423e-03 -8.23872292e+00] [ 7.35124742e-03 1.61965518e-04 9.99972966e-01 -1.68581640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69538474999999 meters 0.06099266979874732 Centerline is valid? [True, True] Translation: X:113.51, Y:-8.23, Z:-1.69 [[ 8.90330853e-01 -4.55268782e-01 -6.42715331e-03 1.13506022e+02] [ 4.55255655e-01 8.90354038e-01 -3.46072353e-03 -8.22680936e+00] [ 7.29800128e-03 1.55191046e-04 9.99973357e-01 -1.68663921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.72538474999999 meters 0.06066857991701232 Centerline is valid? [True, True] Translation: X:113.53, Y:-8.22, Z:-1.68 [[ 8.89536196e-01 -4.56825823e-01 -5.96009087e-03 1.13534422e+02] [ 4.56814542e-01 8.89556153e-01 -3.21331186e-03 -8.21744197e+00] [ 6.76975934e-03 1.35701029e-04 9.99977076e-01 -1.68471670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75538474999999 meters 0.06025170581231516 Centerline is valid? [True, True] Translation: X:113.56, Y:-8.21, Z:-1.68 [[ 8.88230914e-01 -4.59369957e-01 -5.00868151e-03 1.13562465e+02] [ 4.59362016e-01 8.88245030e-01 -2.70289880e-03 -8.20869358e+00] [ 5.69056696e-03 1.00000238e-04 9.99983804e-01 -1.68482314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.78538474999999 meters 0.0599661258465505 Centerline is valid? [True, True] Translation: X:113.59, Y:-8.20, Z:-1.68 [[ 8.86540067e-01 -4.62632735e-01 -4.20259432e-03 1.13590297e+02] [ 4.62627171e-01 8.86550026e-01 -2.26992482e-03 -8.19952891e+00] [ 4.77595163e-03 6.81449823e-05 9.99988593e-01 -1.68404440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.81538474999999 meters 0.05950793311064334 Centerline is valid? [True, True] Translation: X:113.62, Y:-8.19, Z:-1.69 [[ 8.83287136e-01 -4.68813339e-01 -4.22958647e-03 1.13618211e+02] [ 4.68807784e-01 8.83297261e-01 -2.28242814e-03 -8.19197510e+00] [ 4.80601491e-03 3.31763533e-05 9.99988450e-01 -1.68528669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.84538475 meters 0.059675109029759636 Centerline is valid? [True, True] Translation: X:113.64, Y:-8.18, Z:-1.69 [[ 8.82573290e-01 -4.70148595e-01 -4.96857347e-03 1.13644268e+02] [ 4.70140928e-01 8.82587274e-01 -2.68527683e-03 -8.17953578e+00] [ 5.64767884e-03 3.40238626e-05 9.99984051e-01 -1.68622567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.87538475 meters 0.059948058618114024 Centerline is valid? [True, True] Translation: X:113.67, Y:-8.17, Z:-1.69 [[ 8.81332529e-01 -4.72454074e-01 -6.33417513e-03 1.13671315e+02] [ 4.72441667e-01 8.81355290e-01 -3.42406545e-03 -8.16927940e+00] [ 7.20037243e-03 2.52119976e-05 9.99974077e-01 -1.68953125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.90538475 meters 0.05997238944684936 Centerline is valid? [True, True] Translation: X:113.70, Y:-8.16, Z:-1.69 [[ 8.80675656e-01 -4.73660623e-01 -7.48346438e-03 1.13697819e+02] [ 4.73643333e-01 8.80707451e-01 -4.04723021e-03 -8.15736436e+00] [ 8.50775642e-03 1.98041110e-05 9.99963808e-01 -1.68918934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.93538475 meters 0.05997141871636096 Centerline is valid? [True, True] Translation: X:113.72, Y:-8.15, Z:-1.69 [[ 8.79903615e-01 -4.75088187e-01 -7.80016065e-03 1.13723568e+02] [ 4.75069429e-01 8.79938188e-01 -4.22177600e-03 -8.14563543e+00] [ 8.86937513e-03 9.13809786e-06 9.99960666e-01 -1.69010596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.96538474999998 meters 0.0602374697354269 Centerline is valid? [True, True] Translation: X:113.75, Y:-8.14, Z:-1.69 [[ 8.78080665e-01 -4.78464371e-01 -6.79642157e-03 1.13750271e+02] [ 4.78450244e-01 8.78106967e-01 -3.67680370e-03 -8.13649462e+00] [ 7.72720470e-03 -2.32193195e-05 9.99970144e-01 -1.69032936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99538474999999 meters 0.06023818114477131 Centerline is valid? [True, True] Translation: X:113.78, Y:-8.13, Z:-1.69 [[ 8.76345620e-01 -4.81652926e-01 -5.36783531e-03 1.13777647e+02] [ 4.81644146e-01 8.76362059e-01 -2.90835779e-03 -8.12610686e+00] [ 6.10498624e-03 -3.66598502e-05 9.99981364e-01 -1.68765041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.02538474999999 meters 0.06023023829101314 Centerline is valid? [True, True] Translation: X:113.80, Y:-8.11, Z:-1.69 [[ 8.76010788e-01 -4.82262308e-01 -5.30703725e-03 1.13802506e+02] [ 4.82253723e-01 8.76026863e-01 -2.87791479e-03 -8.11206448e+00] [ 6.03701702e-03 -3.82540668e-05 9.99981776e-01 -1.68897743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05538474999999 meters 0.06011997544335651 Centerline is valid? [True, True] Translation: X:113.83, Y:-8.10, Z:-1.69 [[ 8.75528842e-01 -4.83156619e-01 -2.98813952e-03 1.13827856e+02] [ 4.83153894e-01 8.75533941e-01 -1.62273920e-03 -8.09731138e+00] [ 3.40025475e-03 -2.29762747e-05 9.99994219e-01 -1.68701038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.08538474999999 meters 0.060023331278802716 Centerline is valid? [True, True] Translation: X:113.85, Y:-8.08, Z:-1.69 [[ 8.76035943e-01 -4.82240120e-01 -2.34386500e-03 1.13851839e+02] [ 4.82238442e-01 8.76039078e-01 -1.27256864e-03 -8.08206026e+00] [ 2.66700099e-03 -1.54859386e-05 9.99996443e-01 -1.68756499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11538474999999 meters 0.059965028247492724 Centerline is valid? [True, True] Translation: X:113.88, Y:-8.07, Z:-1.69 [[ 8.77133611e-01 -4.80243069e-01 -1.79540361e-03 1.13875064e+02] [ 4.80242080e-01 8.77135448e-01 -9.74592549e-04 -8.06594448e+00] [ 2.04285346e-03 -7.38048010e-06 9.99997913e-01 -1.68842306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.14538474999999 meters 0.060039879563027115 Centerline is valid? [True, True] Translation: X:113.90, Y:-8.05, Z:-1.69 [[ 8.77186564e-01 -4.80147374e-01 -1.49383907e-03 1.13898270e+02] [ 4.80146687e-01 8.77187836e-01 -8.12297603e-04 -8.05142633e+00] [ 1.70040003e-03 -4.72533977e-06 9.99998554e-01 -1.68982782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.17538474999999 meters 0.06009002760499749 Centerline is valid? [True, True] Translation: X:113.92, Y:-8.03, Z:-1.69 [[ 8.78331059e-01 -4.78052601e-01 -5.10671680e-04 1.13921626e+02] [ 4.78052519e-01 8.78331208e-01 -2.80869531e-04 -8.03447771e+00] [ 5.82809283e-04 2.56854928e-06 9.99999830e-01 -1.68846901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.20538475 meters 0.060127585250063904 Centerline is valid? [True, True] Translation: X:113.94, Y:-8.02, Z:-1.69 [[ 8.78522326e-01 -4.77701122e-01 -4.01665551e-04 1.13944601e+02] [ 4.77701071e-01 8.78522417e-01 -2.20364448e-04 -8.02031457e+00] [ 4.58140534e-04 1.71902350e-06 9.99999895e-01 -1.68915823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.23538475 meters 0.0602095513203253 Centerline is valid? [True, True] Translation: X:113.97, Y:-8.01, Z:-1.69 [[ 8.79281689e-01 -4.76300672e-01 -1.17553107e-03 1.13968357e+02] [ 4.76300242e-01 8.79282474e-01 -6.40125280e-04 -8.00558211e+00] [ 1.33851597e-03 2.94470281e-06 9.99999104e-01 -1.69082126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.26538475 meters 0.06018754463418639 Centerline is valid? [True, True] Translation: X:113.99, Y:-7.99, Z:-1.69 [[ 8.79450416e-01 -4.75986443e-01 -1.96758947e-03 1.13993361e+02] [ 4.75985234e-01 8.79452617e-01 -1.07265699e-03 -7.99060324e+00] [ 2.24097190e-03 6.80509749e-06 9.99997489e-01 -1.69207527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.29538475 meters 0.060316987958114715 Centerline is valid? [True, True] Translation: X:114.02, Y:-7.98, Z:-1.69 [[ 8.79320374e-01 -4.76223530e-01 -2.61348093e-03 1.14017364e+02] [ 4.76221405e-01 8.79324257e-01 -1.42250111e-03 -7.97670278e+00] [ 2.97552568e-03 6.23864248e-06 9.99995573e-01 -1.69421733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.32538475 meters 0.06036160885027409 Centerline is valid? [True, True] Translation: X:114.04, Y:-7.96, Z:-1.70 [[ 8.79621366e-01 -4.75657736e-01 -3.99635975e-03 1.14041656e+02] [ 4.75652770e-01 8.79630444e-01 -2.17357274e-03 -7.96269528e+00] [ 4.54919639e-03 1.10414375e-05 9.99989652e-01 -1.69658167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35538474999998 meters 0.06065519657880559 Centerline is valid? [True, True] Translation: X:114.07, Y:-7.95, Z:-1.70 [[ 8.79177038e-01 -4.76458172e-01 -5.94524221e-03 1.14066868e+02] [ 4.76447175e-01 8.79197140e-01 -3.23708377e-03 -7.94886774e+00] [ 6.76937496e-03 1.33758677e-05 9.99977087e-01 -1.69962528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.38538474999999 meters 0.06067738103979555 Centerline is valid? [True, True] Translation: X:114.09, Y:-7.94, Z:-1.70 [[ 8.78982799e-01 -4.76801235e-01 -7.05845848e-03 1.14092434e+02] [ 4.76785732e-01 8.79011139e-01 -3.84492670e-03 -7.93517384e+00] [ 8.03772943e-03 1.42521414e-05 9.99967697e-01 -1.69960573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41538474999999 meters 0.0606485982218106 Centerline is valid? [True, True] Translation: X:114.12, Y:-7.92, Z:-1.70 [[ 8.79188021e-01 -4.76416803e-01 -7.44669557e-03 1.14116299e+02] [ 4.76399515e-01 8.79219557e-01 -4.05857022e-03 -7.92094168e+00] [ 8.48085143e-03 2.06441540e-05 9.99964037e-01 -1.70185970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.44538474999999 meters 0.06049042437863645 Centerline is valid? [True, True] Translation: X:114.14, Y:-7.91, Z:-1.70 [[ 8.79351365e-01 -4.76120910e-01 -7.07498732e-03 1.14140713e+02] [ 4.76105268e-01 8.79379826e-01 -3.85942949e-03 -7.90614447e+00] [ 8.05915620e-03 2.53558535e-05 9.99967524e-01 -1.70069833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47538474999999 meters 0.06049814670679856 Centerline is valid? [True, True] Translation: X:114.17, Y:-7.89, Z:-1.70 [[ 8.79504105e-01 -4.75834535e-01 -7.35008160e-03 1.14165459e+02] [ 4.75817628e-01 8.79534817e-01 -4.01136288e-03 -7.89117651e+00] [ 8.37339767e-03 3.07117334e-05 9.99964942e-01 -1.69899455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.50538474999999 meters 0.06040466674693575 Centerline is valid? [True, True] Translation: X:114.19, Y:-7.87, Z:-1.70 [[ 8.80790610e-01 -4.73474396e-01 -5.46784452e-03 1.14188407e+02] [ 4.73465000e-01 8.80807581e-01 -2.98320982e-03 -7.87413464e+00] [ 6.22859237e-03 3.87501913e-05 9.99980601e-01 -1.69855512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53538474999999 meters 0.06031968355428299 Centerline is valid? [True, True] Translation: X:114.21, Y:-7.86, Z:-1.70 [[ 8.81218624e-01 -4.72697587e-01 -3.27547486e-03 1.14210828e+02] [ 4.72694206e-01 8.81224711e-01 -1.78797902e-03 -7.85693803e+00] [ 3.73160276e-03 2.73024274e-05 9.99993037e-01 -1.69785061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.56538474999999 meters 0.060197819380236564 Centerline is valid? [True, True] Translation: X:114.24, Y:-7.84, Z:-1.70 [[ 8.81523730e-01 -4.72134311e-01 -2.25973211e-03 1.14235405e+02] [ 4.72132691e-01 8.81526626e-01 -1.23712864e-03 -7.84101443e+00] [ 2.57610490e-03 2.36648531e-05 9.99996682e-01 -1.69845980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.59538475 meters 0.060197819380236564 Centerline is valid? [True, True] Translation: X:114.26, Y:-7.83, Z:-1.70 [[ 8.81389514e-01 -4.72384823e-01 -2.25915335e-03 1.14259614e+02] [ 4.72383200e-01 8.81392409e-01 -1.23818772e-03 -7.82760361e+00] [ 2.57610170e-03 2.41395797e-05 9.99996682e-01 -1.69883091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.62538475 meters 0.06030262737388199 Centerline is valid? [True, True] Translation: X:114.28, Y:-7.81, Z:-1.70 [[ 8.81762632e-01 -4.71693390e-01 -8.57218242e-05 1.14284521e+02] [ 4.71693387e-01 8.81762636e-01 -5.07376904e-05 -7.81249036e+00] [ 9.95189344e-05 4.30418178e-06 9.99999995e-01 -1.69713730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.65538475 meters 0.06016633481274946 Centerline is valid? [True, True] Translation: X:114.31, Y:-7.80, Z:-1.70 [[ 8.81967560e-01 -4.71310105e-01 8.65145692e-05 1.14309148e+02] [ 4.71310103e-01 8.81967565e-01 4.28257919e-05 -7.79825183e+00] [-9.64872728e-05 3.00423126e-06 9.99999995e-01 -1.69685926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.68538475 meters 0.06012028290391429 Centerline is valid? [True, True] Translation: X:114.33, Y:-7.78, Z:-1.70 [[ 8.81806952e-01 -4.71610079e-01 6.58310143e-04 1.14333068e+02] [ 4.71609943e-01 8.81807198e-01 3.57985207e-04 -7.78466424e+00] [-7.49332054e-04 -5.20823529e-06 9.99999719e-01 -1.69694706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71538474999998 meters 0.06016477204532425 Centerline is valid? [True, True] Translation: X:114.36, Y:-7.77, Z:-1.70 [[ 8.81890142e-01 -4.71452104e-01 1.64047439e-03 1.14356880e+02] [ 4.71451253e-01 8.81891668e-01 8.95597084e-04 -7.77217798e+00] [-1.86895183e-03 -1.64145322e-05 9.99998253e-01 -1.69745089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.74538474999999 meters 0.06030908608309049 Centerline is valid? [True, True] Translation: X:114.38, Y:-7.76, Z:-1.70 [[ 8.81948179e-01 -4.71344867e-01 -1.19397395e-03 1.14382073e+02] [ 4.71344412e-01 8.81948987e-01 -6.54842508e-04 -7.75936225e+00] [ 1.36168077e-03 1.47642091e-05 9.99999073e-01 -1.70029511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77538474999999 meters 0.06018864515283775 Centerline is valid? [True, True] Translation: X:114.41, Y:-7.75, Z:-1.70 [[ 8.81322901e-01 -4.72511214e-01 -1.75952215e-03 1.14407367e+02] [ 4.72510223e-01 8.81324658e-01 -9.67989869e-04 -7.74693555e+00] [ 2.00809633e-03 2.17194345e-05 9.99997984e-01 -1.70130846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.80538474999999 meters 0.06018203071473529 Centerline is valid? [True, True] Translation: X:114.43, Y:-7.74, Z:-1.70 [[ 8.80222474e-01 -4.74549293e-01 -3.37122711e-03 1.14433410e+02] [ 4.74545692e-01 8.80228929e-01 -1.84882955e-03 -7.73566137e+00] [ 3.84481238e-03 2.75800181e-05 9.99992608e-01 -1.70367973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83538474999999 meters 0.06000289723632661 Centerline is valid? [True, True] Translation: X:114.46, Y:-7.72, Z:-1.70 [[ 8.79124678e-01 -4.76579412e-01 -3.44440439e-03 1.14459084e+02] [ 4.76575655e-01 8.79131426e-01 -1.89250922e-03 -7.72472730e+00] [ 3.93001507e-03 2.22322816e-05 9.99992277e-01 -1.70449919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.86538474999999 meters 0.05997557218336046 Centerline is valid? [True, True] Translation: X:114.48, Y:-7.72, Z:-1.71 [[ 8.77860118e-01 -4.78902516e-01 -3.74062723e-03 1.14484259e+02] [ 4.78898113e-01 8.77868088e-01 -2.05365967e-03 -7.71526593e+00] [ 4.26728006e-03 1.14465947e-05 9.99990895e-01 -1.70537701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89538474999999 meters 0.06005167983764818 Centerline is valid? [True, True] Translation: X:114.51, Y:-7.70, Z:-1.71 [[ 8.76721085e-01 -4.80979855e-01 -4.30319290e-03 1.14510672e+02] [ 4.80974041e-01 8.76731646e-01 -2.36486417e-03 -7.70334093e+00] [ 4.91019742e-03 3.60219911e-06 9.99987945e-01 -1.70674241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.92538474999999 meters 0.05992626415299849 Centerline is valid? [True, True] Translation: X:114.54, Y:-7.69, Z:-1.71 [[ 8.75406735e-01 -4.83368587e-01 -4.22573967e-03 1.14536361e+02] [ 4.83363011e-01 8.75416934e-01 -2.32186039e-03 -7.69300185e+00] [ 4.82159844e-03 -9.99402182e-06 9.99988376e-01 -1.70750732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.95538475 meters 0.06005218020596015 Centerline is valid? [True, True] Translation: X:114.56, Y:-7.68, Z:-1.71 [[ 8.74174335e-01 -4.85595449e-01 -4.03631603e-03 1.14562105e+02] [ 4.85590369e-01 8.74183653e-01 -2.22125791e-03 -7.68183036e+00] [ 4.60711422e-03 -1.82295317e-05 9.99989387e-01 -1.70677873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.98538475 meters 0.06032681847427374 Centerline is valid? [True, True] Translation: X:114.59, Y:-7.68, Z:-1.71 [[ 8.71367565e-01 -4.90622085e-01 -2.92154010e-03 1.14591147e+02] [ 4.90619457e-01 8.71372462e-01 -1.60634114e-03 -7.67603620e+00] [ 3.33385603e-03 -3.36508486e-05 9.99994442e-01 -1.70593121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.01538475 meters 0.06001910031230723 Centerline is valid? [True, True] Translation: X:114.62, Y:-7.66, Z:-1.70 [[ 8.70713595e-01 -4.91785679e-01 -2.16383128e-03 1.14616029e+02] [ 4.91784231e-01 8.70716283e-01 -1.19385888e-03 -7.66264629e+00] [ 2.47120583e-03 -2.46289470e-05 9.99996946e-01 -1.70264075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.04538475 meters 0.06022853905056712 Centerline is valid? [True, True] Translation: X:114.64, Y:-7.65, Z:-1.70 [[ 8.69060326e-01 -4.94705830e-01 -5.39787214e-04 1.14643216e+02] [ 4.94705739e-01 8.69060494e-01 -3.00712004e-04 -7.65156406e+00] [ 6.17871724e-04 -5.69896022e-06 9.99999809e-01 -1.70068160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.07538475 meters 0.060285518268376394 Centerline is valid? [True, True] Translation: X:114.67, Y:-7.64, Z:-1.70 [[ 8.66989974e-01 -4.98323471e-01 1.45053551e-03 1.14670023e+02] [ 4.98322839e-01 8.66991186e-01 7.94442759e-04 -7.64022552e+00] [-1.65349098e-03 3.40610671e-05 9.99998632e-01 -1.69696708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.10538474999998 meters 0.06049207600064125 Centerline is valid? [True, True] Translation: X:114.69, Y:-7.63, Z:-1.70 [[ 8.66873490e-01 -4.98527822e-01 6.02704705e-04 1.14693088e+02] [ 4.98527713e-01 8.66873699e-01 3.29852444e-04 -7.62506783e+00] [-6.86909479e-04 1.45246590e-05 9.99999764e-01 -1.70066682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13538474999999 meters 0.060476293089872984 Centerline is valid? [True, True] Translation: X:114.72, Y:-7.61, Z:-1.70 [[ 8.66623231e-01 -4.98962281e-01 9.04260864e-04 1.14717111e+02] [ 4.98962037e-01 8.66623702e-01 4.93774453e-04 -7.61041829e+00] [-1.03002873e-03 2.32754314e-05 9.99999469e-01 -1.70149984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.16538474999999 meters 0.06011902457675963 Centerline is valid? [True, True] Translation: X:114.74, Y:-7.59, Z:-1.70 [[ 8.68021782e-01 -4.96526088e-01 1.72693666e-04 1.14739784e+02] [ 4.96526079e-01 8.68021799e-01 9.37979994e-05 -7.59413070e+00] [-1.96475021e-04 4.32820237e-06 9.99999981e-01 -1.70164730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19538474999999 meters 0.05996451785780521 Centerline is valid? [True, True] Translation: X:114.76, Y:-7.58, Z:-1.70 [[ 8.68641840e-01 -4.95440421e-01 -3.78922618e-04 1.14763768e+02] [ 4.95440375e-01 8.68641922e-01 -2.12778621e-04 -7.57751306e+00] [ 4.34567200e-04 -2.90515113e-06 9.99999906e-01 -1.70243416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.22538474999999 meters 0.05960465120009653 Centerline is valid? [True, True] Translation: X:114.79, Y:-7.56, Z:-1.70 [[ 8.70457967e-01 -4.92239967e-01 -1.65632919e-03 1.14786777e+02] [ 4.92239112e-01 8.70459542e-01 -9.17691792e-04 -7.55843108e+00] [ 1.89349212e-03 -1.64978756e-05 9.99998207e-01 -1.70338895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25538474999999 meters 0.059598368384750605 Centerline is valid? [True, True] Translation: X:114.81, Y:-7.54, Z:-1.70 [[ 8.71135120e-01 -4.91039377e-01 -1.98295156e-03 1.14809630e+02] [ 4.91038153e-01 8.71137377e-01 -1.09654678e-03 -7.54363307e+00] [ 2.26587087e-03 -1.84644636e-05 9.99997433e-01 -1.70462081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.28538474999999 meters 0.05948526805919299 Centerline is valid? [True, True] Translation: X:114.83, Y:-7.53, Z:-1.71 [[ 8.72758307e-01 -4.88138483e-01 -3.70925241e-03 1.14830466e+02] [ 4.88134177e-01 8.72766189e-01 -2.05037615e-03 -7.52500656e+00] [ 4.23817759e-03 -2.11300593e-05 9.99991019e-01 -1.70762909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.31538474999999 meters 0.05956020589925058 Centerline is valid? [True, True] Translation: X:114.85, Y:-7.51, Z:-1.71 [[ 8.73460928e-01 -4.86872056e-01 -4.64851077e-03 1.14854102e+02] [ 4.86865264e-01 8.73473297e-01 -2.57168961e-03 -7.50840398e+00] [ 5.31243384e-03 -1.69280253e-05 9.99985889e-01 -1.70889551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.34538475 meters 0.059610540353182334 Centerline is valid? [True, True] Translation: X:114.88, Y:-7.49, Z:-1.71 [[ 8.75025610e-01 -4.84047764e-01 -5.28627256e-03 1.14875919e+02] [ 4.84038916e-01 8.75041577e-01 -2.92666542e-03 -7.48992939e+00] [ 6.04235413e-03 2.14554745e-06 9.99981745e-01 -1.70920206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.37538475 meters 0.05965425784500614 Centerline is valid? [True, True] Translation: X:114.90, Y:-7.47, Z:-1.71 [[ 8.75756898e-01 -4.82730679e-01 -4.57676746e-03 1.14899298e+02] [ 4.82724032e-01 8.75768857e-01 -2.53322515e-03 -7.47374274e+00] [ 5.23105591e-03 9.17375214e-06 9.99986318e-01 -1.71059731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.40538475 meters 0.05965731396411789 Centerline is valid? [True, True] Translation: X:114.92, Y:-7.45, Z:-1.71 [[ 8.77615312e-01 -4.79336370e-01 -5.29241377e-03 1.14921930e+02] [ 4.79327403e-01 8.77631268e-01 -2.93205980e-03 -7.45479940e+00] [ 6.05023071e-03 3.64216252e-05 9.99981697e-01 -1.71036431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.43538475 meters 0.05961366183103028 Centerline is valid? [True, True] Translation: X:114.95, Y:-7.44, Z:-1.71 [[ 8.78115326e-01 -4.78422726e-01 -5.01689795e-03 1.14945859e+02] [ 4.78414638e-01 8.78129656e-01 -2.78221196e-03 -7.43908453e+00] [ 5.73656030e-03 4.29455432e-05 9.99983545e-01 -1.70929071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.46538474999998 meters 0.05982597231417822 Centerline is valid? [True, True] Translation: X:114.97, Y:-7.42, Z:-1.71 [[ 8.79852154e-01 -4.75224453e-01 -4.68039004e-03 1.14967974e+02] [ 4.75217381e-01 8.79864601e-01 -2.59338177e-03 -7.42113067e+00] [ 5.35054795e-03 5.75898366e-05 9.99985684e-01 -1.71058341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49538474999999 meters 0.06015408940768201 Centerline is valid? [True, True] Translation: X:114.99, Y:-7.40, Z:-1.71 [[ 8.80971332e-01 -4.73153894e-01 -3.86071645e-03 1.14991133e+02] [ 4.73149045e-01 8.80979789e-01 -2.14304030e-03 -7.40306511e+00] [ 4.41520103e-03 6.12627648e-05 9.99990251e-01 -1.71079134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.52538474999999 meters 0.06025224986888711 Centerline is valid? [True, True] Translation: X:115.02, Y:-7.39, Z:-1.71 [[ 8.81462644e-01 -4.72234917e-01 -4.21794488e-03 1.15015846e+02] [ 4.72229113e-01 8.81472732e-01 -2.34241336e-03 -7.38737899e+00] [ 4.82417278e-03 7.29134998e-05 9.99988361e-01 -1.71111178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55538474999999 meters 0.0604356620540512 Centerline is valid? [True, True] Translation: X:115.04, Y:-7.37, Z:-1.71 [[ 8.82045633e-01 -4.71141088e-01 -4.64516198e-03 1.15040476e+02] [ 4.71134027e-01 8.82057860e-01 -2.58085554e-03 -7.37171214e+00] [ 5.31324872e-03 8.79384894e-05 9.99985881e-01 -1.71204580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.58538474999999 meters 0.060775347209071566 Centerline is valid? [True, True] Translation: X:115.06, Y:-7.35, Z:-1.71 [[ 8.83169460e-01 -4.69028570e-01 -4.88940605e-03 1.15063958e+02] [ 4.69020707e-01 8.83182987e-01 -2.71798381e-03 -7.35435627e+00] [ 5.59305230e-03 1.07207614e-04 9.99984353e-01 -1.71387544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61538474999999 meters 0.061276865976389254 Centerline is valid? [True, True] Translation: X:115.09, Y:-7.34, Z:-1.72 [[ 8.83816858e-01 -4.67799419e-01 -5.60943404e-03 1.15087127e+02] [ 4.67789060e-01 8.83834649e-01 -3.11580510e-03 -7.33833340e+00] [ 6.41538398e-03 1.29769194e-04 9.99979413e-01 -1.71570360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.64538474999999 meters 0.060865624670025334 Centerline is valid? [True, True] Translation: X:115.11, Y:-7.33, Z:-1.71 [[ 8.83243136e-01 -4.68880722e-01 -5.69484461e-03 1.15113534e+02] [ 4.68870040e-01 8.83261486e-01 -3.16748219e-03 -7.32668829e+00] [ 6.51520825e-03 1.27514884e-04 9.99978768e-01 -1.71310408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67538474999999 meters 0.06089173885386289 Centerline is valid? [True, True] Translation: X:115.14, Y:-7.31, Z:-1.71 [[ 8.83164937e-01 -4.69023719e-01 -6.03694088e-03 1.15138915e+02] [ 4.69011707e-01 8.83185559e-01 -3.35948627e-03 -7.31235362e+00] [ 6.90741776e-03 1.35584533e-04 9.99976134e-01 -1.71332807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.70538475 meters 0.06098065808788483 Centerline is valid? [True, True] Translation: X:115.16, Y:-7.30, Z:-1.72 [[ 8.82754170e-01 -4.69806549e-01 -5.18472401e-03 1.15163327e+02] [ 4.69797690e-01 8.82769389e-01 -2.88739743e-03 -7.29774702e+00] [ 5.93343386e-03 1.13090760e-04 9.99982391e-01 -1.71533238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.73538475 meters 0.060303916790606656 Centerline is valid? [True, True] Translation: X:115.19, Y:-7.29, Z:-1.71 [[ 8.80842399e-01 -4.73385654e-01 -4.76339851e-03 1.15191371e+02] [ 4.73378218e-01 8.80855275e-01 -2.65471300e-03 -7.28841546e+00] [ 5.45256775e-03 8.34946669e-05 9.99985131e-01 -1.71374416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.76538475 meters 0.06047029394455734 Centerline is valid? [True, True] Translation: X:115.21, Y:-7.27, Z:-1.72 [[ 8.80639089e-01 -4.73760923e-01 -5.03816995e-03 1.15214697e+02] [ 4.73752613e-01 8.80653497e-01 -2.80732248e-03 -7.27482758e+00] [ 5.76688167e-03 8.53917339e-05 9.99983368e-01 -1.71549003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.79538475 meters 0.060306638452922556 Centerline is valid? [True, True] Translation: X:115.24, Y:-7.26, Z:-1.71 [[ 8.80627270e-01 -4.73781847e-01 -5.13544082e-03 1.15239868e+02] [ 4.73773191e-01 8.80642239e-01 -2.86532047e-03 -7.26212428e+00] [ 5.88002293e-03 9.02451583e-05 9.99982708e-01 -1.71489106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.82538475 meters 0.060359583484125366 Centerline is valid? [True, True] Translation: X:115.26, Y:-7.25, Z:-1.71 [[ 8.80517176e-01 -4.73998518e-01 -3.86105662e-03 1.15264791e+02] [ 4.73993629e-01 8.80525639e-01 -2.15397967e-03 -7.24977447e+00] [ 4.42074252e-03 6.64998594e-05 9.99990226e-01 -1.71424600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85538474999998 meters 0.06011888045016572 Centerline is valid? [True, True] Translation: X:115.29, Y:-7.24, Z:-1.71 [[ 8.80146991e-01 -4.74690260e-01 -3.22989277e-03 1.15291755e+02] [ 4.74686832e-01 8.80152915e-01 -1.80486888e-03 -7.23789145e+00] [ 3.69955322e-03 5.53623461e-05 9.99993155e-01 -1.71343119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.88538474999999 meters 0.05976704228296085 Centerline is valid? [True, True] Translation: X:115.32, Y:-7.23, Z:-1.71 [[ 8.78994847e-01 -4.76813958e-01 -4.06299941e-03 1.15319029e+02] [ 4.76808550e-01 8.79004236e-01 -2.27171498e-03 -7.22971226e+00] [ 4.65457910e-03 5.95529061e-05 9.99989166e-01 -1.71295207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91538474999999 meters 0.0599415520231522 Centerline is valid? [True, True] Translation: X:115.34, Y:-7.22, Z:-1.72 [[ 8.78156609e-01 -4.78336098e-01 -5.96214677e-03 1.15344716e+02] [ 4.78324519e-01 8.78176846e-01 -3.32899639e-03 -7.21935200e+00] [ 6.82819839e-03 7.15392016e-05 9.99976685e-01 -1.71613738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.94538474999999 meters 0.05997371969657744 Centerline is valid? [True, True] Translation: X:115.37, Y:-7.21, Z:-1.72 [[ 8.77198548e-01 -4.80081697e-01 -6.65365733e-03 1.15369963e+02] [ 4.80067309e-01 8.77223779e-01 -3.71740392e-03 -7.20817382e+00] [ 7.62140402e-03 6.66979488e-05 9.99970954e-01 -1.71826295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97538474999999 meters 0.06008319853193743 Centerline is valid? [True, True] Translation: X:115.40, Y:-7.20, Z:-1.72 [[ 8.76244023e-01 -4.81761234e-01 -1.01254699e-02 1.15397708e+02] [ 4.81727984e-01 8.76302520e-01 -5.66065719e-03 -7.19773012e+00] [ 1.16000600e-02 8.23948076e-05 9.99932714e-01 -1.71996664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.00538474999999 meters 0.060062091170744354 Centerline is valid? [True, True] Translation: X:115.42, Y:-7.19, Z:-1.72 [[ 8.75460694e-01 -4.83174930e-01 -1.05147787e-02 1.15421843e+02] [ 4.83139155e-01 8.75523833e-01 -5.87999016e-03 -7.18597023e+00] [ 1.20470032e-02 6.75989576e-05 9.99927430e-01 -1.72378445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03538474999999 meters 0.059908197663921074 Centerline is valid? [True, True] Translation: X:115.45, Y:-7.18, Z:-1.72 [[ 8.73437077e-01 -4.86820309e-01 -1.06610804e-02 1.15449344e+02] [ 4.86783738e-01 8.73502139e-01 -5.96709794e-03 -7.17650782e+00] [ 1.22173810e-02 2.22439922e-05 9.99925365e-01 -1.72192704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.06538474999999 meters 0.05988755219260999 Centerline is valid? [True, True] Translation: X:115.47, Y:-7.16, Z:-1.72 [[ 8.73550561e-01 -4.86607784e-01 -1.10581173e-02 1.15473748e+02] [ 4.86568431e-01 8.73620549e-01 -6.18854406e-03 -7.16213252e+00] [ 1.26719923e-02 2.54753265e-05 9.99919707e-01 -1.72466658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.09538475 meters 0.059896135020398235 Centerline is valid? [True, True] Translation: X:115.50, Y:-7.15, Z:-1.72 [[ 8.73248834e-01 -4.87163258e-01 -1.04131541e-02 1.15499010e+02] [ 4.87128338e-01 8.73310918e-01 -5.83289931e-03 -7.14790356e+00] [ 1.19354954e-02 2.10300622e-05 9.99928769e-01 -1.72443771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.12538475 meters 0.059821633067134596 Centerline is valid? [True, True] Translation: X:115.52, Y:-7.13, Z:-1.72 [[ 8.72500689e-01 -4.88529245e-01 -9.04017914e-03 1.15524677e+02] [ 4.88502969e-01 8.72547521e-01 -5.06675158e-03 -7.13345028e+00] [ 1.03632422e-02 4.58989032e-06 9.99946300e-01 -1.72462551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.15538475 meters 0.059629049148776286 Centerline is valid? [True, True] Translation: X:115.55, Y:-7.12, Z:-1.72 [[ 8.71421273e-01 -4.90452647e-01 -9.00925223e-03 1.15549139e+02] [ 4.90426646e-01 8.71467843e-01 -5.05017548e-03 -7.12222186e+00] [ 1.03281455e-02 -1.75470144e-05 9.99946663e-01 -1.72253423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.18538475 meters 0.059618257573865 Centerline is valid? [True, True] Translation: X:115.57, Y:-7.11, Z:-1.72 [[ 8.71733435e-01 -4.89894482e-01 -9.17685527e-03 1.15572497e+02] [ 4.89867420e-01 8.71781737e-01 -5.14925506e-03 -7.10703020e+00] [ 1.05228065e-02 -6.66461124e-06 9.99944634e-01 -1.72337623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21538474999998 meters 0.05986184788472788 Centerline is valid? [True, True] Translation: X:115.59, Y:-7.09, Z:-1.73 [[ 8.72804122e-01 -4.87996128e-01 -8.52901585e-03 1.15594556e+02] [ 4.87972677e-01 8.72845793e-01 -4.78406563e-03 -7.08940757e+00] [ 9.77912111e-03 1.36255056e-05 9.99952183e-01 -1.73007334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.24538474999999 meters 0.059539391440302326 Centerline is valid? [True, True] Translation: X:115.62, Y:-7.08, Z:-1.72 [[ 8.72208121e-01 -4.89075777e-01 -7.60781898e-03 1.15621029e+02] [ 4.89057114e-01 8.72241300e-01 -4.27249159e-03 -7.07623919e+00] [ 8.72542606e-03 5.84386549e-06 9.99961933e-01 -1.72164053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27538474999999 meters 0.05954399747128137 Centerline is valid? [True, True] Translation: X:115.65, Y:-7.07, Z:-1.72 [[ 8.70012432e-01 -4.92995092e-01 -5.84864096e-03 1.15647546e+02] [ 4.92984157e-01 8.70032090e-01 -3.28362739e-03 -7.06625548e+00] [ 6.70731751e-03 -2.64906837e-05 9.99977505e-01 -1.72167730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.30538474999999 meters 0.059471195352837215 Centerline is valid? [True, True] Translation: X:115.67, Y:-7.05, Z:-1.72 [[ 8.69535751e-01 -4.93829903e-01 -6.29324603e-03 1.15673294e+02] [ 4.93817233e-01 8.69558524e-01 -3.53754641e-03 -7.05207706e+00] [ 7.21929193e-03 -3.16902721e-05 9.99973940e-01 -1.71985122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33538474999999 meters 0.05961046438015347 Centerline is valid? [True, True] Translation: X:115.70, Y:-7.04, Z:-1.72 [[ 8.68536544e-01 -4.95574609e-01 -7.07657905e-03 1.15698604e+02] [ 4.95558664e-01 8.68565371e-01 -3.97577668e-03 -7.04011565e+00] [ 8.11676549e-03 -5.37527213e-05 9.99967057e-01 -1.72226217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.36538474999999 meters 0.059692334521526974 Centerline is valid? [True, True] Translation: X:115.72, Y:-7.03, Z:-1.72 [[ 8.68572702e-01 -4.95495620e-01 -8.09643625e-03 1.15723861e+02] [ 4.95474701e-01 8.68610435e-01 -4.55346541e-03 -7.02535922e+00] [ 9.28887118e-03 -5.65635722e-05 9.99956856e-01 -1.72396368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39538474999999 meters 0.05993247626386839 Centerline is valid? [True, True] Translation: X:115.75, Y:-7.01, Z:-1.73 [[ 8.68848732e-01 -4.95001579e-01 -8.67859184e-03 1.15748659e+02] [ 4.94977525e-01 8.68892073e-01 -4.88016146e-03 -7.01192782e+00] [ 9.95644727e-03 -5.55858104e-05 9.99950432e-01 -1.72811032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.42538474999999 meters 0.05991662346365978 Centerline is valid? [True, True] Translation: X:115.78, Y:-7.00, Z:-1.72 [[ 8.67059234e-01 -4.98133808e-01 -8.42573904e-03 1.15776737e+02] [ 4.98111268e-01 8.67100168e-01 -4.73949738e-03 -7.00372491e+00] [ 9.66686361e-03 -8.75305924e-05 9.99953271e-01 -1.72408972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.45538475 meters 0.06041945929686188 Centerline is valid? [True, True] Translation: X:115.81, Y:-7.00, Z:-1.72 [[ 8.64344228e-01 -5.02810278e-01 -9.53303867e-03 1.15805346e+02] [ 5.02781660e-01 8.64396784e-01 -5.36672106e-03 -6.99595709e+00] [ 1.09387705e-02 -1.54342634e-04 9.99940158e-01 -1.72375275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.48538475 meters 0.06070836339252503 Centerline is valid? [True, True] Translation: X:115.83, Y:-6.98, Z:-1.73 [[ 8.64324622e-01 -5.02806814e-01 -1.13249912e-02 1.15829332e+02] [ 5.02766427e-01 8.64398794e-01 -6.37536303e-03 -6.98188400e+00] [ 1.29948847e-02 -1.83442109e-04 9.99915546e-01 -1.72823486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.51538475 meters 0.06070836339252503 Centerline is valid? [True, True] Translation: X:115.85, Y:-6.97, Z:-1.73 [[ 8.64191741e-01 -5.03035225e-01 -1.13224609e-02 1.15853362e+02] [ 5.02994799e-01 8.64265891e-01 -6.37985732e-03 -6.96814846e+00] [ 1.29949097e-02 -1.81718951e-04 9.99915546e-01 -1.72860695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.54538475 meters 0.06125135459532738 Centerline is valid? [True, True] Translation: X:115.88, Y:-6.96, Z:-1.73 [[ 8.63376388e-01 -5.04388926e-01 -1.31538300e-02 1.15878530e+02] [ 5.04334526e-01 8.63476552e-01 -7.41146847e-03 -6.95527504e+00] [ 1.50962864e-02 -2.35043722e-04 9.99886017e-01 -1.73238773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.57538475 meters 0.0612705460450763 Centerline is valid? [True, True] Translation: X:115.90, Y:-6.94, Z:-1.73 [[ 8.63132123e-01 -5.04846842e-01 -1.15154137e-02 1.15903225e+02] [ 5.04805182e-01 8.63208910e-01 -6.48898116e-03 -6.94157197e+00] [ 1.32161494e-02 -2.12192430e-04 9.99912640e-01 -1.73234435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.60538474999998 meters 0.06099509679350799 Centerline is valid? [True, True] Translation: X:115.93, Y:-6.93, Z:-1.73 [[ 8.63060946e-01 -5.05010218e-01 -9.51226679e-03 1.15927450e+02] [ 5.04981789e-01 8.63113346e-01 -5.36141786e-03 -6.92829927e+00] [ 1.09177352e-02 -1.76291130e-04 9.99940384e-01 -1.72990410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63538474999999 meters 0.06024909837825726 Centerline is valid? [True, True] Translation: X:115.95, Y:-6.91, Z:-1.73 [[ 8.63472832e-01 -5.04316368e-01 -8.92576755e-03 1.15951698e+02] [ 5.04291244e-01 8.63518950e-01 -5.03616225e-03 -6.91190891e+00] [ 1.02473885e-02 -1.52597146e-04 9.99947482e-01 -1.72568014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.66538474999999 meters 0.05979365357300291 Centerline is valid? [True, True] Translation: X:115.98, Y:-6.90, Z:-1.72 [[ 8.63862441e-01 -5.03664640e-01 -7.97583967e-03 1.15975750e+02] [ 5.03644523e-01 8.63899250e-01 -4.50337703e-03 -6.89536175e+00] [ 9.15851368e-03 -1.26689690e-04 9.99958052e-01 -1.72181953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69538474999999 meters 0.05949427076612162 Centerline is valid? [True, True] Translation: X:116.00, Y:-6.88, Z:-1.72 [[ 8.64706648e-01 -5.02251827e-01 -5.05116062e-03 1.15998669e+02] [ 5.02243717e-01 8.64721399e-01 -2.85503712e-03 -6.87773494e+00] [ 5.80179429e-03 -6.81441072e-05 9.99983167e-01 -1.72152286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.72538474999999 meters 0.059264781719690414 Centerline is valid? [True, True] Translation: X:116.02, Y:-6.86, Z:-1.72 [[ 8.66061386e-01 -4.99916714e-01 -4.57766477e-03 1.16021084e+02] [ 4.99910029e-01 8.66073482e-01 -2.58581427e-03 -6.86037818e+00] [ 5.25728584e-03 -4.89466434e-05 9.99986179e-01 -1.72120891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75538474999999 meters 0.0592489507045824 Centerline is valid? [True, True] Translation: X:116.05, Y:-6.84, Z:-1.72 [[ 8.66626355e-01 -4.98939336e-01 -4.27779869e-03 1.16045190e+02] [ 4.98933467e-01 8.66636912e-01 -2.42033866e-03 -6.84425815e+00] [ 4.91490042e-03 -3.68076597e-05 9.99987921e-01 -1.72082453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.78538474999999 meters 0.05902258220210099 Centerline is valid? [True, True] Translation: X:116.07, Y:-6.83, Z:-1.72 [[ 8.68635271e-01 -4.95431089e-01 -4.56098549e-03 1.16066455e+02] [ 4.95424380e-01 8.68647245e-01 -2.57839438e-03 -6.82512954e+00] [ 5.23930421e-03 -1.99391103e-05 9.99986275e-01 -1.72056259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.81538474999999 meters 0.058970794543867056 Centerline is valid? [True, True] Translation: X:116.09, Y:-6.81, Z:-1.72 [[ 8.69841003e-01 -4.93311583e-01 -4.50676685e-03 1.16088154e+02] [ 4.93304981e-01 8.69852678e-01 -2.55223870e-03 -6.80733408e+00] [ 5.17927212e-03 -3.16866475e-06 9.99986587e-01 -1.72204752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.84538475 meters 0.058987516019362855 Centerline is valid? [True, True] Translation: X:116.11, Y:-6.78, Z:-1.72 [[ 8.72629152e-01 -4.88361260e-01 -4.65227531e-03 1.16108433e+02] [ 4.88354150e-01 8.72641553e-01 -2.63538663e-03 -6.78480638e+00] [ 5.34678948e-03 2.77572450e-05 9.99985705e-01 -1.72393249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.87538475 meters 0.05911677431521676 Centerline is valid? [True, True] Translation: X:116.13, Y:-6.77, Z:-1.73 [[ 8.73500720e-01 -4.86794808e-01 -5.22562881e-03 1.16131597e+02] [ 4.86785802e-01 8.73516349e-01 -2.96143598e-03 -6.76697703e+00] [ 6.00628386e-03 4.30545512e-05 9.99981961e-01 -1.72560806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.90538475 meters 0.059316244427749694 Centerline is valid? [True, True] Translation: X:116.15, Y:-6.75, Z:-1.73 [[ 8.75221488e-01 -4.83697727e-01 -4.88419932e-03 1.16153264e+02] [ 4.83689801e-01 8.75235114e-01 -2.76975920e-03 -6.74699563e+00] [ 5.61454897e-03 6.17153748e-05 9.99984236e-01 -1.72591257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.93538475 meters 0.05949982228068698 Centerline is valid? [True, True] Translation: X:116.18, Y:-6.73, Z:-1.73 [[ 8.75794186e-01 -4.82661411e-01 -4.74411798e-03 1.16177361e+02] [ 4.82653908e-01 8.75807032e-01 -2.69202917e-03 -6.73092535e+00] [ 5.45427049e-03 6.78964146e-05 9.99985123e-01 -1.72579733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.96538474999998 meters 0.060088536498574624 Centerline is valid? [True, True] Translation: X:116.20, Y:-6.71, Z:-1.73 [[ 8.76979510e-01 -4.80504767e-01 -4.70201255e-03 1.16199406e+02] [ 4.80497376e-01 8.76992111e-01 -2.66626584e-03 -6.71248260e+00] [ 5.40478136e-03 7.89558145e-05 9.99985391e-01 -1.72827768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99538474999999 meters 0.060187012442639645 Centerline is valid? [True, True] Translation: X:116.22, Y:-6.70, Z:-1.73 [[ 8.77694187e-01 -4.79203180e-01 -4.15036190e-03 1.16224480e+02] [ 4.79197388e-01 8.77703997e-01 -2.35742838e-03 -6.69760554e+00] [ 4.77247640e-03 8.02585974e-05 9.99988608e-01 -1.72696651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.02538474999999 meters 0.05965771393631663 Centerline is valid? [True, True] Translation: X:116.25, Y:-6.69, Z:-1.72 [[ 8.75850504e-01 -4.82568741e-01 -3.64776596e-03 1.16251954e+02] [ 4.82564288e-01 8.75858098e-01 -2.07370351e-03 -6.68707994e+00] [ 4.19562985e-03 5.59726828e-05 9.99991197e-01 -1.72423400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05538474999999 meters 0.05952066769810562 Centerline is valid? [True, True] Translation: X:116.28, Y:-6.67, Z:-1.72 [[ 8.75104531e-01 -4.83922129e-01 -3.38118797e-03 1.16277617e+02] [ 4.83918309e-01 8.75111062e-01 -1.92352162e-03 -6.67381216e+00] [ 3.88974968e-03 4.70637239e-05 9.99992434e-01 -1.72401395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.08538474999999 meters 0.05947024084566386 Centerline is valid? [True, True] Translation: X:116.30, Y:-6.66, Z:-1.73 [[ 8.73164178e-01 -4.87415484e-01 -3.23488331e-03 1.16303668e+02] [ 4.87412006e-01 8.73170170e-01 -1.84149670e-03 -6.66195779e+00] [ 3.72217761e-03 3.12079865e-05 9.99993072e-01 -1.72603362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11538474999999 meters 0.05943126680466076 Centerline is valid? [True, True] Translation: X:116.33, Y:-6.65, Z:-1.73 [[ 8.69968125e-01 -4.93103421e-01 -2.11581956e-03 1.16330779e+02] [ 4.93101953e-01 8.69970698e-01 -1.20353948e-03 -6.65243058e+00] [ 2.43417046e-03 3.72622249e-06 9.99997037e-01 -1.72613027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.14538474999999 meters 0.05943663828963003 Centerline is valid? [True, True] Translation: X:116.36, Y:-6.64, Z:-1.73 [[ 8.68481749e-01 -4.95718106e-01 -1.73531372e-03 1.16356085e+02] [ 4.95717116e-01 8.68483482e-01 -9.90953132e-04 -6.64073439e+00] [ 1.99832472e-03 3.99994789e-07 9.99998003e-01 -1.72535660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.17538474999999 meters 0.0596021953577081 Centerline is valid? [True, True] Translation: X:116.38, Y:-6.63, Z:-1.73 [[ 8.68713367e-01 -4.95309210e-01 -2.42327758e-03 1.16380420e+02] [ 4.95307287e-01 8.68716747e-01 -1.38007521e-03 -6.62627520e+00] [ 2.78870578e-03 -1.37725921e-06 9.99996112e-01 -1.72786747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.20538475 meters 0.05966693820126261 Centerline is valid? [True, True] Translation: X:116.40, Y:-6.61, Z:-1.73 [[ 8.69577482e-01 -4.93785756e-01 -3.26040528e-03 1.16404150e+02] [ 4.93782256e-01 8.69583594e-01 -1.85896702e-03 -6.61002445e+00] [ 3.75312638e-03 6.58558150e-06 9.99992957e-01 -1.72916018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.23538475 meters 0.05975922501638846 Centerline is valid? [True, True] Translation: X:116.43, Y:-6.60, Z:-1.73 [[ 8.69718732e-01 -4.93537646e-01 -3.14946023e-03 1.16428141e+02] [ 4.93534382e-01 8.69724434e-01 -1.79506551e-03 -6.59683529e+00] [ 3.62509492e-03 6.83519546e-06 9.99993429e-01 -1.72953157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.26538475 meters 0.05959429319208838 Centerline is valid? [True, True] Translation: X:116.45, Y:-6.58, Z:-1.73 [[ 8.70053419e-01 -4.92950605e-01 -2.59800404e-03 1.16452176e+02] [ 4.92948370e-01 8.70057298e-01 -1.48420320e-03 -6.58115058e+00] [ 2.99205124e-03 1.06542160e-05 9.99995524e-01 -1.72875746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.29538475 meters 0.05967602338036271 Centerline is valid? [True, True] Translation: X:116.48, Y:-6.57, Z:-1.73 [[ 8.70404457e-01 -4.92327275e-01 -3.15206482e-03 1.16476115e+02] [ 4.92323993e-01 8.70410164e-01 -1.79786701e-03 -6.56644671e+00] [ 3.62872823e-03 1.30343217e-05 9.99993416e-01 -1.72970409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.32538475 meters 0.05978122348890186 Centerline is valid? [True, True] Translation: X:116.50, Y:-6.55, Z:-1.73 [[ 8.70919283e-01 -4.91406844e-01 -4.34916525e-03 1.16500932e+02] [ 4.91400571e-01 8.70930142e-01 -2.48320202e-03 -6.55062109e+00] [ 5.00808158e-03 2.54862309e-05 9.99987459e-01 -1.73113261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35538474999998 meters 0.05965429680139541 Centerline is valid? [True, True] Translation: X:116.52, Y:-6.53, Z:-1.73 [[ 8.71354029e-01 -4.90639864e-01 -3.83143040e-03 1.16524486e+02] [ 4.90634977e-01 8.71362452e-01 -2.19014148e-03 -6.53488079e+00] [ 4.41313531e-03 2.85548367e-05 9.99990262e-01 -1.73013657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.38538474999999 meters 0.059692214975002975 Centerline is valid? [True, True] Translation: X:116.55, Y:-6.52, Z:-1.73 [[ 8.71747557e-01 -4.89944784e-01 -3.21022403e-03 1.16546897e+02] [ 4.89941351e-01 8.71753467e-01 -1.83429082e-03 -6.52027777e+00] [ 3.69722515e-03 2.62170394e-05 9.99993165e-01 -1.73084911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41538474999999 meters 0.05966287864836249 Centerline is valid? [True, True] Translation: X:116.57, Y:-6.50, Z:-1.73 [[ 8.72240723e-01 -4.89069483e-01 -2.67613576e-03 1.16569666e+02] [ 4.89067090e-01 8.72244828e-01 -1.53010881e-03 -6.50462725e+00] [ 3.08257510e-03 2.58132868e-05 9.99995249e-01 -1.73158422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.44538474999999 meters 0.05957234708570027 Centerline is valid? [True, True] Translation: X:116.59, Y:-6.49, Z:-1.73 [[ 8.73394298e-01 -4.87013219e-01 -7.24104763e-04 1.16593306e+02] [ 4.87013041e-01 8.73394598e-01 -4.17121410e-04 -6.48653648e+00] [ 8.35572829e-04 1.16629992e-05 9.99999651e-01 -1.72954441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47538474999999 meters 0.059703681619042735 Centerline is valid? [True, True] Translation: X:116.62, Y:-6.47, Z:-1.73 [[ 8.74394129e-01 -4.85212762e-01 1.86620602e-03 1.16616381e+02] [ 4.85211599e-01 8.74396120e-01 1.06246731e-03 -6.46915824e+00] [-2.14732600e-03 -2.35103757e-05 9.99997694e-01 -1.72885415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.50538474999999 meters 0.05985909635921389 Centerline is valid? [True, True] Translation: X:116.64, Y:-6.45, Z:-1.73 [[ 8.75109367e-01 -4.83923909e-01 1.11633527e-03 1.16639602e+02] [ 4.83923490e-01 8.75110079e-01 6.36757581e-04 -6.45340954e+00] [-1.28505847e-03 -1.70116628e-05 9.99999174e-01 -1.72882238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53538474999999 meters 0.06027817295396528 Centerline is valid? [True, True] Translation: X:116.66, Y:-6.44, Z:-1.73 [[ 8.75924995e-01 -4.82446246e-01 1.01126290e-03 1.16662511e+02] [ 4.82445902e-01 8.75925579e-01 5.76832834e-04 -6.43717456e+00] [-1.16408188e-03 -1.73826535e-05 9.99999322e-01 -1.73117374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.56538474999999 meters 0.060059006307600776 Centerline is valid? [True, True] Translation: X:116.69, Y:-6.42, Z:-1.73 [[ 8.75921691e-01 -4.82451253e-01 1.40728990e-03 1.16686931e+02] [ 4.82450589e-01 8.75922821e-01 8.00787232e-04 -6.42397540e+00] [-1.61901814e-03 -2.24790654e-05 9.99998689e-01 -1.73060083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.59538475 meters 0.06000204845796852 Centerline is valid? [True, True] Translation: X:116.71, Y:-6.41, Z:-1.73 [[ 8.75794947e-01 -4.82680091e-01 1.77234213e-03 1.16712604e+02] [ 4.82679035e-01 8.75796740e-01 1.01014009e-03 -6.41153711e+00] [-2.03978597e-03 -2.92031960e-05 9.99997919e-01 -1.73005427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.62538475 meters 0.06004627847073718 Centerline is valid? [True, True] Translation: X:116.74, Y:-6.40, Z:-1.73 [[ 8.74887124e-01 -4.84326443e-01 6.46247422e-04 1.16738814e+02] [ 4.84326305e-01 8.74887362e-01 3.65668303e-04 -6.40012026e+00] [-7.42496531e-04 -6.92386416e-06 9.99999724e-01 -1.73189827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.65538475 meters 0.06001683154409794 Centerline is valid? [True, True] Translation: X:116.76, Y:-6.39, Z:-1.74 [[ 8.74174985e-01 -4.85611050e-01 -6.55917369e-05 1.16762422e+02] [ 4.85611049e-01 8.74174987e-01 -3.99478768e-05 -6.38686773e+00] [ 7.67377856e-05 3.06936244e-06 9.99999997e-01 -1.73534741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.68538475 meters 0.06010577087705366 Centerline is valid? [True, True] Translation: X:116.79, Y:-6.37, Z:-1.74 [[ 8.74012531e-01 -4.85902316e-01 -1.01749241e-03 1.16787931e+02] [ 4.85901962e-01 8.74013123e-01 -5.87345780e-04 -6.37224152e+00] [ 1.17469439e-03 1.89460143e-05 9.99999310e-01 -1.73723116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71538474999998 meters 0.060466660393060825 Centerline is valid? [True, True] Translation: X:116.81, Y:-6.36, Z:-1.74 [[ 8.74564200e-01 -4.84898245e-01 -3.33956622e-03 1.16812573e+02] [ 4.84894448e-01 8.74570574e-01 -1.92003648e-03 -6.35766283e+00] [ 3.85170867e-03 5.98580501e-05 9.99992580e-01 -1.73958102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.74538474999999 meters 0.06066729667734328 Centerline is valid? [True, True] Translation: X:116.84, Y:-6.34, Z:-1.74 [[ 8.75003434e-01 -4.84099789e-01 -4.04779712e-03 1.16836162e+02] [ 4.84094214e-01 8.75012794e-01 -2.32437336e-03 -6.34321932e+00] [ 4.66710292e-03 7.43195094e-05 9.99989106e-01 -1.74100487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77538474999999 meters 0.060620901370934795 Centerline is valid? [True, True] Translation: X:116.86, Y:-6.33, Z:-1.74 [[ 8.75080443e-01 -4.83961491e-01 -3.93628973e-03 1.16860547e+02] [ 4.83956197e-01 8.75089292e-01 -2.26491795e-03 -6.32904984e+00] [ 4.54073806e-03 7.69935957e-05 9.99989688e-01 -1.74109245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.80538474999999 meters 0.06048256173711997 Centerline is valid? [True, True] Translation: X:116.89, Y:-6.32, Z:-1.74 [[ 8.74032381e-01 -4.85853250e-01 -3.74392137e-03 1.16886285e+02] [ 4.85848475e-01 8.74040397e-01 -2.15511789e-03 -6.31657800e+00] [ 4.31940955e-03 6.46643298e-05 9.99990669e-01 -1.74104294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83538474999999 meters 0.06050913247419114 Centerline is valid? [True, True] Translation: X:116.91, Y:-6.30, Z:-1.74 [[ 8.73963983e-01 -4.85974504e-01 -3.96698483e-03 1.16910474e+02] [ 4.85969136e-01 8.73972984e-01 -2.28528913e-03 -6.30268861e+00] [ 4.57762982e-03 6.94282035e-05 9.99989520e-01 -1.74193211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.86538474999999 meters 0.06039216853385206 Centerline is valid? [True, True] Translation: X:116.94, Y:-6.29, Z:-1.74 [[ 8.73189941e-01 -4.87363508e-01 -4.01723931e-03 1.16936034e+02] [ 4.87358014e-01 8.73199179e-01 -2.31498488e-03 -6.28983099e+00] [ 4.63608922e-03 6.35877366e-05 9.99989251e-01 -1.74335547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89538474999999 meters 0.05989140430389177 Centerline is valid? [True, True] Translation: X:116.96, Y:-6.28, Z:-1.74 [[ 8.71326479e-01 -4.90699796e-01 -1.96919448e-03 1.16964502e+02] [ 4.90698480e-01 8.71328703e-01 -1.13703518e-03 -6.28013271e+00] [ 2.27375861e-03 2.44481223e-05 9.99997415e-01 -1.74161854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.92538474999999 meters 0.05984392908684956 Centerline is valid? [True, True] Translation: X:116.99, Y:-6.27, Z:-1.74 [[ 8.69403651e-01 -4.94096094e-01 -2.51842883e-03 1.16992579e+02] [ 4.94093954e-01 8.69407298e-01 -1.45424726e-03 -6.27007313e+00] [ 2.90807829e-03 1.99874177e-05 9.99995771e-01 -1.74135062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.95538475 meters 0.05962099369301172 Centerline is valid? [True, True] Translation: X:117.02, Y:-6.26, Z:-1.74 [[ 8.68117548e-01 -4.96357783e-01 -9.35319759e-04 1.17019113e+02] [ 4.96357486e-01 8.68118052e-01 -5.42762196e-04 -6.25889760e+00] [ 1.08137221e-03 6.92842258e-06 9.99999415e-01 -1.74017547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.98538475 meters 0.059600885754376554 Centerline is valid? [True, True] Translation: X:117.04, Y:-6.24, Z:-1.74 [[ 8.68585522e-01 -4.95539285e-01 8.84533731e-05 1.17044194e+02] [ 4.95539282e-01 8.68585527e-01 4.69283587e-05 -6.24418918e+00] [-1.00084165e-04 3.07082802e-06 9.99999995e-01 -1.73905356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.01538475 meters 0.05977374724521061 Centerline is valid? [True, True] Translation: X:117.07, Y:-6.23, Z:-1.74 [[ 8.69378843e-01 -4.94146084e-01 2.72890413e-04 1.17066984e+02] [ 4.94146061e-01 8.69378886e-01 1.53010999e-04 -6.22747763e+00] [-3.12854949e-04 1.82319771e-06 9.99999951e-01 -1.73949954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.04538475 meters 0.059835131855700635 Centerline is valid? [True, True] Translation: X:117.09, Y:-6.21, Z:-1.74 [[ 8.67412007e-01 -4.97589741e-01 9.27181817e-04 1.17092769e+02] [ 4.97589458e-01 8.67412502e-01 5.31397523e-04 -6.21466672e+00] [-1.06866706e-03 4.15305392e-07 9.99999429e-01 -1.74021429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.07538475 meters 0.05974043376657649 Centerline is valid? [True, True] Translation: X:117.12, Y:-6.20, Z:-1.74 [[ 8.65826270e-01 -5.00343852e-01 9.49044633e-04 1.17117062e+02] [ 5.00343554e-01 8.65826790e-01 5.45702002e-04 -6.20183536e+00] [-1.09474691e-03 2.36523551e-06 9.99999401e-01 -1.74180049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.10538474999998 meters 0.0597828824089309 Centerline is valid? [True, True] Translation: X:117.14, Y:-6.19, Z:-1.74 [[ 8.65488522e-01 -5.00928730e-01 1.62431634e-04 1.17142265e+02] [ 5.00928722e-01 8.65488537e-01 8.99656854e-05 -6.18722632e+00] [-1.85649114e-04 3.50240275e-06 9.99999983e-01 -1.74096137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13538474999999 meters 0.0597726798395821 Centerline is valid? [True, True] Translation: X:117.16, Y:-6.17, Z:-1.74 [[ 8.65647741e-01 -5.00653472e-01 2.99553655e-04 1.17164788e+02] [ 5.00653443e-01 8.65647793e-01 1.70149139e-04 -6.17246266e+00] [-3.44493717e-04 2.68335122e-06 9.99999941e-01 -1.74184815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.16538474999999 meters 0.05994938021739099 Centerline is valid? [True, True] Translation: X:117.19, Y:-6.15, Z:-1.74 [[ 8.67332855e-01 -4.97728477e-01 -2.85497274e-04 1.17187209e+02] [ 4.97728449e-01 8.67332902e-01 -1.69031017e-04 -6.15375121e+00] [ 3.31752729e-04 4.50603915e-06 9.99999945e-01 -1.74234313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19538474999999 meters 0.059781809006657444 Centerline is valid? [True, True] Translation: X:117.21, Y:-6.14, Z:-1.74 [[ 8.68058463e-01 -4.96461490e-01 -7.02609732e-04 1.17211731e+02] [ 4.96461320e-01 8.68058747e-01 -4.10573220e-04 -6.13767717e+00] [ 8.13740316e-04 7.58300283e-06 9.99999669e-01 -1.74336884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.22538474999999 meters 0.05994441773587053 Centerline is valid? [True, True] Translation: X:117.24, Y:-6.12, Z:-1.74 [[ 8.68233566e-01 -4.96153945e-01 -1.31806940e-03 1.17236021e+02] [ 4.96153352e-01 8.68234566e-01 -7.67248337e-04 -6.12247448e+00] [ 1.52506670e-03 1.21862071e-05 9.99998837e-01 -1.74386513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25538474999999 meters 0.06010196113202979 Centerline is valid? [True, True] Translation: X:117.26, Y:-6.11, Z:-1.75 [[ 8.68424321e-01 -4.95820839e-01 -9.45956641e-04 1.17258507e+02] [ 4.95820534e-01 8.68424836e-01 -5.50441051e-04 -6.10760275e+00] [ 1.09441238e-03 8.99166959e-06 9.99999401e-01 -1.74605400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.28538474999999 meters 0.0601033896155255 Centerline is valid? [True, True] Translation: X:117.28, Y:-6.09, Z:-1.74 [[ 8.68328823e-01 -4.95988757e-01 -4.56851998e-04 1.17283078e+02] [ 4.95988684e-01 8.68328943e-01 -2.69402449e-04 -6.09347844e+00] [ 5.30318397e-04 7.33648998e-06 9.99999859e-01 -1.74454420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.31538474999999 meters 0.060124246339530764 Centerline is valid? [True, True] Translation: X:117.31, Y:-6.08, Z:-1.74 [[ 8.68261985e-01 -4.96105870e-01 -3.00355430e-04 1.17307320e+02] [ 4.96105838e-01 8.68262037e-01 -1.78836254e-04 -6.07989872e+00] [ 3.49508933e-04 6.26863852e-06 9.99999939e-01 -1.74430293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.34538475 meters 0.06010285682239703 Centerline is valid? [True, True] Translation: X:117.33, Y:-6.07, Z:-1.74 [[ 8.68565641e-01 -4.95574021e-01 -3.43039536e-04 1.17331263e+02] [ 4.95573979e-01 8.68565709e-01 -2.03705495e-04 -6.06569860e+00] [ 3.98903528e-04 6.93012560e-06 9.99999920e-01 -1.74439114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.37538475 meters 0.06003497570475191 Centerline is valid? [True, True] Translation: X:117.35, Y:-6.05, Z:-1.74 [[ 8.68996843e-01 -4.94817628e-01 3.78806762e-05 1.17354380e+02] [ 4.94817628e-01 8.68996844e-01 1.94165958e-05 -6.05154347e+00] [-4.25258624e-05 1.87106587e-06 9.99999999e-01 -1.74458044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.40538475 meters 0.06003497570475191 Centerline is valid? [True, True] Translation: X:117.38, Y:-6.04, Z:-1.74 [[ 8.68858408e-01 -4.95060669e-01 3.86487125e-05 1.17378218e+02] [ 4.95060668e-01 8.68858409e-01 1.80950945e-05 -6.03749727e+00] [-4.25384289e-05 3.41138244e-06 9.99999999e-01 -1.74495222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.43538475 meters 0.060046074762265034 Centerline is valid? [True, True] Translation: X:117.40, Y:-6.02, Z:-1.75 [[ 8.68821629e-01 -4.95125208e-01 7.58776557e-05 1.17402634e+02] [ 4.95125206e-01 8.68821632e-01 3.97862774e-05 -6.02274774e+00] [-8.56233380e-05 3.00176156e-06 9.99999996e-01 -1.74565458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.46538474999998 meters 0.060111787784798115 Centerline is valid? [True, True] Translation: X:117.43, Y:-6.01, Z:-1.75 [[ 8.68746034e-01 -4.95257563e-01 -5.24555750e-04 1.17427293e+02] [ 4.95257467e-01 8.68746192e-01 -3.09108329e-04 -6.00832866e+00] [ 6.08794047e-04 8.74648309e-06 9.99999815e-01 -1.74670331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49538474999999 meters 0.06009067547028455 Centerline is valid? [True, True] Translation: X:117.45, Y:-5.99, Z:-1.75 [[ 8.68859872e-01 -4.95057844e-01 -5.03470812e-04 1.17451392e+02] [ 4.95057755e-01 8.68860018e-01 -2.97701786e-04 -5.99432776e+00] [ 5.84825263e-04 9.41400644e-06 9.99999829e-01 -1.74739609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.52538474999999 meters 0.06013943072591499 Centerline is valid? [True, True] Translation: X:117.48, Y:-5.98, Z:-1.75 [[ 8.68604787e-01 -4.95503405e-01 -1.44885725e-03 1.17476144e+02] [ 4.95502684e-01 8.68605995e-01 -8.45790973e-04 -5.98054725e+00] [ 1.67757840e-03 1.67454335e-05 9.99998593e-01 -1.74809979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55538474999999 meters 0.06021232950835945 Centerline is valid? [True, True] Translation: X:117.50, Y:-5.97, Z:-1.75 [[ 8.68358695e-01 -4.95934094e-01 -1.59756482e-03 1.17499612e+02] [ 4.95933215e-01 8.68360164e-01 -9.33847598e-04 -5.96719184e+00] [ 1.85038851e-03 1.86292230e-05 9.99998288e-01 -1.74900308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.58538474999999 meters 0.06031628243449244 Centerline is valid? [True, True] Translation: X:117.52, Y:-5.95, Z:-1.75 [[ 8.68271365e-01 -4.96085202e-01 -2.07580392e-03 1.17524746e+02] [ 4.96083717e-01 8.68273846e-01 -1.21395478e-03 -5.95214099e+00] [ 2.40459126e-03 2.42696532e-05 9.99997109e-01 -1.75121555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61538474999999 meters 0.06037710322056159 Centerline is valid? [True, True] Translation: X:117.55, Y:-5.94, Z:-1.75 [[ 8.68434750e-01 -4.95796139e-01 -2.69675757e-03 1.17549808e+02] [ 4.95793633e-01 8.68438937e-01 -1.57691250e-03 -5.93712500e+00] [ 3.12379641e-03 3.24103793e-05 9.99995120e-01 -1.75187118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.64538474999999 meters 0.060523908576389604 Centerline is valid? [True, True] Translation: X:117.57, Y:-5.92, Z:-1.75 [[ 8.69076538e-01 -4.94673138e-01 -2.11128505e-03 1.17572266e+02] [ 4.94671598e-01 8.69079102e-01 -1.23448574e-03 -5.92210478e+00] [ 2.44554065e-03 2.84698402e-05 9.99997009e-01 -1.75166313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.67538474999999 meters 0.06046144830049819 Centerline is valid? [True, True] Translation: X:117.60, Y:-5.91, Z:-1.75 [[ 8.69095587e-01 -4.94641601e-01 -1.59614185e-03 1.17595859e+02] [ 4.94640720e-01 8.69097052e-01 -9.33898459e-04 -5.90911808e+00] [ 1.84914721e-03 2.21302738e-05 9.99998290e-01 -1.75156760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.70538475 meters 0.06047874913562632 Centerline is valid? [True, True] Translation: X:117.62, Y:-5.90, Z:-1.75 [[ 8.68717077e-01 -4.95306160e-01 -1.56434452e-03 1.17620994e+02] [ 4.95305309e-01 8.68718486e-01 -9.18230816e-04 -5.89634006e+00] [ 1.81378038e-03 2.28546470e-05 9.99998355e-01 -1.75067129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.73538475 meters 0.060398045248963035 Centerline is valid? [True, True] Translation: X:117.65, Y:-5.88, Z:-1.75 [[ 8.68350192e-01 -4.95949845e-01 -1.30183577e-03 1.17645488e+02] [ 4.95949255e-01 8.68351168e-01 -7.65486231e-04 -5.88252252e+00] [ 1.51009339e-03 1.90656366e-05 9.99998860e-01 -1.75072320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.76538475 meters 0.060490885925274865 Centerline is valid? [True, True] Translation: X:117.67, Y:-5.87, Z:-1.75 [[ 8.67634684e-01 -4.97201329e-01 -9.44862115e-04 1.17670846e+02] [ 4.97201018e-01 8.67635199e-01 -5.56614356e-04 -5.86873474e+00] [ 1.09654503e-03 1.31515157e-05 9.99999399e-01 -1.75183629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.79538475 meters 0.060516918491371335 Centerline is valid? [True, True] Translation: X:117.69, Y:-5.85, Z:-1.75 [[ 8.67480576e-01 -4.97469665e-01 -1.17558043e-03 1.17693616e+02] [ 4.97469185e-01 8.67481373e-01 -6.90974169e-04 -5.85440798e+00] [ 1.36353282e-03 1.45916291e-05 9.99999070e-01 -1.75353268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.82538475 meters 0.060450165115908866 Centerline is valid? [True, True] Translation: X:117.72, Y:-5.84, Z:-1.75 [[ 8.67688196e-01 -4.97108797e-01 -1.95559954e-04 1.17717992e+02] [ 4.97108783e-01 8.67688218e-01 -1.19036967e-04 -5.83947536e+00] [ 2.28859391e-04 6.07240070e-06 9.99999974e-01 -1.75166717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85538474999998 meters 0.06050589417358341 Centerline is valid? [True, True] Translation: X:117.74, Y:-5.83, Z:-1.75 [[ 8.68181819e-01 -4.96240948e-01 -2.29128395e-03 1.17741603e+02] [ 4.96239130e-01 8.68184842e-01 -1.34353020e-03 -5.82570237e+00] [ 2.65597269e-03 2.94037417e-05 9.99996472e-01 -1.75327762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.88538474999999 meters 0.060634258951309736 Centerline is valid? [True, True] Translation: X:117.77, Y:-5.81, Z:-1.75 [[ 8.67648615e-01 -4.97166870e-01 -3.31429968e-03 1.17766000e+02] [ 4.97163072e-01 8.67654944e-01 -1.94353226e-03 -5.81170616e+00] [ 3.84192836e-03 3.85556604e-05 9.99992619e-01 -1.75488724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91538474999999 meters 0.060520572023937076 Centerline is valid? [True, True] Translation: X:117.79, Y:-5.80, Z:-1.76 [[ 8.67044352e-01 -4.98213461e-01 -4.17591382e-03 1.17790890e+02] [ 4.98207431e-01 8.67054407e-01 -2.45159687e-03 -5.79747975e+00] [ 4.84216304e-03 4.51719213e-05 9.99988276e-01 -1.75581859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.94538474999999 meters 0.06085709131171092 Centerline is valid? [True, True] Translation: X:117.81, Y:-5.78, Z:-1.76 [[ 8.66257942e-01 -4.99550769e-01 -6.79756735e-03 1.17814429e+02] [ 4.99534853e-01 8.66284610e-01 -3.98819706e-03 -5.78333315e+00] [ 7.88093489e-03 5.91855681e-05 9.99968943e-01 -1.76121397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97538474999999 meters 0.06096935698356179 Centerline is valid? [True, True] Translation: X:117.84, Y:-5.77, Z:-1.76 [[ 8.65967913e-01 -5.00035692e-01 -7.99249112e-03 1.17839728e+02] [ 5.00013673e-01 8.66004793e-01 -4.69306040e-03 -5.76936377e+00] [ 9.26823333e-03 6.76848804e-05 9.99957047e-01 -1.76079470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.00538474999999 meters 0.0609111590170434 Centerline is valid? [True, True] Translation: X:117.86, Y:-5.75, Z:-1.76 [[ 8.65669544e-01 -5.00519982e-01 -9.79736524e-03 1.17864253e+02] [ 5.00486898e-01 8.65724980e-01 -5.75527856e-03 -5.75446793e+00] [ 1.13624557e-02 7.87164359e-05 9.99935442e-01 -1.76216562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03538474999999 meters 0.061000374369790056 Centerline is valid? [True, True] Translation: X:117.89, Y:-5.74, Z:-1.76 [[ 8.65637766e-01 -5.00586055e-01 -9.21193511e-03 1.17887967e+02] [ 5.00556823e-01 8.65686777e-01 -5.41017731e-03 -5.73933517e+00] [ 1.06829097e-02 7.21568224e-05 9.99942933e-01 -1.76434262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.06538474999999 meters 0.06093797168669611 Centerline is valid? [True, True] Translation: X:117.91, Y:-5.72, Z:-1.76 [[ 8.66074894e-01 -4.99822017e-01 -9.60362532e-03 1.17913291e+02] [ 4.99790137e-01 8.66128133e-01 -5.64586861e-03 -5.72440446e+00] [ 1.11398995e-02 8.99478404e-05 9.99937945e-01 -1.76168420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.09538475 meters 0.0610161772388318 Centerline is valid? [True, True] Translation: X:117.94, Y:-5.71, Z:-1.76 [[ 8.66636862e-01 -4.98871409e-01 -8.23812619e-03 1.17937187e+02] [ 4.98847876e-01 8.66676012e-01 -4.84644591e-03 -5.70715787e+00] [ 9.55753965e-03 9.05369231e-05 9.99954322e-01 -1.76027926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.12538475 meters 0.06090905177864637 Centerline is valid? [True, True] Translation: X:117.96, Y:-5.69, Z:-1.76 [[ 8.67017212e-01 -4.98223627e-01 -7.37372220e-03 1.17960103e+02] [ 4.98204761e-01 8.67048562e-01 -4.33668996e-03 -5.69189356e+00] [ 8.55401664e-03 8.63613275e-05 9.99963410e-01 -1.76099126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.15538475 meters 0.0609527489430461 Centerline is valid? [True, True] Translation: X:117.98, Y:-5.68, Z:-1.76 [[ 8.67053392e-01 -4.98173449e-01 -6.45211400e-03 1.17984620e+02] [ 4.98158965e-01 8.67077395e-01 -3.79956890e-03 -5.67690134e+00] [ 7.48732654e-03 8.02506710e-05 9.99971966e-01 -1.75945201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.18538475 meters 0.06103656425653941 Centerline is valid? [True, True] Translation: X:118.01, Y:-5.66, Z:-1.76 [[ 8.67880905e-01 -4.96744355e-01 -5.27068923e-03 1.18006943e+02] [ 4.96734656e-01 8.67896906e-01 -3.10504909e-03 -5.66096632e+00] [ 6.11683048e-03 7.66788117e-05 9.99981289e-01 -1.75924311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21538474999998 meters 0.06105972735545104 Centerline is valid? [True, True] Translation: X:118.03, Y:-5.65, Z:-1.76 [[ 8.68144635e-01 -4.96284102e-01 -5.19453393e-03 1.18031949e+02] [ 4.96274658e-01 8.68160172e-01 -3.06265856e-03 -5.64585899e+00] [ 6.02963622e-03 8.09150487e-05 9.99981818e-01 -1.75935199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.24538474999999 meters 0.06087513537017557 Centerline is valid? [True, True] Translation: X:118.06, Y:-5.63, Z:-1.76 [[ 8.66754138e-01 -4.98720331e-01 -3.91095733e-03 1.18058880e+02] [ 4.98714992e-01 8.66762960e-01 -2.30807944e-03 -5.63401877e+00] [ 4.54095909e-03 5.00843554e-05 9.99989689e-01 -1.75847587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27538474999999 meters 0.06082662956505784 Centerline is valid? [True, True] Translation: X:118.09, Y:-5.62, Z:-1.76 [[ 8.65947644e-01 -5.00106307e-01 -5.32532796e-03 1.18085187e+02] [ 5.00096432e-01 8.65964017e-01 -3.14323400e-03 -5.62188764e+00] [ 6.18349354e-03 5.86985697e-05 9.99980880e-01 -1.75973564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.30538474999999 meters 0.060721010145559175 Centerline is valid? [True, True] Translation: X:118.11, Y:-5.61, Z:-1.76 [[ 8.64360909e-01 -5.02839406e-01 -5.72274228e-03 1.18112348e+02] [ 5.02828052e-01 8.64379853e-01 -3.37951365e-03 -5.61139407e+00] [ 6.64597577e-03 4.35641451e-05 9.99977914e-01 -1.76020525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33538474999999 meters 0.06073858005045354 Centerline is valid? [True, True] Translation: X:118.14, Y:-5.60, Z:-1.76 [[ 8.63053542e-01 -5.05077968e-01 -5.90165501e-03 1.18137077e+02] [ 5.05065948e-01 8.63073720e-01 -3.48461703e-03 -5.59990561e+00] [ 6.85356663e-03 2.66860879e-05 9.99976514e-01 -1.76158289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.36538474999999 meters 0.061036611580614325 Centerline is valid? [True, True] Translation: X:118.16, Y:-5.59, Z:-1.77 [[ 8.60424094e-01 -5.09518788e-01 -7.80912166e-03 1.18164642e+02] [ 5.09497932e-01 8.60459531e-01 -4.61006121e-03 -5.59163663e+00] [ 9.06834596e-03 -1.21235990e-05 9.99958882e-01 -1.76513880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39538474999999 meters 0.06121428549408856 Centerline is valid? [True, True] Translation: X:118.19, Y:-5.58, Z:-1.77 [[ 8.59395439e-01 -5.11214605e-01 -9.95521606e-03 1.18190914e+02] [ 5.11180814e-01 8.59453097e-01 -5.87786581e-03 -5.58023419e+00] [ 1.15608921e-02 -3.75043821e-05 9.99933170e-01 -1.76601705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.42538474999999 meters 0.0614614951476329 Centerline is valid? [True, True] Translation: X:118.22, Y:-5.57, Z:-1.77 [[ 8.59474464e-01 -5.11052956e-01 -1.13367511e-02 1.18215127e+02] [ 5.11009106e-01 8.59549228e-01 -6.69471423e-03 -5.56698870e+00] [ 1.31658491e-02 -3.92470907e-05 9.99913326e-01 -1.77031433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.45538475 meters 0.061466060415169416 Centerline is valid? [True, True] Translation: X:118.24, Y:-5.55, Z:-1.77 [[ 8.58924298e-01 -5.11962059e-01 -1.19958331e-02 1.18240486e+02] [ 5.11912966e-01 8.59008060e-01 -7.08992960e-03 -5.55317169e+00] [ 1.39342923e-02 -5.11097127e-05 9.99902912e-01 -1.77104114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.48538475 meters 0.061524216417093394 Centerline is valid? [True, True] Translation: X:118.26, Y:-5.54, Z:-1.77 [[ 8.59094475e-01 -5.11669529e-01 -1.22872589e-02 1.18264369e+02] [ 5.11617923e-01 8.59182339e-01 -7.26703615e-03 -5.53893738e+00] [ 1.42753168e-02 -4.33112560e-05 9.99898102e-01 -1.77210879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.51538475 meters 0.06143858797531594 Centerline is valid? [True, True] Translation: X:118.29, Y:-5.52, Z:-1.77 [[ 8.59186083e-01 -5.11505337e-01 -1.27108098e-02 1.18289092e+02] [ 5.11450034e-01 8.59280099e-01 -7.52157334e-03 -5.52340943e+00] [ 1.47694708e-02 -3.85129413e-05 9.99890925e-01 -1.76843985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.54538475 meters 0.06159484506516925 Centerline is valid? [True, True] Translation: X:118.31, Y:-5.51, Z:-1.77 [[ 8.58949423e-01 -5.11892047e-01 -1.31309081e-02 1.18313122e+02] [ 5.11833059e-01 8.59049784e-01 -7.77103923e-03 -5.50983379e+00] [ 1.52580369e-02 -4.59031966e-05 9.99883588e-01 -1.77479965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.57538475 meters 0.06151993998264332 Centerline is valid? [True, True] Translation: X:118.34, Y:-5.49, Z:-1.77 [[ 8.58799866e-01 -5.12129129e-01 -1.36581283e-02 1.18337705e+02] [ 5.12065244e-01 8.58908466e-01 -8.08907770e-03 -5.49367324e+00] [ 1.58737343e-02 -4.69539446e-05 9.99874003e-01 -1.77143783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.60538474999998 meters 0.061342542060867956 Centerline is valid? [True, True] Translation: X:118.36, Y:-5.48, Z:-1.77 [[ 8.58498637e-01 -5.12673998e-01 -1.20607966e-02 1.18362014e+02] [ 5.12624174e-01 8.58583351e-01 -7.14748050e-03 -5.47874675e+00] [ 1.40195266e-02 -4.65536312e-05 9.99901721e-01 -1.77168270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63538474999999 meters 0.06109679080826947 Centerline is valid? [True, True] Translation: X:118.39, Y:-5.46, Z:-1.77 [[ 8.58763703e-01 -5.12236880e-01 -1.17592972e-02 1.18386437e+02] [ 5.12189419e-01 8.58844210e-01 -6.97292285e-03 -5.46326250e+00] [ 1.36711926e-02 -3.48945521e-05 9.99906544e-01 -1.76957233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.66538474999999 meters 0.06103850977099742 Centerline is valid? [True, True] Translation: X:118.41, Y:-5.45, Z:-1.77 [[ 8.58578611e-01 -5.12583900e-01 -1.00257261e-02 1.18411610e+02] [ 5.12549381e-01 8.58637144e-01 -5.94874333e-03 -5.44823455e+00] [ 1.16576909e-02 -3.12159296e-05 9.99932046e-01 -1.76847955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69538474999999 meters 0.06089934832918339 Centerline is valid? [True, True] Translation: X:118.43, Y:-5.43, Z:-1.77 [[ 8.59777632e-01 -5.10589418e-01 -8.99273109e-03 1.18434042e+02] [ 5.10561501e-01 8.59824660e-01 -5.33920784e-03 -5.42981527e+00] [ 1.04583150e-02 -8.10812411e-07 9.99945310e-01 -1.76714181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.72538474999999 meters 0.06079672781877792 Centerline is valid? [True, True] Translation: X:118.46, Y:-5.41, Z:-1.77 [[ 8.60504668e-01 -5.09373369e-01 -8.39565624e-03 1.18457376e+02] [ 5.09348949e-01 8.60545624e-01 -4.98769500e-03 -5.41186985e+00] [ 9.76544424e-03 1.56161424e-05 9.99952317e-01 -1.76852732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75538474999999 meters 0.06103258248346363 Centerline is valid? [True, True] Translation: X:118.48, Y:-5.39, Z:-1.77 [[ 8.62126005e-01 -5.06605761e-01 -9.45275452e-03 1.18479500e+02] [ 5.06574657e-01 8.62177824e-01 -5.61401251e-03 -5.39338836e+00] [ 1.09940464e-02 5.14602989e-05 9.99939562e-01 -1.76692945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.78538474999999 meters 0.06112922709018407 Centerline is valid? [True, True] Translation: X:118.50, Y:-5.38, Z:-1.77 [[ 8.63198287e-01 -5.04766457e-01 -9.97705616e-03 1.18501378e+02] [ 5.04731670e-01 8.63255940e-01 -5.92652395e-03 -5.37566437e+00] [ 1.16042635e-02 8.00291032e-05 9.99932665e-01 -1.77051768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.81538474999999 meters 0.06173827514659246 Centerline is valid? [True, True] Translation: X:118.52, Y:-5.35, Z:-1.77 [[ 8.65523912e-01 -5.00733188e-01 -1.16031542e-02 1.18521169e+02] [ 5.00685739e-01 8.65601669e-01 -6.89496937e-03 -5.35443511e+00] [ 1.34962496e-02 1.58227029e-04 9.99908909e-01 -1.77434536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.84538475 meters 0.06228401036503395 Centerline is valid? [True, True] Translation: X:118.54, Y:-5.34, Z:-1.78 [[ 8.66845484e-01 -4.98413974e-01 -1.27443201e-02 1.18543611e+02] [ 4.98356474e-01 8.66939135e-01 -7.57367462e-03 -5.33656359e+00] [ 1.48233751e-02 2.13991229e-04 9.99890105e-01 -1.77701798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.87538475 meters 0.06286639081094827 Centerline is valid? [True, True] Translation: X:118.56, Y:-5.32, Z:-1.78 [[ 8.68370517e-01 -4.95707093e-01 -1.43918041e-02 1.18564221e+02] [ 4.95633332e-01 8.68489718e-01 -8.55630405e-03 -5.31725263e+00] [ 1.67405545e-02 2.96984350e-04 9.99859823e-01 -1.77851014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.90538475 meters 0.06254626993492139 Centerline is valid? [True, True] Translation: X:118.59, Y:-5.30, Z:-1.78 [[ 8.68149263e-01 -4.96084646e-01 -1.47268595e-02 1.18589782e+02] [ 4.96007353e-01 8.68274111e-01 -8.76204699e-03 -5.30290762e+00] [ 1.71336678e-02 3.02134038e-04 9.99853162e-01 -1.77634986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.93538475 meters 0.062073700251891635 Centerline is valid? [True, True] Translation: X:118.61, Y:-5.29, Z:-1.77 [[ 8.67322175e-01 -4.97517837e-01 -1.51078373e-02 1.18614343e+02] [ 4.97436594e-01 8.67453699e-01 -8.99527227e-03 -5.28972395e+00] [ 1.75806578e-02 2.86607960e-04 9.99845407e-01 -1.77459319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96538474999998 meters 0.06210426694168699 Centerline is valid? [True, True] Translation: X:118.64, Y:-5.27, Z:-1.77 [[ 8.66987676e-01 -4.98126817e-01 -1.42141889e-02 1.18637939e+02] [ 4.98055003e-01 8.67104151e-01 -8.46201605e-03 -5.27496501e+00] [ 1.65403393e-02 2.57015713e-04 9.99863166e-01 -1.77461103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99538474999999 meters 0.06220703040523949 Centerline is valid? [True, True] Translation: X:118.66, Y:-5.26, Z:-1.77 [[ 8.67947987e-01 -4.96502072e-01 -1.23282030e-02 1.18660188e+02] [ 4.96447864e-01 8.68035500e-01 -7.34086828e-03 -5.25843969e+00] [ 1.43460742e-02 2.51181788e-04 9.99897058e-01 -1.77428982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.02538475 meters 0.06218548461095202 Centerline is valid? [True, True] Translation: X:118.68, Y:-5.24, Z:-1.77 [[ 8.68309016e-01 -4.95889713e-01 -1.15258316e-02 1.18684176e+02] [ 4.95842177e-01 8.68385473e-01 -6.87064908e-03 -5.24351079e+00] [ 1.34159490e-02 2.50853084e-04 9.99909971e-01 -1.77369433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.05538475 meters 0.0614904625644716 Centerline is valid? [True, True] Translation: X:118.71, Y:-5.23, Z:-1.77 [[ 8.65333739e-01 -5.01083977e-01 -1.06003388e-02 1.18712654e+02] [ 5.01044115e-01 8.65398649e-01 -6.32241542e-03 -5.23477643e+00] [ 1.23415800e-02 1.59761993e-04 9.99923827e-01 -1.77008832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.08538475 meters 0.06111512953902248 Centerline is valid? [True, True] Translation: X:118.74, Y:-5.22, Z:-1.77 [[ 8.64353532e-01 -5.02804986e-01 -8.95089211e-03 1.18738427e+02] [ 5.02776665e-01 8.64399869e-01 -5.33777054e-03 -5.22295034e+00] [ 1.04210076e-02 1.13421125e-04 9.99945693e-01 -1.76855381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.11538475 meters 0.0611403537458018 Centerline is valid? [True, True] Translation: X:118.76, Y:-5.21, Z:-1.77 [[ 8.64486631e-01 -5.02570940e-01 -9.23666602e-03 1.18763904e+02] [ 5.02540706e-01 8.64535965e-01 -5.51396122e-03 -5.20851490e+00] [ 1.07565866e-02 1.24945096e-04 9.99942138e-01 -1.76723487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.14538475 meters 0.06143694480031708 Centerline is valid? [True, True] Translation: X:118.79, Y:-5.19, Z:-1.77 [[ 8.65380713e-01 -5.01018202e-01 -9.84800347e-03 1.18786781e+02] [ 5.00983752e-01 8.65436732e-01 -5.87727821e-03 -5.19228651e+00] [ 1.14674473e-02 1.52393473e-04 9.99934235e-01 -1.76958330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.17538475 meters 0.06186556681069439 Centerline is valid? [True, True] Translation: X:118.81, Y:-5.18, Z:-1.77 [[ 8.65625086e-01 -5.00571315e-01 -1.10257893e-02 1.18810327e+02] [ 5.00528081e-01 8.65695285e-01 -6.58133076e-03 -5.17698416e+00] [ 1.28393992e-02 1.78247833e-04 9.99917556e-01 -1.77329664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.20538475 meters 0.0618406023269852 Centerline is valid? [True, True] Translation: X:118.84, Y:-5.16, Z:-1.77 [[ 8.65383245e-01 -5.00991806e-01 -1.09109716e-02 1.18835404e+02] [ 5.00949407e-01 8.65452009e-01 -6.52011762e-03 -5.16479175e+00] [ 1.27094478e-02 1.76555768e-04 9.99919216e-01 -1.77148682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.23538475 meters 0.061598374784755154 Centerline is valid? [True, True] Translation: X:118.86, Y:-5.15, Z:-1.77 [[ 8.64051977e-01 -5.03273212e-01 -1.14128960e-02 1.18860756e+02] [ 5.03227048e-01 8.64127335e-01 -6.81811753e-03 -5.15233529e+00] [ 1.32935713e-02 1.47929956e-04 9.99911626e-01 -1.77311808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.26538475 meters 0.061664001740119476 Centerline is valid? [True, True] Translation: X:118.89, Y:-5.14, Z:-1.77 [[ 8.63656444e-01 -5.03939380e-01 -1.19435361e-02 1.18887285e+02] [ 5.03888797e-01 8.63739011e-01 -7.14150598e-03 -5.14029773e+00] [ 1.39149841e-02 1.49593645e-04 9.99903171e-01 -1.77197926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.29538475 meters 0.06151387415911283 Centerline is valid? [True, True] Translation: X:118.91, Y:-5.13, Z:-1.77 [[ 8.63551998e-01 -5.04119561e-01 -1.18917891e-02 1.18911827e+02] [ 5.04069363e-01 8.63633861e-01 -7.11559069e-03 -5.12582637e+00] [ 1.38572602e-02 1.50396006e-04 9.99903972e-01 -1.77226481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.32538475 meters 0.061739994635444766 Centerline is valid? [True, True] Translation: X:118.94, Y:-5.11, Z:-1.77 [[ 8.62884828e-01 -5.05260022e-01 -1.19198893e-02 1.18936860e+02] [ 5.05209701e-01 8.62967145e-01 -7.13194025e-03 -5.11377954e+00] [ 1.38899572e-02 1.31999303e-04 9.99903521e-01 -1.77487568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.35538475 meters 0.061739994635444766 Centerline is valid? [True, True] Translation: X:118.96, Y:-5.10, Z:-1.78 [[ 8.62745585e-01 -5.05497817e-01 -1.19168660e-02 1.18960518e+02] [ 5.05447450e-01 8.62827873e-01 -7.13699269e-03 -5.09942105e+00] [ 1.38899383e-02 1.34059431e-04 9.99903521e-01 -1.77524792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.38538475000001 meters 0.0614917161204351 Centerline is valid? [True, True] Translation: X:118.99, Y:-5.09, Z:-1.78 [[ 8.62247010e-01 -5.06343856e-01 -1.20827515e-02 1.18985845e+02] [ 5.06292097e-01 8.62331655e-01 -7.24074340e-03 -5.08633630e+00] [ 1.40856451e-02 1.25907739e-04 9.99900784e-01 -1.77502840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.41538475000002 meters 0.06143470723728159 Centerline is valid? [True, True] Translation: X:119.01, Y:-5.07, Z:-1.78 [[ 8.61521205e-01 -5.07577004e-01 -1.21160663e-02 1.19011580e+02] [ 5.07525018e-01 8.61606391e-01 -7.26519308e-03 -5.07392227e+00] [ 1.41269251e-02 1.09911134e-04 9.99900204e-01 -1.77564328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.44538475000002 meters 0.06096929375871835 Centerline is valid? [True, True] Translation: X:119.04, Y:-5.06, Z:-1.78 [[ 8.60317006e-01 -5.09627850e-01 -1.15803548e-02 1.19037720e+02] [ 5.09580541e-01 8.60394938e-01 -6.94425694e-03 -5.06372455e+00] [ 1.35026654e-02 7.31388681e-05 9.99908832e-01 -1.77537059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.47538475000002 meters 0.060629402563406404 Centerline is valid? [True, True] Translation: X:119.06, Y:-5.05, Z:-1.77 [[ 8.59095804e-01 -5.11707758e-01 -1.04675461e-02 1.19064286e+02] [ 5.11669253e-01 8.59159571e-01 -6.27746751e-03 -5.05422131e+00] [ 1.22055213e-02 3.70244930e-05 9.99925509e-01 -1.77452831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.50538475000002 meters 0.060508864454405877 Centerline is valid? [True, True] Translation: X:119.09, Y:-5.04, Z:-1.77 [[ 8.58260333e-01 -5.13121914e-01 -9.75207887e-03 1.19089917e+02] [ 5.13088513e-01 8.58315735e-01 -5.85464183e-03 -5.04188569e+00] [ 1.13745078e-02 2.11271948e-05 9.99935308e-01 -1.77473342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.53538475 meters 0.06007535115227579 Centerline is valid? [True, True] Translation: X:119.12, Y:-5.03, Z:-1.77 [[ 8.56923589e-01 -5.15347703e-01 -9.93517169e-03 1.19115347e+02] [ 5.15313152e-01 8.56981181e-01 -5.96745923e-03 -5.03227829e+00] [ 1.15895716e-02 -6.06805924e-06 9.99932839e-01 -1.77361461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.56538475 meters 0.06022023805271656 Centerline is valid? [True, True] Translation: X:119.14, Y:-5.02, Z:-1.77 [[ 8.55270903e-01 -5.18087801e-01 -9.83427492e-03 1.19141204e+02] [ 5.18054085e-01 8.55327439e-01 -5.91072598e-03 -5.02029637e+00] [ 1.14738002e-02 -3.94143513e-05 9.99934173e-01 -1.77432869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.59538475 meters 0.06161439933652659 Centerline is valid? [True, True] Translation: X:119.17, Y:-5.02, Z:-1.77 [[ 8.48556169e-01 -5.29011592e-01 -9.95808016e-03 1.19171808e+02] [ 5.28977783e-01 8.48614577e-01 -5.98381092e-03 -5.01777831e+00] [ 1.16160773e-02 -1.90003490e-04 9.99932513e-01 -1.77490783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.62538475 meters 0.06211403879074271 Centerline is valid? [True, True] Translation: X:119.20, Y:-5.01, Z:-1.78 [[ 8.47235926e-01 -5.31091381e-01 -1.15425833e-02 1.19197934e+02] [ 5.31046078e-01 8.47314512e-01 -6.94115019e-03 -5.00568105e+00] [ 1.34665834e-02 -2.48851808e-04 9.99909290e-01 -1.77685735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.65538475 meters 0.062693834280402 Centerline is valid? [True, True] Translation: X:119.22, Y:-4.99, Z:-1.78 [[ 8.47312874e-01 -5.30866148e-01 -1.55571697e-02 1.19220794e+02] [ 5.30783833e-01 8.47455617e-01 -9.35413409e-03 -4.99067062e+00] [ 1.81498040e-02 -3.31615920e-04 9.99835224e-01 -1.78343058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.68538475 meters 0.062271162875697846 Centerline is valid? [True, True] Translation: X:119.24, Y:-4.97, Z:-1.79 [[ 8.48876875e-01 -5.28338231e-01 -1.63329151e-02 1.19242911e+02] [ 5.28246886e-01 8.49033941e-01 -9.82827552e-03 -4.97173438e+00] [ 1.90598530e-02 -2.84815731e-04 9.99818304e-01 -1.78566150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.71538475 meters 0.061597185968083154 Centerline is valid? [True, True] Translation: X:119.27, Y:-4.95, Z:-1.78 [[ 8.50239445e-01 -5.26189864e-01 -1.47347536e-02 1.19265555e+02] [ 5.26115111e-01 8.50367087e-01 -8.87166305e-03 -4.95491327e+00] [ 1.71981287e-02 -2.09138654e-04 9.99852079e-01 -1.78411807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.74538475 meters 0.061123798711583466 Centerline is valid? [True, True] Translation: X:119.29, Y:-4.94, Z:-1.78 [[ 8.50807433e-01 -5.25310494e-01 -1.32512959e-02 1.19289863e+02] [ 5.25249920e-01 8.50910603e-01 -7.97909798e-03 -4.93847498e+00] [ 1.54671721e-02 -1.71566272e-04 9.99880361e-01 -1.78145593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.77538475 meters 0.05996333500721286 Centerline is valid? [True, True] Translation: X:119.31, Y:-4.92, Z:-1.77 [[ 8.53049239e-01 -5.21703762e-01 -1.14969858e-02 1.19310327e+02] [ 5.21657755e-01 8.53126706e-01 -6.92886340e-03 -4.91590599e+00] [ 1.34231997e-02 -8.68301522e-05 9.99909901e-01 -1.77295659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.80538475 meters 0.05957956874568061 Centerline is valid? [True, True] Translation: X:119.33, Y:-4.90, Z:-1.77 [[ 8.53850005e-01 -5.20433408e-01 -9.44654297e-03 1.19333310e+02] [ 5.20402279e-01 8.53902257e-01 -5.69240281e-03 -4.89980550e+00] [ 1.10289410e-02 -5.55443228e-05 9.99939178e-01 -1.77251860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.83538475 meters 0.059508809978442975 Centerline is valid? [True, True] Translation: X:119.36, Y:-4.88, Z:-1.77 [[ 8.54770584e-01 -5.18940061e-01 -8.27416572e-03 1.19356280e+02] [ 5.18916085e-01 8.54810629e-01 -4.98842925e-03 -4.88101711e+00] [ 9.66154059e-03 -2.96351043e-05 9.99953326e-01 -1.77021556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.86538475 meters 0.05921483777433794 Centerline is valid? [True, True] Translation: X:119.38, Y:-4.86, Z:-1.77 [[ 8.56684846e-01 -5.15801990e-01 -6.27544930e-03 1.19376917e+02] [ 5.15788111e-01 8.56707831e-01 -3.78386821e-03 -4.86145866e+00] [ 7.32795331e-03 4.78041284e-06 9.99973150e-01 -1.76988975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.89538475 meters 0.05942648645024118 Centerline is valid? [True, True] Translation: X:119.40, Y:-4.84, Z:-1.78 [[ 8.58132326e-01 -5.13393993e-01 -5.95983359e-03 1.19396581e+02] [ 5.13381401e-01 8.58153021e-01 -3.59574781e-03 -4.84203913e+00] [ 6.96048453e-03 2.59597132e-05 9.99975775e-01 -1.77612176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.92538475 meters 0.05965617914711596 Centerline is valid? [True, True] Translation: X:119.42, Y:-4.82, Z:-1.78 [[ 8.58972229e-01 -5.11970296e-01 -7.28872216e-03 1.19419049e+02] [ 5.11951409e-01 8.59003151e-01 -4.39785761e-03 -4.82446384e+00] [ 8.51260777e-03 4.61659768e-05 9.99963766e-01 -1.77824209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.95538475 meters 0.05982727245219132 Centerline is valid? [True, True] Translation: X:119.44, Y:-4.81, Z:-1.77 [[ 8.60597676e-01 -5.09230765e-01 -7.46114714e-03 1.19442328e+02] [ 5.09210834e-01 8.60630014e-01 -4.50613556e-03 -4.80664745e+00] [ 8.71595003e-03 7.86728279e-05 9.99962012e-01 -1.77388711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.98538475 meters 0.06038269320794674 Centerline is valid? [True, True] Translation: X:119.46, Y:-4.79, Z:-1.78 [[ 8.61223467e-01 -5.08164532e-01 -7.93397202e-03 1.19463420e+02] [ 5.08141966e-01 8.61260007e-01 -4.78994133e-03 -4.78773698e+00] [ 9.26729109e-03 9.36257401e-05 9.99957053e-01 -1.78206864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.01538475 meters 0.06013601148142797 Centerline is valid? [True, True] Translation: X:119.49, Y:-4.77, Z:-1.78 [[ 8.61898650e-01 -5.07003384e-01 -8.84796834e-03 1.19488259e+02] [ 5.06975202e-01 8.61944055e-01 -5.34708122e-03 -4.77307862e+00] [ 1.03374420e-02 1.22941552e-04 9.99946560e-01 -1.77622196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.04538475 meters 0.06100037217771035 Centerline is valid? [True, True] Translation: X:119.51, Y:-4.75, Z:-1.79 [[ 8.62479426e-01 -5.06027018e-01 -8.11771932e-03 1.19508126e+02] [ 5.06003248e-01 8.62517618e-01 -4.90625807e-03 -4.75366569e+00] [ 9.48437507e-03 1.23954302e-04 9.99955015e-01 -1.78504378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.07538475 meters 0.06017530213848164 Centerline is valid? [True, True] Translation: X:119.54, Y:-4.74, Z:-1.78 [[ 8.62303918e-01 -5.06339259e-01 -7.24630468e-03 1.19536039e+02] [ 5.06320295e-01 8.62334357e-01 -4.38357751e-03 -4.74287676e+00] [ 8.46831487e-03 1.11024937e-04 9.99964137e-01 -1.77568163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.10538475 meters 0.0600419832581945 Centerline is valid? [True, True] Translation: X:119.56, Y:-4.73, Z:-1.78 [[ 8.61981317e-01 -5.06891044e-01 -7.04835225e-03 1.19560216e+02] [ 5.06873131e-01 8.62010127e-01 -4.26258363e-03 -4.72880703e+00] [ 8.23641648e-03 1.01647077e-04 9.99966075e-01 -1.77638129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.13538475000001 meters 0.05994466027151366 Centerline is valid? [True, True] Translation: X:119.58, Y:-4.72, Z:-1.78 [[ 8.61118368e-01 -5.08338971e-01 -8.16379312e-03 1.19584911e+02] [ 5.08314991e-01 8.61157059e-01 -4.93856188e-03 -4.71620598e+00] [ 9.54077153e-03 1.02907914e-04 9.99954481e-01 -1.77782902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.16538475000002 meters 0.05985976947516565 Centerline is valid? [True, True] Translation: X:119.61, Y:-4.70, Z:-1.78 [[ 8.60529449e-01 -5.09326234e-01 -8.70947823e-03 1.19609979e+02] [ 5.09298937e-01 8.60573516e-01 -5.27408226e-03 -4.70233977e+00] [ 1.01813748e-02 1.02775094e-04 9.99948163e-01 -1.77907841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.19538475000002 meters 0.059688088745984566 Centerline is valid? [True, True] Translation: X:119.64, Y:-4.69, Z:-1.78 [[ 8.56896546e-01 -5.15434756e-01 -7.43784994e-03 1.19636940e+02] [ 5.15415087e-01 8.56928825e-01 -4.50293118e-03 -4.69386170e+00] [ 8.69467524e-03 2.49660990e-05 9.99962200e-01 -1.77868608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.22538475000002 meters 0.05971222356402933 Centerline is valid? [True, True] Translation: X:119.66, Y:-4.68, Z:-1.78 [[ 8.55473613e-01 -5.17780153e-01 -8.28312332e-03 1.19662896e+02] [ 5.17755826e-01 8.55513713e-01 -5.01910687e-03 -4.68066966e+00] [ 9.68511951e-03 5.07813276e-06 9.99953098e-01 -1.78034916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.25538475000002 meters 0.05994296609061016 Centerline is valid? [True, True] Translation: X:119.69, Y:-4.66, Z:-1.78 [[ 8.55700707e-01 -5.17376084e-01 -9.91405253e-03 1.19686999e+02] [ 5.17341173e-01 8.55758136e-01 -6.01025003e-03 -4.66425637e+00] [ 1.15935907e-02 1.40276378e-05 9.99932792e-01 -1.78162343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.28538475 meters 0.06015928371034043 Centerline is valid? [True, True] Translation: X:119.71, Y:-4.65, Z:-1.78 [[ 8.54438109e-01 -5.19477755e-01 -8.85326122e-03 1.19712432e+02] [ 5.19450039e-01 8.54483974e-01 -5.36612879e-03 -4.65255423e+00] [ 1.03525544e-02 -1.38019522e-05 9.99946411e-01 -1.78425325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.31538475 meters 0.05980124531976524 Centerline is valid? [True, True] Translation: X:119.74, Y:-4.64, Z:-1.78 [[ 8.54729119e-01 -5.19030522e-01 -6.74172076e-03 1.19736437e+02] [ 5.19014419e-01 8.54755706e-01 -4.08849719e-03 -4.63767097e+00] [ 7.88457912e-03 -4.49267881e-06 9.99968916e-01 -1.78135491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.34538475 meters 0.05977498856639143 Centerline is valid? [True, True] Translation: X:119.76, Y:-4.62, Z:-1.78 [[ 8.54989901e-01 -5.18606239e-01 -6.31180306e-03 1.19760137e+02] [ 5.18592081e-01 8.55013198e-01 -3.83206707e-03 -4.62186473e+00] [ 7.38400881e-03 3.12755927e-06 9.99972738e-01 -1.77779380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.37538475 meters 0.05964361023965734 Centerline is valid? [True, True] Translation: X:119.78, Y:-4.61, Z:-1.78 [[ 8.54956715e-01 -5.18672280e-01 -5.29922600e-03 1.19784840e+02] [ 5.18662289e-01 8.54973137e-01 -3.21942149e-03 -4.60699873e+00] [ 6.20052057e-03 3.95733753e-06 9.99980777e-01 -1.77724778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.40538475 meters 0.059435815283843105 Centerline is valid? [True, True] Translation: X:119.81, Y:-4.59, Z:-1.78 [[ 8.55831797e-01 -5.17229892e-01 -5.01731793e-03 1.19807866e+02] [ 5.17220895e-01 8.55846504e-01 -3.05073414e-03 -4.59029180e+00] [ 5.87198490e-03 1.58536112e-05 9.99982760e-01 -1.77767307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.43538475 meters 0.05950068746682307 Centerline is valid? [True, True] Translation: X:119.83, Y:-4.57, Z:-1.78 [[ 8.56883526e-01 -5.15491677e-01 -4.35363057e-03 1.19829088e+02] [ 5.15484884e-01 8.56894586e-01 -2.64643382e-03 -4.57372177e+00] [ 5.09481706e-03 2.34547929e-05 9.99987021e-01 -1.77730704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.46538475 meters 0.05949342087300575 Centerline is valid? [True, True] Translation: X:119.85, Y:-4.56, Z:-1.78 [[ 8.57694362e-01 -5.14139229e-01 -4.60810834e-03 1.19852937e+02] [ 5.14131584e-01 8.57706740e-01 -2.80403587e-03 -4.55729977e+00] [ 5.39407042e-03 3.58317152e-05 9.99985451e-01 -1.77848111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.49538475 meters 0.059860294145535675 Centerline is valid? [True, True] Translation: X:119.87, Y:-4.54, Z:-1.78 [[ 8.59003432e-01 -5.11940620e-01 -5.46857190e-03 1.19874993e+02] [ 5.11929815e-01 8.59020837e-01 -3.32662417e-03 -4.53899850e+00] [ 6.40065125e-03 5.80565772e-05 9.99979514e-01 -1.78034905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.52538475 meters 0.06004979026188803 Centerline is valid? [True, True] Translation: X:119.90, Y:-4.52, Z:-1.78 [[ 8.59305790e-01 -5.11421851e-01 -6.42256334e-03 1.19897643e+02] [ 5.11406929e-01 8.59329788e-01 -3.90748054e-03 -4.52265328e+00] [ 7.51747093e-03 7.31772605e-05 9.99971741e-01 -1.78343070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.55538475 meters 0.06030673005656026 Centerline is valid? [True, True] Translation: X:119.92, Y:-4.51, Z:-1.78 [[ 8.60262383e-01 -5.09800779e-01 -7.19701872e-03 1.19920744e+02] [ 5.09781954e-01 8.60292482e-01 -4.38220563e-03 -4.50514793e+00] [ 8.42559295e-03 1.00936396e-04 9.99964499e-01 -1.78437498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.58538475 meters 0.06087795682006195 Centerline is valid? [True, True] Translation: X:119.94, Y:-4.49, Z:-1.79 [[ 8.61331758e-01 -5.07973956e-01 -8.37041069e-03 1.19943078e+02] [ 5.07948386e-01 8.61372417e-01 -5.09864116e-03 -4.48679361e+00] [ 9.80001781e-03 1.39884950e-04 9.99951969e-01 -1.78678915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.61538475 meters 0.06116237382725587 Centerline is valid? [True, True] Translation: X:119.97, Y:-4.47, Z:-1.79 [[ 8.61952121e-01 -5.06913061e-01 -8.81414155e-03 1.19966599e+02] [ 5.06884627e-01 8.61997171e-01 -5.37148203e-03 -4.47026125e+00] [ 1.03206395e-02 1.62207478e-04 9.99946728e-01 -1.78771670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.64538475 meters 0.06098891190138678 Centerline is valid? [True, True] Translation: X:119.99, Y:-4.46, Z:-1.79 [[ 8.62457253e-01 -5.06045476e-01 -9.24461848e-03 1.19991759e+02] [ 5.06014113e-01 8.62506778e-01 -5.63693440e-03 -4.45565049e+00] [ 1.08260912e-02 1.83707540e-04 9.99941379e-01 -1.78508703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.67538475 meters 0.061533952186406185 Centerline is valid? [True, True] Translation: X:120.01, Y:-4.44, Z:-1.79 [[ 8.63062352e-01 -5.05034636e-01 -7.96197725e-03 1.20012471e+02] [ 5.05011339e-01 8.63099060e-01 -4.85384410e-03 -4.43638417e+00] [ 9.32333447e-03 1.68281316e-04 9.99956523e-01 -1.78859226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.70538475 meters 0.060919449236483035 Centerline is valid? [True, True] Translation: X:120.04, Y:-4.42, Z:-1.79 [[ 8.62977057e-01 -5.05195129e-01 -6.96280920e-03 1.20038379e+02] [ 5.05177282e-01 8.63005133e-01 -4.24913798e-03 -4.42257131e+00] [ 8.15558389e-03 1.49455564e-04 9.99966732e-01 -1.78624030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.73538475 meters 0.06011289409356303 Centerline is valid? [True, True] Translation: X:120.07, Y:-4.41, Z:-1.78 [[ 8.59883444e-01 -5.10463385e-01 -5.25310466e-03 1.20065836e+02] [ 5.10453304e-01 8.59899486e-01 -3.20909296e-03 -4.41368186e+00] [ 6.15526645e-03 7.79812793e-05 9.99981053e-01 -1.78227352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.76538475 meters 0.05974125244413139 Centerline is valid? [True, True] Translation: X:120.09, Y:-4.40, Z:-1.78 [[ 8.59040042e-01 -5.11891871e-01 -4.11332938e-03 1.20091707e+02] [ 5.11885697e-01 8.59049888e-01 -2.51468681e-03 -4.39975014e+00] [ 4.82080288e-03 5.46621811e-05 9.99988378e-01 -1.78074250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.79538475 meters 0.059793241523024517 Centerline is valid? [True, True] Translation: X:120.12, Y:-4.38, Z:-1.78 [[ 8.59053246e-01 -5.11865318e-01 -4.62797382e-03 1.20116760e+02] [ 5.11857495e-01 8.59065709e-01 -2.83052924e-03 -4.38497476e+00] [ 5.42458336e-03 6.27122490e-05 9.99985285e-01 -1.78120012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.82538475 meters 0.0601558280595455 Centerline is valid? [True, True] Translation: X:120.14, Y:-4.37, Z:-1.78 [[ 8.59754300e-01 -5.10692009e-01 -4.02684817e-03 1.20138637e+02] [ 5.10686070e-01 8.59763728e-01 -2.46354861e-03 -4.36878827e+00] [ 4.72025258e-03 6.15912409e-05 9.99988858e-01 -1.78482451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.85538475 meters 0.059893849794805144 Centerline is valid? [True, True] Translation: X:120.16, Y:-4.36, Z:-1.78 [[ 8.59191153e-01 -5.11640093e-01 -3.87020925e-03 1.20164668e+02] [ 5.11634607e-01 8.59199867e-01 -2.36994975e-03 -4.35580143e+00] [ 4.53784458e-03 5.61068736e-05 9.99989702e-01 -1.78394736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.88538475000001 meters 0.05988224846402611 Centerline is valid? [True, True] Translation: X:120.19, Y:-4.34, Z:-1.79 [[ 8.58984913e-01 -5.11974457e-01 -5.20344778e-03 1.20190533e+02] [ 5.11964544e-01 8.59000670e-01 -3.18674325e-03 -4.34179391e+00] [ 6.10129627e-03 7.33835975e-05 9.99981384e-01 -1.78598939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.91538475000002 meters 0.060070330859473005 Centerline is valid? [True, True] Translation: X:120.21, Y:-4.33, Z:-1.79 [[ 8.59049519e-01 -5.11866793e-01 -5.12930176e-03 1.20214430e+02] [ 5.11857144e-01 8.59064829e-01 -3.14388521e-03 -4.32725523e+00] [ 6.01565318e-03 7.52833328e-05 9.99981903e-01 -1.78623045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.94538475000002 meters 0.0600842264630631 Centerline is valid? [True, True] Translation: X:120.24, Y:-4.31, Z:-1.79 [[ 8.59146509e-01 -5.11693805e-01 -6.06011356e-03 1.20239151e+02] [ 5.11680327e-01 8.59167877e-01 -3.71505794e-03 -4.31244448e+00] [ 7.10762704e-03 9.09381747e-05 9.99974736e-01 -1.78742988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.97538475000002 meters 0.06024660002071525 Centerline is valid? [True, True] Translation: X:120.26, Y:-4.30, Z:-1.79 [[ 8.59357006e-01 -5.11343870e-01 -5.74298367e-03 1.20261295e+02] [ 5.11331752e-01 8.59376191e-01 -3.52146665e-03 -4.29707709e+00] [ 6.73606382e-03 8.96271383e-05 9.99977308e-01 -1.79040792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.00538475000002 meters 0.060140159420475396 Centerline is valid? [True, True] Translation: X:120.29, Y:-4.28, Z:-1.79 [[ 8.59256990e-01 -5.11519565e-01 -5.01596746e-03 1.20286657e+02] [ 5.11510308e-01 8.59271626e-01 -3.07846480e-03 -4.28259730e+00] [ 5.88477349e-03 7.94733345e-05 9.99982681e-01 -1.78922038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.03538475 meters 0.060134290181112444 Centerline is valid? [True, True] Translation: X:120.31, Y:-4.27, Z:-1.79 [[ 8.59382660e-01 -5.11289935e-01 -6.63671084e-03 1.20310893e+02] [ 5.11273736e-01 8.59408279e-01 -4.07141592e-03 -4.26782986e+00] [ 7.78531822e-03 1.05728298e-04 9.99969688e-01 -1.79037833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.06538475 meters 0.060018568468738376 Centerline is valid? [True, True] Translation: X:120.34, Y:-4.25, Z:-1.79 [[ 8.59436820e-01 -5.11196342e-01 -6.83032750e-03 1.20335539e+02] [ 5.11179146e-01 8.59463954e-01 -4.19441745e-03 -4.25338002e+00] [ 8.01459113e-03 1.13315820e-04 9.99967876e-01 -1.79103624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.09538475 meters 0.06051142467239986 Centerline is valid? [True, True] Translation: X:120.36, Y:-4.24, Z:-1.79 [[ 8.59368873e-01 -5.11306942e-01 -7.09581328e-03 1.20357972e+02] [ 5.11288387e-01 8.59398160e-01 -4.35755375e-03 -4.23753225e+00] [ 8.32617636e-03 1.16739132e-04 9.99965330e-01 -1.79495683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.12538475 meters 0.060057556033664077 Centerline is valid? [True, True] Translation: X:120.38, Y:-4.22, Z:-1.79 [[ 8.59065774e-01 -5.11826033e-01 -6.33311927e-03 1.20384403e+02] [ 5.11811239e-01 8.59089111e-01 -3.89287054e-03 -4.22455447e+00] [ 7.43318629e-03 1.02870219e-04 9.99972368e-01 -1.79178387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.15538475 meters 0.060046024134860675 Centerline is valid? [True, True] Translation: X:120.41, Y:-4.21, Z:-1.79 [[ 8.58837048e-01 -5.12213523e-01 -6.01929517e-03 1.20409542e+02] [ 5.12200179e-01 8.58858136e-01 -3.69856587e-03 -4.21182013e+00] [ 7.06417609e-03 9.33813277e-05 9.99975044e-01 -1.79109442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.18538475 meters 0.06009821709697576 Centerline is valid? [True, True] Translation: X:120.43, Y:-4.20, Z:-1.79 [[ 8.58845842e-01 -5.12192760e-01 -6.51122997e-03 1.20433829e+02] [ 5.12177110e-01 8.58870517e-01 -4.00522085e-03 -4.19686230e+00] [ 7.64374857e-03 1.04964324e-04 9.99970781e-01 -1.79257733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.21538475 meters 0.06009821709697576 Centerline is valid? [True, True] Translation: X:120.46, Y:-4.18, Z:-1.79 [[ 8.58704435e-01 -5.12429814e-01 -6.50988546e-03 1.20457310e+02] [ 5.12414155e-01 8.58729104e-01 -4.00740716e-03 -4.18222009e+00] [ 7.64374301e-03 1.05420848e-04 9.99970781e-01 -1.79294848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.24538475 meters 0.060226153289834376 Centerline is valid? [True, True] Translation: X:120.48, Y:-4.17, Z:-1.79 [[ 8.58635220e-01 -5.12543110e-01 -6.71715530e-03 1.20481188e+02] [ 5.12526422e-01 8.58661487e-01 -4.13740481e-03 -4.16736095e+00] [ 7.88836088e-03 1.09801917e-04 9.99968880e-01 -1.79385155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.27538475 meters 0.060151039927795594 Centerline is valid? [True, True] Translation: X:120.51, Y:-4.15, Z:-1.80 [[ 8.58135120e-01 -5.13367889e-01 -7.58460248e-03 1.20506326e+02] [ 5.13346632e-01 8.58168630e-01 -4.67313302e-03 -4.15246749e+00] [ 8.90790435e-03 1.16649427e-04 9.99960317e-01 -1.79554206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.30538475 meters 0.06023938948949587 Centerline is valid? [True, True] Translation: X:120.53, Y:-4.14, Z:-1.80 [[ 8.57802040e-01 -5.13927661e-01 -7.34977083e-03 1.20530008e+02] [ 5.13907733e-01 8.57833520e-01 -4.52696751e-03 -4.13807403e+00] [ 8.63141360e-03 1.06137897e-04 9.99962743e-01 -1.79744005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.33538475 meters 0.059667241771082034 Centerline is valid? [True, True] Translation: X:120.56, Y:-4.13, Z:-1.80 [[ 8.55504515e-01 -5.17758620e-01 -6.16733551e-03 1.20557229e+02] [ 5.17744654e-01 8.55526743e-01 -3.80331270e-03 -4.12743693e+00] [ 7.24551840e-03 6.06461897e-05 9.99973749e-01 -1.79545511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.36538475 meters 0.05935060604640298 Centerline is valid? [True, True] Translation: X:120.59, Y:-4.12, Z:-1.79 [[ 8.51643646e-01 -5.24100342e-01 -4.68313188e-03 1.20585935e+02] [ 5.24092372e-01 8.51656522e-01 -2.89037193e-03 -4.11974636e+00] [ 5.50326472e-03 7.17319568e-06 9.99984857e-01 -1.79255063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.39538475 meters 0.05915565005247301 Centerline is valid? [True, True] Translation: X:120.61, Y:-4.10, Z:-1.79 [[ 8.51069831e-01 -5.25037992e-01 -3.90503943e-03 1.20609406e+02] [ 5.25032449e-01 8.51078790e-01 -2.41260943e-03 -4.10397323e+00] [ 4.59020784e-03 3.02667786e-06 9.99989465e-01 -1.79246159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.42538475 meters 0.0593795264531097 Centerline is valid? [True, True] Translation: X:120.63, Y:-4.09, Z:-1.79 [[ 8.51345132e-01 -5.24592523e-01 -3.76168792e-03 1.20631467e+02] [ 5.24587370e-01 8.51353443e-01 -2.32509062e-03 -4.08865442e+00] [ 4.42225112e-03 6.12061088e-06 9.99990222e-01 -1.79450548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.45538475 meters 0.059374845481021364 Centerline is valid? [True, True] Translation: X:120.66, Y:-4.08, Z:-1.79 [[ 8.51446388e-01 -5.24427434e-01 -3.86186129e-03 1.20655227e+02] [ 5.24421997e-01 8.51455146e-01 -2.38814897e-03 -4.07538924e+00] [ 4.54061251e-03 8.13580299e-06 9.99989691e-01 -1.79429675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.48538475 meters 0.05934248376539071 Centerline is valid? [True, True] Translation: X:120.68, Y:-4.06, Z:-1.79 [[ 8.51449957e-01 -5.24427640e-01 -2.93610488e-03 1.20680611e+02] [ 5.24424490e-01 8.51455020e-01 -1.81761278e-03 -4.06097849e+00] [ 3.45316762e-03 7.84102292e-06 9.99994038e-01 -1.79170722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.51538475 meters 0.059182003989800475 Centerline is valid? [True, True] Translation: X:120.71, Y:-4.05, Z:-1.79 [[ 8.50734469e-01 -5.25586713e-01 -3.07727454e-03 1.20706439e+02] [ 5.25583254e-01 8.50740035e-01 -1.90680354e-03 -4.04840278e+00] [ 3.62015125e-03 4.81952864e-06 9.99993447e-01 -1.79033055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.54538475 meters 0.05922777027071821 Centerline is valid? [True, True] Translation: X:120.73, Y:-4.04, Z:-1.79 [[ 8.50233779e-01 -5.26391091e-01 -3.86530552e-03 1.20731173e+02] [ 5.26385656e-01 8.50242565e-01 -2.39206206e-03 -4.03503467e+00] [ 4.54560744e-03 -8.29415252e-07 9.99989669e-01 -1.79223230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.57538475 meters 0.05918046107472981 Centerline is valid? [True, True] Translation: X:120.75, Y:-4.02, Z:-1.79 [[ 8.49590008e-01 -5.27429346e-01 -3.88628320e-03 1.20754533e+02] [ 5.27423857e-01 8.49598897e-01 -2.40629490e-03 -4.02174582e+00] [ 4.57093246e-03 -5.35436989e-06 9.99989553e-01 -1.79359420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.60538475 meters 0.05910496240594271 Centerline is valid? [True, True] Translation: X:120.78, Y:-4.01, Z:-1.79 [[ 8.49491232e-01 -5.27581289e-01 -4.75709645e-03 1.20779602e+02] [ 5.27573052e-01 8.49504552e-01 -2.94799597e-03 -4.00659567e+00] [ 5.59648260e-03 -5.41916470e-06 9.99984340e-01 -1.79300870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.63538475000001 meters 0.05906835963903635 Centerline is valid? [True, True] Translation: X:120.80, Y:-3.99, Z:-1.79 [[ 8.50018706e-01 -5.26723928e-01 -5.48662432e-03 1.20802496e+02] [ 5.26712945e-01 8.50036413e-01 -3.40136677e-03 -3.98924019e+00] [ 6.45541173e-03 1.34931977e-06 9.99979164e-01 -1.79376318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.66538475000002 meters 0.058923938870877775 Centerline is valid? [True, True] Translation: X:120.82, Y:-3.97, Z:-1.79 [[ 8.50744881e-01 -5.25551238e-01 -5.38930423e-03 1.20824997e+02] [ 5.25540600e-01 8.50761951e-01 -3.34382630e-03 -3.97276124e+00] [ 6.34236703e-03 1.24449291e-05 9.99979887e-01 -1.79434670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.69538475000002 meters 0.05896529414477866 Centerline is valid? [True, True] Translation: X:120.85, Y:-3.96, Z:-1.80 [[ 8.51050474e-01 -5.25047874e-01 -6.14986195e-03 1.20848224e+02] [ 5.25034021e-01 8.51072694e-01 -3.81413562e-03 -3.95662110e+00] [ 7.23658337e-03 1.71351867e-05 9.99973815e-01 -1.79541844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.72538475000002 meters 0.05918744653616116 Centerline is valid? [True, True] Translation: X:120.87, Y:-3.94, Z:-1.80 [[ 8.52108231e-01 -5.23318345e-01 -7.03366496e-03 1.20869897e+02] [ 5.23300135e-01 8.52137259e-01 -4.36585858e-03 -3.93708265e+00] [ 8.27838187e-03 3.94662040e-05 9.99965733e-01 -1.79723254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.75538475000002 meters 0.059194296278951175 Centerline is valid? [True, True] Translation: X:120.89, Y:-3.92, Z:-1.80 [[ 8.51929313e-01 -5.23610542e-01 -6.96023674e-03 1.20892041e+02] [ 5.23592720e-01 8.51957745e-01 -4.32033530e-03 -3.92226447e+00] [ 8.19200071e-03 3.62910044e-05 9.99966444e-01 -1.79864234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.78538475 meters 0.059284257386326915 Centerline is valid? [True, True] Translation: X:120.92, Y:-3.91, Z:-1.80 [[ 8.51299527e-01 -5.24625702e-01 -7.54908897e-03 1.20916324e+02] [ 5.24604743e-01 8.51332997e-01 -4.68955910e-03 -3.90731980e+00] [ 8.88705177e-03 3.19315622e-05 9.99960509e-01 -1.79846832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.81538475 meters 0.05934895464846567 Centerline is valid? [True, True] Translation: X:120.94, Y:-3.89, Z:-1.80 [[ 8.50183503e-01 -5.26426967e-01 -7.91576003e-03 1.20940527e+02] [ 5.26403969e-01 8.50220353e-01 -4.92067568e-03 -3.89218175e+00] [ 9.32051666e-03 1.65897940e-05 9.99956563e-01 -1.79915863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.84538475 meters 0.05929432349987649 Centerline is valid? [True, True] Translation: X:120.96, Y:-3.88, Z:-1.80 [[ 8.49686640e-01 -5.27232544e-01 -7.64578571e-03 1.20963924e+02] [ 5.27211093e-01 8.49721039e-01 -4.75587469e-03 -3.87722476e+00] [ 9.00423689e-03 1.00601387e-05 9.99959461e-01 -1.80062884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.87538475 meters 0.0592309439528914 Centerline is valid? [True, True] Translation: X:120.99, Y:-3.87, Z:-1.80 [[ 8.47078543e-01 -5.31414178e-01 -7.54409585e-03 1.20989836e+02] [ 5.31393431e-01 8.47112136e-01 -4.69580591e-03 -3.86509359e+00] [ 8.88611298e-03 -3.11665440e-05 9.99960517e-01 -1.79906247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.90538475 meters 0.05929247028014225 Centerline is valid? [True, True] Translation: X:121.01, Y:-3.85, Z:-1.80 [[ 8.45143938e-01 -5.34485601e-01 -7.54094476e-03 1.21014928e+02] [ 5.34465005e-01 8.45177578e-01 -4.69267480e-03 -3.85324655e+00] [ 8.88160454e-03 -6.43854156e-05 9.99960556e-01 -1.79884432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.93538475 meters 0.0591508691388013 Centerline is valid? [True, True] Translation: X:121.04, Y:-3.84, Z:-1.80 [[ 8.44787786e-01 -5.35053976e-01 -7.13013759e-03 1.21037481e+02] [ 5.35035546e-01 8.44817873e-01 -4.44139753e-03 -3.83804558e+00] [ 8.40005508e-03 -6.28386711e-05 9.99964717e-01 -1.79935114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.96538475 meters 0.059092589985009554 Centerline is valid? [True, True] Translation: X:121.06, Y:-3.82, Z:-1.80 [[ 8.45810926e-01 -5.33437185e-01 -6.97481222e-03 1.21059668e+02] [ 5.33419469e-01 8.45839682e-01 -4.34763400e-03 -3.82031167e+00] [ 8.21876259e-03 -4.32242881e-05 9.99966224e-01 -1.80045283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.99538475 meters 0.05900013753168046 Centerline is valid? [True, True] Translation: X:121.08, Y:-3.80, Z:-1.80 [[ 8.46357758e-01 -5.32571518e-01 -6.79146654e-03 1.21081935e+02] [ 5.32554672e-01 8.46385005e-01 -4.23611985e-03 -3.80330520e+00] [ 8.00423222e-03 -3.15543405e-05 9.99967965e-01 -1.79934607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.02538475 meters 0.058711143226358495 Centerline is valid? [True, True] Translation: X:121.10, Y:-3.79, Z:-1.80 [[ 8.47185843e-01 -5.31273243e-01 -4.98873282e-03 1.21104785e+02] [ 5.31264117e-01 8.47200532e-01 -3.11399738e-03 -3.78593067e+00] [ 5.88084058e-03 -1.22002411e-05 9.99982708e-01 -1.79779636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.05538475 meters 0.05870706446322357 Centerline is valid? [True, True] Translation: X:121.13, Y:-3.77, Z:-1.80 [[ 8.48037012e-01 -5.29909183e-01 -5.42995095e-03 1.21127311e+02] [ 5.29898343e-01 8.48054395e-01 -3.38950340e-03 -3.76989839e+00] [ 6.40102275e-03 -2.89767816e-06 9.99979513e-01 -1.79768571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.08538475 meters 0.05868448074477489 Centerline is valid? [True, True] Translation: X:121.15, Y:-3.75, Z:-1.80 [[ 8.48223836e-01 -5.29610628e-01 -5.37651306e-03 1.21149725e+02] [ 5.29599971e-01 8.48240876e-01 -3.35965178e-03 -3.75350031e+00] [ 6.33988543e-03 2.33555736e-06 9.99979903e-01 -1.79820969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.11538475 meters 0.05884326972621598 Centerline is valid? [True, True] Translation: X:121.17, Y:-3.73, Z:-1.80 [[ 8.49420815e-01 -5.27685166e-01 -5.71352916e-03 1.21171987e+02] [ 5.27673080e-01 8.49440030e-01 -3.57145352e-03 -3.73446922e+00] [ 6.73790343e-03 1.87914259e-05 9.99977300e-01 -1.79882895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.14538475 meters 0.05896150239398239 Centerline is valid? [True, True] Translation: X:121.19, Y:-3.72, Z:-1.80 [[ 8.49840300e-01 -5.26999318e-01 -6.57146215e-03 1.21194982e+02] [ 5.26983297e-01 8.49865706e-01 -4.10934422e-03 -3.71692138e+00] [ 7.75048192e-03 2.92355360e-05 9.99969964e-01 -1.80083817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.17538475 meters 0.05922774081103033 Centerline is valid? [True, True] Translation: X:121.22, Y:-3.70, Z:-1.80 [[ 8.51171122e-01 -5.24837602e-01 -7.29462983e-03 1.21216214e+02] [ 5.24817788e-01 8.51202378e-01 -4.56083718e-03 -3.69848737e+00] [ 8.60290511e-03 5.37014141e-05 9.99962993e-01 -1.80344518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.20538475 meters 0.05947402775059661 Centerline is valid? [True, True] Translation: X:121.24, Y:-3.68, Z:-1.80 [[ 8.52335983e-01 -5.22931368e-01 -8.13369045e-03 1.21237896e+02] [ 5.22906630e-01 8.52374787e-01 -5.08707525e-03 -3.68066495e+00] [ 9.59314389e-03 8.27366199e-05 9.99953981e-01 -1.80496481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.23538475 meters 0.05953120713516571 Centerline is valid? [True, True] Translation: X:121.26, Y:-3.66, Z:-1.80 [[ 8.53098700e-01 -5.21669111e-01 -9.16223437e-03 1.21261681e+02] [ 5.21637600e-01 8.53147892e-01 -5.73479546e-03 -3.66422289e+00] [ 1.08084066e-02 1.12980602e-04 9.99941581e-01 -1.80473389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.26538475 meters 0.05983312475200669 Centerline is valid? [True, True] Translation: X:121.28, Y:-3.65, Z:-1.81 [[ 8.54629653e-01 -5.19155682e-01 -9.24848378e-03 1.21283452e+02] [ 5.19123444e-01 8.54679681e-01 -5.78733395e-03 -3.64621637e+00] [ 1.09090185e-02 1.44922450e-04 9.99940484e-01 -1.80502501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.29538475 meters 0.059904513930709 Centerline is valid? [True, True] Translation: X:121.31, Y:-3.63, Z:-1.81 [[ 8.55214714e-01 -5.18196372e-01 -8.96174068e-03 1.21307068e+02] [ 5.18165991e-01 8.55261653e-01 -5.61343707e-03 -3.62928548e+00] [ 1.05734959e-02 1.57024739e-04 9.99944087e-01 -1.80511961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.32538475 meters 0.060110028173268604 Centerline is valid? [True, True] Translation: X:121.33, Y:-3.61, Z:-1.81 [[ 8.56266972e-01 -5.16446942e-01 -9.45668566e-03 1.21329443e+02] [ 5.16412973e-01 8.56319169e-01 -5.92640928e-03 -3.61092298e+00] [ 1.11586172e-02 1.91033379e-04 9.99937722e-01 -1.80612331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.35538475 meters 0.06024212886678008 Centerline is valid? [True, True] Translation: X:121.35, Y:-3.59, Z:-1.81 [[ 8.56447626e-01 -5.16159285e-01 -8.77813214e-03 1.21352486e+02] [ 5.16129958e-01 8.56492591e-01 -5.50532650e-03 -3.59414358e+00] [ 1.03600305e-02 1.84366839e-04 9.99946316e-01 -1.80633282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.38538475000001 meters 0.06071539618428439 Centerline is valid? [True, True] Translation: X:121.37, Y:-3.58, Z:-1.81 [[ 8.57592143e-01 -5.14263719e-01 -8.27912681e-03 1.21374550e+02] [ 5.14237560e-01 8.57632083e-01 -5.19058552e-03 -3.57615407e+00] [ 9.76977458e-03 1.93967394e-04 9.99952256e-01 -1.80726329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.41538475000002 meters 0.06007054238116912 Centerline is valid? [True, True] Translation: X:121.40, Y:-3.56, Z:-1.81 [[ 8.55629077e-01 -5.17527021e-01 -8.04145752e-03 1.21401575e+02] [ 5.17502438e-01 8.55666850e-01 -5.04670722e-03 -3.56456084e+00] [ 9.49261598e-03 1.56635574e-04 9.99954932e-01 -1.80550257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.44538475000002 meters 0.0593687694327276 Centerline is valid? [True, True] Translation: X:121.43, Y:-3.55, Z:-1.80 [[ 8.53435750e-01 -5.21153890e-01 -6.78553416e-03 1.21427267e+02] [ 5.21136474e-01 8.53462719e-01 -4.26184909e-03 -3.55177340e+00] [ 8.01227966e-03 1.01025029e-04 9.99967896e-01 -1.80486866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.47538475000002 meters 0.059370865833535694 Centerline is valid? [True, True] Translation: X:121.45, Y:-3.54, Z:-1.81 [[ 8.53304404e-01 -5.21366720e-01 -6.95250292e-03 1.21450869e+02] [ 5.21348421e-01 8.53332721e-01 -4.36937034e-03 -3.53645997e+00] [ 8.21084252e-03 1.03726544e-04 9.99966285e-01 -1.80684096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.50538475000002 meters 0.05965911097864449 Centerline is valid? [True, True] Translation: X:121.47, Y:-3.52, Z:-1.81 [[ 8.54090860e-01 -5.20063031e-01 -7.95282369e-03 1.21472187e+02] [ 5.20039042e-01 8.54127875e-01 -4.99684349e-03 -3.51856965e+00] [ 9.39140197e-03 1.31979542e-04 9.99955891e-01 -1.80969316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.53538475 meters 0.059967735828405255 Centerline is valid? [True, True] Translation: X:121.49, Y:-3.50, Z:-1.81 [[ 8.54688798e-01 -5.19086372e-01 -7.50977341e-03 1.21494413e+02] [ 5.19064926e-01 8.54721779e-01 -4.72044676e-03 -3.50278242e+00] [ 8.86908648e-03 1.36452986e-04 9.99960660e-01 -1.81093634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.56538475 meters 0.059617266070241516 Centerline is valid? [True, True] Translation: X:121.52, Y:-3.49, Z:-1.81 [[ 8.55145035e-01 -5.18349581e-01 -6.37822568e-03 1.21520042e+02] [ 5.18334055e-01 8.55168811e-01 -4.01386103e-03 -3.49025909e+00] [ 7.53504285e-03 1.26381746e-04 9.99971603e-01 -1.80571028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.59538475 meters 0.05965715760489233 Centerline is valid? [True, True] Translation: X:121.55, Y:-3.48, Z:-1.81 [[ 8.55208908e-01 -5.18241876e-01 -6.56366396e-03 1.21545132e+02] [ 5.18225418e-01 8.55234085e-01 -4.13230984e-03 -3.47504052e+00] [ 7.75500514e-03 1.32530695e-04 9.99969921e-01 -1.80503751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.62538475 meters 0.0597911432824435 Centerline is valid? [True, True] Translation: X:121.57, Y:-3.46, Z:-1.81 [[ 8.55357603e-01 -5.18005278e-01 -5.82261517e-03 1.21568745e+02] [ 5.17992326e-01 8.55377412e-01 -3.66507574e-03 -3.46090440e+00] [ 6.87906207e-03 1.18880422e-04 9.99976332e-01 -1.80581310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.65538475 meters 0.059797120575237804 Centerline is valid? [True, True] Translation: X:121.59, Y:-3.45, Z:-1.81 [[ 8.55436561e-01 -5.17868625e-01 -6.35430702e-03 1.21593053e+02] [ 5.17853166e-01 8.55460150e-01 -4.00374951e-03 -3.44595271e+00] [ 7.50927270e-03 1.34355707e-04 9.99971796e-01 -1.80742520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.68538475 meters 0.059666715229794665 Centerline is valid? [True, True] Translation: X:121.62, Y:-3.43, Z:-1.81 [[ 8.55054940e-01 -5.18497971e-01 -6.39565528e-03 1.21617758e+02] [ 5.18482304e-01 8.55078848e-01 -4.03276352e-03 -3.43225357e+00] [ 7.55976925e-03 1.32200280e-04 9.99971416e-01 -1.80822804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.71538475 meters 0.059649329112804184 Centerline is valid? [True, True] Translation: X:121.64, Y:-3.42, Z:-1.81 [[ 8.54686243e-01 -5.19107424e-01 -6.23768593e-03 1.21642398e+02] [ 5.19092526e-01 8.54708995e-01 -3.93476862e-03 -3.41766529e+00] [ 7.37397388e-03 1.25056457e-04 9.99972804e-01 -1.80900206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.74538475 meters 0.05910813206793881 Centerline is valid? [True, True] Translation: X:121.67, Y:-3.41, Z:-1.81 [[ 8.53314348e-01 -5.21361189e-01 -6.09367210e-03 1.21669003e+02] [ 5.21347014e-01 8.53336100e-01 -3.84604622e-03 -3.40588849e+00] [ 7.20512961e-03 1.04968669e-04 9.99974037e-01 -1.81015078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.77538475 meters 0.059122568488971454 Centerline is valid? [True, True] Translation: X:121.70, Y:-3.39, Z:-1.81 [[ 8.52723137e-01 -5.22314900e-01 -7.09903613e-03 1.21695006e+02] [ 5.22295680e-01 8.52752679e-01 -4.48229374e-03 -3.39213333e+00] [ 8.39489088e-03 1.14359681e-04 9.99964756e-01 -1.81210096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.80538475 meters 0.0586749270953849 Centerline is valid? [True, True] Translation: X:121.72, Y:-3.38, Z:-1.81 [[ 8.51210839e-01 -5.24761311e-01 -8.10401791e-03 1.21722545e+02] [ 5.24736339e-01 8.51249409e-01 -5.12041743e-03 -3.38237872e+00] [ 9.58553741e-03 1.06082123e-04 9.99954052e-01 -1.81059727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.83538475 meters 0.05877604815685154 Centerline is valid? [True, True] Translation: X:121.75, Y:-3.37, Z:-1.81 [[ 8.50674092e-01 -5.25635627e-01 -7.79593018e-03 1.21746589e+02] [ 5.25612574e-01 8.50709809e-01 -4.92369567e-03 -3.36795968e+00] [ 9.22014413e-03 9.08214104e-05 9.99957489e-01 -1.81415836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.86538475 meters 0.05894056977038368 Centerline is valid? [True, True] Translation: X:121.77, Y:-3.35, Z:-1.82 [[ 8.50652100e-01 -5.25655440e-01 -8.79560500e-03 1.21770955e+02] [ 5.25626075e-01 8.50697565e-01 -5.55715374e-03 -3.35387806e+00] [ 1.04035479e-02 1.04005169e-04 9.99945876e-01 -1.81593939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.89538475 meters 0.058628754548445974 Centerline is valid? [True, True] Translation: X:121.80, Y:-3.34, Z:-1.81 [[ 8.50007340e-01 -5.26713624e-01 -7.76404733e-03 1.21796849e+02] [ 5.26690742e-01 8.50042794e-01 -4.91021668e-03 -3.34026206e+00] [ 9.18605050e-03 8.44683664e-05 9.99957804e-01 -1.81238104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.92538475 meters 0.058667010808697344 Centerline is valid? [True, True] Translation: X:121.82, Y:-3.32, Z:-1.81 [[ 8.50378433e-01 -5.26099491e-01 -8.70904123e-03 1.21819915e+02] [ 5.26070673e-01 8.50423022e-01 -5.50743561e-03 -3.32455114e+00] [ 1.03038282e-02 1.01833283e-04 9.99946909e-01 -1.81401561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.95538475 meters 0.058611480423298556 Centerline is valid? [True, True] Translation: X:121.84, Y:-3.31, Z:-1.81 [[ 8.49304613e-01 -5.27841808e-01 -8.04355446e-03 1.21844182e+02] [ 5.27817261e-01 8.49342698e-01 -5.09113309e-03 -3.30969662e+00] [ 9.51904714e-03 7.83959303e-05 9.99954690e-01 -1.81483098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.98538475 meters 0.05859296650200627 Centerline is valid? [True, True] Translation: X:121.87, Y:-3.29, Z:-1.82 [[ 8.48891000e-01 -5.28509954e-01 -7.82935827e-03 1.21868350e+02] [ 5.28486692e-01 8.48927101e-01 -4.95922423e-03 -3.29479273e+00] [ 9.26755379e-03 7.21291658e-05 9.99957053e-01 -1.81542176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.01538475 meters 0.05840783305750142 Centerline is valid? [True, True] Translation: X:121.89, Y:-3.28, Z:-1.82 [[ 8.48442826e-01 -5.29247197e-01 -6.49423076e-03 1.21892562e+02] [ 5.29231195e-01 8.48467679e-01 -4.11589643e-03 -3.27928370e+00] [ 7.68847154e-03 5.51532940e-05 9.99970442e-01 -1.81579284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.04538475 meters 0.05888870970848858 Centerline is valid? [True, True] Translation: X:121.91, Y:-3.26, Z:-1.82 [[ 8.49621587e-01 -5.27351466e-01 -6.60231671e-03 1.21914363e+02] [ 5.27334872e-01 8.49647236e-01 -4.18403794e-03 -3.26164379e+00] [ 7.81609869e-03 7.32171155e-05 9.99969451e-01 -1.81979397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.07538475 meters 0.058751550146131926 Centerline is valid? [True, True] Translation: X:121.94, Y:-3.25, Z:-1.82 [[ 8.49882962e-01 -5.26926665e-01 -6.87320594e-03 1.21938496e+02] [ 5.26908632e-01 8.49910750e-01 -4.36012673e-03 -3.24717725e+00] [ 8.13907865e-03 8.40458779e-05 9.99966874e-01 -1.81583519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.10538475 meters 0.05864534344330651 Centerline is valid? [True, True] Translation: X:121.96, Y:-3.23, Z:-1.81 [[ 8.49804077e-01 -5.27063507e-01 -6.09019287e-03 1.21961433e+02] [ 5.27049341e-01 8.49825896e-01 -3.86498420e-03 -3.23301275e+00] [ 7.21269574e-03 7.46471923e-05 9.99973985e-01 -1.81475989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.13538475000001 meters 0.05865972966863082 Centerline is valid? [True, True] Translation: X:121.99, Y:-3.22, Z:-1.82 [[ 8.48852641e-01 -5.28585455e-01 -6.82721082e-03 1.21986004e+02] [ 5.28567678e-01 8.48880093e-01 -4.33565685e-03 -3.21894433e+00] [ 8.08724850e-03 7.16907973e-05 9.99967295e-01 -1.81547119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.16538475000002 meters 0.05865972966863082 Centerline is valid? [True, True] Translation: X:122.01, Y:-3.20, Z:-1.82 [[ 8.48711933e-01 -5.28811365e-01 -6.82606306e-03 1.22009263e+02] [ 5.28793581e-01 8.48739380e-01 -4.33746455e-03 -3.20396583e+00] [ 8.08724907e-03 7.16795905e-05 9.99967295e-01 -1.81584201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.19538475000002 meters 0.05847657926880446 Centerline is valid? [True, True] Translation: X:122.03, Y:-3.19, Z:-1.82 [[ 8.47185813e-01 -5.31250295e-01 -7.02293729e-03 1.22034356e+02] [ 5.31231535e-01 8.47214920e-01 -4.46494427e-03 -3.19087371e+00] [ 8.32194022e-03 5.18316932e-05 9.99965371e-01 -1.81743060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.22538475000002 meters 0.058674409266229806 Centerline is valid? [True, True] Translation: X:122.06, Y:-3.18, Z:-1.82 [[ 8.47713889e-01 -5.30400892e-01 -7.48707152e-03 1.22058140e+02] [ 5.30379548e-01 8.47746949e-01 -4.75870737e-03 -3.17561709e+00] [ 8.87116468e-03 6.30327255e-05 9.99960648e-01 -1.81976244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.25538475000002 meters 0.05860052696359711 Centerline is valid? [True, True] Translation: X:122.08, Y:-3.16, Z:-1.82 [[ 8.46930350e-01 -5.31650618e-01 -7.52351327e-03 1.22082835e+02] [ 5.31629070e-01 8.46963764e-01 -4.78689175e-03 -3.16170331e+00] [ 8.91709708e-03 5.44455362e-05 9.99960240e-01 -1.81960031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.28538475 meters 0.05855356499928821 Centerline is valid? [True, True] Translation: X:122.11, Y:-3.15, Z:-1.82 [[ 8.46574699e-01 -5.32217396e-01 -7.47809662e-03 1.22107352e+02] [ 5.32196101e-01 8.46607725e-01 -4.76119427e-03 -3.14809902e+00] [ 8.86500479e-03 5.08927359e-05 9.99960704e-01 -1.81692849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.31538475 meters 0.05853221672123024 Centerline is valid? [True, True] Translation: X:122.13, Y:-3.13, Z:-1.82 [[ 8.46589918e-01 -5.32202374e-01 -6.79296037e-03 1.22131810e+02] [ 5.32184779e-01 8.46617169e-01 -4.32785545e-03 -3.13391403e+00] [ 8.05433182e-03 4.88086786e-05 9.99967562e-01 -1.81656338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.34538475 meters 0.058565586935646896 Centerline is valid? [True, True] Translation: X:122.16, Y:-3.12, Z:-1.82 [[ 8.46609454e-01 -5.32180365e-01 -6.04086728e-03 1.22155133e+02] [ 5.32166430e-01 8.46631004e-01 -3.85142696e-03 -3.11861380e+00] [ 7.16403934e-03 4.59076953e-05 9.99974337e-01 -1.81673045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.37538475 meters 0.0585272619436634 Centerline is valid? [True, True] Translation: X:122.18, Y:-3.10, Z:-1.82 [[ 8.45776198e-01 -5.33504948e-01 -5.92399082e-03 1.22180080e+02] [ 5.33491563e-01 8.45796943e-01 -3.77934138e-03 -3.10462537e+00] [ 7.02679065e-03 3.60778629e-05 9.99975311e-01 -1.81621443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.40538475 meters 0.05881077664476657 Centerline is valid? [True, True] Translation: X:122.20, Y:-3.09, Z:-1.82 [[ 8.45964412e-01 -5.33186526e-01 -7.50612894e-03 1.22202969e+02] [ 5.33165037e-01 8.45997710e-01 -4.78721182e-03 -3.08828522e+00] [ 8.90264473e-03 4.78053177e-05 9.99960370e-01 -1.81946427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.43538475 meters 0.058883291583655975 Centerline is valid? [True, True] Translation: X:122.23, Y:-3.07, Z:-1.82 [[ 8.45836781e-01 -5.33385980e-01 -7.71600888e-03 1.22225352e+02] [ 5.33363243e-01 8.45871973e-01 -4.92513343e-03 -3.07357716e+00] [ 9.15375277e-03 5.04234911e-05 9.99958102e-01 -1.82029808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.46538475 meters 0.05892626089935976 Centerline is valid? [True, True] Translation: X:122.25, Y:-3.06, Z:-1.82 [[ 8.46590088e-01 -5.32173957e-01 -8.72363292e-03 1.22248766e+02] [ 5.32144835e-01 8.46635030e-01 -5.56784512e-03 -3.05780068e+00] [ 1.03487954e-02 7.14462976e-05 9.99946447e-01 -1.82141597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.49538475 meters 0.05894912649761361 Centerline is valid? [True, True] Translation: X:122.27, Y:-3.04, Z:-1.82 [[ 8.46479863e-01 -5.32359005e-01 -8.10752049e-03 1.22272173e+02] [ 5.32333811e-01 8.46518686e-01 -5.17965466e-03 -3.04234935e+00] [ 9.62060339e-03 6.85660884e-05 9.99953719e-01 -1.82168814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.52538475 meters 0.058459496940748645 Centerline is valid? [True, True] Translation: X:122.30, Y:-3.03, Z:-1.81 [[ 8.43911352e-01 -5.36464624e-01 -4.39733470e-03 1.22297713e+02] [ 5.36457268e-01 8.43922809e-01 -2.80932664e-03 -3.03162929e+00] [ 5.21811541e-03 1.18404858e-05 9.99986385e-01 -1.81488395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.55538475 meters 0.05832595777679405 Centerline is valid? [True, True] Translation: X:122.32, Y:-3.02, Z:-1.81 [[ 8.43386835e-01 -5.37294276e-01 -3.67525712e-03 1.22321057e+02] [ 5.37289128e-01 8.43394843e-01 -2.35201578e-03 -3.01575582e+00] [ 4.36341752e-03 8.98345566e-06 9.99990480e-01 -1.81365249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.58538475 meters 0.05846365093651283 Centerline is valid? [True, True] Translation: X:122.34, Y:-3.00, Z:-1.82 [[ 8.42855451e-01 -5.38122240e-01 -4.37530405e-03 1.22343624e+02] [ 5.38114952e-01 8.42866807e-01 -2.80064542e-03 -2.99884539e+00] [ 5.19488814e-03 6.12273597e-06 9.99986506e-01 -1.81621338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.61538475 meters 0.05885606409293166 Centerline is valid? [True, True] Translation: X:122.36, Y:-2.98, Z:-1.82 [[ 8.44013086e-01 -5.36294396e-01 -5.49834563e-03 1.22363414e+02] [ 5.36282856e-01 8.44030995e-01 -3.51825107e-03 -2.97905836e+00] [ 6.52759246e-03 2.07814441e-05 9.99978695e-01 -1.82162336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.64538475 meters 0.059144218129339614 Centerline is valid? [True, True] Translation: X:122.38, Y:-2.96, Z:-1.82 [[ 8.45714522e-01 -5.33601404e-01 -6.04061434e-03 1.22384745e+02] [ 5.33587388e-01 8.45736093e-01 -3.86790419e-03 -2.95877629e+00] [ 7.17268468e-03 4.79471182e-05 9.99974275e-01 -1.82436177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.67538475 meters 0.05929167454749386 Centerline is valid? [True, True] Translation: X:122.41, Y:-2.94, Z:-1.82 [[ 8.46726885e-01 -5.31988909e-01 -6.43296660e-03 1.22408206e+02] [ 5.31972952e-01 8.46751319e-01 -4.12088827e-03 -2.94144977e+00] [ 7.63938981e-03 6.71026581e-05 9.99970817e-01 -1.82428094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.70538475 meters 0.05965077059109271 Centerline is valid? [True, True] Translation: X:122.43, Y:-2.92, Z:-1.82 [[ 8.49165998e-01 -5.28085571e-01 -6.53738988e-03 1.22429633e+02] [ 5.28068974e-01 8.49191156e-01 -4.18802038e-03 -2.92401766e+00] [ 7.76312680e-03 1.04131742e-04 9.99969861e-01 -1.82215491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.73538475 meters 0.05980343951017423 Centerline is valid? [True, True] Translation: X:122.45, Y:-2.91, Z:-1.82 [[ 8.49955586e-01 -5.26811350e-01 -6.73079175e-03 1.22452099e+02] [ 5.26793712e-01 8.49982228e-01 -4.31252447e-03 -2.90793134e+00] [ 7.99294020e-03 1.19715496e-04 9.99968049e-01 -1.82236293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.76538475 meters 0.05885434525179608 Centerline is valid? [True, True] Translation: X:122.48, Y:-2.90, Z:-1.82 [[ 8.47326991e-01 -5.31028409e-01 -6.76755180e-03 1.22481197e+02] [ 5.31010680e-01 8.47354012e-01 -4.33998231e-03 -2.89839519e+00] [ 8.03916607e-03 8.37418678e-05 9.99967682e-01 -1.81573537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.79538475 meters 0.058506172507679186 Centerline is valid? [True, True] Translation: X:122.51, Y:-2.88, Z:-1.82 [[ 8.45366984e-01 -5.34143202e-01 -6.76039080e-03 1.22506137e+02] [ 5.34125589e-01 8.45394013e-01 -4.33801876e-03 -2.88412588e+00] [ 8.03231713e-03 5.63201125e-05 9.99967739e-01 -1.81658767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.82538475 meters 0.0586819236130454 Centerline is valid? [True, True] Translation: X:122.53, Y:-2.87, Z:-1.82 [[ 8.44379069e-01 -5.35675698e-01 -8.69099894e-03 1.22529448e+02] [ 5.35646678e-01 8.44423794e-01 -5.57613281e-03 -2.86859625e+00] [ 1.03258851e-02 5.30651218e-05 9.99946685e-01 -1.82106047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.85538475 meters 0.05931872966685526 Centerline is valid? [True, True] Translation: X:122.55, Y:-2.85, Z:-1.83 [[ 8.44674316e-01 -5.35186067e-01 -1.00585112e-02 1.22550801e+02] [ 5.35147138e-01 8.44734200e-01 -6.45541819e-03 -2.85064680e+00] [ 1.19516183e-02 6.99424520e-05 9.99928574e-01 -1.83171090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.88538475000001 meters 0.059283083864512 Centerline is valid? [True, True] Translation: X:122.57, Y:-2.83, Z:-1.83 [[ 8.46402241e-01 -5.32423846e-01 -1.13178854e-02 1.22574413e+02] [ 5.32374242e-01 8.46477898e-01 -7.26874412e-03 -2.83343386e+00] [ 1.34503925e-02 1.26930671e-04 9.99909531e-01 -1.82649635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.91538475000002 meters 0.059335173800589114 Centerline is valid? [True, True] Translation: X:122.60, Y:-2.82, Z:-1.83 [[ 8.46921556e-01 -5.31595995e-01 -1.13830952e-02 1.22598570e+02] [ 5.31545743e-01 8.46998039e-01 -7.31062480e-03 -2.81880431e+00] [ 1.35277581e-02 1.40889961e-04 9.99908486e-01 -1.82684019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.94538475000002 meters 0.05936925556698787 Centerline is valid? [True, True] Translation: X:122.62, Y:-2.80, Z:-1.83 [[ 8.46891283e-01 -5.31636484e-01 -1.17389625e-02 1.22622261e+02] [ 5.31582960e-01 8.46972624e-01 -7.54525002e-03 -2.80421659e+00] [ 1.39539101e-02 1.49774039e-04 9.99902628e-01 -1.82685743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.97538475000002 meters 0.05927284359715112 Centerline is valid? [True, True] Translation: X:122.65, Y:-2.79, Z:-1.83 [[ 8.44919288e-01 -5.34764568e-01 -1.17581066e-02 1.22647459e+02] [ 5.34711105e-01 8.45001092e-01 -7.56226104e-03 -2.79126740e+00] [ 1.39796422e-02 1.02310052e-04 9.99902275e-01 -1.82768902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.00538475000002 meters 0.05896366299219437 Centerline is valid? [True, True] Translation: X:122.67, Y:-2.78, Z:-1.83 [[ 8.43979456e-01 -5.36269454e-01 -1.06653809e-02 1.22673068e+02] [ 5.36225541e-01 8.44046840e-01 -6.86306127e-03 -2.77721581e+00] [ 1.26825311e-02 7.32330859e-05 9.99919571e-01 -1.82660661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.03538475 meters 0.05868395816980139 Centerline is valid? [True, True] Translation: X:122.70, Y:-2.76, Z:-1.83 [[ 8.43087314e-01 -5.37708172e-01 -8.58504708e-03 1.22697938e+02] [ 5.37679785e-01 8.43131022e-01 -5.52523114e-03 -2.76371665e+00] [ 1.02092815e-02 4.22460050e-05 9.99947883e-01 -1.82521147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.06538475 meters 0.05845516510333257 Centerline is valid? [True, True] Translation: X:122.72, Y:-2.75, Z:-1.82 [[ 8.42889003e-01 -5.38034368e-01 -7.55954094e-03 1.22722781e+02] [ 5.38012330e-01 8.42922901e-01 -4.86983600e-03 -2.74848181e+00] [ 8.99224931e-03 3.76049765e-05 9.99959568e-01 -1.82309374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.09538475 meters 0.05834321135807889 Centerline is valid? [True, True] Translation: X:122.75, Y:-2.74, Z:-1.82 [[ 8.41937749e-01 -5.39544817e-01 -5.67594289e-03 1.22748284e+02] [ 5.39532434e-01 8.41956881e-01 -3.65556240e-03 -2.73717520e+00] [ 6.75123892e-03 1.54006980e-05 9.99977210e-01 -1.82040460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.12538475 meters 0.058112170119407516 Centerline is valid? [True, True] Translation: X:122.77, Y:-2.73, Z:-1.82 [[ 8.40856101e-01 -5.41236879e-01 -4.86392757e-03 1.22774367e+02] [ 5.41227785e-01 8.40870169e-01 -3.13760355e-03 -2.72535795e+00] [ 5.78811835e-03 5.78034959e-06 9.99983249e-01 -1.81896317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.15538475 meters 0.05818010466677036 Centerline is valid? [True, True] Translation: X:122.80, Y:-2.71, Z:-1.82 [[ 8.40195701e-01 -5.42262839e-01 -4.71142036e-03 1.22798500e+02] [ 5.42254310e-01 8.40208910e-01 -3.04139037e-03 -2.71134467e+00] [ 5.60781034e-03 5.75114677e-07 9.99984276e-01 -1.81963158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.18538475 meters 0.05823736488732234 Centerline is valid? [True, True] Translation: X:122.82, Y:-2.70, Z:-1.82 [[ 8.38780508e-01 -5.44448169e-01 -4.84257907e-03 1.22823479e+02] [ 5.44439184e-01 8.38794487e-01 -3.12791654e-03 -2.69880306e+00] [ 5.76491705e-03 -1.28543677e-05 9.99983383e-01 -1.82062941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.21538475 meters 0.0583015715034353 Centerline is valid? [True, True] Translation: X:122.85, Y:-2.68, Z:-1.82 [[ 8.38329826e-01 -5.45141584e-01 -4.87408092e-03 1.22847865e+02] [ 5.45132482e-01 8.38343994e-01 -3.15022529e-03 -2.68460052e+00] [ 5.80347527e-03 -1.60920084e-05 9.99983160e-01 -1.82089517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.24538475 meters 0.058603127911272784 Centerline is valid? [True, True] Translation: X:122.87, Y:-2.67, Z:-1.82 [[ 8.37658941e-01 -5.46161369e-01 -5.93770073e-03 1.22872425e+02] [ 5.46147901e-01 8.37679985e-01 -3.83565740e-03 -2.67121639e+00] [ 7.06878096e-03 -2.98900762e-05 9.99975015e-01 -1.82466556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.27538475 meters 0.05864451317829227 Centerline is valid? [True, True] Translation: X:122.90, Y:-2.66, Z:-1.82 [[ 8.37301443e-01 -5.46702003e-01 -6.57375337e-03 1.22896388e+02] [ 5.46685477e-01 8.37327247e-01 -4.25095981e-03 -2.65518203e+00] [ 7.82839105e-03 -3.44407129e-05 9.99969357e-01 -1.82400456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.30538475 meters 0.05868855947454183 Centerline is valid? [True, True] Translation: X:122.92, Y:-2.64, Z:-1.83 [[ 8.37837745e-01 -5.45846606e-01 -8.91041564e-03 1.22919447e+02] [ 5.45816202e-01 8.37885124e-01 -5.76132522e-03 -2.63894787e+00] [ 1.06107045e-02 -3.63934872e-05 9.99943704e-01 -1.82820490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.33538475 meters 0.05868842320326281 Centerline is valid? [True, True] Translation: X:122.94, Y:-2.62, Z:-1.83 [[ 8.37984625e-01 -5.45620958e-01 -8.91845240e-03 1.22941876e+02] [ 5.45590434e-01 8.38032081e-01 -5.77139285e-03 -2.62240615e+00] [ 1.06229421e-02 -2.94838383e-05 9.99943575e-01 -1.82946232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.36538475 meters 0.05878063393607618 Centerline is valid? [True, True] Translation: X:122.96, Y:-2.60, Z:-1.83 [[ 8.38759461e-01 -5.44419036e-01 -9.51207722e-03 1.22964185e+02] [ 5.44384197e-01 8.38813396e-01 -6.15898099e-03 -2.60471714e+00] [ 1.13319243e-02 -1.23209420e-05 9.99935792e-01 -1.82896086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.39538475 meters 0.05894376454184705 Centerline is valid? [True, True] Translation: X:122.99, Y:-2.59, Z:-1.83 [[ 8.39026429e-01 -5.43977790e-01 -1.10821767e-02 1.22986619e+02] [ 5.43930461e-01 8.39099615e-01 -7.17564592e-03 -2.58811454e+00] [ 1.32024422e-02 -7.37693029e-06 9.99912844e-01 -1.83088301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.42538475 meters 0.058973501499255274 Centerline is valid? [True, True] Translation: X:123.01, Y:-2.57, Z:-1.83 [[ 8.40310373e-01 -5.41991377e-01 -1.11276597e-02 1.23007961e+02] [ 5.41943401e-01 8.40384047e-01 -7.21139492e-03 -2.56915464e+00] [ 1.32600215e-02 2.92482310e-05 9.99912082e-01 -1.83308540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.45538475 meters 0.05895262044473623 Centerline is valid? [True, True] Translation: X:123.03, Y:-2.55, Z:-1.83 [[ 8.41111315e-01 -5.40742207e-01 -1.13851361e-02 1.23030676e+02] [ 5.40691813e-01 8.41188363e-01 -7.38248693e-03 -2.55130742e+00] [ 1.35690663e-02 5.36434203e-05 9.99907935e-01 -1.83382461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.48538475 meters 0.05920930448651363 Centerline is valid? [True, True] Translation: X:123.05, Y:-2.53, Z:-1.84 [[ 8.41789087e-01 -5.39685622e-01 -1.14263546e-02 1.23052248e+02] [ 5.39634711e-01 8.41866631e-01 -7.41312920e-03 -2.53385361e+00] [ 1.36202259e-02 7.42337221e-05 9.99907238e-01 -1.83675733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.51538475 meters 0.058831601795413045 Centerline is valid? [True, True] Translation: X:123.08, Y:-2.52, Z:-1.83 [[ 8.41079988e-01 -5.40825341e-01 -9.61267979e-03 1.23077587e+02] [ 5.40789340e-01 8.41134916e-01 -6.24032859e-03 -2.51953195e+00] [ 1.14604885e-02 5.01807314e-05 9.99934325e-01 -1.83069498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.54538475 meters 0.05873972892199324 Centerline is valid? [True, True] Translation: X:123.10, Y:-2.50, Z:-1.83 [[ 8.41302037e-01 -5.40492278e-01 -8.88710136e-03 1.23099912e+02] [ 5.40461450e-01 8.41348973e-01 -5.77290255e-03 -2.50075860e+00] [ 1.05973629e-02 5.36189831e-05 9.99943845e-01 -1.82983044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.57538475 meters 0.05891978939185397 Centerline is valid? [True, True] Translation: X:123.12, Y:-2.48, Z:-1.83 [[ 8.41477746e-01 -5.40223496e-01 -8.58938321e-03 1.23121437e+02] [ 5.40194641e-01 8.41521581e-01 -5.58373942e-03 -2.48318154e+00] [ 1.02446186e-02 5.86536756e-05 9.99947521e-01 -1.83367718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.60538475 meters 0.0587572465312259 Centerline is valid? [True, True] Translation: X:123.14, Y:-2.47, Z:-1.83 [[ 8.42174873e-01 -5.39158034e-01 -7.07796934e-03 1.23144668e+02] [ 5.39138380e-01 8.42204613e-01 -4.60401079e-03 -2.46589961e+00] [ 8.44338784e-03 6.13772795e-05 9.99964352e-01 -1.82990752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.63538475000001 meters 0.058615979417551096 Centerline is valid? [True, True] Translation: X:123.17, Y:-2.45, Z:-1.83 [[ 8.40890245e-01 -5.41178481e-01 -5.42653595e-03 1.23167959e+02] [ 5.41166968e-01 8.40907754e-01 -3.53019938e-03 -2.45100218e+00] [ 6.47368409e-03 3.18482193e-05 9.99979045e-01 -1.82861016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.66538475000002 meters 0.058345346811395984 Centerline is valid? [True, True] Translation: X:123.19, Y:-2.44, Z:-1.83 [[ 8.39323138e-01 -5.43628857e-01 -2.08218943e-03 1.23192462e+02] [ 5.43627159e-01 8.39325721e-01 -1.35855203e-03 -2.43635277e+00] [ 2.48618323e-03 8.32942640e-06 9.99996909e-01 -1.82508250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.69538475000002 meters 0.058402932242074095 Centerline is valid? [True, True] Translation: X:123.22, Y:-2.42, Z:-1.82 [[ 8.39462921e-01 -5.43415867e-01 -1.09493563e-03 1.23215693e+02] [ 5.43415394e-01 8.39463636e-01 -7.17089013e-04 -2.41973007e+00] [ 1.30883619e-03 6.96475972e-06 9.99999143e-01 -1.82405280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.72538475000002 meters 0.05865345218122328 Centerline is valid? [True, True] Translation: X:123.24, Y:-2.40, Z:-1.83 [[ 8.41314286e-01 -5.40543847e-01 -1.61933981e-03 1.23235197e+02] [ 5.40542814e-01 8.41315844e-01 -1.05636575e-03 -2.39863451e+00] [ 1.93338824e-03 1.34130972e-05 9.99998131e-01 -1.82727215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.75538475000002 meters 0.058941026173228564 Centerline is valid? [True, True] Translation: X:123.26, Y:-2.38, Z:-1.83 [[ 8.41812851e-01 -5.39765687e-01 -2.03135836e-03 1.23257700e+02] [ 5.39764056e-01 8.41815302e-01 -1.32722193e-03 -2.38212697e+00] [ 2.42641741e-03 2.08182501e-05 9.99997056e-01 -1.82925969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.78538475 meters 0.05921672469580578 Centerline is valid? [True, True] Translation: X:123.28, Y:-2.37, Z:-1.83 [[ 8.42724200e-01 -5.38334085e-01 -3.51223430e-03 1.23280977e+02] [ 5.38329210e-01 8.42731518e-01 -2.29124775e-03 -2.36580565e+00] [ 4.19332730e-03 4.01516170e-05 9.99991207e-01 -1.83096032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.81538475 meters 0.05931170044117615 Centerline is valid? [True, True] Translation: X:123.30, Y:-2.35, Z:-1.83 [[ 8.42686027e-01 -5.38384512e-01 -4.73047728e-03 1.23304125e+02] [ 5.38375672e-01 8.42699302e-01 -3.08579592e-03 -2.34961008e+00] [ 5.64771463e-03 5.35832178e-05 9.99984050e-01 -1.83346250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.84538475 meters 0.059702066178216814 Centerline is valid? [True, True] Translation: X:123.33, Y:-2.33, Z:-1.84 [[ 8.42791326e-01 -5.38208506e-01 -5.86390356e-03 1.23328511e+02] [ 5.38194895e-01 8.42811722e-01 -3.82826506e-03 -2.33323026e+00] [ 7.00257148e-03 7.05056201e-05 9.99975479e-01 -1.83571096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.87538475 meters 0.059746015083669696 Centerline is valid? [True, True] Translation: X:123.35, Y:-2.32, Z:-1.84 [[ 8.42428554e-01 -5.38770126e-01 -6.39398583e-03 1.23352056e+02] [ 5.38753944e-01 8.42452815e-01 -4.17637543e-03 -2.31918248e+00] [ 7.63673768e-03 7.35128320e-05 9.99970837e-01 -1.83724837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.90538475 meters 0.059601291271949235 Centerline is valid? [True, True] Translation: X:123.38, Y:-2.31, Z:-1.84 [[ 8.41982075e-01 -5.39468558e-01 -6.31347253e-03 1.23376878e+02] [ 5.39452776e-01 8.42005742e-01 -4.12701521e-03 -2.30634324e+00] [ 7.54237507e-03 6.90525499e-05 9.99971554e-01 -1.83576772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.93538475 meters 0.05971280317863164 Centerline is valid? [True, True] Translation: X:123.40, Y:-2.29, Z:-1.84 [[ 8.41556752e-01 -5.40137650e-01 -5.79245145e-03 1.23400821e+02] [ 5.40124369e-01 8.41576684e-01 -3.78824687e-03 -2.29099704e+00] [ 6.92096685e-03 5.93805441e-05 9.99976048e-01 -1.83746864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.96538475 meters 0.05972826588348884 Centerline is valid? [True, True] Translation: X:123.42, Y:-2.28, Z:-1.84 [[ 8.41162434e-01 -5.40756209e-01 -5.33682351e-03 1.23424182e+02] [ 5.40744936e-01 8.41179362e-01 -3.49210550e-03 -2.27659260e+00] [ 6.37760353e-03 5.15676788e-05 9.99979662e-01 -1.83791656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.99538475 meters 0.05962211073311404 Centerline is valid? [True, True] Translation: X:123.45, Y:-2.26, Z:-1.84 [[ 8.40863489e-01 -5.41227457e-01 -4.62965147e-03 1.23446895e+02] [ 5.41218971e-01 8.40876232e-01 -3.03105077e-03 -2.26185676e+00] [ 5.53345178e-03 4.30447245e-05 9.99984689e-01 -1.83911545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.02538475 meters 0.05962211073311404 Centerline is valid? [True, True] Translation: X:123.47, Y:-2.25, Z:-1.84 [[ 8.40718416e-01 -5.41452789e-01 -4.62846419e-03 1.23469946e+02] [ 5.41444297e-01 8.40731155e-01 -3.03286508e-03 -2.24656263e+00] [ 5.53344730e-03 4.37299905e-05 9.99984689e-01 -1.83948670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.05538475 meters 0.05941865469637494 Centerline is valid? [True, True] Translation: X:123.49, Y:-2.23, Z:-1.84 [[ 8.40749291e-01 -5.41398470e-01 -5.32229184e-03 1.23494275e+02] [ 5.41387235e-01 8.40766135e-01 -3.48814494e-03 -2.23029921e+00] [ 6.36327907e-03 5.12345241e-05 9.99979753e-01 -1.83978903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.08538475 meters 0.05964842071535436 Centerline is valid? [True, True] Translation: X:123.52, Y:-2.21, Z:-1.84 [[ 8.41134540e-01 -5.40805730e-01 -4.67426442e-03 1.23517476e+02] [ 5.40797039e-01 8.41147526e-01 -3.06642633e-03 -2.21358531e+00] [ 5.59008688e-03 5.14487434e-05 9.99984374e-01 -1.83894807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.11538475 meters 0.0596089975806013 Centerline is valid? [True, True] Translation: X:123.54, Y:-2.20, Z:-1.84 [[ 8.41676016e-01 -5.39972580e-01 -3.33132339e-03 1.23539199e+02] [ 5.39968153e-01 8.41682607e-01 -2.18685805e-03 -2.19717970e+00] [ 3.98476034e-03 4.18174340e-05 9.99992060e-01 -1.83770864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.14538475 meters 0.059306601957450404 Centerline is valid? [True, True] Translation: X:123.57, Y:-2.18, Z:-1.84 [[ 8.39763220e-01 -5.42950909e-01 -1.43019427e-03 1.23565110e+02] [ 5.42950093e-01 8.39764437e-01 -9.41676338e-04 -2.18413364e+00] [ 1.71231031e-03 1.42610429e-05 9.99998534e-01 -1.83579836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.17538475 meters 0.05913076893717266 Centerline is valid? [True, True] Translation: X:123.59, Y:-2.17, Z:-1.83 [[ 8.35551383e-01 -5.49409869e-01 -1.63751222e-03 1.23591913e+02] [ 5.49408810e-01 8.35552988e-01 -1.07868166e-03 -2.17391212e+00] [ 1.96086658e-03 1.63031221e-06 9.99998077e-01 -1.83463286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.20538475 meters 0.05946180111349952 Centerline is valid? [True, True] Translation: X:123.62, Y:-2.16, Z:-1.84 [[ 8.34138694e-01 -5.51552694e-01 -1.50477152e-03 1.23615049e+02] [ 5.51551803e-01 8.34140051e-01 -9.91758260e-04 -2.16058614e+00] [ 1.80219713e-03 -2.69550343e-06 9.99998376e-01 -1.83613028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.23538475 meters 0.059590335244516186 Centerline is valid? [True, True] Translation: X:123.64, Y:-2.14, Z:-1.84 [[ 8.34896718e-01 -5.50401502e-01 -2.37827121e-03 1.23636095e+02] [ 5.50399279e-01 8.34900105e-01 -1.56457132e-03 -2.14313951e+00] [ 2.84676129e-03 -2.74329574e-06 9.99995948e-01 -1.84003643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.26538475 meters 0.059676732285265384 Centerline is valid? [True, True] Translation: X:123.66, Y:-2.13, Z:-1.84 [[ 8.35539877e-01 -5.49422438e-01 -2.84579603e-03 1.23658198e+02] [ 5.49419241e-01 8.35544724e-01 -1.87413365e-03 -2.12568060e+00] [ 3.40748093e-03 2.37830753e-06 9.99994195e-01 -1.84209629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.29538475 meters 0.059646532287573995 Centerline is valid? [True, True] Translation: X:123.68, Y:-2.11, Z:-1.84 [[ 8.36253725e-01 -5.48339061e-01 -1.99541075e-03 1.23681968e+02] [ 5.48337482e-01 8.36256106e-01 -1.31606014e-03 -2.11084065e+00] [ 2.39032160e-03 6.40168568e-06 9.99997143e-01 -1.84033846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.32538475 meters 0.05970809992488995 Centerline is valid? [True, True] Translation: X:123.71, Y:-2.09, Z:-1.84 [[ 8.36987529e-01 -5.47207538e-01 -3.97326688e-03 1.23706033e+02] [ 5.47201278e-01 8.36996960e-01 -2.61738443e-03 -2.09417557e+00] [ 4.75786479e-03 1.65414077e-05 9.99988681e-01 -1.84079131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.35538475 meters 0.05987300469682563 Centerline is valid? [True, True] Translation: X:123.73, Y:-2.08, Z:-1.84 [[ 8.37638921e-01 -5.46203678e-01 -4.75189446e-03 1.23728265e+02] [ 5.46194717e-01 8.37652399e-01 -3.12888680e-03 -2.07697188e+00] [ 5.68944527e-03 2.54177111e-05 9.99983815e-01 -1.84413993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.38538475000001 meters 0.06004497607499531 Centerline is valid? [True, True] Translation: X:123.75, Y:-2.06, Z:-1.85 [[ 8.37671417e-01 -5.46147167e-01 -5.46531766e-03 1.23750869e+02] [ 5.46135313e-01 8.37689245e-01 -3.59840365e-03 -2.06147634e+00] [ 6.54349579e-03 2.94769125e-05 9.99978591e-01 -1.84614586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.41538475000002 meters 0.06024276028916142 Centerline is valid? [True, True] Translation: X:123.77, Y:-2.05, Z:-1.85 [[ 8.37649547e-01 -5.46177171e-01 -5.80822072e-03 1.23774059e+02] [ 5.46163751e-01 8.37669683e-01 -3.82887757e-03 -2.04556417e+00] [ 6.95661593e-03 3.50179394e-05 9.99975802e-01 -1.84667254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.44538475000002 meters 0.060461991076298245 Centerline is valid? [True, True] Translation: X:123.80, Y:-2.03, Z:-1.85 [[ 8.38110592e-01 -5.45475157e-01 -5.24304165e-03 1.23795959e+02] [ 5.45464205e-01 8.38126990e-01 -3.45672387e-03 -2.03015747e+00] [ 6.27989171e-03 3.72253387e-05 9.99980281e-01 -1.84845235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.47538475000002 meters 0.06011520283492257 Centerline is valid? [True, True] Translation: X:123.82, Y:-2.02, Z:-1.84 [[ 8.37872448e-01 -5.45846332e-01 -4.64136108e-03 1.23820447e+02] [ 5.45837736e-01 8.37885303e-01 -3.06360406e-03 -2.01525358e+00] [ 5.56118527e-03 3.34794131e-05 9.99984536e-01 -1.84498750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.50538475000002 meters 0.06013573786465186 Centerline is valid? [True, True] Translation: X:123.84, Y:-2.00, Z:-1.85 [[ 8.37749759e-01 -5.46039670e-01 -4.00264289e-03 1.23842791e+02] [ 5.46033278e-01 8.37759320e-01 -2.64217726e-03 -2.00013384e+00] [ 4.79598498e-03 2.79071451e-05 9.99988499e-01 -1.84697247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.53538475 meters 0.060091866113082336 Centerline is valid? [True, True] Translation: X:123.87, Y:-1.98, Z:-1.85 [[ 8.37799121e-01 -5.45959324e-01 -4.58799962e-03 1.23866099e+02] [ 5.45950922e-01 8.37811683e-01 -3.02899197e-03 -1.98482051e+00] [ 5.49758608e-03 3.28641855e-05 9.99984888e-01 -1.84723967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.56538475 meters 0.05989570833597763 Centerline is valid? [True, True] Translation: X:123.89, Y:-1.97, Z:-1.84 [[ 8.37980187e-01 -5.45689180e-01 -3.53904542e-03 1.23889504e+02] [ 5.45684165e-01 8.37987660e-01 -2.33975726e-03 -1.96843767e+00] [ 4.24245661e-03 2.94691865e-05 9.99991000e-01 -1.84418359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.59538475 meters 0.0600271467298969 Centerline is valid? [True, True] Translation: X:123.91, Y:-1.95, Z:-1.84 [[ 8.38573757e-01 -5.44779433e-01 -3.06977207e-03 1.23910624e+02] [ 5.44775655e-01 8.38579375e-01 -2.02923065e-03 -1.95185256e+00] [ 3.67973067e-03 2.93224862e-05 9.99993229e-01 -1.84442900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.62538475 meters 0.06012700466569714 Centerline is valid? [True, True] Translation: X:123.93, Y:-1.93, Z:-1.85 [[ 8.39991670e-01 -5.42591926e-01 -2.82796002e-03 1.23930380e+02] [ 5.42588704e-01 8.39996429e-01 -1.86997384e-03 -1.93189022e+00] [ 3.39010903e-03 3.63432859e-05 9.99994253e-01 -1.84882795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.65538475 meters 0.06004142497341617 Centerline is valid? [True, True] Translation: X:123.95, Y:-1.92, Z:-1.85 [[ 8.40741188e-01 -5.41430745e-01 -2.64642729e-03 1.23954228e+02] [ 5.41427910e-01 8.40745352e-01 -1.75262579e-03 -1.91554425e+00] [ 3.17389693e-03 4.06550952e-05 9.99994962e-01 -1.84504297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.68538475 meters 0.06053346222656137 Centerline is valid? [True, True] Translation: X:123.97, Y:-1.89, Z:-1.85 [[ 8.43242834e-01 -5.37529454e-01 -1.89972996e-03 1.23974547e+02] [ 5.37527979e-01 8.43244973e-01 -1.25987763e-03 -1.89382682e+00] [ 2.27915907e-03 4.12247696e-05 9.99997402e-01 -1.84617085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.71538475 meters 0.06048192558231204 Centerline is valid? [True, True] Translation: X:124.00, Y:-1.88, Z:-1.85 [[ 8.43796374e-01 -5.36652953e-01 -3.35973069e-03 1.23996796e+02] [ 5.36648349e-01 8.43803059e-01 -2.22416271e-03 -1.87683375e+00] [ 4.02855452e-03 7.37465019e-05 9.99991883e-01 -1.84585069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.74538475 meters 0.061444667181395636 Centerline is valid? [True, True] Translation: X:124.02, Y:-1.86, Z:-1.85 [[ 8.44090424e-01 -5.36180697e-01 -4.64941979e-03 1.24017362e+02] [ 5.36171871e-01 8.44103222e-01 -3.07819780e-03 -1.85687493e+00] [ 5.57506047e-03 1.05389173e-04 9.99984454e-01 -1.85126521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.77538475 meters 0.06093783302215691 Centerline is valid? [True, True] Translation: X:124.04, Y:-1.84, Z:-1.85 [[ 8.44851425e-01 -5.34983347e-01 -4.34605404e-03 1.24042306e+02] [ 5.34975604e-01 8.44862596e-01 -2.88040412e-03 -1.84185147e+00] [ 5.21278674e-03 1.08480643e-04 9.99986407e-01 -1.84866437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.80538475 meters 0.06113481553275093 Centerline is valid? [True, True] Translation: X:124.07, Y:-1.83, Z:-1.85 [[ 8.45001848e-01 -5.34741751e-01 -4.81004904e-03 1.24065714e+02] [ 5.34732268e-01 8.45015529e-01 -3.18692425e-03 -1.82573172e+00] [ 5.76874759e-03 1.20868451e-04 9.99983353e-01 -1.84863639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.83538475 meters 0.06063890654680162 Centerline is valid? [True, True] Translation: X:124.09, Y:-1.81, Z:-1.85 [[ 8.43133046e-01 -5.37685298e-01 -4.60289428e-03 1.24091095e+02] [ 5.37676659e-01 8.43145605e-01 -3.04942140e-03 -1.81355637e+00] [ 5.52053914e-03 9.61991286e-05 9.99984757e-01 -1.85021317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.86538475 meters 0.06049242526927796 Centerline is valid? [True, True] Translation: X:124.12, Y:-1.80, Z:-1.85 [[ 8.41955145e-01 -5.39528156e-01 -4.57198773e-03 1.24116284e+02] [ 5.39519638e-01 8.41967554e-01 -3.03284302e-03 -1.79998864e+00] [ 5.48576952e-03 8.68406194e-05 9.99984949e-01 -1.84957906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.89538475 meters 0.06017468509980402 Centerline is valid? [True, True] Translation: X:124.14, Y:-1.79, Z:-1.85 [[ 8.40696970e-01 -5.41485242e-01 -4.72617206e-03 1.24141690e+02] [ 5.41476168e-01 8.40710251e-01 -3.13574900e-03 -1.78817500e+00] [ 5.67130311e-03 7.71051409e-05 9.99983915e-01 -1.85062353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.92538475 meters 0.05993613494786372 Centerline is valid? [True, True] Translation: X:124.17, Y:-1.77, Z:-1.85 [[ 8.40248330e-01 -5.42171088e-01 -5.76664281e-03 1.24167225e+02] [ 5.42157580e-01 8.40268114e-01 -3.82824918e-03 -1.77438789e+00] [ 6.92109210e-03 9.02508701e-05 9.99976045e-01 -1.84988298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.95538475 meters 0.05990530440712486 Centerline is valid? [True, True] Translation: X:124.19, Y:-1.76, Z:-1.85 [[ 8.39666295e-01 -5.43071679e-01 -5.80212592e-03 1.24192044e+02] [ 5.43058005e-01 8.39686337e-01 -3.85469235e-03 -1.76108343e+00] [ 6.96534011e-03 8.57643186e-05 9.99975738e-01 -1.84995993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.98538475 meters 0.059652358263237275 Centerline is valid? [True, True] Translation: X:124.22, Y:-1.75, Z:-1.85 [[ 8.38660269e-01 -5.44616177e-01 -6.49416435e-03 1.24217063e+02] [ 5.44599094e-01 8.38685408e-01 -4.31424673e-03 -1.75033496e+00] [ 7.79616944e-03 8.14712991e-05 9.99969606e-01 -1.85064493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.01538475 meters 0.05939787071891002 Centerline is valid? [True, True] Translation: X:124.24, Y:-1.74, Z:-1.85 [[ 8.37608420e-01 -5.46240929e-01 -5.74303129e-03 1.24243115e+02] [ 5.46227587e-01 8.37628106e-01 -3.81839046e-03 -1.73715854e+00] [ 6.89628557e-03 6.13138714e-05 9.99976218e-01 -1.84976508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.04538475 meters 0.05917480915545415 Centerline is valid? [True, True] Translation: X:124.27, Y:-1.72, Z:-1.85 [[ 8.37445246e-01 -5.46497673e-01 -5.07476241e-03 1.24266831e+02] [ 5.46487242e-01 8.37460620e-01 -3.37696039e-03 -1.72216706e+00] [ 6.09541467e-03 5.47265115e-05 9.99981421e-01 -1.84879702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.07538475 meters 0.0590303793899195 Centerline is valid? [True, True] Translation: X:124.29, Y:-1.71, Z:-1.85 [[ 8.37597141e-01 -5.46264733e-01 -5.08630968e-03 1.24288610e+02] [ 5.46254241e-01 8.37612582e-01 -3.38613222e-03 -1.70645582e+00] [ 6.11008160e-03 5.77964271e-05 9.99981332e-01 -1.85020657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.10538475 meters 0.05921312666770668 Centerline is valid? [True, True] Translation: X:124.31, Y:-1.69, Z:-1.85 [[ 8.37703314e-01 -5.46093634e-01 -5.90773928e-03 1.24312092e+02] [ 5.46079467e-01 8.37724142e-01 -3.93419259e-03 -1.68930679e+00] [ 7.09749335e-03 6.95910470e-05 9.99974810e-01 -1.85158511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.13538475000001 meters 0.05892503349756154 Centerline is valid? [True, True] Translation: X:124.34, Y:-1.68, Z:-1.85 [[ 8.35757317e-01 -5.49053035e-01 -7.10437246e-03 1.24336610e+02] [ 5.49032631e-01 8.35787510e-01 -4.73371110e-03 -1.67599297e+00] [ 8.53680422e-03 5.57013809e-05 9.99963559e-01 -1.85173765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.16538475000002 meters 0.059007738661411006 Centerline is valid? [True, True] Translation: X:124.36, Y:-1.66, Z:-1.85 [[ 8.35719315e-01 -5.49102633e-01 -7.71526539e-03 1.24359634e+02] [ 5.49078586e-01 8.35754925e-01 -5.13923666e-03 -1.65950436e+00] [ 9.27003943e-03 5.86723332e-05 9.99957031e-01 -1.85444479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.19538475000002 meters 0.05911936478747498 Centerline is valid? [True, True] Translation: X:124.38, Y:-1.64, Z:-1.85 [[ 8.36990051e-01 -5.47151951e-01 -8.50864812e-03 1.24381926e+02] [ 5.47122553e-01 8.37033293e-01 -5.67262880e-03 -1.64037633e+00] [ 1.02258117e-02 9.26605847e-05 9.99947711e-01 -1.85339489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.22538475000002 meters 0.0592520827784135 Centerline is valid? [True, True] Translation: X:124.40, Y:-1.62, Z:-1.86 [[ 8.37423953e-01 -5.46483646e-01 -8.76057875e-03 1.24403296e+02] [ 5.46452433e-01 8.37469769e-01 -5.84160959e-03 -1.62335163e+00] [ 1.05290640e-02 1.04664224e-04 9.99944562e-01 -1.85549126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.25538475000002 meters 0.05921235095123776 Centerline is valid? [True, True] Translation: X:124.43, Y:-1.61, Z:-1.85 [[ 8.37923251e-01 -5.45724491e-01 -8.33102160e-03 1.24426597e+02] [ 5.45696175e-01 8.37964658e-01 -5.56035936e-03 -1.60746573e+00] [ 1.00155259e-02 1.12947770e-04 9.99949837e-01 -1.85410449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.28538475 meters 0.05910149924336073 Centerline is valid? [True, True] Translation: X:124.45, Y:-1.59, Z:-1.85 [[ 8.38057636e-01 -5.45507951e-01 -8.97068634e-03 1.24450226e+02] [ 5.45475115e-01 8.38105638e-01 -5.98657309e-03 -1.59175331e+00] [ 1.07841060e-02 1.23807132e-04 9.99941842e-01 -1.85440665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.31538475 meters 0.05925923615894223 Centerline is valid? [True, True] Translation: X:124.47, Y:-1.58, Z:-1.86 [[ 8.38358708e-01 -5.45046697e-01 -8.87551676e-03 1.24473037e+02] [ 5.45014467e-01 8.38405678e-01 -5.92873216e-03 -1.57541084e+00] [ 1.06727195e-02 1.33119195e-04 9.99943036e-01 -1.85518108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.34538475 meters 0.05917184484898691 Centerline is valid? [True, True] Translation: X:124.50, Y:-1.56, Z:-1.86 [[ 8.38460069e-01 -5.44892910e-01 -8.74244225e-03 1.24496673e+02] [ 5.44861594e-01 8.38505634e-01 -5.84334547e-03 -1.56050226e+00] [ 1.05145846e-02 1.35990824e-04 9.99944711e-01 -1.85589420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.37538475 meters 0.059055855363261196 Centerline is valid? [True, True] Translation: X:124.52, Y:-1.55, Z:-1.86 [[ 8.37867412e-01 -5.45797695e-01 -9.11464939e-03 1.24520149e+02] [ 5.45763671e-01 8.37916976e-01 -6.09560460e-03 -1.54581518e+00] [ 1.09642864e-02 1.32863933e-04 9.99939882e-01 -1.85601098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.40538475 meters 0.05906490785674395 Centerline is valid? [True, True] Translation: X:124.54, Y:-1.53, Z:-1.86 [[ 8.37659245e-01 -5.46105649e-01 -9.77799633e-03 1.24544047e+02] [ 5.46066475e-01 8.37716301e-01 -6.54252385e-03 -1.53025087e+00] [ 1.17640961e-02 1.40969601e-04 9.99930791e-01 -1.85677874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.43538475 meters 0.05897337001711943 Centerline is valid? [True, True] Translation: X:124.57, Y:-1.52, Z:-1.86 [[ 8.36966881e-01 -5.47143775e-01 -1.09603846e-02 1.24569086e+02] [ 5.47094601e-01 8.37038631e-01 -7.33679288e-03 -1.51580410e+00] [ 1.31885459e-02 1.44285406e-04 9.99913017e-01 -1.85768200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.46538475 meters 0.059036982676844506 Centerline is valid? [True, True] Translation: X:124.59, Y:-1.50, Z:-1.86 [[ 8.36473259e-01 -5.47884368e-01 -1.16278652e-02 1.24593623e+02] [ 5.47829038e-01 8.36554062e-01 -7.78758681e-03 -1.50114469e+00] [ 1.39940349e-02 1.44025928e-04 9.99902068e-01 -1.85888512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.49538475 meters 0.05893120336054252 Centerline is valid? [True, True] Translation: X:124.62, Y:-1.49, Z:-1.86 [[ 8.36436078e-01 -5.47937253e-01 -1.18090418e-02 1.24617337e+02] [ 5.47880159e-01 8.36519423e-01 -7.91115174e-03 -1.48682952e+00] [ 1.42133075e-02 1.47233065e-04 9.99898975e-01 -1.85767634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.52538475 meters 0.059216351404649856 Centerline is valid? [True, True] Translation: X:124.64, Y:-1.47, Z:-1.86 [[ 8.36110718e-01 -5.48425062e-01 -1.21991123e-02 1.24638428e+02] [ 5.48364105e-01 8.36199695e-01 -8.17793641e-03 -1.47026237e+00] [ 1.46858792e-02 1.48105011e-04 9.99892146e-01 -1.86324667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.55538475 meters 0.05901524850630454 Centerline is valid? [True, True] Translation: X:124.66, Y:-1.45, Z:-1.86 [[ 8.36362660e-01 -5.48048102e-01 -1.18650278e-02 1.24661785e+02] [ 5.47990324e-01 8.36446803e-01 -7.95933071e-03 -1.45474207e+00] [ 1.42865606e-02 1.54966599e-04 9.99897930e-01 -1.85871994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.58538475 meters 0.05864134901723742 Centerline is valid? [True, True] Translation: X:124.69, Y:-1.44, Z:-1.86 [[ 8.34604242e-01 -5.50723619e-01 -1.18005860e-02 1.24686879e+02] [ 5.50666671e-01 8.34687656e-01 -7.92053817e-03 -1.44139083e+00] [ 1.42118309e-02 1.12325357e-04 9.99899001e-01 -1.85872495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.61538475 meters 0.0586128867578328 Centerline is valid? [True, True] Translation: X:124.71, Y:-1.43, Z:-1.86 [[ 8.33659495e-01 -5.52154347e-01 -1.17227577e-02 1.24708452e+02] [ 5.52098240e-01 8.33741908e-01 -7.87173241e-03 -1.42542009e+00] [ 1.41201656e-02 9.02305881e-05 9.99900301e-01 -1.85878961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.64538475 meters 0.058658573890240574 Centerline is valid? [True, True] Translation: X:124.73, Y:-1.41, Z:-1.86 [[ 8.32926600e-01 -5.53258331e-01 -1.17685131e-02 1.24731462e+02] [ 5.53201820e-01 8.33009732e-01 -7.90776058e-03 -1.40964886e+00] [ 1.41783204e-02 7.62212652e-05 9.99899480e-01 -1.86002186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.67538475 meters 0.058339984366020906 Centerline is valid? [True, True] Translation: X:124.75, Y:-1.39, Z:-1.86 [[ 8.32282868e-01 -5.54240994e-01 -1.10520765e-02 1.24753983e+02] [ 5.54191210e-01 8.32356244e-01 -7.42867404e-03 -1.39440670e+00] [ 1.33165406e-02 5.77944588e-05 9.99911329e-01 -1.85853184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.70538475 meters 0.058489982498451845 Centerline is valid? [True, True] Translation: X:124.78, Y:-1.37, Z:-1.86 [[ 8.33465964e-01 -5.52490305e-01 -9.43134275e-03 1.24775063e+02] [ 5.52453891e-01 8.33519320e-01 -6.34354748e-03 -1.37314017e+00] [ 1.13659549e-02 7.67489091e-05 9.99935403e-01 -1.85833962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.73538475 meters 0.05830691727960486 Centerline is valid? [True, True] Translation: X:124.80, Y:-1.36, Z:-1.85 [[ 8.34559657e-01 -5.50851222e-01 -8.55050282e-03 1.24797211e+02] [ 5.50821156e-01 8.34603452e-01 -5.75599378e-03 -1.35597807e+00] [ 1.03069754e-02 9.39223445e-05 9.99946877e-01 -1.85478941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.76538475 meters 0.058104781567656166 Centerline is valid? [True, True] Translation: X:124.82, Y:-1.34, Z:-1.85 [[ 8.35421329e-01 -5.49561292e-01 -7.32042409e-03 1.24819650e+02] [ 5.49539220e-01 8.35453396e-01 -4.92630782e-03 -1.33934870e+00] [ 8.82318126e-03 9.26824842e-05 9.99961071e-01 -1.85366585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.79538475 meters 0.05836288965405956 Centerline is valid? [True, True] Translation: X:124.84, Y:-1.32, Z:-1.85 [[ 8.36057912e-01 -5.48599038e-01 -6.80164705e-03 1.24841063e+02] [ 5.48579928e-01 8.36085573e-01 -4.58004351e-03 -1.32340805e+00] [ 8.19936644e-03 9.79345629e-05 9.99966380e-01 -1.85461973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.82538475 meters 0.058267579389864786 Centerline is valid? [True, True] Translation: X:124.86, Y:-1.31, Z:-1.86 [[ 8.36271551e-01 -5.48273487e-01 -6.78791124e-03 1.24863961e+02] [ 5.48254405e-01 8.36299092e-01 -4.57557348e-03 -1.30781326e+00] [ 8.18538964e-03 1.04919698e-04 9.99966494e-01 -1.85554131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.85538475 meters 0.05852334008740136 Centerline is valid? [True, True] Translation: X:124.89, Y:-1.29, Z:-1.86 [[ 8.36266919e-01 -5.48262175e-01 -8.13799250e-03 1.24888213e+02] [ 5.48234732e-01 8.36306505e-01 -5.48708380e-03 -1.29230662e+00] [ 9.81421656e-03 1.27136532e-04 9.99951831e-01 -1.85589842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.88538475000001 meters 0.05872331742647699 Centerline is valid? [True, True] Translation: X:124.91, Y:-1.28, Z:-1.86 [[ 8.36476142e-01 -5.47925107e-01 -9.25963045e-03 1.24910466e+02] [ 5.47889572e-01 8.36527379e-01 -6.24188817e-03 -1.27634904e+00] [ 1.11660216e-02 1.47935571e-04 9.99937647e-01 -1.85907458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.91538475000002 meters 0.059208000049995074 Centerline is valid? [True, True] Translation: X:124.93, Y:-1.26, Z:-1.87 [[ 8.36332834e-01 -5.48134244e-01 -9.81033037e-03 1.24931603e+02] [ 5.48094302e-01 8.36390355e-01 -6.61892017e-03 -1.25865805e+00] [ 1.18333225e-02 1.58634082e-04 9.99929971e-01 -1.86545761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.94538475000002 meters 0.0588312179298155 Centerline is valid? [True, True] Translation: X:124.96, Y:-1.25, Z:-1.86 [[ 8.35793219e-01 -5.48935422e-01 -1.09360262e-02 1.24957340e+02] [ 5.48885811e-01 8.35864746e-01 -7.38187524e-03 -1.24546230e+00] [ 1.31932116e-02 1.67091645e-04 9.99912952e-01 -1.86305691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.97538475000002 meters 0.0588312179298155 Centerline is valid? [True, True] Translation: X:124.98, Y:-1.23, Z:-1.86 [[ 8.35637234e-01 -5.49172894e-01 -1.09336572e-02 1.24980189e+02] [ 5.49123258e-01 8.35708744e-01 -7.38538484e-03 -1.22983927e+00] [ 1.31932061e-02 1.67577090e-04 9.99912952e-01 -1.86342811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.00538475000002 meters 0.05892485894182907 Centerline is valid? [True, True] Translation: X:125.00, Y:-1.21, Z:-1.86 [[ 8.35789932e-01 -5.48939106e-01 -1.10021956e-02 1.25003318e+02] [ 5.48888766e-01 8.35862325e-01 -7.43607107e-03 -1.21434513e+00] [ 1.32782710e-02 1.76011746e-04 9.99911824e-01 -1.86344530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.03538475 meters 0.05895871953692524 Centerline is valid? [True, True] Translation: X:125.03, Y:-1.20, Z:-1.86 [[ 8.36423880e-01 -5.47974333e-01 -1.09189493e-02 1.25026166e+02] [ 5.47924615e-01 8.36495124e-01 -7.38402806e-03 -1.19664664e+00] [ 1.31799057e-02 1.93416295e-04 9.99913123e-01 -1.86358899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.06538475 meters 0.05881486006474308 Centerline is valid? [True, True] Translation: X:125.05, Y:-1.18, Z:-1.86 [[ 8.36713689e-01 -5.47528825e-01 -1.10629027e-02 1.25050409e+02] [ 5.47477697e-01 8.36786797e-01 -7.48519114e-03 -1.17993746e+00] [ 1.33556488e-02 2.06269399e-04 9.99910788e-01 -1.86208128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.09538475 meters 0.05908558908068831 Centerline is valid? [True, True] Translation: X:125.07, Y:-1.16, Z:-1.86 [[ 8.37604699e-01 -5.46166087e-01 -1.09988135e-02 1.25072620e+02] [ 5.46115378e-01 8.37676878e-01 -7.44591488e-03 -1.16140663e+00] [ 1.32801580e-02 2.30112094e-04 9.99911788e-01 -1.86288186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.12538475 meters 0.05961154893819737 Centerline is valid? [True, True] Translation: X:125.09, Y:-1.14, Z:-1.87 [[ 8.38226635e-01 -5.45214449e-01 -1.08311035e-02 1.25093644e+02] [ 5.45165186e-01 8.38296574e-01 -7.33308288e-03 -1.14298166e+00] [ 1.30777797e-02 2.42044813e-04 9.99914453e-01 -1.86657586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.15538475 meters 0.0594704265994817 Centerline is valid? [True, True] Translation: X:125.12, Y:-1.13, Z:-1.87 [[ 8.37848764e-01 -5.45796164e-01 -1.07701153e-02 1.25116654e+02] [ 5.45747417e-01 8.37917950e-01 -7.29838198e-03 -1.12608309e+00] [ 1.30079019e-02 2.37177698e-04 9.99915366e-01 -1.86647121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.18538475 meters 0.05932013760843523 Centerline is valid? [True, True] Translation: X:125.14, Y:-1.11, Z:-1.87 [[ 8.37753957e-01 -5.45930893e-01 -1.13034046e-02 1.25140601e+02] [ 5.45877164e-01 8.37830172e-01 -7.66321084e-03 -1.10988140e+00] [ 1.36539169e-02 2.49614787e-04 9.99906750e-01 -1.86580526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.21538475 meters 0.05955637088475909 Centerline is valid? [True, True] Translation: X:125.16, Y:-1.09, Z:-1.87 [[ 8.38008217e-01 -5.45559730e-01 -1.03348357e-02 1.25162784e+02] [ 5.45514797e-01 8.38071910e-01 -7.00561860e-03 -1.09324423e+00] [ 1.24833189e-02 2.32960173e-04 9.99922053e-01 -1.86506736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.24538475 meters 0.059246550780682174 Centerline is valid? [True, True] Translation: X:125.19, Y:-1.08, Z:-1.86 [[ 8.37295622e-01 -5.46678051e-01 -8.89662056e-03 1.25186056e+02] [ 5.46644754e-01 8.37342864e-01 -6.03668013e-03 -1.07652701e+00] [ 1.07496423e-02 1.91194885e-04 9.99942203e-01 -1.86348398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.27538475 meters 0.05821746382793027 Centerline is valid? [True, True] Translation: X:125.21, Y:-1.06, Z:-1.86 [[ 8.34148578e-01 -5.51512563e-01 -5.48103230e-03 1.25211159e+02] [ 5.51500000e-01 8.34166582e-01 -3.72342506e-03 -1.06420622e+00] [ 6.62560968e-03 8.31004032e-05 9.99978047e-01 -1.85675798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.30538475 meters 0.05820830688995971 Centerline is valid? [True, True] Translation: X:125.23, Y:-1.05, Z:-1.86 [[ 8.33650296e-01 -5.52260930e-01 -5.92019408e-03 1.25233496e+02] [ 5.52246278e-01 8.33671313e-01 -4.02379331e-03 -1.04712524e+00] [ 7.15767981e-03 8.50313419e-05 9.99974380e-01 -1.85823009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.33538475 meters 0.058876071769014424 Centerline is valid? [True, True] Translation: X:125.25, Y:-1.02, Z:-1.86 [[ 8.35097230e-01 -5.50030864e-01 -8.86928161e-03 1.25251916e+02] [ 5.49997844e-01 8.35144313e-01 -6.02897021e-03 -1.02490834e+00] [ 1.07232498e-02 1.56690562e-04 9.99942492e-01 -1.86474716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.36538475 meters 0.059051703895477536 Centerline is valid? [True, True] Translation: X:125.27, Y:-1.01, Z:-1.86 [[ 8.35068953e-01 -5.50070374e-01 -9.07893981e-03 1.25273593e+02] [ 5.50035743e-01 8.35118290e-01 -6.17449182e-03 -1.00914209e+00] [ 1.09783937e-02 1.62385021e-04 9.99939722e-01 -1.86479975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.39538475 meters 0.05877885377191895 Centerline is valid? [True, True] Translation: X:125.30, Y:-0.99, Z:-1.86 [[ 8.35064188e-01 -5.50081759e-01 -8.82382660e-03 1.25297873e+02] [ 5.50049000e-01 8.35110790e-01 -6.00545502e-03 -9.94714759e-01] [ 1.06723641e-02 1.61403418e-04 9.99943036e-01 -1.86250153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.42538475 meters 0.05897001393069289 Centerline is valid? [True, True] Translation: X:125.32, Y:-0.98, Z:-1.86 [[ 8.35134747e-01 -5.49960447e-01 -9.66752048e-03 1.25321074e+02] [ 5.49921126e-01 8.35190682e-01 -6.57874795e-03 -9.78704317e-01] [ 1.16922742e-02 1.77767264e-04 9.99931627e-01 -1.86411617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.45538475 meters 0.05923333131070971 Centerline is valid? [True, True] Translation: X:125.34, Y:-0.96, Z:-1.86 [[ 8.35814730e-01 -5.48910196e-01 -1.05515152e-02 1.25344478e+02] [ 5.48863202e-01 8.35881302e-01 -7.18573971e-03 -9.61980453e-01] [ 1.27641401e-02 2.14608674e-04 9.99918512e-01 -1.86479304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.48538475 meters 0.05958704649058284 Centerline is valid? [True, True] Translation: X:125.37, Y:-0.94, Z:-1.87 [[ 8.36421996e-01 -5.47960980e-01 -1.17050594e-02 1.25367308e+02] [ 5.47903002e-01 8.36503854e-01 -7.97508752e-03 -9.43948509e-01] [ 1.41613641e-02 2.57301413e-04 9.99899690e-01 -1.86738000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.51538475 meters 0.059759090372697984 Centerline is valid? [True, True] Translation: X:125.39, Y:-0.93, Z:-1.87 [[ 8.36129948e-01 -5.48424971e-01 -1.08055950e-02 1.25390898e+02] [ 5.48375612e-01 8.36199736e-01 -7.36134436e-03 -9.29578199e-01] [ 1.30727808e-02 2.29515688e-04 9.99914521e-01 -1.86890376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.54538475 meters 0.05980605630401752 Centerline is valid? [True, True] Translation: X:125.42, Y:-0.91, Z:-1.87 [[ 8.36497632e-01 -5.47852090e-01 -1.13929710e-02 1.25415357e+02] [ 5.47797076e-01 8.36575174e-01 -7.76802898e-03 -9.13694443e-01] [ 1.37868076e-02 2.56901643e-04 9.99904924e-01 -1.86960856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.57538475 meters 0.059836816328752575 Centerline is valid? [True, True] Translation: X:125.44, Y:-0.90, Z:-1.87 [[ 8.36429466e-01 -5.47974822e-01 -1.04567458e-02 1.25438337e+02] [ 5.47928462e-01 8.36494793e-01 -7.13170592e-03 -8.98845476e-01] [ 1.26550087e-02 2.35620326e-04 9.99919894e-01 -1.86843973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.60538475 meters 0.059559931753285625 Centerline is valid? [True, True] Translation: X:125.46, Y:-0.88, Z:-1.87 [[ 8.36361205e-01 -5.48094559e-01 -9.60668560e-03 1.25461757e+02] [ 5.48055373e-01 8.36416347e-01 -6.55760630e-03 -8.83107258e-01] [ 1.16293772e-02 2.19531847e-04 9.99932352e-01 -1.86757654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.63538475000001 meters 0.05969093251322687 Centerline is valid? [True, True] Translation: X:125.48, Y:-0.87, Z:-1.87 [[ 8.36299864e-01 -5.48182801e-01 -9.90722207e-03 1.25483635e+02] [ 5.48141093e-01 8.36358514e-01 -6.76591655e-03 -8.67143997e-01] [ 1.19949486e-02 2.27779554e-04 9.99928032e-01 -1.86987287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.66538475000002 meters 0.05934640082933417 Centerline is valid? [True, True] Translation: X:125.51, Y:-0.85, Z:-1.87 [[ 8.36500197e-01 -5.47875766e-01 -9.97829615e-03 1.25508626e+02] [ 5.47833390e-01 8.36559675e-01 -6.81814189e-03 -8.52165238e-01] [ 1.20829349e-02 2.36933215e-04 9.99926971e-01 -1.86736954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.69538475000002 meters 0.05975279004736866 Centerline is valid? [True, True] Translation: X:125.53, Y:-0.84, Z:-1.87 [[ 8.36202078e-01 -5.48334023e-01 -9.79203578e-03 1.25530440e+02] [ 5.48293262e-01 8.36259379e-01 -6.68956261e-03 -8.35051414e-01] [ 1.18567965e-02 2.24918910e-04 9.99929680e-01 -1.87007341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.72538475000002 meters 0.05953598024059415 Centerline is valid? [True, True] Translation: X:125.55, Y:-0.82, Z:-1.87 [[ 8.36000820e-01 -5.48660366e-01 -8.62742940e-03 1.25554823e+02] [ 5.48628714e-01 8.36045312e-01 -5.89657066e-03 -8.18646162e-01] [ 1.04481365e-02 1.96282402e-04 9.99945397e-01 -1.87038484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.75538475000002 meters 0.05987088833342167 Centerline is valid? [True, True] Translation: X:125.58, Y:-0.80, Z:-1.87 [[ 8.36626971e-01 -5.47738796e-01 -6.12559509e-03 1.25576777e+02] [ 5.47722811e-01 8.36649383e-01 -4.18722553e-03 -8.01478452e-01] [ 7.41848122e-03 1.48017652e-04 9.99972472e-01 -1.87004589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.78538475 meters 0.0597267027377974 Centerline is valid? [True, True] Translation: X:125.60, Y:-0.79, Z:-1.87 [[ 8.36976397e-01 -5.47208536e-01 -5.77316946e-03 1.25600660e+02] [ 5.47194286e-01 8.36996294e-01 -3.95178408e-03 -7.85968343e-01] [ 6.99457142e-03 1.48504654e-04 9.99975527e-01 -1.86855015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.81538475 meters 0.059845040939506246 Centerline is valid? [True, True] Translation: X:125.62, Y:-0.77, Z:-1.87 [[ 8.37260408e-01 -5.46778703e-01 -5.29698818e-03 1.25623769e+02] [ 5.46766682e-01 8.37277152e-01 -3.62842830e-03 -7.69950567e-01] [ 6.41899450e-03 1.41722705e-04 9.99979388e-01 -1.86758561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.84538475 meters 0.05992247967004257 Centerline is valid? [True, True] Translation: X:125.65, Y:-0.75, Z:-1.87 [[ 8.37408025e-01 -5.46553734e-01 -5.17843990e-03 1.25647651e+02] [ 5.46542227e-01 8.37424024e-01 -3.54935204e-03 -7.54701411e-01] [ 6.27646159e-03 1.42019802e-04 9.99980293e-01 -1.86742151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.87538475 meters 0.05982437418004868 Centerline is valid? [True, True] Translation: X:125.67, Y:-0.74, Z:-1.87 [[ 8.36678603e-01 -5.47670969e-01 -5.04237175e-03 1.25671042e+02] [ 5.47660080e-01 8.36693787e-01 -3.45597904e-03 -7.40360843e-01] [ 6.11166050e-03 1.30037994e-04 9.99981315e-01 -1.86775278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.90538475 meters 0.0586988728169539 Centerline is valid? [True, True] Translation: X:125.70, Y:-0.73, Z:-1.87 [[ 8.33275792e-01 -5.52827016e-01 -5.80914387e-03 1.25700916e+02] [ 5.52812665e-01 8.33296033e-01 -3.98475956e-03 -7.33144070e-01] [ 7.04361928e-03 1.09035369e-04 9.99975187e-01 -1.86506101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.93538475 meters 0.05830584156133527 Centerline is valid? [True, True] Translation: X:125.73, Y:-0.72, Z:-1.87 [[ 8.30522556e-01 -5.56955390e-01 -5.74261606e-03 1.25727590e+02] [ 5.56941452e-01 8.30542406e-01 -3.94095960e-03 -7.21286220e-01] [ 6.96442485e-03 7.47549108e-05 9.99975745e-01 -1.86582217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.96538475 meters 0.05821746744946858 Centerline is valid? [True, True] Translation: X:125.76, Y:-0.71, Z:-1.87 [[ 8.25441303e-01 -5.64412139e-01 -9.25163479e-03 1.25756678e+02] [ 5.64376419e-01 8.25493147e-01 -6.34991665e-03 -7.13153368e-01] [ 1.12211312e-02 2.00789606e-05 9.99937041e-01 -1.87030790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.99538475 meters 0.058741555972704196 Centerline is valid? [True, True] Translation: X:125.78, Y:-0.70, Z:-1.88 [[ 8.22187319e-01 -5.69081192e-01 -1.24341871e-02 1.25783685e+02] [ 5.69017153e-01 8.22281335e-01 -8.53730378e-03 -7.01610160e-01] [ 1.50828190e-02 -5.60028340e-05 9.99886246e-01 -1.87701003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.02538475 meters 0.058927488836919124 Centerline is valid? [True, True] Translation: X:125.81, Y:-0.69, Z:-1.88 [[ 8.21052462e-01 -5.70715452e-01 -1.25190853e-02 1.25807849e+02] [ 5.70650640e-01 8.21147895e-01 -8.60122303e-03 -6.87140789e-01] [ 1.51888715e-02 -8.19687177e-05 9.99884639e-01 -1.87838015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.05538475 meters 0.05918286936564005 Centerline is valid? [True, True] Translation: X:125.83, Y:-0.67, Z:-1.88 [[ 8.19793871e-01 -5.72513084e-01 -1.29142405e-02 1.25832390e+02] [ 5.72444338e-01 8.19895575e-01 -8.87276712e-03 -6.74386703e-01] [ 1.56681039e-02 -1.18843762e-04 9.99877241e-01 -1.88083003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.08538475 meters 0.05919247723055531 Centerline is valid? [True, True] Translation: X:125.86, Y:-0.66, Z:-1.88 [[ 8.19216063e-01 -5.73361673e-01 -1.18925544e-02 1.25856810e+02] [ 5.73303365e-01 8.19302372e-01 -8.17769513e-03 -6.59747582e-01] [ 1.44323750e-02 -1.18742238e-04 9.99895841e-01 -1.87975533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.11538475 meters 0.058761925639466035 Centerline is valid? [True, True] Translation: X:125.88, Y:-0.64, Z:-1.87 [[ 8.18886684e-01 -5.73863842e-01 -1.02415380e-02 1.25881616e+02] [ 5.73820594e-01 8.18950719e-01 -7.04601401e-03 -6.43700815e-01] [ 1.24307676e-02 -1.06918390e-04 9.99922729e-01 -1.87345384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.14538475 meters 0.058497028069932906 Centerline is valid? [True, True] Translation: X:125.90, Y:-0.63, Z:-1.87 [[ 8.19047181e-01 -5.73632802e-01 -1.03500791e-02 1.25904274e+02] [ 5.73588547e-01 8.19112568e-01 -7.12606257e-03 -6.26101034e-01] [ 1.25656231e-02 -1.00105394e-04 9.99921044e-01 -1.87293733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.17538475 meters 0.05844312287257782 Centerline is valid? [True, True] Translation: X:125.93, Y:-0.61, Z:-1.87 [[ 8.19713999e-01 -5.72701267e-01 -9.06744512e-03 1.25925476e+02] [ 5.72667261e-01 8.19764145e-01 -6.24146413e-03 -6.07547882e-01] [ 1.10076608e-02 -7.64134375e-05 9.99939411e-01 -1.87471408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.20538475 meters 0.05833964881146985 Centerline is valid? [True, True] Translation: X:125.95, Y:-0.59, Z:-1.87 [[ 8.21037453e-01 -5.70822215e-01 -7.71356944e-03 1.25945899e+02] [ 5.70797512e-01 8.21073686e-01 -5.31066957e-03 -5.88579068e-01] [ 9.36485706e-03 -4.26276274e-05 9.99956148e-01 -1.87420334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.23538475 meters 0.05811800756378137 Centerline is valid? [True, True] Translation: X:125.97, Y:-0.57, Z:-1.87 [[ 8.21620165e-01 -5.69992069e-01 -7.02461049e-03 1.25967715e+02] [ 5.69971497e-01 8.21650194e-01 -4.84266095e-03 -5.69731203e-01] [ 8.53205090e-03 -2.49998655e-05 9.99963601e-01 -1.86988654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.26538475 meters 0.057993178945605156 Centerline is valid? [True, True] Translation: X:125.99, Y:-0.55, Z:-1.87 [[ 8.22829454e-01 -5.68242469e-01 -7.22401222e-03 1.25988181e+02] [ 5.68220625e-01 8.22861165e-01 -4.98244093e-03 -5.52336821e-01] [ 8.77559365e-03 -5.13359022e-06 9.99961494e-01 -1.87380831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.29538475 meters 0.05788360394789969 Centerline is valid? [True, True] Translation: X:126.01, Y:-0.53, Z:-1.87 [[ 8.24329318e-01 -5.66073361e-01 -6.49042657e-03 1.26008789e+02] [ 5.66055633e-01 8.24354869e-01 -4.48002812e-03 -5.31797841e-01] [ 7.88643932e-03 1.90760011e-05 9.99968901e-01 -1.86969276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.32538475 meters 0.058220016237939695 Centerline is valid? [True, True] Translation: X:126.03, Y:-0.51, Z:-1.87 [[ 8.26636854e-01 -5.62679878e-01 -7.92887802e-03 1.26027907e+02] [ 5.62653290e-01 8.26674877e-01 -5.47024784e-03 -5.11156260e-01] [ 9.63260264e-03 6.06991573e-05 9.99953604e-01 -1.87419231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.35538475 meters 0.05843385640169955 Centerline is valid? [True, True] Translation: X:126.05, Y:-0.49, Z:-1.87 [[ 8.27446964e-01 -5.61470439e-01 -9.08120193e-03 1.26050651e+02] [ 5.61435429e-01 8.27496791e-01 -6.27058243e-03 -4.92594557e-01] [ 1.10354121e-02 9.00658925e-05 9.99939104e-01 -1.87391414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.38538475000001 meters 0.058629774125935605 Centerline is valid? [True, True] Translation: X:126.07, Y:-0.47, Z:-1.88 [[ 8.28359232e-01 -5.60116583e-01 -9.50767271e-03 1.26072046e+02] [ 5.60078121e-01 8.28413786e-01 -6.56492924e-03 -4.74791394e-01] [ 1.15534129e-02 1.13080283e-04 9.99933251e-01 -1.87549322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.41538475000002 meters 0.05896600478510309 Centerline is valid? [True, True] Translation: X:126.09, Y:-0.46, Z:-1.88 [[ 8.30013811e-01 -5.57665008e-01 -9.31731663e-03 1.26092927e+02] [ 5.57627894e-01 8.30066093e-01 -6.43532568e-03 -4.55765201e-01] [ 1.13227446e-02 1.45813541e-04 9.99935885e-01 -1.87614522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.44538475000002 meters 0.05896654782406223 Centerline is valid? [True, True] Translation: X:126.12, Y:-0.44, Z:-1.87 [[ 8.31181674e-01 -5.55937961e-01 -8.36706999e-03 1.26115198e+02] [ 5.55907882e-01 8.31223772e-01 -5.78519027e-03 -4.37648622e-01] [ 1.01711144e-02 1.57223980e-04 9.99948261e-01 -1.87488387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.47538475000002 meters 0.05923871470814497 Centerline is valid? [True, True] Translation: X:126.14, Y:-0.42, Z:-1.87 [[ 8.32370655e-01 -5.54140979e-01 -9.32029928e-03 1.26138035e+02] [ 5.54103529e-01 8.32422811e-01 -6.44543832e-03 -4.20429697e-01] [ 1.13301112e-02 2.00582998e-04 9.99935792e-01 -1.87311545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.50538475000002 meters 0.05991528910026507 Centerline is valid? [True, True] Translation: X:126.16, Y:-0.40, Z:-1.88 [[ 8.33866661e-01 -5.51874060e-01 -1.00704288e-02 1.26158441e+02] [ 5.51830162e-01 8.33927430e-01 -6.96514599e-03 -4.00502639e-01] [ 1.22418902e-02 2.50836693e-04 9.99925034e-01 -1.87604503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.53538475 meters 0.059896404350496 Centerline is valid? [True, True] Translation: X:126.18, Y:-0.38, Z:-1.88 [[ 8.34720016e-01 -5.50568493e-01 -1.08087531e-02 1.26182132e+02] [ 5.50517738e-01 8.34789942e-01 -7.48150963e-03 -3.83645269e-01] [ 1.31421219e-02 2.94555532e-04 9.99913595e-01 -1.87602652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.56538475 meters 0.06076820507108455 Centerline is valid? [True, True] Translation: X:126.20, Y:-0.36, Z:-1.88 [[ 8.35895744e-01 -5.48729995e-01 -1.31794346e-02 1.26202409e+02] [ 5.48654229e-01 8.35999542e-01 -9.12707875e-03 -3.63767534e-01] [ 1.60263031e-02 3.98333790e-04 9.99871491e-01 -1.88078161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.59538475 meters 0.06136549477461247 Centerline is valid? [True, True] Translation: X:126.22, Y:-0.35, Z:-1.88 [[ 8.35663874e-01 -5.49090839e-01 -1.28506906e-02 1.26224979e+02] [ 5.49018834e-01 8.35762588e-01 -8.90034037e-03 -3.47783491e-01] [ 1.56272218e-02 3.82421741e-04 9.99877814e-01 -1.88373799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.62538475 meters 0.060286850507578524 Centerline is valid? [True, True] Translation: X:126.25, Y:-0.34, Z:-1.88 [[ 8.35258934e-01 -5.49720600e-01 -1.22382685e-02 1.26251819e+02] [ 5.49655263e-01 8.35348510e-01 -8.48283344e-03 -3.35053573e-01] [ 1.48864077e-02 3.58533698e-04 9.99889127e-01 -1.87794250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.65538475 meters 0.059508410561432155 Centerline is valid? [True, True] Translation: X:126.28, Y:-0.32, Z:-1.87 [[ 8.33220720e-01 -5.52862083e-01 -9.31390182e-03 1.26277965e+02] [ 5.52824380e-01 8.33272742e-01 -6.46084204e-03 -3.22805050e-01] [ 1.13329751e-02 2.34355455e-04 9.99935752e-01 -1.87445762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.68538475 meters 0.05903568101028866 Centerline is valid? [True, True] Translation: X:126.30, Y:-0.31, Z:-1.87 [[ 8.32152937e-01 -5.54495648e-01 -7.48771010e-03 1.26301499e+02] [ 5.54471353e-01 8.32186606e-01 -5.19343029e-03 -3.08951962e-01] [ 9.11090655e-03 1.70007521e-04 9.99958480e-01 -1.87362959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.71538475 meters 0.05884332119408144 Centerline is valid? [True, True] Translation: X:126.33, Y:-0.29, Z:-1.87 [[ 8.31254407e-01 -5.55864556e-01 -5.54129636e-03 1.26325257e+02] [ 5.55851247e-01 8.31272868e-01 -3.84838786e-03 -2.93256989e-01] [ 6.74551173e-03 1.18852879e-04 9.99977242e-01 -1.87456529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.74538475 meters 0.05878833829813513 Centerline is valid? [True, True] Translation: X:126.35, Y:-0.28, Z:-1.87 [[ 8.31702800e-01 -5.55199995e-01 -4.83932586e-03 1.26348588e+02] [ 5.55189814e-01 8.31716871e-01 -3.36402396e-03 -2.77127622e-01] [ 5.89265505e-03 1.11123722e-04 9.99982632e-01 -1.87385670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.77538475 meters 0.0588450789014246 Centerline is valid? [True, True] Translation: X:126.37, Y:-0.26, Z:-1.87 [[ 8.32128153e-01 -5.54572491e-01 -3.47689472e-03 1.26372151e+02] [ 5.54567221e-01 8.32135412e-01 -2.41935256e-03 -2.59953297e-01] [ 4.23495360e-03 8.50395387e-05 9.99991029e-01 -1.87372339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.80538475 meters 0.05950275836648858 Centerline is valid? [True, True] Translation: X:126.39, Y:-0.24, Z:-1.87 [[ 8.33656986e-01 -5.52271374e-01 -3.51561603e-03 1.26393895e+02] [ 5.52265970e-01 8.33664393e-01 -2.44503416e-03 -2.41735823e-01] [ 4.28116628e-03 9.67647125e-05 9.99990831e-01 -1.87491537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.83538475 meters 0.05950275836648858 Centerline is valid? [True, True] Translation: X:126.42, Y:-0.23, Z:-1.88 [[ 8.33498586e-01 -5.52510416e-01 -3.51385230e-03 1.26416527e+02] [ 5.52505003e-01 8.33505987e-01 -2.44757141e-03 -2.25804226e-01] [ 4.28112563e-03 9.86263320e-05 9.99990831e-01 -1.87528745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.86538475 meters 0.059711808563191325 Centerline is valid? [True, True] Translation: X:126.44, Y:-0.21, Z:-1.88 [[ 8.33395326e-01 -5.52671471e-01 -2.54469410e-03 1.26439323e+02] [ 5.52668630e-01 8.33399208e-01 -1.77369133e-03 -2.10295055e-01] [ 3.10101464e-03 7.18134595e-05 9.99995189e-01 -1.87595874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.89538475 meters 0.05970305032288963 Centerline is valid? [True, True] Translation: X:126.46, Y:-0.19, Z:-1.88 [[ 8.33220088e-01 -5.52934553e-01 -2.76862606e-03 1.26463244e+02] [ 5.52931185e-01 8.33224684e-01 -1.93154113e-03 -1.94797944e-01] [ 3.37490341e-03 7.85391805e-05 9.99994302e-01 -1.87716405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.92538475 meters 0.059490065942649314 Centerline is valid? [True, True] Translation: X:126.49, Y:-0.18, Z:-1.88 [[ 8.31919739e-01 -5.54883419e-01 -3.73368844e-03 1.26487215e+02] [ 5.54877320e-01 8.31928112e-01 -2.60327762e-03 -1.82087324e-01] [ 4.55067595e-03 9.39790017e-05 9.99989641e-01 -1.87895621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.95538475 meters 0.05962262207756875 Centerline is valid? [True, True] Translation: X:126.51, Y:-0.17, Z:-1.88 [[ 8.31784529e-01 -5.55076234e-01 -4.98726876e-03 1.26510921e+02] [ 5.55065365e-01 8.31799471e-01 -3.47571471e-03 -1.66459980e-01] [ 6.07769414e-03 1.22785572e-04 9.99981523e-01 -1.88113182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.98538475 meters 0.059621747021831616 Centerline is valid? [True, True] Translation: X:126.54, Y:-0.15, Z:-1.89 [[ 8.30276769e-01 -5.57312033e-01 -6.61696641e-03 1.26535477e+02] [ 5.57292943e-01 8.30303123e-01 -4.61512171e-03 -1.53613656e-01] [ 8.06615074e-03 1.44239660e-04 9.99967458e-01 -1.88548667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.01538475 meters 0.059540948945509646 Centerline is valid? [True, True] Translation: X:126.56, Y:-0.14, Z:-1.89 [[ 8.29653819e-01 -5.58234240e-01 -7.00522058e-03 1.26559872e+02] [ 5.58212850e-01 8.29683381e-01 -4.88895902e-03 -1.39400039e-01] [ 8.54129941e-03 1.45739374e-04 9.99963512e-01 -1.88539963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.04538475 meters 0.05964498208143438 Centerline is valid? [True, True] Translation: X:126.59, Y:-0.12, Z:-1.89 [[ 8.29684291e-01 -5.58175594e-01 -7.99892559e-03 1.26585034e+02] [ 5.58147686e-01 8.29722832e-01 -5.58414311e-03 -1.24545280e-01] [ 9.75382359e-03 1.68494014e-04 9.99952416e-01 -1.88544219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.07538475 meters 0.05957805511182238 Centerline is valid? [True, True] Translation: X:126.61, Y:-0.11, Z:-1.89 [[ 8.29089850e-01 -5.59061338e-01 -7.77436640e-03 1.26608418e+02] [ 5.59034979e-01 8.29126285e-01 -5.43098957e-03 -1.09436627e-01] [ 9.48218782e-03 1.56635572e-04 9.99955031e-01 -1.88573720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.10538475 meters 0.05888258331030876 Centerline is valid? [True, True] Translation: X:126.63, Y:-0.10, Z:-1.88 [[ 8.27426069e-01 -5.61544148e-01 -5.85417376e-03 1.26633654e+02] [ 5.61529240e-01 8.27446772e-01 -4.09292420e-03 -9.61651835e-02] [ 7.14237481e-03 9.93024423e-05 9.99974488e-01 -1.88232866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.13538475000001 meters 0.05898225415851095 Centerline is valid? [True, True] Translation: X:126.66, Y:-0.08, Z:-1.88 [[ 8.27421075e-01 -5.61550948e-01 -5.90743260e-03 1.26655937e+02] [ 5.61535750e-01 8.27442157e-01 -4.13273041e-03 -7.85855209e-02] [ 7.20879744e-03 1.02273646e-04 9.99974011e-01 -1.88389638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.16538475000002 meters 0.05914846741617254 Centerline is valid? [True, True] Translation: X:126.68, Y:-0.06, Z:-1.89 [[ 8.27022635e-01 -5.62137692e-01 -5.89717123e-03 1.26677153e+02] [ 5.62122550e-01 8.27043654e-01 -4.12715464e-03 -6.13316921e-02] [ 7.19724722e-03 9.83173820e-05 9.99974095e-01 -1.88630635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.19538475000002 meters 0.058869243762944765 Centerline is valid? [True, True] Translation: X:126.70, Y:-0.05, Z:-1.88 [[ 8.27078456e-01 -5.62053311e-01 -6.10761457e-03 1.26700818e+02] [ 5.62037042e-01 8.27101000e-01 -4.27770824e-03 -4.56899720e-02] [ 7.45591420e-03 1.05294699e-04 9.99972199e-01 -1.88385922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.22538475000002 meters 0.0592563205047664 Centerline is valid? [True, True] Translation: X:126.72, Y:-0.03, Z:-1.89 [[ 8.26829220e-01 -5.62416521e-01 -6.41082523e-03 1.26721553e+02] [ 5.62398606e-01 8.26854065e-01 -4.49029152e-03 -2.89600534e-02] [ 7.82623104e-03 1.07265062e-04 9.99969369e-01 -1.88828918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.25538475000002 meters 0.059036425949274614 Centerline is valid? [True, True] Translation: X:126.75, Y:-0.02, Z:-1.89 [[ 8.25677799e-01 -5.64115745e-01 -5.44054533e-03 1.26745828e+02] [ 5.64102875e-01 8.25695719e-01 -3.81121860e-03 -1.50738368e-02] [ 6.64220341e-03 7.78113193e-05 9.99977937e-01 -1.88839589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.28538475 meters 0.05839135957671056 Centerline is valid? [True, True] Translation: X:126.77, Y:-0.00, Z:-1.88 [[ 8.23998260e-01 -5.66570301e-01 -4.99606906e-03 1.26772452e+02] [ 5.66559469e-01 8.24013404e-01 -3.50388653e-03 -3.08138803e-03] [ 6.10202592e-03 5.66261736e-05 9.99981381e-01 -1.88274536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.31538475 meters 0.05819031313283906 Centerline is valid? [True, True] Translation: X:126.80, Y:0.01, Z:-1.88 [[ 8.23163594e-01 -5.67791417e-01 -3.82165358e-03 1.26796789e+02] [ 5.67785098e-01 8.23172464e-01 -2.67901971e-03 1.13205158e-02] [ 4.66700439e-03 3.53935413e-05 9.99989109e-01 -1.88170497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.34538475 meters 0.05822681833085065 Centerline is valid? [True, True] Translation: X:126.82, Y:0.03, Z:-1.89 [[ 8.22580477e-01 -5.68639272e-01 -3.27678661e-03 1.26818269e+02] [ 5.68634619e-01 8.22587003e-01 -2.30072384e-03 2.78587687e-02] [ 4.00372401e-03 2.92362073e-05 9.99991985e-01 -1.88555739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.37538475 meters 0.058372920608528785 Centerline is valid? [True, True] Translation: X:126.84, Y:0.05, Z:-1.89 [[ 8.23259870e-01 -5.67650203e-01 -4.05389077e-03 1.26840404e+02] [ 5.67643064e-01 8.23269850e-01 -2.84710236e-03 4.57074337e-02] [ 4.95360428e-03 4.27421369e-05 9.99987730e-01 -1.88704029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.40538475 meters 0.05865116852937473 Centerline is valid? [True, True] Translation: X:126.86, Y:0.06, Z:-1.89 [[ 8.23699916e-01 -5.67002690e-01 -5.13789227e-03 1.26862442e+02] [ 5.66991218e-01 8.23715938e-01 -3.60718214e-03 6.14509656e-02] [ 6.27744573e-03 5.80958232e-05 9.99980295e-01 -1.88857625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.43538475 meters 0.05819113136597737 Centerline is valid? [True, True] Translation: X:126.89, Y:0.08, Z:-1.88 [[ 8.23653628e-01 -5.67060950e-01 -6.04818406e-03 1.26887762e+02] [ 5.67045030e-01 8.23675831e-01 -4.24961978e-03 7.53593041e-02] [ 7.39153646e-03 7.06220357e-05 9.99972680e-01 -1.88329203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.46538475 meters 0.05807566545883546 Centerline is valid? [True, True] Translation: X:126.91, Y:0.09, Z:-1.88 [[ 8.21903812e-01 -5.69594848e-01 -5.98602320e-03 1.26912855e+02] [ 5.69579310e-01 8.21925609e-01 -4.20746708e-03 8.76151463e-02] [ 7.31661733e-03 4.86182685e-05 9.99973232e-01 -1.88464360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.49538475 meters 0.0580555844173487 Centerline is valid? [True, True] Translation: X:126.94, Y:0.10, Z:-1.89 [[ 8.21519061e-01 -5.70135862e-01 -7.17856391e-03 1.26937229e+02] [ 5.70113517e-01 8.21550422e-01 -5.04797871e-03 1.03444021e-01] [ 8.77558590e-03 5.44144116e-05 9.99961492e-01 -1.88566487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.52538475 meters 0.0580583592108286 Centerline is valid? [True, True] Translation: X:126.96, Y:0.12, Z:-1.89 [[ 8.20249316e-01 -5.71968860e-01 -6.53327619e-03 1.26961340e+02] [ 5.71950395e-01 8.20275333e-01 -4.59602626e-03 1.17349823e-01] [ 7.98786921e-03 3.31774983e-05 9.99968096e-01 -1.88761402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.55538475 meters 0.05806822126281781 Centerline is valid? [True, True] Translation: X:126.99, Y:0.13, Z:-1.89 [[ 8.19438316e-01 -5.73135474e-01 -6.04761978e-03 1.26986068e+02] [ 5.73119657e-01 8.19460632e-01 -4.25809333e-03 1.32168113e-01] [ 7.39625067e-03 2.32350540e-05 9.99972647e-01 -1.88796096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.58538475 meters 0.057910111465628564 Centerline is valid? [True, True] Translation: X:127.01, Y:0.14, Z:-1.89 [[ 8.17853962e-01 -5.75385983e-01 -6.77252862e-03 1.27012115e+02] [ 5.75366210e-01 8.17882003e-01 -4.77005814e-03 1.43613921e-01] [ 8.28375386e-03 4.52681928e-06 9.99965689e-01 -1.88736956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.61538475 meters 0.05801722142353904 Centerline is valid? [True, True] Translation: X:127.04, Y:0.16, Z:-1.89 [[ 8.17183092e-01 -5.76331405e-01 -7.34208093e-03 1.27036604e+02] [ 5.76308178e-01 8.17216074e-01 -5.17425413e-03 1.58115946e-01] [ 8.98215171e-03 -2.98829485e-06 9.99959660e-01 -1.88610353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.64538475 meters 0.05807641170557978 Centerline is valid? [True, True] Translation: X:127.06, Y:0.17, Z:-1.89 [[ 8.16545160e-01 -5.77219667e-01 -8.45321958e-03 1.27060775e+02] [ 5.77188904e-01 8.16588915e-01 -5.95933930e-03 1.73557497e-01] [ 1.03426532e-02 -1.30348751e-05 9.99946513e-01 -1.88789469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.67538475 meters 0.058031294455963674 Centerline is valid? [True, True] Translation: X:127.08, Y:0.19, Z:-1.89 [[ 8.16540178e-01 -5.77231719e-01 -8.10432767e-03 1.27082806e+02] [ 5.77203402e-01 8.16580395e-01 -5.71755586e-03 1.91237708e-01] [ 9.91818969e-03 -9.23142123e-06 9.99950814e-01 -1.88857867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.70538475 meters 0.05809190436504257 Centerline is valid? [True, True] Translation: X:127.11, Y:0.21, Z:-1.89 [[ 8.16843335e-01 -5.76808287e-01 -7.69192982e-03 1.27105056e+02] [ 5.76782725e-01 8.16879551e-01 -5.43021300e-03 2.09143509e-01] [ 9.41557203e-03 -9.38947441e-07 9.99955673e-01 -1.88872009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.73538475 meters 0.058065901420036946 Centerline is valid? [True, True] Translation: X:127.13, Y:0.23, Z:-1.89 [[ 8.16821334e-01 -5.76848522e-01 -6.97783962e-03 1.27126631e+02] [ 5.76827472e-01 8.16851139e-01 -4.92800577e-03 2.26076452e-01] [ 8.54256908e-03 2.90655271e-07 9.99963512e-01 -1.88987835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.76538475 meters 0.058010435859203624 Centerline is valid? [True, True] Translation: X:127.15, Y:0.24, Z:-1.89 [[ 8.17499649e-01 -5.75894048e-01 -6.35363501e-03 1.27148923e+02] [ 5.75876536e-01 8.17524339e-01 -4.49110812e-03 2.44293939e-01] [ 7.78065370e-03 1.25699927e-05 9.99969730e-01 -1.88660021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.79538475 meters 0.05807842469684318 Centerline is valid? [True, True] Translation: X:127.17, Y:0.26, Z:-1.89 [[ 8.17754413e-01 -5.75543589e-01 -5.22465945e-03 1.27170132e+02] [ 5.75531721e-01 8.17771103e-01 -3.69598262e-03 2.62511328e-01] [ 6.39977462e-03 1.54488495e-05 9.99979521e-01 -1.88656264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.82538475 meters 0.0580415255629344 Centerline is valid? [True, True] Translation: X:127.19, Y:0.28, Z:-1.89 [[ 8.18266704e-01 -5.74813171e-01 -5.42401536e-03 1.27190918e+02] [ 5.74800354e-01 8.18284680e-01 -3.83863247e-03 2.80812588e-01] [ 6.64488518e-03 2.32991884e-05 9.99977922e-01 -1.89044591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.85538475 meters 0.05803773793408887 Centerline is valid? [True, True] Translation: X:127.21, Y:0.30, Z:-1.89 [[ 8.18029056e-01 -5.75152738e-01 -5.27170257e-03 1.27214182e+02] [ 5.75140620e-01 8.18046042e-01 -3.73363462e-03 2.97487713e-01] [ 6.45990560e-03 2.22513252e-05 9.99979134e-01 -1.88635006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.88538475000001 meters 0.05815383239503681 Centerline is valid? [True, True] Translation: X:127.23, Y:0.32, Z:-1.89 [[ 8.19374637e-01 -5.73234011e-01 -5.28902373e-03 1.27233719e+02] [ 5.73221774e-01 8.19391706e-01 -3.74565781e-03 3.17673129e-01] [ 6.48092063e-03 3.73134372e-05 9.99978998e-01 -1.88881814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.91538475000002 meters 0.0582519345546062 Centerline is valid? [True, True] Translation: X:127.26, Y:0.34, Z:-1.89 [[ 8.19638003e-01 -5.72850762e-01 -5.96225140e-03 1.27255566e+02] [ 5.72835181e-01 8.19659687e-01 -4.22523399e-03 3.36565076e-01] [ 7.30744563e-03 4.77749949e-05 9.99973299e-01 -1.89103679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.94538475000002 meters 0.05831955290735216 Centerline is valid? [True, True] Translation: X:127.28, Y:0.35, Z:-1.89 [[ 8.18699681e-01 -5.74188347e-01 -6.21087960e-03 1.27279134e+02] [ 5.74171455e-01 8.18723238e-01 -4.40445716e-03 3.51702082e-01] [ 7.61397943e-03 3.98178995e-05 9.99971012e-01 -1.89078985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.97538475000002 meters 0.058336535976992024 Centerline is valid? [True, True] Translation: X:127.30, Y:0.37, Z:-1.89 [[ 8.18361788e-01 -5.74666117e-01 -6.54500134e-03 1.27301279e+02] [ 5.74647360e-01 8.18387959e-01 -4.64321918e-03 3.67827463e-01] [ 8.02465103e-03 3.87654116e-05 9.99967801e-01 -1.89215927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.00538475 meters 0.0583070750420976 Centerline is valid? [True, True] Translation: X:127.32, Y:0.38, Z:-1.89 [[ 8.18204089e-01 -5.74892687e-01 -6.36141666e-03 1.27324773e+02] [ 5.74874947e-01 8.18228817e-01 -4.51635556e-03 3.83444130e-01] [ 7.80151421e-03 3.82815193e-05 9.99969567e-01 -1.89110914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.03538475 meters 0.05818065695607682 Centerline is valid? [True, True] Translation: X:127.35, Y:0.40, Z:-1.89 [[ 8.18159019e-01 -5.74971928e-01 -4.80630878e-03 1.27347059e+02] [ 5.74961812e-01 8.18173136e-01 -3.41081601e-03 4.00157080e-01] [ 5.89351619e-03 2.71458771e-05 9.99982633e-01 -1.89256058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.06538475 meters 0.05791585943326894 Centerline is valid? [True, True] Translation: X:127.37, Y:0.41, Z:-1.89 [[ 8.17397600e-01 -5.76059815e-01 -4.03136631e-03 1.27371799e+02] [ 5.76052687e-01 8.17407541e-01 -2.86580167e-03 4.14255235e-01] [ 4.94614240e-03 2.02200126e-05 9.99987768e-01 -1.89080337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.09538475 meters 0.05801149752985673 Centerline is valid? [True, True] Translation: X:127.40, Y:0.43, Z:-1.89 [[ 8.16616745e-01 -5.77163570e-01 -4.39372112e-03 1.27396527e+02] [ 5.77155111e-01 8.16628565e-01 -3.12494946e-03 4.28354328e-01] [ 5.39164516e-03 1.60274586e-05 9.99985465e-01 -1.89019192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.12538475 meters 0.057985297771826184 Centerline is valid? [True, True] Translation: X:127.42, Y:0.44, Z:-1.89 [[ 8.15401158e-01 -5.78877946e-01 -4.61257119e-03 1.27419779e+02] [ 5.78868652e-01 8.15414204e-01 -3.28021934e-03 4.41838884e-01] [ 5.66000270e-03 4.62177774e-06 9.99983982e-01 -1.89150705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.15538475 meters 0.058155469147813846 Centerline is valid? [True, True] Translation: X:127.45, Y:0.45, Z:-1.89 [[ 8.13153355e-01 -5.82029257e-01 -4.85440783e-03 1.27445524e+02] [ 5.82019000e-01 8.13167845e-01 -3.45534031e-03 4.54857452e-01] [ 5.95855751e-03 -1.56360254e-05 9.99982248e-01 -1.89324506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.18538475 meters 0.0584373579608535 Centerline is valid? [True, True] Translation: X:127.47, Y:0.47, Z:-1.90 [[ 8.11979780e-01 -5.83657589e-01 -5.71454270e-03 1.27469340e+02] [ 5.83643429e-01 8.11999888e-01 -4.06566444e-03 4.68717378e-01] [ 7.01316394e-03 -3.40179856e-05 9.99975407e-01 -1.89693342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.21538475 meters 0.05894446565769119 Centerline is valid? [True, True] Translation: X:127.49, Y:0.48, Z:-1.90 [[ 8.09664806e-01 -5.86846400e-01 -7.36234951e-03 1.27494942e+02] [ 5.86822994e-01 8.09698275e-01 -5.24181145e-03 4.82250181e-01] [ 9.03741988e-03 -7.62857261e-05 9.99959159e-01 -1.89797537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.24538475 meters 0.05895070885941445 Centerline is valid? [True, True] Translation: X:127.52, Y:0.50, Z:-1.90 [[ 8.08663636e-01 -5.88223795e-01 -7.47596764e-03 1.27519378e+02] [ 5.88199726e-01 8.08698187e-01 -5.32209410e-03 4.96616960e-01] [ 9.17638387e-03 -9.35781418e-05 9.99957892e-01 -1.89986378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.27538475 meters 0.05905174305604014 Centerline is valid? [True, True] Translation: X:127.54, Y:0.51, Z:-1.90 [[ 8.07383102e-01 -5.89977226e-01 -7.70715409e-03 1.27544506e+02] [ 5.89951679e-01 8.07419879e-01 -5.49142318e-03 5.11345938e-01] [ 9.46272403e-03 -1.13166216e-04 9.99955221e-01 -1.89930013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.30538475 meters 0.05895669881909963 Centerline is valid? [True, True] Translation: X:127.57, Y:0.53, Z:-1.90 [[ 8.06886906e-01 -5.90645953e-01 -8.41894290e-03 1.27567831e+02] [ 5.90615476e-01 8.06930816e-01 -6.00146434e-03 5.27945679e-01] [ 1.03382451e-02 -1.29854973e-04 9.99946550e-01 -1.89823307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.33538475 meters 0.059089383914732854 Centerline is valid? [True, True] Translation: X:127.59, Y:0.54, Z:-1.90 [[ 8.06751991e-01 -5.90830778e-01 -8.37955933e-03 1.27589457e+02] [ 5.90800562e-01 8.06795497e-01 -5.97671338e-03 5.43930574e-01] [ 1.02918170e-02 -1.28922947e-04 9.99947030e-01 -1.89952165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.36538475 meters 0.0593496058562074 Centerline is valid? [True, True] Translation: X:127.61, Y:0.56, Z:-1.90 [[ 8.07236258e-01 -5.90173212e-01 -8.07485744e-03 1.27610299e+02] [ 5.90145099e-01 8.07276636e-01 -5.76153605e-03 5.61105246e-01] [ 9.91894799e-03 -1.14416739e-04 9.99950799e-01 -1.90374368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.39538475 meters 0.05882994054446938 Centerline is valid? [True, True] Translation: X:127.63, Y:0.58, Z:-1.90 [[ 8.07747557e-01 -5.89478870e-01 -7.65157363e-03 1.27630513e+02] [ 5.89453554e-01 8.07783791e-01 -5.46388933e-03 5.81112637e-01] [ 9.40166446e-03 -9.68040141e-05 9.99955799e-01 -1.89937169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.42538475 meters 0.058653430032522734 Centerline is valid? [True, True] Translation: X:127.65, Y:0.60, Z:-1.90 [[ 8.08081278e-01 -5.89031007e-01 -6.86455306e-03 1.27652847e+02] [ 5.89010587e-01 8.08110430e-01 -4.90521962e-03 5.99245379e-01] [ 8.43664337e-03 -7.94782894e-05 9.99964408e-01 -1.89966460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.45538475 meters 0.05816509793842615 Centerline is valid? [True, True] Translation: X:127.67, Y:0.62, Z:-1.90 [[ 8.09145582e-01 -5.87592068e-01 -4.35753380e-03 1.27674515e+02] [ 5.87583803e-01 8.09157315e-01 -3.11685155e-03 6.17482700e-01] [ 5.35736760e-03 -3.84296117e-05 9.99985648e-01 -1.89602491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.48538475 meters 0.05774523036319971 Centerline is valid? [True, True] Translation: X:127.70, Y:0.64, Z:-1.89 [[ 8.11098470e-01 -5.84903254e-01 -2.73046178e-03 1.27695278e+02] [ 5.84899985e-01 8.11103066e-01 -1.95545683e-03 6.37914296e-01] [ 3.35843898e-03 -1.09790110e-05 9.99994360e-01 -1.89344851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.51538475 meters 0.05772094062884741 Centerline is valid? [True, True] Translation: X:127.72, Y:0.66, Z:-1.89 [[ 8.11976797e-01 -5.83681981e-01 -3.00426940e-03 1.27716888e+02] [ 5.83678009e-01 8.11982355e-01 -2.15331414e-03 6.56405527e-01] [ 3.69626441e-03 -5.08485994e-06 9.99993169e-01 -1.89161363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.54538475 meters 0.05758063620567241 Centerline is valid? [True, True] Translation: X:127.74, Y:0.68, Z:-1.90 [[ 8.13311294e-01 -5.81806046e-01 -5.14438983e-03 1.27736834e+02] [ 5.81794389e-01 8.13327563e-01 -3.68285372e-03 6.76896805e-01] [ 6.32678060e-03 2.32938476e-06 9.99979986e-01 -1.89665364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.57538475 meters 0.05778245632878133 Centerline is valid? [True, True] Translation: X:127.76, Y:0.70, Z:-1.90 [[ 8.14107874e-01 -5.80666030e-01 -7.43852204e-03 1.27757276e+02] [ 5.80641598e-01 8.14141856e-01 -5.32662511e-03 6.95907438e-01] [ 9.14900239e-03 1.73321168e-05 9.99958147e-01 -1.90151084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.60538475 meters 0.057980517003924696 Centerline is valid? [True, True] Translation: X:127.78, Y:0.72, Z:-1.90 [[ 8.14801682e-01 -5.79686978e-01 -7.82472984e-03 1.27778516e+02] [ 5.79659855e-01 8.14839252e-01 -5.60771036e-03 7.15022066e-01] [ 9.62661368e-03 3.34900671e-05 9.99953663e-01 -1.90271420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.63538475000001 meters 0.05803160299473235 Centerline is valid? [True, True] Translation: X:127.80, Y:0.73, Z:-1.90 [[ 8.16130931e-01 -5.77819163e-01 -7.43760376e-03 1.27799028e+02] [ 5.77794546e-01 8.16164819e-01 -5.33389005e-03 7.34783836e-01] [ 9.15233441e-03 5.57457625e-05 9.99958115e-01 -1.90356725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.66538475000002 meters 0.057872556350617485 Centerline is valid? [True, True] Translation: X:127.82, Y:0.75, Z:-1.90 [[ 8.16458046e-01 -5.77370730e-01 -6.26890953e-03 1.27820982e+02] [ 5.77353223e-01 8.16482111e-01 -4.49655035e-03 7.51040719e-01] [ 7.71462905e-03 5.18695902e-05 9.99970240e-01 -1.90181624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.69538475000002 meters 0.057682660550707025 Centerline is valid? [True, True] Translation: X:127.85, Y:0.77, Z:-1.90 [[ 8.15641876e-01 -5.78518938e-01 -6.64586353e-03 1.27845263e+02] [ 5.78499263e-01 8.15668950e-01 -4.77144447e-03 7.66086761e-01] [ 8.18119551e-03 4.71627681e-05 9.99966532e-01 -1.90032746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.72538475000002 meters 0.05767383097682692 Centerline is valid? [True, True] Translation: X:127.87, Y:0.78, Z:-1.90 [[ 8.14397794e-01 -5.80268650e-01 -6.67284818e-03 1.27868393e+02] [ 5.80248869e-01 8.14425131e-01 -4.79126356e-03 7.80798624e-01] [ 8.21475529e-03 3.00818585e-05 9.99966258e-01 -1.90213662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.75538475 meters 0.05767383097682692 Centerline is valid? [True, True] Translation: X:127.89, Y:0.80, Z:-1.90 [[ 8.14233048e-01 -5.80499823e-01 -6.67081415e-03 1.27890780e+02] [ 5.80480027e-01 8.14260373e-01 -4.79409682e-03 7.97075355e-01] [ 8.21475197e-03 3.12376826e-05 9.99966258e-01 -1.90250821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.78538475 meters 0.057685423530607946 Centerline is valid? [True, True] Translation: X:127.91, Y:0.81, Z:-1.90 [[ 8.13578988e-01 -5.81408793e-01 -7.28326344e-03 1.27914418e+02] [ 5.81385208e-01 8.13611587e-01 -5.23687598e-03 8.12859169e-01] [ 8.97051327e-03 2.62306289e-05 9.99959764e-01 -1.90270039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.81538475 meters 0.05770653325688816 Centerline is valid? [True, True] Translation: X:127.94, Y:0.83, Z:-1.91 [[ 8.13080455e-01 -5.82092126e-01 -8.30249782e-03 1.27937126e+02] [ 5.82061524e-01 8.13122842e-01 -5.96873758e-03 8.29231507e-01] [ 1.02253058e-02 2.04993370e-05 9.99947720e-01 -1.90583796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.84538475 meters 0.05765756782324799 Centerline is valid? [True, True] Translation: X:127.96, Y:0.85, Z:-1.91 [[ 8.13153529e-01 -5.81989631e-01 -8.33117239e-03 1.27959055e+02] [ 5.81958760e-01 8.13196206e-01 -5.99438046e-03 8.45254459e-01] [ 1.02635451e-02 2.59528721e-05 9.99947328e-01 -1.90773570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.87538475 meters 0.057577441590999576 Centerline is valid? [True, True] Translation: X:127.98, Y:0.86, Z:-1.90 [[ 8.12932319e-01 -5.82321336e-01 -6.55035577e-03 1.27983202e+02] [ 5.82302235e-01 8.12958708e-01 -4.71651137e-03 8.61661949e-01] [ 8.07169397e-03 1.99177154e-05 9.99967423e-01 -1.90465916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.90538475 meters 0.05738193019879845 Centerline is valid? [True, True] Translation: X:128.01, Y:0.88, Z:-1.90 [[ 8.12875521e-01 -5.82406770e-01 -5.97849728e-03 1.28006311e+02] [ 5.82390835e-01 8.12897505e-01 -4.30822255e-03 8.78617383e-01] [ 7.36904350e-03 2.02266180e-05 9.99972848e-01 -1.90489685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.93538475 meters 0.057366012540031146 Centerline is valid? [True, True] Translation: X:128.03, Y:0.90, Z:-1.91 [[ 8.13803106e-01 -5.81122145e-01 -4.64299493e-03 1.28026792e+02] [ 5.81112506e-01 8.13816350e-01 -3.34728956e-03 8.96259909e-01] [ 5.72372928e-03 2.59322251e-05 9.99983619e-01 -1.90589111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.96538475 meters 0.05729798229142702 Centerline is valid? [True, True] Translation: X:128.05, Y:0.91, Z:-1.90 [[ 8.14123611e-01 -5.80676378e-01 -4.20591019e-03 1.28049358e+02] [ 5.80668445e-01 8.14134475e-01 -3.03544654e-03 9.13744106e-01] [ 5.18678859e-03 2.89893665e-05 9.99986548e-01 -1.90473818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.99538475 meters 0.057389898249465665 Centerline is valid? [True, True] Translation: X:128.07, Y:0.93, Z:-1.91 [[ 8.13949978e-01 -5.80910738e-01 -5.30551288e-03 1.28072653e+02] [ 5.80898118e-01 8.13967268e-01 -3.82921243e-03 9.30351367e-01] [ 6.54294445e-03 3.48249291e-05 9.99978594e-01 -1.90686260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.02538475 meters 0.05750132940296872 Centerline is valid? [True, True] Translation: X:128.10, Y:0.95, Z:-1.91 [[ 8.14092510e-01 -5.80705061e-01 -5.91752743e-03 1.28095343e+02] [ 5.80689339e-01 8.14114016e-01 -4.27331735e-03 9.47671932e-01] [ 7.29907903e-03 4.26305576e-05 9.99973360e-01 -1.90874440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.05538475 meters 0.05772473545655951 Centerline is valid? [True, True] Translation: X:128.12, Y:0.96, Z:-1.91 [[ 8.14246775e-01 -5.80484308e-01 -6.33707697e-03 1.28116698e+02] [ 5.80466257e-01 8.14271433e-01 -4.57809529e-03 9.64403092e-01] [ 7.81761322e-03 4.92399766e-05 9.99969441e-01 -1.91111476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.08538475 meters 0.05751591171689702 Centerline is valid? [True, True] Translation: X:128.14, Y:0.98, Z:-1.91 [[ 8.13903177e-01 -5.80976628e-01 -5.27023026e-03 1.28139646e+02] [ 5.80964143e-01 8.13920239e-01 -3.80894020e-03 9.79492392e-01] [ 6.50245230e-03 3.82937208e-05 9.99978858e-01 -1.91184839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.11538475 meters 0.05744742129967017 Centerline is valid? [True, True] Translation: X:128.16, Y:1.00, Z:-1.91 [[ 8.13304319e-01 -5.81823399e-01 -4.19720559e-03 1.28163338e+02] [ 5.81815474e-01 8.13315149e-01 -3.03692302e-03 9.95485890e-01] [ 5.18060376e-03 2.79434526e-05 9.99986580e-01 -1.91048628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.14538475 meters 0.057444049910494954 Centerline is valid? [True, True] Translation: X:128.19, Y:1.01, Z:-1.91 [[ 8.13097189e-01 -5.82120420e-01 -2.96271570e-03 1.28186368e+02] [ 5.82116468e-01 8.13102587e-01 -2.14491465e-03 1.01017203e+00] [ 3.65759041e-03 1.93784783e-05 9.99993311e-01 -1.91014772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.17538475 meters 0.0575004662630884 Centerline is valid? [True, True] Translation: X:128.21, Y:1.03, Z:-1.91 [[ 8.12762273e-01 -5.82584763e-01 -3.53294137e-03 1.28208716e+02] [ 5.82579143e-01 8.12769951e-01 -2.55909798e-03 1.02599439e+00] [ 4.36236008e-03 2.17203292e-05 9.99990485e-01 -1.91136002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.20538475 meters 0.057626410911256074 Centerline is valid? [True, True] Translation: X:128.23, Y:1.04, Z:-1.91 [[ 8.12386244e-01 -5.83101152e-01 -4.65159396e-03 1.28232583e+02] [ 5.83091416e-01 8.12399561e-01 -3.36960066e-03 1.04238301e+00] [ 5.74377091e-03 2.51127139e-05 9.99983504e-01 -1.91312019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.23538475 meters 0.05761912132259807 Centerline is valid? [True, True] Translation: X:128.26, Y:1.06, Z:-1.91 [[ 8.12194194e-01 -5.83370907e-01 -4.35610581e-03 1.28255687e+02] [ 5.83362359e-01 8.12205875e-01 -3.15818590e-03 1.05883842e+00] [ 5.38044851e-03 2.38720858e-05 9.99985525e-01 -1.91428260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.26538475 meters 0.05789099261654441 Centerline is valid? [True, True] Translation: X:128.28, Y:1.08, Z:-1.92 [[ 8.12630597e-01 -5.82766207e-01 -3.88076509e-03 1.28276626e+02] [ 5.82759409e-01 8.12639863e-01 -2.81495435e-03 1.07655966e+00] [ 4.79412468e-03 2.59656643e-05 9.99988508e-01 -1.91673068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.29538475 meters 0.05797116534642614 Centerline is valid? [True, True] Translation: X:128.30, Y:1.09, Z:-1.92 [[ 8.12852586e-01 -5.82454244e-01 -4.21044627e-03 1.28298779e+02] [ 5.82446228e-01 8.12863490e-01 -3.05582335e-03 1.09373491e+00] [ 5.20239533e-03 3.15753677e-05 9.99986467e-01 -1.91666932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.32538475 meters 0.058034889525301725 Centerline is valid? [True, True] Translation: X:128.32, Y:1.11, Z:-1.92 [[ 8.13524703e-01 -5.81526953e-01 -1.99010397e-03 1.28320133e+02] [ 5.81525156e-01 8.13527137e-01 -1.44586575e-03 1.11109112e+00] [ 2.45981349e-03 1.89519860e-05 9.99996974e-01 -1.91605459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.35538475 meters 0.05801556621905667 Centerline is valid? [True, True] Translation: X:128.34, Y:1.13, Z:-1.91 [[ 8.12570906e-01 -5.82861892e-01 -7.33689763e-04 1.28343853e+02] [ 5.82861645e-01 8.12571237e-01 -5.36469190e-04 1.12614105e+00] [ 9.08862645e-04 8.27963410e-06 9.99999587e-01 -1.91438747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.38538475000001 meters 0.057916395791167266 Centerline is valid? [True, True] Translation: X:128.37, Y:1.14, Z:-1.91 [[ 8.11941400e-01 -5.83738829e-01 -3.78121041e-04 1.28367651e+02] [ 5.83738762e-01 8.11941488e-01 -2.78543062e-04 1.14218655e+00] [ 4.69608560e-04 5.43673546e-06 9.99999890e-01 -1.91464524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.41538475000002 meters 0.05805592307874961 Centerline is valid? [True, True] Translation: X:128.39, Y:1.16, Z:-1.92 [[ 8.12033768e-01 -5.83610382e-01 -2.86870402e-04 1.28388526e+02] [ 5.83610344e-01 8.12033818e-01 -2.11260213e-04 1.15868651e+00] [ 3.56242121e-04 4.12989292e-06 9.99999937e-01 -1.91750611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.44538475000002 meters 0.0581326890921519 Centerline is valid? [True, True] Translation: X:128.41, Y:1.17, Z:-1.92 [[ 8.11709972e-01 -5.84059858e-01 -1.00197867e-03 1.28412154e+02] [ 5.84059399e-01 8.11710590e-01 -7.32420829e-04 1.17404580e+00] [ 1.24109431e-03 9.29822836e-06 9.99999230e-01 -1.91677630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.47538475000002 meters 0.05813804665240067 Centerline is valid? [True, True] Translation: X:128.44, Y:1.19, Z:-1.92 [[ 8.11419056e-01 -5.84463797e-01 -1.08878319e-03 1.28435353e+02] [ 5.84463255e-01 8.11419787e-01 -7.96069719e-04 1.18964348e+00] [ 1.34873416e-03 9.59237171e-06 9.99999090e-01 -1.91666122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.50538475 meters 0.05812860488754542 Centerline is valid? [True, True] Translation: X:128.46, Y:1.20, Z:-1.92 [[ 8.10346875e-01 -5.85948658e-01 -1.45328958e-03 1.28459488e+02] [ 5.85947696e-01 8.10348179e-01 -1.06171244e-03 1.20437040e+00] [ 1.79977954e-03 8.80367694e-06 9.99998380e-01 -1.91692253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.53538475 meters 0.05804176827789617 Centerline is valid? [True, True] Translation: X:128.49, Y:1.22, Z:-1.91 [[ 8.06819022e-01 -5.90798666e-01 -4.95669994e-05 1.28486805e+02] [ 5.90798665e-01 8.06819023e-01 -4.06544196e-05 1.21529099e+00] [ 6.40101744e-05 3.51664197e-06 9.99999998e-01 -1.91290776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.56538475 meters 0.058226719430418676 Centerline is valid? [True, True] Translation: X:128.51, Y:1.23, Z:-1.91 [[ 8.06051643e-01 -5.91845137e-01 -2.89056259e-04 1.28509098e+02] [ 5.91845098e-01 8.06051695e-01 -2.15190767e-04 1.23197325e+00] [ 3.60353895e-04 2.37834126e-06 9.99999935e-01 -1.91418163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.59538475 meters 0.05866848665205691 Centerline is valid? [True, True] Translation: X:128.53, Y:1.25, Z:-1.92 [[ 8.05875585e-01 -5.92071561e-01 -3.97578968e-03 1.28529044e+02] [ 5.92064472e-01 8.05885392e-01 -2.89743504e-03 1.25104594e+00] [ 4.91951972e-03 -1.89516588e-05 9.99987899e-01 -1.92127952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.62538475 meters 0.05869191930363007 Centerline is valid? [True, True] Translation: X:128.55, Y:1.27, Z:-1.92 [[ 8.06276972e-01 -5.91517800e-01 -4.91299569e-03 1.28550741e+02] [ 5.91506959e-01 8.06291940e-01 -3.58129763e-03 1.26854114e+00] [ 6.07971012e-03 -1.85533284e-05 9.99981518e-01 -1.92460285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.65538475 meters 0.05879540551650588 Centerline is valid? [True, True] Translation: X:128.57, Y:1.29, Z:-1.93 [[ 8.07057094e-01 -5.90451927e-01 -5.03686209e-03 1.28571537e+02] [ 5.90440487e-01 8.07072811e-01 -3.67549778e-03 1.28534351e+00] [ 6.23531920e-03 -7.63074863e-06 9.99980560e-01 -1.92535266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.68538475 meters 0.05855872189448985 Centerline is valid? [True, True] Translation: X:128.59, Y:1.30, Z:-1.92 [[ 8.07065218e-01 -5.90450484e-01 -3.73629863e-03 1.28594314e+02] [ 5.90444174e-01 8.07073867e-01 -2.72979772e-03 1.30258510e+00] [ 4.62727937e-03 -2.95095985e-06 9.99989294e-01 -1.92120082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.71538475 meters 0.05832248609561752 Centerline is valid? [True, True] Translation: X:128.62, Y:1.32, Z:-1.92 [[ 8.07574441e-01 -5.89763808e-01 -1.47413044e-03 1.28617494e+02] [ 5.89762823e-01 8.07575787e-01 -1.07798940e-03 1.31855716e+00] [ 1.82623118e-03 1.16935952e-06 9.99998332e-01 -1.91976221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.74538475 meters 0.05820382572738352 Centerline is valid? [True, True] Translation: X:128.64, Y:1.34, Z:-1.92 [[ 8.07654673e-01 -5.89654659e-01 -1.14524931e-03 1.28640358e+02] [ 5.89654060e-01 8.07655485e-01 -8.40614271e-04 1.33554849e+00] [ 1.42063901e-03 3.62514103e-06 9.99998991e-01 -1.91983418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.77538475 meters 0.05820978670313016 Centerline is valid? [True, True] Translation: X:128.66, Y:1.35, Z:-1.92 [[ 8.07440975e-01 -5.89946371e-01 -1.53316062e-03 1.28662506e+02] [ 5.89945300e-01 8.07442431e-01 -1.12457723e-03 1.35366483e+00] [ 1.90137919e-03 3.54883717e-06 9.99998192e-01 -1.92198348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.80538475 meters 0.058382153210526436 Centerline is valid? [True, True] Translation: X:128.68, Y:1.37, Z:-1.92 [[ 8.07423002e-01 -5.89970201e-01 -1.80501166e-03 1.28684646e+02] [ 5.89968715e-01 8.07425020e-01 -1.32391226e-03 1.37049777e+00] [ 2.23848035e-03 4.05680073e-06 9.99997495e-01 -1.92363353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.83538475 meters 0.058482575090192626 Centerline is valid? [True, True] Translation: X:128.71, Y:1.39, Z:-1.93 [[ 8.07046657e-01 -5.90478657e-01 -3.26334544e-03 1.28706902e+02] [ 5.90473818e-01 8.07053255e-01 -2.39054709e-03 1.38851460e+00] [ 4.04526059e-03 2.36299363e-06 9.99991818e-01 -1.92617176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.86538475 meters 0.05850442596312474 Centerline is valid? [True, True] Translation: X:128.73, Y:1.41, Z:-1.93 [[ 8.07465152e-01 -5.89903028e-01 -3.80083414e-03 1.28728628e+02] [ 5.89896461e-01 8.07474097e-01 -2.78352322e-03 1.40516504e+00] [ 4.71108389e-03 5.49938937e-06 9.99988903e-01 -1.92811882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.89538475 meters 0.05856856415885633 Centerline is valid? [True, True] Translation: X:128.75, Y:1.42, Z:-1.93 [[ 8.08205069e-01 -5.88893889e-01 -2.92484986e-03 1.28751240e+02] [ 5.88889980e-01 8.08210361e-01 -2.14554839e-03 1.42241569e+00] [ 3.62739430e-03 1.16283055e-05 9.99993421e-01 -1.92686728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.92538475 meters 0.058495439252850924 Centerline is valid? [True, True] Translation: X:128.77, Y:1.44, Z:-1.93 [[ 8.08274583e-01 -5.88800951e-01 -2.37464170e-03 1.28774181e+02] [ 5.88798368e-01 8.08278071e-01 -1.74393440e-03 1.43949325e+00] [ 2.94620105e-03 1.13926906e-05 9.99995660e-01 -1.92644964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.95538475 meters 0.05849652183586976 Centerline is valid? [True, True] Translation: X:128.80, Y:1.46, Z:-1.93 [[ 8.10143720e-01 -5.86226750e-01 -2.31309736e-03 1.28795632e+02] [ 5.86224286e-01 8.10147022e-01 -1.69985246e-03 1.45889030e+00] [ 2.87044793e-03 2.11309502e-05 9.99995880e-01 -1.92571871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.98538475 meters 0.058592094675900375 Centerline is valid? [True, True] Translation: X:128.82, Y:1.48, Z:-1.93 [[ 8.10744761e-01 -5.85397942e-01 -1.47734692e-03 1.28815257e+02] [ 5.85396932e-01 8.10746107e-01 -1.08754861e-03 1.47758483e+00] [ 1.83440198e-03 1.68899826e-05 9.99998317e-01 -1.92743031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.01538475 meters 0.058994581879231976 Centerline is valid? [True, True] Translation: X:128.83, Y:1.50, Z:-1.93 [[ 8.12577780e-01 -5.82847836e-01 -2.39830031e-03 1.28834204e+02] [ 5.82845174e-01 8.12581319e-01 -1.76184279e-03 1.49885933e+00] [ 2.97570029e-03 3.37965430e-05 9.99995572e-01 -1.93077438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.04538475 meters 0.05915090562196327 Centerline is valid? [True, True] Translation: X:128.86, Y:1.52, Z:-1.93 [[ 8.14220108e-01 -5.80553236e-01 -1.88585278e-03 1.28856264e+02] [ 5.80551577e-01 8.14222291e-01 -1.38830984e-03 1.51850982e+00] [ 2.34149114e-03 3.55549791e-05 9.99997258e-01 -1.93072997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.07538475 meters 0.059473787778407027 Centerline is valid? [True, True] Translation: X:128.88, Y:1.54, Z:-1.93 [[ 8.14229381e-01 -5.80540573e-01 -1.77704710e-03 1.28876516e+02] [ 5.80539097e-01 8.14231320e-01 -1.30932564e-03 1.53681449e+00] [ 2.20704406e-03 3.44460824e-05 9.99997564e-01 -1.93297430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.10538475 meters 0.059658633730158624 Centerline is valid? [True, True] Translation: X:128.90, Y:1.55, Z:-1.93 [[ 8.15096719e-01 -5.79324510e-01 6.72033966e-04 1.28898434e+02] [ 5.79324303e-01 8.15096996e-01 4.89991284e-04 1.55369648e+00] [-8.31636827e-04 -1.00646788e-05 9.99999654e-01 -1.93021580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.13538475000001 meters 0.05940897150057075 Centerline is valid? [True, True] Translation: X:128.92, Y:1.57, Z:-1.93 [[ 8.14398357e-01 -5.80302957e-01 1.94800034e-03 1.28923398e+02] [ 5.80301202e-01 8.14400686e-01 1.42768792e-03 1.56847613e+00] [-2.41494433e-03 -3.22797554e-05 9.99997083e-01 -1.92764749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.16538475000002 meters 0.05876671404254446 Centerline is valid? [True, True] Translation: X:128.95, Y:1.58, Z:-1.92 [[ 8.13069609e-01 -5.82156435e-01 3.41983267e-03 1.28949052e+02] [ 5.82151024e-01 8.13076800e-01 2.51061904e-03 1.58193296e+00] [-4.24215963e-03 -5.04489483e-05 9.99991001e-01 -1.92422464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.19538475000002 meters 0.0588764146880964 Centerline is valid? [True, True] Translation: X:128.97, Y:1.60, Z:-1.93 [[ 8.12759572e-01 -5.82593198e-01 2.65396976e-03 1.28970436e+02] [ 5.82589941e-01 8.12763905e-01 1.94835974e-03 1.59871824e+00] [-3.29215196e-03 -3.73719429e-05 9.99994580e-01 -1.92730973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.22538475000002 meters 0.059177888507510976 Centerline is valid? [True, True] Translation: X:128.99, Y:1.61, Z:-1.93 [[ 8.12425033e-01 -5.83065573e-01 3.22469418e-04 1.28992657e+02] [ 5.83065526e-01 8.12425097e-01 2.35059814e-04 1.61496200e+00] [-3.99037534e-04 -2.94767635e-06 9.99999920e-01 -1.93223537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.25538475 meters 0.059347569397117154 Centerline is valid? [True, True] Translation: X:129.02, Y:1.63, Z:-1.93 [[ 8.12301239e-01 -5.83238024e-01 -3.23383196e-04 1.29016277e+02] [ 5.83237974e-01 8.12301303e-01 -2.42840451e-04 1.63065896e+00] [ 4.04318376e-04 8.65023925e-06 9.99999918e-01 -1.93457481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.28538475 meters 0.05925292737649132 Centerline is valid? [True, True] Translation: X:129.04, Y:1.65, Z:-1.94 [[ 8.11912507e-01 -5.83778786e-01 -6.40994087e-04 1.29039518e+02] [ 5.83778591e-01 8.11912760e-01 -4.77235938e-04 1.64598899e+00] [ 7.99031494e-04 1.32752014e-05 9.99999681e-01 -1.93543592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.31538475 meters 0.05933279042495404 Centerline is valid? [True, True] Translation: X:129.06, Y:1.66, Z:-1.94 [[ 8.11562453e-01 -5.84265613e-01 -2.80355525e-04 1.29061897e+02] [ 5.84265575e-01 8.11562501e-01 -2.10932149e-04 1.66129356e+00] [ 3.50766432e-04 7.38253015e-06 9.99999938e-01 -1.93663465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.34538475 meters 0.059234694472078686 Centerline is valid? [True, True] Translation: X:129.09, Y:1.68, Z:-1.94 [[ 8.11186327e-01 -5.84786885e-01 -1.02089333e-03 1.29086427e+02] [ 5.84786394e-01 8.11186969e-01 -7.58116987e-04 1.67549403e+00] [ 1.27147224e-03 1.79696046e-05 9.99999192e-01 -1.93638578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.37538475 meters 0.059180006132444306 Centerline is valid? [True, True] Translation: X:129.11, Y:1.69, Z:-1.94 [[ 8.08820253e-01 -5.88051488e-01 -2.29038043e-03 1.29110965e+02] [ 5.88049046e-01 8.08823495e-01 -1.69502594e-03 1.68865504e+00] [ 2.84927603e-03 2.41152822e-05 9.99995941e-01 -1.93907334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.40538475 meters 0.059139559758452635 Centerline is valid? [True, True] Translation: X:129.13, Y:1.70, Z:-1.94 [[ 8.07661203e-01 -5.89641803e-01 -2.43414817e-03 1.29134721e+02] [ 5.89639047e-01 8.07664871e-01 -1.80265851e-03 1.70459850e+00] [ 3.02889878e-03 2.06685309e-05 9.99995413e-01 -1.93987511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.43538475 meters 0.05911583154383991 Centerline is valid? [True, True] Translation: X:129.16, Y:1.72, Z:-1.94 [[ 8.07410245e-01 -5.89986525e-01 -2.14400357e-03 1.29156808e+02] [ 5.89984387e-01 8.07413091e-01 -1.58863062e-03 1.71964362e+00] [ 2.66836721e-03 1.77480113e-05 9.99996440e-01 -1.94149904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.46538475 meters 0.05891118400691308 Centerline is valid? [True, True] Translation: X:129.18, Y:1.74, Z:-1.94 [[ 8.06811049e-01 -5.90808527e-01 -1.10265469e-03 1.29179906e+02] [ 5.90807958e-01 8.06811802e-01 -8.20022319e-04 1.73575351e+00] [ 1.37411099e-03 1.01459035e-05 9.99999056e-01 -1.94069209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.49538475 meters 0.05871028421317116 Centerline is valid? [True, True] Translation: X:129.20, Y:1.75, Z:-1.94 [[ 8.05674653e-01 -5.92354254e-01 2.18895864e-03 1.29203732e+02] [ 5.92352046e-01 8.05677626e-01 1.61737366e-03 1.75074535e+00] [-2.72165317e-03 -6.44282678e-06 9.99996296e-01 -1.93980556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.52538475 meters 0.058609774285275903 Centerline is valid? [True, True] Translation: X:129.23, Y:1.77, Z:-1.94 [[ 8.05293017e-01 -5.92866255e-01 3.57217873e-03 1.29226726e+02] [ 5.92860383e-01 8.05300940e-01 2.63873274e-03 1.76659018e+00] [-4.44109448e-03 -7.14980200e-06 9.99990138e-01 -1.93845980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.55538475 meters 0.058352391356433 Centerline is valid? [True, True] Translation: X:129.25, Y:1.78, Z:-1.94 [[ 8.03631815e-01 -5.95108985e-01 4.60454429e-03 1.29251387e+02] [ 5.95099246e-01 8.03645006e-01 3.40454827e-03 1.78021880e+00] [-5.72649629e-03 4.15753228e-06 9.99983603e-01 -1.93535771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.58538475 meters 0.05827503796193779 Centerline is valid? [True, True] Translation: X:129.27, Y:1.80, Z:-1.94 [[ 8.03453308e-01 -5.95353550e-01 4.11498607e-03 1.29272901e+02] [ 5.95345767e-01 8.03463846e-01 3.04413624e-03 1.79664004e+00] [-5.11857984e-03 4.01820773e-06 9.99986900e-01 -1.93704835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.61538475 meters 0.05823267621219261 Centerline is valid? [True, True] Translation: X:129.30, Y:1.81, Z:-1.94 [[ 8.03248833e-01 -5.95630765e-01 3.91198285e-03 1.29295712e+02] [ 5.95623730e-01 8.03258359e-01 2.89497679e-03 1.81338855e+00] [-4.86667016e-03 4.68308310e-06 9.99988158e-01 -1.93699330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.64538475 meters 0.05837128997359341 Centerline is valid? [True, True] Translation: X:129.32, Y:1.83, Z:-1.94 [[ 8.03229885e-01 -5.95657116e-01 3.78834817e-03 1.29316335e+02] [ 5.95650510e-01 8.03238819e-01 2.80536926e-03 1.83075822e+00] [-4.71398647e-03 3.17509550e-06 9.99988889e-01 -1.93987790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.67538475 meters 0.05837128997359341 Centerline is valid? [True, True] Translation: X:129.34, Y:1.85, Z:-1.94 [[ 8.03062057e-01 -5.95883366e-01 3.78769090e-03 1.29338457e+02] [ 5.95876758e-01 8.03070990e-01 2.80625600e-03 1.84738728e+00] [-4.71398595e-03 3.39925257e-06 9.99988889e-01 -1.94024879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.70538475 meters 0.058469093323020374 Centerline is valid? [True, True] Translation: X:129.36, Y:1.87, Z:-1.94 [[ 8.03739478e-01 -5.94973970e-01 2.97110089e-03 1.29359780e+02] [ 5.94969897e-01 8.03744969e-01 2.20143803e-03 1.86595605e+00] [-3.69780572e-03 -1.66706018e-06 9.99993163e-01 -1.94141422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.73538475 meters 0.058537457941012866 Centerline is valid? [True, True] Translation: X:129.38, Y:1.88, Z:-1.94 [[ 8.03381515e-01 -5.95458809e-01 2.63601204e-03 1.29381031e+02] [ 5.95455602e-01 8.03385840e-01 1.95408855e-03 1.88248155e+00] [-3.28131399e-03 -2.50482904e-07 9.99994616e-01 -1.94438955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.76538475 meters 0.058546775863084315 Centerline is valid? [True, True] Translation: X:129.40, Y:1.90, Z:-1.94 [[ 8.03304928e-01 -5.95565255e-01 1.79448526e-03 1.29403533e+02] [ 5.95563771e-01 8.03306932e-01 1.32945456e-03 1.89925403e+00] [-2.23329939e-03 7.73008215e-07 9.99997506e-01 -1.94418241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.79538475 meters 0.0585775249747715 Centerline is valid? [True, True] Translation: X:129.43, Y:1.92, Z:-1.94 [[ 8.03556076e-01 -5.95227664e-01 1.28873019e-03 1.29425935e+02] [ 5.95226899e-01 8.03557110e-01 9.53899168e-04 1.91657172e+00] [-1.60335548e-03 5.75404510e-07 9.99998715e-01 -1.94491660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.82538475 meters 0.05838869052692767 Centerline is valid? [True, True] Translation: X:129.45, Y:1.93, Z:-1.95 [[ 8.03428378e-01 -5.95400082e-01 1.25879495e-03 1.29448420e+02] [ 5.95399352e-01 8.03429364e-01 9.32111466e-04 1.93344237e+00] [-1.56633207e-03 6.00895589e-07 9.99998773e-01 -1.94534973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.85538475 meters 0.05848894426342052 Centerline is valid? [True, True] Translation: X:129.47, Y:1.95, Z:-1.95 [[ 8.03413593e-01 -5.95420612e-01 9.45196506e-04 1.29471023e+02] [ 5.95420202e-01 8.03414149e-01 6.99156935e-04 1.95058998e+00] [-1.17567670e-03 1.07690930e-06 9.99999309e-01 -1.94613593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.88538475000001 meters 0.058496720240194665 Centerline is valid? [True, True] Translation: X:129.49, Y:1.97, Z:-1.95 [[ 8.03025682e-01 -5.95944261e-01 -4.39064645e-04 1.29494838e+02] [ 5.95944169e-01 8.03025802e-01 -3.31324484e-04 1.96703878e+00] [ 5.50031162e-04 4.40405452e-06 9.99999849e-01 -1.94783432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.91538475000002 meters 0.058554720210536246 Centerline is valid? [True, True] Translation: X:129.52, Y:1.98, Z:-1.95 [[ 8.01670455e-01 -5.97765571e-01 -8.97001971e-04 1.29518142e+02] [ 5.97765191e-01 8.01670956e-01 -6.73499517e-04 1.98214192e+00] [ 1.12169525e-03 3.72810892e-06 9.99999371e-01 -1.94892284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.94538475000002 meters 0.05824993910920284 Centerline is valid? [True, True] Translation: X:129.54, Y:2.00, Z:-1.95 [[ 7.99564806e-01 -6.00579765e-01 2.58665151e-04 1.29543501e+02] [ 6.00579736e-01 7.99564848e-01 1.88327997e-04 1.99595572e+00] [-3.19925547e-04 4.76860959e-06 9.99999949e-01 -1.94703882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.97538475000002 meters 0.05826036217678019 Centerline is valid? [True, True] Translation: X:129.56, Y:2.01, Z:-1.95 [[ 8.00102059e-01 -5.99863273e-01 -8.64764111e-04 1.29564737e+02] [ 5.99862921e-01 8.00102527e-01 -6.49976674e-04 2.01495049e+00] [ 1.08179709e-03 1.30774924e-06 9.99999415e-01 -1.94915994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.00538475 meters 0.05820148514522647 Centerline is valid? [True, True] Translation: X:129.59, Y:2.03, Z:-1.95 [[ 8.00497438e-01 -5.99336084e-01 -3.32324499e-04 1.29585776e+02] [ 5.99336030e-01 8.00497507e-01 -2.53000830e-04 2.03319433e+00] [ 4.17657459e-04 3.35246995e-06 9.99999913e-01 -1.94941927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.03538475 meters 0.05828246529462691 Centerline is valid? [True, True] Translation: X:129.61, Y:2.05, Z:-1.95 [[ 8.00994504e-01 -5.98671699e-01 4.04682466e-05 1.29606708e+02] [ 5.98671698e-01 8.00994505e-01 2.59880249e-05 2.05035404e+00] [-4.79731388e-05 3.41092879e-06 9.99999999e-01 -1.94904064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.06538475 meters 0.058060334665217615 Centerline is valid? [True, True] Translation: X:129.63, Y:2.07, Z:-1.95 [[ 8.01645989e-01 -5.97798929e-01 3.85202598e-04 1.29628245e+02] [ 5.97798862e-01 8.01646082e-01 2.83236753e-04 2.06807138e+00] [-4.78114781e-04 3.21806759e-06 9.99999886e-01 -1.94794054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.09538475 meters 0.05799151156858166 Centerline is valid? [True, True] Translation: X:129.65, Y:2.09, Z:-1.95 [[ 8.02127745e-01 -5.97152271e-01 4.95326333e-04 1.29650239e+02] [ 5.97152159e-01 8.02127898e-01 3.65716184e-04 2.08629150e+00] [-6.15703321e-04 2.43409081e-06 9.99999810e-01 -1.94706078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.12538475 meters 0.057997507236854096 Centerline is valid? [True, True] Translation: X:129.67, Y:2.10, Z:-1.95 [[ 8.02080980e-01 -5.97214526e-01 9.54201961e-04 1.29671601e+02] [ 5.97214103e-01 8.02081548e-01 7.10882781e-04 2.10358803e+00] [-1.18989731e-03 -3.22689059e-07 9.99999292e-01 -1.94779505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.15538475 meters 0.057876487338131104 Centerline is valid? [True, True] Translation: X:129.70, Y:2.12, Z:-1.95 [[ 8.01311065e-01 -5.98247828e-01 3.37043735e-04 1.29695506e+02] [ 5.98247777e-01 8.01311135e-01 2.47662844e-04 2.11934486e+00] [-4.18240658e-04 3.18068799e-06 9.99999913e-01 -1.94725824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.18538475 meters 0.05788118616692659 Centerline is valid? [True, True] Translation: X:129.72, Y:2.14, Z:-1.95 [[ 8.00816142e-01 -5.98910192e-01 2.96519390e-04 1.29716474e+02] [ 5.98910153e-01 8.00816197e-01 2.17451747e-04 2.13818776e+00] [-3.67691598e-04 3.44960393e-06 9.99999932e-01 -1.94899496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.21538475 meters 0.058133987682804755 Centerline is valid? [True, True] Translation: X:129.74, Y:2.16, Z:-1.95 [[ 8.01439572e-01 -5.98072661e-01 -1.92484347e-03 1.29737042e+02] [ 5.98070915e-01 8.01441883e-01 -1.44518685e-03 2.15769581e+00] [ 2.40697692e-03 7.03703538e-06 9.99997103e-01 -1.95338552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.24538475 meters 0.05816332170430756 Centerline is valid? [True, True] Translation: X:129.76, Y:2.18, Z:-1.95 [[ 8.02189288e-01 -5.97065729e-01 -2.20483368e-03 1.29759307e+02] [ 5.97063427e-01 8.02192318e-01 -1.65815280e-03 2.17573386e+00] [ 2.75872685e-03 1.37268629e-05 9.99996195e-01 -1.95425578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.27538475 meters 0.05783182861035457 Centerline is valid? [True, True] Translation: X:129.78, Y:2.19, Z:-1.95 [[ 8.03457367e-01 -5.95362045e-01 -5.43230857e-04 1.29780261e+02] [ 5.95361903e-01 8.03457550e-01 -4.11261248e-04 2.19282103e+00] [ 6.81312271e-04 7.01192198e-06 9.99999768e-01 -1.95080127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.30538475 meters 0.05773679753817379 Centerline is valid? [True, True] Translation: X:129.80, Y:2.21, Z:-1.95 [[ 8.02942389e-01 -5.96054741e-01 1.50510688e-03 1.29804609e+02] [ 5.96053678e-01 8.02943800e-01 1.12560052e-03 2.20943007e+00] [-1.87943576e-03 -6.66788143e-06 9.99998234e-01 -1.94602868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.33538475 meters 0.057134473193925187 Centerline is valid? [True, True] Translation: X:129.83, Y:2.22, Z:-1.94 [[ 8.01241074e-01 -5.98335356e-01 2.74636844e-03 1.29827610e+02] [ 5.98331814e-01 8.01245781e-01 2.05898238e-03 2.22371146e+00] [-3.43247808e-03 -6.50164354e-06 9.99994109e-01 -1.94456840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.36538475 meters 0.0572052830685325 Centerline is valid? [True, True] Translation: X:129.85, Y:2.24, Z:-1.95 [[ 8.00954364e-01 -5.98722322e-01 1.92014500e-03 1.29848984e+02] [ 5.98720594e-01 8.00956666e-01 1.43861332e-03 2.24072045e+00] [-2.39928285e-03 -2.63325873e-06 9.99997122e-01 -1.94762116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.39538475 meters 0.05722181671624289 Centerline is valid? [True, True] Translation: X:129.87, Y:2.26, Z:-1.95 [[ 7.99253103e-01 -6.00994485e-01 3.25381120e-04 1.29874413e+02] [ 6.00994437e-01 7.99253169e-01 2.40488782e-04 2.25585859e+00] [-4.04594323e-04 3.34083803e-06 9.99999918e-01 -1.94937480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.42538475 meters 0.057274572568618884 Centerline is valid? [True, True] Translation: X:129.90, Y:2.27, Z:-1.95 [[ 7.99215726e-01 -6.01043165e-01 -1.15636097e-03 1.29897516e+02] [ 6.01042530e-01 7.99216562e-01 -8.74018320e-04 2.27314085e+00] [ 1.44950557e-03 3.50706579e-06 9.99998949e-01 -1.95088419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.45538475 meters 0.05734382873915262 Centerline is valid? [True, True] Translation: X:129.92, Y:2.29, Z:-1.95 [[ 7.98745149e-01 -6.01665368e-01 -2.22993231e-03 1.29920829e+02] [ 6.01663021e-01 7.98748262e-01 -1.68035196e-03 2.28848472e+00] [ 2.79216413e-03 5.05166709e-07 9.99996102e-01 -1.95269680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.48538475 meters 0.0571572851284998 Centerline is valid? [True, True] Translation: X:129.94, Y:2.30, Z:-1.95 [[ 7.98281305e-01 -6.02283860e-01 -1.05373302e-03 1.29943738e+02] [ 6.02283331e-01 7.98282000e-01 -7.97980461e-04 2.30480824e+00] [ 1.32178685e-03 2.36705074e-06 9.99999126e-01 -1.95217325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.51538475 meters 0.05690067078036461 Centerline is valid? [True, True] Translation: X:129.97, Y:2.32, Z:-1.95 [[ 7.98381492e-01 -6.02151928e-01 2.20199882e-04 1.29967240e+02] [ 6.02151906e-01 7.98381523e-01 1.61283433e-04 2.31989110e+00] [-2.72920648e-04 3.82807096e-06 9.99999963e-01 -1.95050621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.54538475 meters 0.05696263538857904 Centerline is valid? [True, True] Translation: X:129.99, Y:2.34, Z:-1.95 [[ 7.97567553e-01 -6.03229637e-01 6.73379396e-05 1.29990289e+02] [ 6.03229635e-01 7.97567555e-01 4.58471793e-05 2.33554442e+00] [-8.13629337e-05 4.05401811e-06 9.99999997e-01 -1.94893419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.57538475 meters 0.05689275151721545 Centerline is valid? [True, True] Translation: X:130.01, Y:2.35, Z:-1.95 [[ 7.96781796e-01 -6.04266954e-01 -4.67075678e-04 1.30012974e+02] [ 6.04266848e-01 7.96781933e-01 -3.57129771e-04 2.35191331e+00] [ 5.87959179e-04 2.31615268e-06 9.99999827e-01 -1.94974020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.60538475 meters 0.05690796198783032 Centerline is valid? [True, True] Translation: X:130.03, Y:2.37, Z:-1.95 [[ 7.96628286e-01 -6.04467253e-01 -1.64724694e-03 1.30034686e+02] [ 6.04465972e-01 7.96629989e-01 -1.24450203e-03 2.36849660e+00] [ 2.06450704e-03 -4.29919924e-06 9.99997869e-01 -1.95409270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.63538475000001 meters 0.05717469100920207 Centerline is valid? [True, True] Translation: X:130.06, Y:2.39, Z:-1.96 [[ 7.96796478e-01 -6.04228903e-01 -4.77553861e-03 1.30056856e+02] [ 6.04218126e-01 7.96810789e-01 -3.60873757e-03 2.38697377e+00] [ 5.98570423e-03 -1.00376062e-05 9.99982085e-01 -1.95663385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.66538475000002 meters 0.057031190340992584 Centerline is valid? [True, True] Translation: X:130.08, Y:2.40, Z:-1.96 [[ 7.96703813e-01 -6.04349930e-01 -4.91894617e-03 1.30079386e+02] [ 6.04338483e-01 7.96718998e-01 -3.71975852e-03 2.40388750e+00] [ 6.16705367e-03 -9.16267119e-06 9.99980984e-01 -1.95653784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.69538475000002 meters 0.05686402611703192 Centerline is valid? [True, True] Translation: X:130.10, Y:2.42, Z:-1.96 [[ 7.96795461e-01 -6.04232112e-01 -4.53299808e-03 1.30100446e+02] [ 6.04222388e-01 7.96808355e-01 -3.42804500e-03 2.42172216e+00] [ 5.68326562e-03 -7.48822708e-06 9.99983850e-01 -1.95702747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.72538475000002 meters 0.05686181685462778 Centerline is valid? [True, True] Translation: X:130.12, Y:2.44, Z:-1.96 [[ 7.96835523e-01 -6.04185754e-01 -3.56692547e-03 1.30121016e+02] [ 6.04179722e-01 7.96843507e-01 -2.69979304e-03 2.43923045e+00] [ 4.47345790e-03 -3.77303968e-06 9.99989994e-01 -1.95725455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.75538475 meters 0.05663350415807468 Centerline is valid? [True, True] Translation: X:130.14, Y:2.46, Z:-1.96 [[ 7.96165963e-01 -6.05073871e-01 -2.31722717e-03 1.30143263e+02] [ 6.05071320e-01 7.96169335e-01 -1.75703502e-03 2.45679110e+00] [ 2.90804119e-03 -3.19622268e-06 9.99995772e-01 -1.95584399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.78538475 meters 0.05666022121675137 Centerline is valid? [True, True] Translation: X:130.17, Y:2.47, Z:-1.96 [[ 7.95828423e-01 -6.05520068e-01 -1.60279513e-03 1.30165648e+02] [ 6.05518844e-01 7.95830037e-01 -1.21752826e-03 2.47444104e+00] [ 2.01279031e-03 -1.57905750e-06 9.99997974e-01 -1.95607136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.81538475 meters 0.056411463552282125 Centerline is valid? [True, True] Translation: X:130.19, Y:2.49, Z:-1.95 [[ 7.96132694e-01 -6.05120250e-01 -1.48864207e-03 1.30187748e+02] [ 6.05119191e-01 7.96134086e-01 -1.13197147e-03 2.49199227e+00] [ 1.87013755e-03 3.93611063e-07 9.99998251e-01 -1.95418664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.84538475 meters 0.056400824121936595 Centerline is valid? [True, True] Translation: X:130.21, Y:2.51, Z:-1.96 [[ 7.96245494e-01 -6.04970750e-01 -1.87200910e-03 1.30209999e+02] [ 6.04969076e-01 7.96247695e-01 -1.42304450e-03 2.50951632e+00] [ 2.35148323e-03 5.85157678e-07 9.99997235e-01 -1.95512429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.87538475 meters 0.056416840295293515 Centerline is valid? [True, True] Translation: X:130.23, Y:2.53, Z:-1.96 [[ 7.96697943e-01 -6.04376153e-01 -1.36123487e-03 1.30230084e+02] [ 6.04375265e-01 7.96699106e-01 -1.03592063e-03 2.52804538e+00] [ 1.71058033e-03 2.61914345e-06 9.99998537e-01 -1.95637762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.90538475 meters 0.05629469622970003 Centerline is valid? [True, True] Translation: X:130.25, Y:2.55, Z:-1.96 [[ 7.96858620e-01 -6.04165330e-01 -7.69955085e-04 1.30251735e+02] [ 6.04165043e-01 7.96858992e-01 -5.88784230e-04 2.54597750e+00] [ 9.69268651e-04 3.99784242e-06 9.99999530e-01 -1.95649562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.93538475 meters 0.05623464589818626 Centerline is valid? [True, True] Translation: X:130.27, Y:2.56, Z:-1.96 [[ 7.97614389e-01 -6.03166601e-01 -1.15685148e-03 1.30273981e+02] [ 6.03165955e-01 7.97615228e-01 -8.82777956e-04 2.56349131e+00] [ 1.45518454e-03 6.34297076e-06 9.99998941e-01 -1.95528677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.96538475 meters 0.056285637084109046 Centerline is valid? [True, True] Translation: X:130.30, Y:2.58, Z:-1.96 [[ 7.98147447e-01 -6.02458774e-01 -2.01945113e-03 1.30295901e+02] [ 6.02456818e-01 7.98150002e-01 -1.53515745e-03 2.58080700e+00] [ 2.53669400e-03 8.64989871e-06 9.99996783e-01 -1.95619766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.99538475 meters 0.05647528986828382 Centerline is valid? [True, True] Translation: X:130.32, Y:2.60, Z:-1.96 [[ 7.98624268e-01 -6.01817965e-01 -3.79687893e-03 1.30317862e+02] [ 6.01811036e-01 7.98633293e-01 -2.88791733e-03 2.59998533e+00] [ 4.77031446e-03 2.13572201e-05 9.99988622e-01 -1.95796966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.02538475 meters 0.0564276797238436 Centerline is valid? [True, True] Translation: X:130.34, Y:2.62, Z:-1.96 [[ 7.97835160e-01 -6.02863922e-01 -3.76166858e-03 1.30339593e+02] [ 6.02857122e-01 7.97844027e-01 -2.86342929e-03 2.61761864e+00] [ 4.72748302e-03 1.67958721e-05 9.99988825e-01 -1.95983534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.05538475 meters 0.05636239699838822 Centerline is valid? [True, True] Translation: X:130.36, Y:2.63, Z:-1.96 [[ 7.96505984e-01 -6.04612252e-01 -4.71623963e-03 1.30362005e+02] [ 6.04601614e-01 7.96519946e-01 -3.58661926e-03 2.63336681e+00] [ 5.92509289e-03 5.31761042e-06 9.99982446e-01 -1.96078458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.08538475 meters 0.05645999409414794 Centerline is valid? [True, True] Translation: X:130.38, Y:2.65, Z:-1.96 [[ 7.96018681e-01 -6.05243727e-01 -5.85586814e-03 1.30383965e+02] [ 6.05227312e-01 7.96040220e-01 -4.45752793e-03 2.65164595e+00] [ 7.35939738e-03 4.14417205e-06 9.99972919e-01 -1.96217086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.11538475 meters 0.05632535363859882 Centerline is valid? [True, True] Translation: X:130.40, Y:2.67, Z:-1.96 [[ 7.96327670e-01 -6.04842003e-01 -5.32859021e-03 1.30403451e+02] [ 6.04828396e-01 7.96345497e-01 -4.05707399e-03 2.67134869e+00] [ 6.69728758e-03 7.87760644e-06 9.99977573e-01 -1.96389559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.14538475 meters 0.05643409211624635 Centerline is valid? [True, True] Translation: X:130.43, Y:2.69, Z:-1.96 [[ 7.96040386e-01 -6.05221201e-01 -5.19641350e-03 1.30426241e+02] [ 6.05208242e-01 7.96057346e-01 -3.96047678e-03 2.68811244e+00] [ 6.53360765e-03 7.78718631e-06 9.99978656e-01 -1.96222754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.17538475 meters 0.05620929617617878 Centerline is valid? [True, True] Translation: X:130.45, Y:2.71, Z:-1.96 [[ 7.97073644e-01 -6.03858428e-01 -5.34829836e-03 1.30446202e+02] [ 6.03844654e-01 7.97091587e-01 -4.07873307e-03 2.70806250e+00] [ 6.72606097e-03 2.15092657e-05 9.99977380e-01 -1.96025103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.20538475 meters 0.056256752951415245 Centerline is valid? [True, True] Translation: X:130.47, Y:2.73, Z:-1.96 [[ 7.97606610e-01 -6.03154238e-01 -5.35363028e-03 1.30466935e+02] [ 6.03140403e-01 7.97624576e-01 -4.08523859e-03 2.72765824e+00] [ 6.73421606e-03 2.94225775e-05 9.99977324e-01 -1.96010784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.23538475 meters 0.05682042774242505 Centerline is valid? [True, True] Translation: X:130.48, Y:2.76, Z:-1.96 [[ 7.99528202e-01 -6.00601030e-01 -5.74950032e-03 1.30479774e+02] [ 6.00585026e-01 7.99548873e-01 -4.38482486e-03 2.75584495e+00] [ 7.23053683e-03 5.27273437e-05 9.99973858e-01 -1.96477096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.26538475 meters 0.05614092646610448 Centerline is valid? [True, True] Translation: X:130.50, Y:2.77, Z:-1.96 [[ 7.98229523e-01 -6.02351650e-01 -1.45518157e-03 1.30500072e+02] [ 6.02350625e-01 7.98230850e-01 -1.11141835e-03 2.77457222e+00] [ 1.83103550e-03 1.06374069e-05 9.99998324e-01 -1.95611018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.29538475 meters 0.056066703780759716 Centerline is valid? [True, True] Translation: X:130.52, Y:2.79, Z:-1.95 [[ 7.97962985e-01 -6.02704082e-01 -1.69221117e-03 1.30520845e+02] [ 6.02702689e-01 7.97964779e-01 -1.29586788e-03 2.79409259e+00] [ 2.13134978e-03 1.41543785e-05 9.99997729e-01 -1.95466549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.32538475 meters 0.05611006958691987 Centerline is valid? [True, True] Translation: X:130.54, Y:2.81, Z:-1.96 [[ 7.97673440e-01 -6.03085743e-01 -2.16123333e-03 1.30540627e+02] [ 6.03083473e-01 7.97676367e-01 -1.65459845e-03 2.81471809e+00] [ 2.72182949e-03 1.64251356e-05 9.99996296e-01 -1.95626448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.35538475 meters 0.05641589405226396 Centerline is valid? [True, True] Translation: X:130.56, Y:2.84, Z:-1.96 [[ 7.98580577e-01 -6.01879309e-01 -3.21864725e-03 1.30557464e+02] [ 6.01874282e-01 7.98587062e-01 -2.46012079e-03 2.83803879e+00] [ 4.05106586e-03 2.73836751e-05 9.99991794e-01 -1.96002868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.38538475000001 meters 0.05639596155110336 Centerline is valid? [True, True] Translation: X:130.58, Y:2.86, Z:-1.96 [[ 7.99363801e-01 -6.00838207e-01 -3.31106156e-03 1.30577786e+02] [ 6.00832862e-01 7.99370657e-01 -2.53451006e-03 2.85755328e+00] [ 4.16959594e-03 3.66009939e-05 9.99991307e-01 -1.95841558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.41538475000002 meters 0.05665556495392047 Centerline is valid? [True, True] Translation: X:130.60, Y:2.88, Z:-1.96 [[ 8.00480100e-01 -5.99338372e-01 -5.01256306e-03 1.30595880e+02] [ 5.99326109e-01 8.00495791e-01 -3.83450801e-03 2.87999506e+00] [ 6.31070342e-03 6.52874359e-05 9.99980085e-01 -1.96312828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.44538475000002 meters 0.056978147346859895 Centerline is valid? [True, True] Translation: X:130.62, Y:2.90, Z:-1.96 [[ 8.01445717e-01 -5.98004511e-01 -8.68142536e-03 1.30617639e+02] [ 5.97967657e-01 8.01492725e-01 -6.64029907e-03 2.89848871e+00] [ 1.09290281e-02 1.30627666e-04 9.99940268e-01 -1.96380143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.47538475000002 meters 0.05711067377624089 Centerline is valid? [True, True] Translation: X:130.64, Y:2.92, Z:-1.96 [[ 8.02037307e-01 -5.97197158e-01 -9.57669581e-03 1.30639581e+02] [ 5.97152188e-01 8.02094464e-01 -7.33045395e-03 2.91722228e+00] [ 1.20591410e-02 1.60552693e-04 9.99927273e-01 -1.96410608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.50538475 meters 0.05776195438733021 Centerline is valid? [True, True] Translation: X:130.66, Y:2.94, Z:-1.97 [[ 8.03016568e-01 -5.95875293e-01 -9.85021474e-03 1.30659372e+02] [ 5.95827615e-01 8.03076958e-01 -7.54007272e-03 2.93761908e+00] [ 1.24034235e-02 1.85773364e-04 9.99923057e-01 -1.96852094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.53538475 meters 0.05789433225655402 Centerline is valid? [True, True] Translation: X:130.68, Y:2.96, Z:-1.97 [[ 8.05700014e-01 -5.92238006e-01 -1.00812472e-02 1.30679141e+02] [ 5.92187709e-01 8.05763042e-01 -7.72249516e-03 2.95857107e+00] [ 1.26966515e-02 2.52023791e-04 9.99919363e-01 -1.96564654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.56538475 meters 0.05789433225655402 Centerline is valid? [True, True] Translation: X:130.70, Y:2.98, Z:-1.97 [[ 8.05527035e-01 -5.92473306e-01 -1.00786105e-02 1.30701020e+02] [ 5.92422984e-01 8.05590043e-01 -7.72593724e-03 2.97551892e+00] [ 1.26966398e-02 2.52650823e-04 9.99919363e-01 -1.96601785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.59538475 meters 0.0588929893573702 Centerline is valid? [True, True] Translation: X:130.72, Y:3.00, Z:-1.97 [[ 8.09382025e-01 -5.87209990e-01 -9.22849373e-03 1.30718924e+02] [ 5.87167453e-01 8.09434576e-01 -7.07455240e-03 2.99866676e+00] [ 1.16241098e-02 3.07344391e-04 9.99932391e-01 -1.96503175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.62538475 meters 0.059658216102916516 Centerline is valid? [True, True] Translation: X:130.74, Y:3.02, Z:-1.96 [[ 8.11225280e-01 -5.84675144e-01 -8.27781317e-03 1.30738251e+02] [ 5.84640748e-01 8.11267453e-01 -6.34951355e-03 3.01889655e+00] [ 1.04279231e-02 3.11339018e-04 9.99945579e-01 -1.96469149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.65538475 meters 0.060747095987367744 Centerline is valid? [True, True] Translation: X:130.76, Y:3.04, Z:-1.96 [[ 8.14896510e-01 -5.79574357e-01 -6.10262467e-03 1.30757599e+02] [ 5.79555483e-01 8.14919312e-01 -4.68587662e-03 3.04034441e+00] [ 7.68896063e-03 2.81694921e-04 9.99970400e-01 -1.96212573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.68538475 meters 0.06149040825229859 Centerline is valid? [True, True] Translation: X:130.78, Y:3.06, Z:-1.96 [[ 8.16266148e-01 -5.77647157e-01 -5.77381380e-03 1.30778779e+02] [ 5.77630197e-01 8.16286518e-01 -4.43568655e-03 3.05997454e+00] [ 7.27534809e-03 2.85571571e-04 9.99973494e-01 -1.96188548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.71538475 meters 0.06269853700527665 Centerline is valid? [True, True] Translation: X:130.80, Y:3.08, Z:-1.96 [[ 8.18406528e-01 -5.74629526e-01 -3.41506685e-03 1.30799014e+02] [ 5.74623552e-01 8.18413632e-01 -2.62684638e-03 3.08039458e+00] [ 4.30440075e-03 1.87450380e-04 9.99990718e-01 -1.96057660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.74538475 meters 0.0630926675701469 Centerline is valid? [True, True] Translation: X:130.82, Y:3.10, Z:-1.96 [[ 8.18580217e-01 -5.74383327e-01 -3.19725357e-03 1.30820359e+02] [ 5.74378094e-01 8.18586442e-01 -2.45805078e-03 3.09809412e+00] [ 4.02909180e-03 1.75679329e-04 9.99991868e-01 -1.96030773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.77538475 meters 0.06215357846887724 Centerline is valid? [True, True] Translation: X:130.85, Y:3.11, Z:-1.96 [[ 8.17618916e-01 -5.75746391e-01 -3.92443862e-03 1.30847015e+02] [ 5.75738506e-01 8.17628308e-01 -3.02042150e-03 3.11037040e+00] [ 4.94772889e-03 2.10103323e-04 9.99987738e-01 -1.96074214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.80538475 meters 0.061751134040346156 Centerline is valid? [True, True] Translation: X:130.87, Y:3.12, Z:-1.96 [[ 8.16156489e-01 -5.77812940e-01 -4.55985915e-03 1.30871019e+02] [ 5.77802343e-01 8.16169195e-01 -3.50680009e-03 3.12402504e+00] [ 5.74789104e-03 2.27400347e-04 9.99983455e-01 -1.96219964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.83538475 meters 0.061623501241668294 Centerline is valid? [True, True] Translation: X:130.89, Y:3.14, Z:-1.97 [[ 8.13038596e-01 -5.82186116e-01 -5.25050950e-03 1.30894658e+02] [ 5.82172149e-01 8.13055517e-01 -4.03919592e-03 3.13726763e+00] [ 6.62051950e-03 2.27321785e-04 9.99978058e-01 -1.96673136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.86538475 meters 0.05976016053891914 Centerline is valid? [True, True] Translation: X:130.92, Y:3.15, Z:-1.97 [[ 8.09733572e-01 -5.86777221e-01 -4.90261185e-03 1.30923392e+02] [ 5.86765096e-01 8.09748393e-01 -3.77654911e-03 3.14630999e+00] [ 6.18587506e-03 1.81317092e-04 9.99980851e-01 -1.96505433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.89538475 meters 0.05890496645407788 Centerline is valid? [True, True] Translation: X:130.95, Y:3.16, Z:-1.96 [[ 8.08369093e-01 -5.88658577e-01 -4.52648615e-03 1.30949533e+02] [ 5.88648261e-01 8.08381751e-01 -3.48844780e-03 3.16027025e+00] [ 5.71263352e-03 1.55445184e-04 9.99983671e-01 -1.96415208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.92538475 meters 0.05881903246041399 Centerline is valid? [True, True] Translation: X:130.97, Y:3.17, Z:-1.96 [[ 8.07590119e-01 -5.89728232e-01 -4.33716816e-03 1.30973405e+02] [ 5.89718787e-01 8.07601754e-01 -3.34058105e-03 3.17465345e+00] [ 5.47273957e-03 1.40110695e-04 9.99985015e-01 -1.96410103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.95538475 meters 0.05825658943337332 Centerline is valid? [True, True] Translation: X:131.00, Y:3.19, Z:-1.96 [[ 8.06097502e-01 -5.91768433e-01 -4.11578843e-03 1.31000083e+02] [ 5.91759931e-01 8.06107999e-01 -3.17443222e-03 3.18719170e+00] [ 5.19629876e-03 1.23343206e-04 9.99986492e-01 -1.96308041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.98538475 meters 0.0581704018928311 Centerline is valid? [True, True] Translation: X:131.02, Y:3.20, Z:-1.96 [[ 8.05587929e-01 -5.92456209e-01 -4.87116438e-03 1.31024583e+02] [ 5.92444300e-01 8.05602644e-01 -3.75910067e-03 3.20228440e+00] [ 6.15132544e-03 1.42392554e-04 9.99981070e-01 -1.96413642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.01538475 meters 0.05832962933825119 Centerline is valid? [True, True] Translation: X:131.05, Y:3.22, Z:-1.97 [[ 8.05068296e-01 -5.93156281e-01 -5.53769565e-03 1.31048975e+02] [ 5.93140899e-01 8.05087326e-01 -4.27456744e-03 3.21571835e+00] [ 6.99381510e-03 1.56684947e-04 9.99975531e-01 -1.96662954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.04538475 meters 0.057741013283897274 Centerline is valid? [True, True] Translation: X:131.08, Y:3.23, Z:-1.97 [[ 8.04278947e-01 -5.94215647e-01 -6.56820749e-03 1.31075616e+02] [ 5.94194018e-01 8.04305747e-01 -5.07302392e-03 3.22711817e+00] [ 8.29731721e-03 1.77336739e-04 9.99965561e-01 -1.96690394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.07538475 meters 0.05839555518441313 Centerline is valid? [True, True] Translation: X:131.10, Y:3.25, Z:-1.97 [[ 8.04413522e-01 -5.94047133e-01 -5.18555542e-03 1.31096599e+02] [ 5.94033643e-01 8.04430223e-01 -4.00593311e-03 3.24515743e+00] [ 6.55113058e-03 1.42032388e-04 9.99978531e-01 -1.96870427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.10538475 meters 0.0587429024448027 Centerline is valid? [True, True] Translation: X:131.12, Y:3.26, Z:-1.97 [[ 8.05786865e-01 -5.92193130e-01 -3.85031744e-03 1.31117947e+02] [ 5.92185669e-01 8.05796056e-01 -2.97495514e-03 3.26282369e+00] [ 4.86431860e-03 1.17076974e-04 9.99988162e-01 -1.96596742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.13538475000001 meters 0.05937639253293144 Centerline is valid? [True, True] Translation: X:131.14, Y:3.28, Z:-1.97 [[ 8.05656946e-01 -5.92373520e-01 -3.24013782e-03 1.31138141e+02] [ 5.92368225e-01 8.05663455e-01 -2.50675334e-03 3.28051077e+00] [ 4.09539493e-03 1.00228548e-04 9.99991609e-01 -1.96721571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.16538475000002 meters 0.056771476963464865 Centerline is valid? [True, True] Translation: X:131.17, Y:3.29, Z:-1.96 [[ 8.02029129e-01 -5.97284420e-01 -7.72967205e-04 1.31165985e+02] [ 5.97284116e-01 8.02029502e-01 -6.02429636e-04 3.29049257e+00] [ 9.79764338e-04 2.14850828e-05 9.99999520e-01 -1.95880997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.19538475000002 meters 0.05618526183980836 Centerline is valid? [True, True] Translation: X:131.19, Y:3.31, Z:-1.96 [[ 7.99982362e-01 -6.00023265e-01 5.49164402e-04 1.31189472e+02] [ 6.00023118e-01 7.99982551e-01 4.20298007e-04 3.30803068e+00] [-6.91510522e-04 -6.71965544e-06 9.99999761e-01 -1.95583577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.22538475000002 meters 0.056102050294108016 Centerline is valid? [True, True] Translation: X:131.21, Y:3.33, Z:-1.96 [[ 7.98897328e-01 -6.01466239e-01 -1.19269684e-03 1.31209403e+02] [ 6.01465524e-01 7.98898218e-01 -9.27396293e-04 3.32647913e+00] [ 1.51064094e-03 2.35283900e-05 9.99998859e-01 -1.95901963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.25538475 meters 0.0568338529351477 Centerline is valid? [True, True] Translation: X:131.23, Y:3.35, Z:-1.97 [[ 7.98642263e-01 -6.01756774e-01 -7.70199883e-03 1.31225891e+02] [ 6.01727245e-01 7.98679391e-01 -5.96265541e-03 3.35000764e+00] [ 9.73949601e-03 1.27526070e-04 9.99952562e-01 -1.97248509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.28538475 meters 0.05735606109996746 Centerline is valid? [True, True] Translation: X:131.24, Y:3.37, Z:-1.98 [[ 7.97828237e-01 -6.02775857e-01 -1.14616870e-02 1.31244487e+02] [ 6.02710472e-01 7.97910543e-01 -8.87986624e-03 3.37187938e+00] [ 1.44979699e-02 1.76529259e-04 9.99894883e-01 -1.98020909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.31538475 meters 0.05735462750167202 Centerline is valid? [True, True] Translation: X:131.27, Y:3.39, Z:-1.98 [[ 7.98216592e-01 -6.02253066e-01 -1.18960692e-02 1.31265138e+02] [ 6.02182572e-01 7.98305209e-01 -9.21642586e-03 3.39076419e+00] [ 1.50473147e-02 1.93098497e-04 9.99886764e-01 -1.98128256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.34538475 meters 0.057801005045583526 Centerline is valid? [True, True] Translation: X:131.29, Y:3.41, Z:-1.98 [[ 7.99569429e-01 -6.00437261e-01 -1.27993631e-02 1.31285859e+02] [ 6.00355333e-01 7.99671828e-01 -9.92174503e-03 3.41008141e+00] [ 1.61926755e-02 2.48958105e-04 9.99868859e-01 -1.97985634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.37538475 meters 0.057672073769338916 Centerline is valid? [True, True] Translation: X:131.31, Y:3.43, Z:-1.98 [[ 8.00263406e-01 -5.99495938e-01 -1.35314594e-02 1.31308483e+02] [ 5.99404136e-01 8.00377747e-01 -1.04949700e-02 3.42870923e+00] [ 1.71219708e-02 2.87927681e-04 9.99853367e-01 -1.97699913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.40538475 meters 0.058387571522333814 Centerline is valid? [True, True] Translation: X:131.33, Y:3.45, Z:-1.98 [[ 8.01829427e-01 -5.97399917e-01 -1.35243894e-02 1.31327202e+02] [ 5.97307914e-01 8.01943408e-01 -1.04893418e-02 3.44917633e+00] [ 1.71121268e-02 3.32438131e-04 9.99853522e-01 -1.97875225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.43538475 meters 0.05878271659046328 Centerline is valid? [True, True] Translation: X:131.35, Y:3.47, Z:-1.98 [[ 8.04679917e-01 -5.93582960e-01 -1.22270058e-02 1.31345612e+02] [ 5.93507241e-01 8.04772717e-01 -9.48837606e-03 3.47182315e+00] [ 1.54720990e-02 3.78289182e-04 9.99880228e-01 -1.97718630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.46538475 meters 0.05911689310499147 Centerline is valid? [True, True] Translation: X:131.37, Y:3.49, Z:-1.97 [[ 8.07510210e-01 -5.89769383e-01 -9.96671699e-03 1.31366286e+02] [ 5.89718708e-01 8.07571629e-01 -7.74013377e-03 3.49303217e+00] [ 1.26137318e-02 3.72677579e-04 9.99920374e-01 -1.97417445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.49538475 meters 0.059746130601748555 Centerline is valid? [True, True] Translation: X:131.39, Y:3.51, Z:-1.97 [[ 8.08412102e-01 -5.88557888e-01 -8.33583995e-03 1.31386478e+02] [ 5.88522330e-01 8.08455010e-01 -6.47794706e-03 3.51131664e+00] [ 1.05517984e-02 3.31022845e-04 9.99944273e-01 -1.97310364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.52538475 meters 0.059956357490440364 Centerline is valid? [True, True] Translation: X:131.41, Y:3.53, Z:-1.97 [[ 8.09550886e-01 -5.87004497e-01 -7.28578907e-03 1.31409493e+02] [ 5.86977268e-01 8.09583613e-01 -5.66224044e-03 3.52804655e+00] [ 9.22221604e-03 3.07279203e-04 9.99957427e-01 -1.96924642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.55538475 meters 0.059965438133757945 Centerline is valid? [True, True] Translation: X:131.43, Y:3.54, Z:-1.97 [[ 8.10092486e-01 -5.86268558e-01 -6.27230695e-03 1.31432482e+02] [ 5.86248311e-01 8.10116721e-01 -4.88013159e-03 3.54443442e+00] [ 7.94236845e-03 2.76228576e-04 9.99968421e-01 -1.96723523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.58538475 meters 0.059096316302580144 Centerline is valid? [True, True] Translation: X:131.46, Y:3.56, Z:-1.97 [[ 8.09588067e-01 -5.86973865e-01 -5.37067604e-03 1.31458236e+02] [ 5.86959039e-01 8.09605848e-01 -4.17823018e-03 3.55917204e+00] [ 6.80064265e-03 2.30278445e-04 9.99976849e-01 -1.96541560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.61538475 meters 0.05987158338989553 Centerline is valid? [True, True] Translation: X:131.48, Y:3.58, Z:-1.97 [[ 8.09132783e-01 -5.87601429e-01 -5.35726092e-03 1.31478907e+02] [ 5.87586665e-01 8.09150486e-01 -4.17154765e-03 3.57765701e+00] [ 6.78603764e-03 2.27480888e-04 9.99976949e-01 -1.96809856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.64538475 meters 0.06014662435049899 Centerline is valid? [True, True] Translation: X:131.50, Y:3.59, Z:-1.97 [[ 8.08256178e-01 -5.88789897e-01 -6.95759854e-03 1.31500970e+02] [ 5.88765023e-01 8.08286073e-01 -5.41954175e-03 3.59335412e+00] [ 8.81470143e-03 2.83987440e-04 9.99961109e-01 -1.97347180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.67538475 meters 0.05961703752721608 Centerline is valid? [True, True] Translation: X:131.53, Y:3.61, Z:-1.97 [[ 8.07644730e-01 -5.89611715e-01 -8.24716912e-03 1.31525164e+02] [ 5.89576774e-01 8.07686770e-01 -6.42723624e-03 3.60877016e+00] [ 1.04507032e-02 3.28584112e-04 9.99945336e-01 -1.97491167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.70538475 meters 0.05927329695456866 Centerline is valid? [True, True] Translation: X:131.55, Y:3.62, Z:-1.98 [[ 8.06723279e-01 -5.90854239e-01 -9.42440686e-03 1.31549881e+02] [ 5.90808650e-01 8.06778246e-01 -7.34853249e-03 3.62278587e+00] [ 1.19453180e-02 3.60211126e-04 9.99928587e-01 -1.97566591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.73538475 meters 0.05941573601985196 Centerline is valid? [True, True] Translation: X:131.57, Y:3.64, Z:-1.98 [[ 8.06172174e-01 -5.91600222e-01 -9.77769570e-03 1.31572330e+02] [ 5.91551167e-01 8.06231384e-01 -7.62711253e-03 3.63794735e+00] [ 1.23952866e-02 3.64758582e-04 9.99923109e-01 -1.97658770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.76538475 meters 0.059208554177553864 Centerline is valid? [True, True] Translation: X:131.60, Y:3.65, Z:-1.98 [[ 8.05277958e-01 -5.92793751e-01 -1.10896131e-02 1.31596428e+02] [ 5.92730704e-01 8.05354215e-01 -8.65455499e-03 3.65108494e+00] [ 1.40614328e-02 3.96168206e-04 9.99901055e-01 -1.97735022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.79538475 meters 0.05886493518402091 Centerline is valid? [True, True] Translation: X:131.62, Y:3.67, Z:-1.98 [[ 8.04540170e-01 -5.93802433e-01 -1.06670257e-02 1.31620396e+02] [ 5.93744130e-01 8.04610798e-01 -8.32896608e-03 3.66715562e+00] [ 1.35285644e-02 3.67503876e-04 9.99908417e-01 -1.97828385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.82538475 meters 0.057829348908871016 Centerline is valid? [True, True] Translation: X:131.65, Y:3.68, Z:-1.98 [[ 8.02641140e-01 -5.96369801e-01 -1.05005279e-02 1.31647468e+02] [ 5.96313470e-01 8.02709759e-01 -8.20298966e-03 3.67981830e+00] [ 1.33208916e-02 3.22450728e-04 9.99911221e-01 -1.97617420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.85538475 meters 0.05728847493802584 Centerline is valid? [True, True] Translation: X:131.67, Y:3.70, Z:-1.98 [[ 8.01692931e-01 -5.97654743e-01 -9.86166886e-03 1.31672740e+02] [ 5.97605108e-01 8.01753532e-01 -7.70769933e-03 3.69526944e+00] [ 1.25131709e-02 2.85824391e-04 9.99921666e-01 -1.97505049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.88538475000001 meters 0.0571909868134344 Centerline is valid? [True, True] Translation: X:131.70, Y:3.71, Z:-1.97 [[ 8.01595171e-01 -5.97795456e-01 -9.26146106e-03 1.31695855e+02] [ 5.97751627e-01 8.01648626e-01 -7.24376437e-03 3.71155366e+00] [ 1.17547270e-02 2.70513118e-04 9.99930874e-01 -1.97344607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.91538475000002 meters 0.05690621755945934 Centerline is valid? [True, True] Translation: X:131.72, Y:3.73, Z:-1.97 [[ 8.00745824e-01 -5.98930130e-01 -9.42465067e-03 1.31719412e+02] [ 5.98884773e-01 8.00801243e-01 -7.37550981e-03 3.72783271e+00] [ 1.19646870e-02 2.61628905e-04 9.99928386e-01 -1.97284691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.94538475000002 meters 0.05645265185601642 Centerline is valid? [True, True] Translation: X:131.74, Y:3.74, Z:-1.97 [[ 7.99604076e-01 -6.00434552e-01 -1.05674587e-02 1.31742950e+02] [ 6.00377596e-01 7.99673856e-01 -8.27447185e-03 3.74368420e+00] [ 1.34187993e-02 2.71835943e-04 9.99909927e-01 -1.97403531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.97538475000002 meters 0.0564792748271428 Centerline is valid? [True, True] Translation: X:131.77, Y:3.76, Z:-1.98 [[ 7.99124148e-01 -6.01057287e-01 -1.14339118e-02 1.31765820e+02] [ 6.00990618e-01 7.99205891e-01 -8.95660537e-03 3.76212097e+00] [ 1.45214826e-02 2.85765908e-04 9.99894517e-01 -1.97550727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.00538475 meters 0.056590534557764256 Centerline is valid? [True, True] Translation: X:131.79, Y:3.78, Z:-1.98 [[ 7.98683459e-01 -6.01638635e-01 -1.16483641e-02 1.31786371e+02] [ 6.01569431e-01 7.98768347e-01 -9.12951225e-03 3.77972405e+00] [ 1.47970118e-02 2.84290675e-04 9.99890478e-01 -1.97854629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.03538475 meters 0.056895458122794285 Centerline is valid? [True, True] Translation: X:131.81, Y:3.80, Z:-1.98 [[ 7.98341715e-01 -6.02090212e-01 -1.17423493e-02 1.31807427e+02] [ 6.02019864e-01 7.98428016e-01 -9.20791843e-03 3.79750466e+00] [ 1.49194182e-02 2.81937878e-04 9.99888660e-01 -1.98135691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.06538475 meters 0.05649738704824354 Centerline is valid? [True, True] Translation: X:131.83, Y:3.81, Z:-1.98 [[ 7.98223179e-01 -6.02232129e-01 -1.24987427e-02 1.31831531e+02] [ 6.02152438e-01 7.98320972e-01 -9.80142018e-03 3.81282565e+00] [ 1.58807386e-02 2.97572372e-04 9.99873849e-01 -1.97898691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.09538475 meters 0.05701051462766747 Centerline is valid? [True, True] Translation: X:131.85, Y:3.83, Z:-1.98 [[ 7.98617097e-01 -6.01696516e-01 -1.31162378e-02 1.31852248e+02] [ 6.01608627e-01 7.98724731e-01 -1.02889906e-02 3.83113105e+00] [ 1.66671133e-02 3.26122002e-04 9.99861041e-01 -1.98216417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.12538475 meters 0.056533166546282224 Centerline is valid? [True, True] Translation: X:131.88, Y:3.85, Z:-1.98 [[ 7.98073185e-01 -6.02404982e-01 -1.36904836e-02 1.31875230e+02] [ 6.02309202e-01 7.98190534e-01 -1.07469798e-02 3.84680595e+00] [ 1.74016486e-02 3.30972163e-04 9.99848525e-01 -1.98134865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.15538475 meters 0.05693289786093056 Centerline is valid? [True, True] Translation: X:131.90, Y:3.86, Z:-1.98 [[ 7.98163869e-01 -6.02281353e-01 -1.38423561e-02 1.31896056e+02] [ 6.02183318e-01 7.98283819e-01 -1.08718269e-02 3.86423667e+00] [ 1.75980275e-02 3.41863467e-04 9.99845084e-01 -1.98330255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.18538475 meters 0.056751421356191045 Centerline is valid? [True, True] Translation: X:131.92, Y:3.88, Z:-1.98 [[ 7.97513660e-01 -6.03139416e-01 -1.39573528e-02 1.31917982e+02] [ 6.03039784e-01 7.97635717e-01 -1.09673176e-02 3.88027013e+00] [ 1.77477046e-02 3.29746570e-04 9.99842443e-01 -1.98317667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.21538475 meters 0.05622868188029502 Centerline is valid? [True, True] Translation: X:131.94, Y:3.90, Z:-1.98 [[ 7.96776871e-01 -6.04106931e-01 -1.41927554e-02 1.31941667e+02] [ 6.04003935e-01 7.96903202e-01 -1.11594160e-02 3.89625448e+00] [ 1.80517328e-02 3.19084451e-04 9.99837003e-01 -1.98150193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.24538475 meters 0.055613469091918555 Centerline is valid? [True, True] Translation: X:131.97, Y:3.91, Z:-1.98 [[ 7.96040599e-01 -6.05077441e-01 -1.41652633e-02 1.31965148e+02] [ 6.04974875e-01 7.96166565e-01 -1.11445686e-02 3.91203288e+00] [ 1.80212361e-02 3.01900671e-04 9.99837559e-01 -1.97866589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.27538475 meters 0.05558129198646366 Centerline is valid? [True, True] Translation: X:131.99, Y:3.93, Z:-1.98 [[ 7.95257864e-01 -6.06121622e-01 -1.34725089e-02 1.31987527e+02] [ 6.06029014e-01 7.95371932e-01 -1.05983537e-02 3.92844654e+00] [ 1.71395467e-02 2.63692856e-04 9.99853072e-01 -1.97932294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.30538475 meters 0.05540752143607808 Centerline is valid? [True, True] Translation: X:132.01, Y:3.95, Z:-1.98 [[ 7.94190120e-01 -6.07549081e-01 -1.20900077e-02 1.32009872e+02] [ 6.07474607e-01 7.94282110e-01 -9.51483896e-03 3.94536064e+00] [ 1.53836085e-02 2.12218420e-04 9.99881643e-01 -1.98053893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.33538475 meters 0.0552054847955233 Centerline is valid? [True, True] Translation: X:132.03, Y:3.96, Z:-1.98 [[ 7.94197496e-01 -6.07553656e-01 -1.13530915e-02 1.32032938e+02] [ 6.07487873e-01 7.94278612e-01 -8.94261606e-03 3.96179346e+00] [ 1.44506369e-02 2.05337854e-04 9.99895563e-01 -1.97713406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.36538475 meters 0.055237656312893374 Centerline is valid? [True, True] Translation: X:132.05, Y:3.98, Z:-1.98 [[ 7.94274148e-01 -6.07458016e-01 -1.11056870e-02 1.32053695e+02] [ 6.07394998e-01 7.94351758e-01 -8.75216950e-03 3.97970298e+00] [ 1.41383975e-02 2.06083217e-04 9.99900027e-01 -1.97863232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.39538475 meters 0.055339978259586094 Centerline is valid? [True, True] Translation: X:132.08, Y:4.00, Z:-1.98 [[ 7.93169456e-01 -6.08920063e-01 -9.92827531e-03 1.32076837e+02] [ 6.08869761e-01 7.93231574e-01 -7.82847539e-03 3.99635106e+00] [ 1.26423372e-02 1.64280955e-04 9.99920069e-01 -1.98039908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.42538475 meters 0.054761006804592255 Centerline is valid? [True, True] Translation: X:132.10, Y:4.01, Z:-1.98 [[ 7.93031679e-01 -6.09106253e-01 -9.50416461e-03 1.32100853e+02] [ 6.09060105e-01 7.93088613e-01 -7.49939085e-03 4.01173859e+00] [ 1.21055706e-02 1.58647018e-04 9.99926712e-01 -1.97740716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.45538475 meters 0.05480421386091304 Centerline is valid? [True, True] Translation: X:132.12, Y:4.03, Z:-1.98 [[ 7.91827721e-01 -6.10631891e-01 -1.17283572e-02 1.32124506e+02] [ 6.10561815e-01 7.91914557e-01 -9.25221828e-03 4.02593572e+00] [ 1.49375564e-02 1.65275829e-04 9.99888415e-01 -1.98060099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.48538475 meters 0.05480421386091304 Centerline is valid? [True, True] Translation: X:132.15, Y:4.04, Z:-1.98 [[ 7.91653344e-01 -6.10858024e-01 -1.17242300e-02 1.32146132e+02] [ 6.10787895e-01 7.91740139e-01 -9.25744927e-03 4.04321949e+00] [ 1.49375306e-02 1.67672913e-04 9.99888415e-01 -1.98097348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.51538475 meters 0.054827660063660785 Centerline is valid? [True, True] Translation: X:132.17, Y:4.06, Z:-1.98 [[ 7.90435290e-01 -6.12425177e-01 -1.21431469e-02 1.32169444e+02] [ 6.12350064e-01 7.90528546e-01 -9.59257235e-03 4.05753760e+00] [ 1.54742370e-02 1.46450941e-04 9.99880256e-01 -1.98419795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.54538475 meters 0.05465155646320402 Centerline is valid? [True, True] Translation: X:132.19, Y:4.07, Z:-1.98 [[ 7.90306895e-01 -6.12596369e-01 -1.18616855e-02 1.32192123e+02] [ 6.12524627e-01 7.90395893e-01 -9.37623801e-03 4.07369975e+00] [ 1.51192769e-02 1.44531048e-04 9.99885687e-01 -1.98315748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.57538475 meters 0.054487261906462026 Centerline is valid? [True, True] Translation: X:132.22, Y:4.09, Z:-1.98 [[ 7.89693938e-01 -6.13381821e-01 -1.20923645e-02 1.32215991e+02] [ 6.13307264e-01 7.89786505e-01 -9.56435401e-03 4.08838935e+00] [ 1.54169872e-02 1.36577389e-04 9.99881142e-01 -1.98204766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.60538475 meters 0.0549863863186211 Centerline is valid? [True, True] Translation: X:132.24, Y:4.11, Z:-1.99 [[ 7.89651096e-01 -6.13425705e-01 -1.26511560e-02 1.32237691e+02] [ 6.13344107e-01 7.89752420e-01 -1.00061014e-02 4.10562363e+00] [ 1.61292809e-02 1.41816919e-04 9.99869905e-01 -1.98575589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.63538475000001 meters 0.05460381796724347 Centerline is valid? [True, True] Translation: X:132.26, Y:4.12, Z:-1.98 [[ 7.88905715e-01 -6.14354831e-01 -1.39969437e-02 1.32262117e+02] [ 6.14255012e-01 7.89029862e-01 -1.10751003e-02 4.12012093e+00] [ 1.78480479e-02 1.39517087e-04 9.99840701e-01 -1.98349812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.66538475000002 meters 0.05463344473819061 Centerline is valid? [True, True] Translation: X:132.28, Y:4.14, Z:-1.98 [[ 7.88594631e-01 -6.14738527e-01 -1.46645912e-02 1.32284509e+02] [ 6.14628888e-01 7.88730957e-01 -1.16106728e-02 4.13692880e+00] [ 1.87039449e-02 1.42832885e-04 9.99825056e-01 -1.98469244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.69538475000002 meters 0.05469554131537753 Centerline is valid? [True, True] Translation: X:132.31, Y:4.15, Z:-1.99 [[ 7.87131685e-01 -6.16601787e-01 -1.50315116e-02 1.32306149e+02] [ 6.16486813e-01 7.87275190e-01 -1.19073279e-02 4.15260551e+00] [ 1.91760158e-02 1.05906407e-04 9.99816118e-01 -1.98629516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.72538475000002 meters 0.054567006304714026 Centerline is valid? [True, True] Translation: X:132.33, Y:4.17, Z:-1.99 [[ 7.87054028e-01 -6.16706041e-01 -1.48194282e-02 1.32327411e+02] [ 6.16594166e-01 7.87193526e-01 -1.17468041e-02 4.17054885e+00] [ 1.89100830e-02 1.07796487e-04 9.99821183e-01 -1.98591809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.75538475 meters 0.05396093130013541 Centerline is valid? [True, True] Translation: X:132.35, Y:4.19, Z:-1.98 [[ 7.85876390e-01 -6.18259046e-01 -1.24117646e-02 1.32351684e+02] [ 6.18180735e-01 7.85974395e-01 -9.84022431e-03 4.18662444e+00] [ 1.58391369e-02 6.04861966e-05 9.99874551e-01 -1.98132537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.78538475 meters 0.05395093386478018 Centerline is valid? [True, True] Translation: X:132.37, Y:4.20, Z:-1.98 [[ 7.85531430e-01 -6.18732764e-01 -1.04946631e-02 1.32373937e+02] [ 6.18676782e-01 7.85601530e-01 -8.32316409e-03 4.20310165e+00] [ 1.33944377e-02 4.53025934e-05 9.99910289e-01 -1.98089477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.81538475 meters 0.05361900884108273 Centerline is valid? [True, True] Translation: X:132.40, Y:4.22, Z:-1.98 [[ 7.85301157e-01 -6.19054818e-01 -8.55713977e-03 1.32396751e+02] [ 6.19017611e-01 7.85347777e-01 -6.78726392e-03 4.21893537e+00] [ 1.09220191e-02 3.30259971e-05 9.99940352e-01 -1.97742180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.84538475 meters 0.053526355692072744 Centerline is valid? [True, True] Translation: X:132.42, Y:4.24, Z:-1.98 [[ 7.84523129e-01 -6.20053467e-01 -7.56034453e-03 1.32419404e+02] [ 6.20024402e-01 7.84559557e-01 -6.00358842e-03 4.23556308e+00] [ 9.65408636e-03 2.23558770e-05 9.99953398e-01 -1.97612837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.87538475 meters 0.05358801039610817 Centerline is valid? [True, True] Translation: X:132.44, Y:4.25, Z:-1.98 [[ 7.84630308e-01 -6.19913545e-01 -7.90423577e-03 1.32440412e+02] [ 6.19881740e-01 7.84670119e-01 -6.27944778e-03 4.25228789e+00] [ 1.00949324e-02 2.73536170e-05 9.99949044e-01 -1.97769812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.90538475 meters 0.053951837323120644 Centerline is valid? [True, True] Translation: X:132.46, Y:4.27, Z:-1.98 [[ 7.84759736e-01 -6.19720971e-01 -9.90328000e-03 1.32461955e+02] [ 6.19670988e-01 7.84822220e-01 -7.87083979e-03 4.27068633e+00] [ 1.26500387e-02 3.99428615e-05 9.99919984e-01 -1.98013542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.93538475 meters 0.05413985217560234 Centerline is valid? [True, True] Translation: X:132.48, Y:4.29, Z:-1.98 [[ 7.84456792e-01 -6.20074352e-01 -1.16335554e-02 1.32484638e+02] [ 6.20005353e-01 7.84543049e-01 -9.25023536e-03 4.28827737e+00] [ 1.48628587e-02 4.35433265e-05 9.99889541e-01 -1.98329860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.96538475 meters 0.05426652152515591 Centerline is valid? [True, True] Translation: X:132.51, Y:4.30, Z:-1.99 [[ 7.84108996e-01 -6.20501898e-01 -1.22669446e-02 1.32506692e+02] [ 6.20425161e-01 7.84204944e-01 -9.75841229e-03 4.30447133e+00] [ 1.56749119e-02 4.09377990e-05 9.99877140e-01 -1.98512844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.99538475 meters 0.05417374878284385 Centerline is valid? [True, True] Translation: X:132.53, Y:4.32, Z:-1.98 [[ 7.83192175e-01 -6.21643959e-01 -1.29925222e-02 1.32530445e+02] [ 6.21557933e-01 7.83299935e-01 -1.03415895e-02 4.32112754e+00] [ 1.66058284e-02 2.38466701e-05 9.99862113e-01 -1.98385927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.02538475 meters 0.05434138615478481 Centerline is valid? [True, True] Translation: X:132.55, Y:4.34, Z:-1.98 [[ 7.83256279e-01 -6.21532496e-01 -1.43859947e-02 1.32552857e+02] [ 6.21426967e-01 7.83388381e-01 -1.14529601e-02 4.33871002e+00] [ 1.83882080e-02 3.07578168e-05 9.99830922e-01 -1.98409468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.05538475 meters 0.05446473365735877 Centerline is valid? [True, True] Translation: X:132.57, Y:4.36, Z:-1.99 [[ 7.82741684e-01 -6.22173176e-01 -1.46967686e-02 1.32574263e+02] [ 6.22063008e-01 7.82879645e-01 -1.17078888e-02 4.35532498e+00] [ 1.87901353e-02 2.19365413e-05 9.99823450e-01 -1.98672045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.08538475 meters 0.05447577154556133 Centerline is valid? [True, True] Translation: X:132.60, Y:4.37, Z:-1.99 [[ 7.82034968e-01 -6.23055242e-01 -1.49490861e-02 1.32596235e+02] [ 6.22941295e-01 7.82177835e-01 -1.19153852e-02 4.37229941e+00] [ 1.91167870e-02 5.84486187e-06 9.99817258e-01 -1.98638470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.11538475 meters 0.0544430991353865 Centerline is valid? [True, True] Translation: X:132.62, Y:4.39, Z:-1.99 [[ 7.82304927e-01 -6.22723859e-01 -1.46286271e-02 1.32618025e+02] [ 6.22614551e-01 7.82441688e-01 -1.16672934e-02 4.38943289e+00] [ 1.87115496e-02 1.93849836e-05 9.99824923e-01 -1.98869773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.14538475 meters 0.054198930254078036 Centerline is valid? [True, True] Translation: X:132.64, Y:4.41, Z:-1.99 [[ 7.81213489e-01 -6.24139887e-01 -1.24453235e-02 1.32641089e+02] [ 6.24060853e-01 7.81312614e-01 -9.93232292e-03 4.40578014e+00] [ 1.59228472e-02 -7.37457558e-06 9.99873223e-01 -1.98586036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.17538475 meters 0.05401083228702137 Centerline is valid? [True, True] Translation: X:132.66, Y:4.42, Z:-1.98 [[ 7.80858579e-01 -6.24624479e-01 -1.02048981e-02 1.32663096e+02] [ 6.24571310e-01 7.80925259e-01 -8.14975878e-03 4.42298903e+00] [ 1.30598015e-02 -9.87751098e-06 9.99914717e-01 -1.98402463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.20538475 meters 0.05378628317904322 Centerline is valid? [True, True] Translation: X:132.69, Y:4.44, Z:-1.98 [[ 7.79019400e-01 -6.26940831e-01 -8.60055764e-03 1.32687896e+02] [ 6.26903187e-01 7.79066873e-01 -6.87033115e-03 4.43650674e+00] [ 1.10077007e-02 -3.95957465e-05 9.99939413e-01 -1.98084488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.23538475 meters 0.053615010501993354 Centerline is valid? [True, True] Translation: X:132.71, Y:4.46, Z:-1.98 [[ 7.78823494e-01 -6.27193239e-01 -7.91247002e-03 1.32709297e+02] [ 6.27161334e-01 7.78863685e-01 -6.32619321e-03 4.45504661e+00] [ 1.01304812e-02 -3.54073516e-05 9.99948685e-01 -1.97847130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.26538475 meters 0.05385547623591223 Centerline is valid? [True, True] Translation: X:132.73, Y:4.47, Z:-1.98 [[ 7.78383488e-01 -6.27722555e-01 -9.13996822e-03 1.32729895e+02] [ 6.27680020e-01 7.78437147e-01 -7.30755759e-03 4.47280300e+00] [ 1.17020095e-02 -4.88932653e-05 9.99931528e-01 -1.98190259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.29538475 meters 0.05384382904248651 Centerline is valid? [True, True] Translation: X:132.75, Y:4.49, Z:-1.98 [[ 7.78144838e-01 -6.28004004e-01 -1.00788323e-02 1.32750984e+02] [ 6.27952229e-01 7.78210106e-01 -8.06410968e-03 4.49183326e+00] [ 1.29077423e-02 -5.39798831e-05 9.99916690e-01 -1.98272655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.32538475 meters 0.0544965291878821 Centerline is valid? [True, True] Translation: X:132.77, Y:4.51, Z:-1.99 [[ 7.79157110e-01 -6.26696174e-01 -1.28881006e-02 1.32769692e+02] [ 6.26611253e-01 7.79263693e-01 -1.03167137e-02 4.51235801e+00] [ 1.65086739e-02 -3.74880812e-05 9.99863722e-01 -1.99003649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.35538475 meters 0.054485228402394184 Centerline is valid? [True, True] Translation: X:132.79, Y:4.53, Z:-1.99 [[ 7.79503452e-01 -6.26259429e-01 -1.31717680e-02 1.32790469e+02] [ 6.26170559e-01 7.79614730e-01 -1.05500532e-02 4.53109986e+00] [ 1.68759747e-02 -2.39704363e-05 9.99857590e-01 -1.98651183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.38538475000001 meters 0.0543066579363682 Centerline is valid? [True, True] Translation: X:132.81, Y:4.55, Z:-1.99 [[ 7.81212880e-01 -6.24134170e-01 -1.27661171e-02 1.32810782e+02] [ 6.24050335e-01 7.81317181e-01 -1.02294807e-02 4.54911457e+00] [ 1.63589550e-02 2.47024395e-05 9.99866183e-01 -1.98609962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.41538475000002 meters 0.054285672065478977 Centerline is valid? [True, True] Translation: X:132.83, Y:4.57, Z:-1.99 [[ 7.81606298e-01 -6.23653931e-01 -1.21395577e-02 1.32831496e+02] [ 6.23578019e-01 7.81700565e-01 -9.73040429e-03 4.56718719e+00] [ 1.55579040e-02 3.53839179e-05 9.99878968e-01 -1.98625588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.44538475000002 meters 0.054136630800913466 Centerline is valid? [True, True] Translation: X:132.85, Y:4.59, Z:-1.98 [[ 7.82740718e-01 -6.22259670e-01 -1.04819131e-02 1.32851259e+02] [ 6.22202869e-01 7.82810896e-01 -8.40777762e-03 4.58858030e+00] [ 1.34371767e-02 5.92334942e-05 9.99909715e-01 -1.98392715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.47538475000002 meters 0.05431990159513948 Centerline is valid? [True, True] Translation: X:132.87, Y:4.61, Z:-1.99 [[ 7.82947524e-01 -6.21999267e-01 -1.04921779e-02 1.32870364e+02] [ 6.21942298e-01 7.83017820e-01 -8.41848561e-03 4.60769091e+00] [ 1.34518541e-02 6.57032325e-05 9.99909518e-01 -1.98679363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.50538475 meters 0.054465474566114544 Centerline is valid? [True, True] Translation: X:132.89, Y:4.63, Z:-1.99 [[ 7.83199720e-01 -6.21666328e-01 -1.13655469e-02 1.32890320e+02] [ 6.21599362e-01 7.83282178e-01 -9.12484368e-03 4.62758356e+00] [ 1.45750384e-02 8.17583061e-05 9.99893775e-01 -1.98854228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.53538475 meters 0.054614697738249667 Centerline is valid? [True, True] Translation: X:132.91, Y:4.65, Z:-1.99 [[ 7.83717526e-01 -6.20993892e-01 -1.23865258e-02 1.32911130e+02] [ 6.20914186e-01 7.83815396e-01 -9.94980353e-03 4.64667426e+00] [ 1.58875168e-02 1.06865850e-04 9.99873780e-01 -1.99004968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.56538475 meters 0.05479704373692492 Centerline is valid? [True, True] Translation: X:132.93, Y:4.66, Z:-1.99 [[ 7.84308224e-01 -6.20266281e-01 -1.14171617e-02 1.32931810e+02] [ 6.20198436e-01 7.84391310e-01 -9.17454880e-03 4.66442808e+00] [ 1.46461857e-02 1.14768254e-04 9.99892732e-01 -1.98988356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.59538475 meters 0.054612387212766476 Centerline is valid? [True, True] Translation: X:132.95, Y:4.68, Z:-1.99 [[ 7.83943220e-01 -6.20747350e-01 -1.02837384e-02 1.32954487e+02] [ 6.20692270e-01 7.84010661e-01 -8.26977647e-03 4.68170844e+00] [ 1.31960024e-02 9.99982823e-05 9.99912924e-01 -1.98834855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.62538475 meters 0.05428304829663995 Centerline is valid? [True, True] Translation: X:132.98, Y:4.70, Z:-1.99 [[ 7.81686394e-01 -6.23602839e-01 -9.26717780e-03 1.32979274e+02] [ 6.23558255e-01 7.81741324e-01 -7.45687328e-03 4.69558488e+00] [ 1.18946632e-02 5.03111649e-05 9.99929255e-01 -1.98707176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.65538475 meters 0.05427959826229637 Centerline is valid? [True, True] Translation: X:133.00, Y:4.71, Z:-1.99 [[ 7.81056230e-01 -6.24392466e-01 -9.23114582e-03 1.33001006e+02] [ 6.24348231e-01 7.81110778e-01 -7.43228471e-03 4.71306905e+00] [ 1.18512101e-02 4.15827069e-05 9.99929771e-01 -1.98880192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.68538475 meters 0.05429660598230327 Centerline is valid? [True, True] Translation: X:133.03, Y:4.73, Z:-1.99 [[ 7.77444749e-01 -6.28876682e-01 -9.68406367e-03 1.33027085e+02] [ 6.28828295e-01 7.77505060e-01 -7.80108244e-03 4.72545039e+00] [ 1.24353273e-02 -2.47026743e-05 9.99922678e-01 -1.99000470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.71538475 meters 0.05405884283468454 Centerline is valid? [True, True] Translation: X:133.05, Y:4.74, Z:-1.98 [[ 7.72959618e-01 -6.34400759e-01 -8.31301161e-03 1.33054171e+02] [ 6.34365368e-01 7.73004313e-01 -6.70161102e-03 4.73730723e+00] [ 1.06775009e-02 -9.34119796e-05 9.99942989e-01 -1.98249892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.74538475 meters 0.054845583091281395 Centerline is valid? [True, True] Translation: X:133.08, Y:4.75, Z:-1.99 [[ 7.69297293e-01 -6.38827018e-01 -9.03973179e-03 1.33078256e+02] [ 6.38785459e-01 7.69350384e-01 -7.28862153e-03 4.75051346e+00] [ 1.16108895e-02 -1.67332412e-04 9.99932577e-01 -1.98762162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.77538475 meters 0.055306806107207444 Centerline is valid? [True, True] Translation: X:133.10, Y:4.77, Z:-1.99 [[ 7.68860665e-01 -6.39343903e-01 -9.62552644e-03 1.33100097e+02] [ 6.39296770e-01 7.68920893e-01 -7.76533424e-03 4.76741376e+00] [ 1.23659875e-02 -1.83107911e-04 9.99923521e-01 -1.99102146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.80538475 meters 0.054838075279347885 Centerline is valid? [True, True] Translation: X:133.12, Y:4.79, Z:-1.99 [[ 7.68712970e-01 -6.39532899e-01 -8.83410801e-03 1.33120672e+02] [ 6.39493153e-01 7.68763711e-01 -7.13192694e-03 4.78698788e+00] [ 1.13524436e-02 -1.66946844e-04 9.99935545e-01 -1.98908592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.83538475 meters 0.05489061899462405 Centerline is valid? [True, True] Translation: X:133.14, Y:4.80, Z:-1.99 [[ 7.68492603e-01 -6.39802042e-01 -8.51272459e-03 1.33142106e+02] [ 6.39765102e-01 7.68539733e-01 -6.87701279e-03 4.80408019e+00] [ 1.09422939e-02 -1.61210657e-04 9.99940118e-01 -1.98988127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.86538475 meters 0.05456748087742677 Centerline is valid? [True, True] Translation: X:133.16, Y:4.82, Z:-1.99 [[ 7.69438378e-01 -6.38667407e-01 -8.27802432e-03 1.33162926e+02] [ 6.38632371e-01 7.69482894e-01 -6.69102682e-03 4.82296830e+00] [ 1.06431389e-02 -1.38281480e-04 9.99943351e-01 -1.98913936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.89538475 meters 0.054395351090972606 Centerline is valid? [True, True] Translation: X:133.18, Y:4.84, Z:-1.99 [[ 7.70218402e-01 -6.37721310e-01 -8.66849799e-03 1.33183575e+02] [ 6.37682787e-01 7.70267170e-01 -7.01063029e-03 4.84229067e+00] [ 1.11478878e-02 -1.28035495e-04 9.99937852e-01 -1.98770041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.92538475 meters 0.05422121197680711 Centerline is valid? [True, True] Translation: X:133.20, Y:4.86, Z:-1.99 [[ 7.71600086e-01 -6.36033847e-01 -9.70840532e-03 1.33203103e+02] [ 6.35985343e-01 7.71661151e-01 -7.85566620e-03 4.86288582e+00] [ 1.24880688e-02 -1.12970778e-04 9.99922015e-01 -1.98731530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.95538475 meters 0.05439340553559249 Centerline is valid? [True, True] Translation: X:133.22, Y:4.88, Z:-1.99 [[ 7.72613761e-01 -6.34779012e-01 -1.11167410e-02 1.33221113e+02] [ 6.34715235e-01 7.72693726e-01 -8.99865386e-03 4.88438335e+00] [ 1.43019926e-02 -1.03481065e-04 9.99897716e-01 -1.99268840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.98538475 meters 0.05432849142007069 Centerline is valid? [True, True] Translation: X:133.24, Y:4.90, Z:-1.99 [[ 7.72962959e-01 -6.34351853e-01 -1.12245287e-02 1.33241029e+02] [ 6.34286705e-01 7.73044448e-01 -9.09161094e-03 4.90404451e+00] [ 1.44443398e-02 -9.20908182e-05 9.99895671e-01 -1.99265672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.01538475 meters 0.054080401542584706 Centerline is valid? [True, True] Translation: X:133.26, Y:4.93, Z:-1.99 [[ 7.73938786e-01 -6.33184592e-01 -9.79941882e-03 1.33260369e+02] [ 6.33134782e-01 7.74000820e-01 -7.94220515e-03 4.92562872e+00] [ 1.26136401e-02 -5.75722806e-05 9.99920443e-01 -1.99131940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.04538475 meters 0.05402471587660992 Centerline is valid? [True, True] Translation: X:133.28, Y:4.95, Z:-1.99 [[ 7.74924276e-01 -6.31993746e-01 -8.73334714e-03 1.33279905e+02] [ 6.31954087e-01 7.74973486e-01 -7.08012549e-03 4.94506057e+00] [ 1.12427075e-02 -3.25132903e-05 9.99936798e-01 -1.99145465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.07538475 meters 0.05398673460046454 Centerline is valid? [True, True] Translation: X:133.30, Y:4.97, Z:-1.99 [[ 7.77064846e-01 -6.29363660e-01 -8.46222239e-03 1.33298805e+02] [ 6.29326214e-01 7.77110921e-01 -6.86533922e-03 4.96743798e+00] [ 1.08968805e-02 9.31538314e-06 9.99940627e-01 -1.99081496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.10538475 meters 0.05411315861748326 Centerline is valid? [True, True] Translation: X:133.32, Y:4.99, Z:-1.99 [[ 7.78269918e-01 -6.27871044e-01 -8.59572232e-03 1.33318002e+02] [ 6.27832277e-01 7.78317384e-01 -6.97723060e-03 4.98702644e+00] [ 1.10710012e-02 3.34967725e-05 9.99938714e-01 -1.99212684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.13538475000001 meters 0.054383307997062674 Centerline is valid? [True, True] Translation: X:133.34, Y:5.01, Z:-1.99 [[ 7.81283452e-01 -6.24114105e-01 -8.81766062e-03 1.33335844e+02] [ 6.24073025e-01 7.81333204e-01 -7.16130571e-03 5.01030461e+00] [ 1.13590029e-02 9.21455182e-05 9.99935480e-01 -1.99203118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.16538475000002 meters 0.05456406658766628 Centerline is valid? [True, True] Translation: X:133.36, Y:5.03, Z:-1.99 [[ 7.82175484e-01 -6.22999675e-01 -8.53913806e-03 1.33355965e+02] [ 6.22961032e-01 7.82222087e-01 -6.93969806e-03 5.03060409e+00] [ 1.10029320e-02 1.08511438e-04 9.99939460e-01 -1.99207380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.19538475000002 meters 0.05515763600849402 Centerline is valid? [True, True] Translation: X:133.37, Y:5.05, Z:-1.99 [[ 7.83397736e-01 -6.21466932e-01 -8.17552707e-03 1.33374423e+02] [ 6.21431392e-01 7.83440385e-01 -6.64741253e-03 5.05048872e+00] [ 1.05361851e-02 1.27038760e-04 9.99944485e-01 -1.99423194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.22538475000002 meters 0.054885907842738654 Centerline is valid? [True, True] Translation: X:133.40, Y:5.07, Z:-1.99 [[ 7.83421574e-01 -6.21430388e-01 -8.65500607e-03 1.33396401e+02] [ 6.21390509e-01 7.83469370e-01 -7.04142118e-03 5.06867543e+00] [ 1.11566852e-02 1.38262634e-04 9.99937753e-01 -1.99247061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.25538475 meters 0.055289690525807816 Centerline is valid? [True, True] Translation: X:133.42, Y:5.09, Z:-2.00 [[ 7.83243183e-01 -6.21646279e-01 -9.27466554e-03 1.33416762e+02] [ 6.21600512e-01 7.83298080e-01 -7.54460141e-03 5.08833717e+00] [ 1.19549011e-02 1.44120783e-04 9.99928527e-01 -1.99644820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.28538475 meters 0.05526522860093273 Centerline is valid? [True, True] Translation: X:133.44, Y:5.11, Z:-1.99 [[ 7.83468764e-01 -6.21361248e-01 -9.32175455e-03 1.33439264e+02] [ 6.21314909e-01 7.83524202e-01 -7.59002494e-03 5.10604906e+00] [ 1.20199677e-02 1.54802384e-04 9.99927746e-01 -1.99468034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.31538475 meters 0.05491445316832681 Centerline is valid? [True, True] Translation: X:133.46, Y:5.12, Z:-1.99 [[ 7.82034116e-01 -6.23178671e-01 -8.42529138e-03 1.33463706e+02] [ 6.23140890e-01 7.82079491e-01 -6.86307304e-03 5.12276642e+00] [ 1.08661683e-02 1.17013691e-04 9.99940955e-01 -1.99358883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.34538475 meters 0.05455998631223557 Centerline is valid? [True, True] Translation: X:133.49, Y:5.14, Z:-1.99 [[ 7.79574586e-01 -6.26259024e-01 -7.94355387e-03 1.33489686e+02] [ 6.26225559e-01 7.79615052e-01 -6.47453466e-03 5.13673833e+00] [ 1.02476499e-02 7.29262100e-05 9.99947489e-01 -1.99254178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.37538475 meters 0.05455998631223557 Centerline is valid? [True, True] Translation: X:133.51, Y:5.15, Z:-1.99 [[ 7.79393023e-01 -6.26484996e-01 -7.94137121e-03 1.33511043e+02] [ 6.26451516e-01 7.79433476e-01 -6.47721280e-03 5.15434951e+00] [ 1.02476472e-02 7.34104384e-05 9.99947489e-01 -1.99291294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.40538475 meters 0.05453536312093564 Centerline is valid? [True, True] Translation: X:133.53, Y:5.17, Z:-1.99 [[ 7.78727250e-01 -6.27322549e-01 -7.09154984e-03 1.33533600e+02] [ 6.27295870e-01 7.78759537e-01 -5.78575690e-03 5.17030605e+00] [ 9.15214783e-03 5.70266326e-05 9.99958117e-01 -1.99308142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.43538475 meters 0.054472665485870216 Centerline is valid? [True, True] Translation: X:133.56, Y:5.19, Z:-1.99 [[ 7.78232779e-01 -6.27942234e-01 -6.50336589e-03 1.33557420e+02] [ 6.27919781e-01 7.78259949e-01 -5.31037323e-03 5.18608842e+00] [ 8.39591684e-03 4.91144295e-05 9.99964752e-01 -1.99259328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.46538475 meters 0.05446923529533438 Centerline is valid? [True, True] Translation: X:133.58, Y:5.20, Z:-1.99 [[ 7.78092299e-01 -6.28122068e-01 -5.91970363e-03 1.33579184e+02] [ 6.28103454e-01 7.78114816e-01 -4.83576620e-03 5.20225691e+00] [ 7.64366056e-03 4.44861402e-05 9.99970786e-01 -1.99346754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.49538475 meters 0.05437511192073453 Centerline is valid? [True, True] Translation: X:133.60, Y:5.22, Z:-1.99 [[ 7.78108025e-01 -6.28103588e-01 -5.81238692e-03 1.33600610e+02] [ 6.28085621e-01 7.78129732e-01 -4.75100266e-03 5.21843754e+00] [ 7.50691289e-03 4.61166477e-05 9.99971822e-01 -1.99459532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.52538475 meters 0.054433870737101174 Centerline is valid? [True, True] Translation: X:133.63, Y:5.23, Z:-2.00 [[ 7.77330217e-01 -6.29067045e-01 -5.69089997e-03 1.33625515e+02] [ 6.29049824e-01 7.77351048e-01 -4.65487609e-03 5.23203867e+00] [ 7.35205620e-03 3.85162188e-05 9.99972973e-01 -1.99504200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.55538475 meters 0.0542869752564462 Centerline is valid? [True, True] Translation: X:133.65, Y:5.25, Z:-1.99 [[ 7.76448423e-01 -6.30154380e-01 -5.77099866e-03 1.33649659e+02] [ 6.30136679e-01 7.76469869e-01 -4.72318629e-03 5.24744754e+00] [ 7.45734309e-03 3.07926113e-05 9.99972193e-01 -1.99369927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.58538475 meters 0.05420395215782717 Centerline is valid? [True, True] Translation: X:133.68, Y:5.26, Z:-1.99 [[ 7.73447403e-01 -6.33833836e-01 -5.81240606e-03 1.33675417e+02] [ 6.33815963e-01 7.73469242e-01 -4.75983446e-03 5.26061591e+00] [ 7.51266145e-03 -2.51414900e-06 9.99971780e-01 -1.99335399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.61538475 meters 0.05395230408970174 Centerline is valid? [True, True] Translation: X:133.70, Y:5.27, Z:-1.99 [[ 7.67242747e-01 -6.41351354e-01 -2.64729328e-03 1.33704333e+02] [ 6.41347678e-01 7.67247313e-01 -2.17164568e-03 5.27054982e+00] [ 3.42391655e-03 -3.16560054e-05 9.99994138e-01 -1.98724393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.64538475 meters 0.054466231677996184 Centerline is valid? [True, True] Translation: X:133.73, Y:5.29, Z:-1.99 [[ 7.66563319e-01 -6.42152951e-01 -4.50181836e-03 1.33725547e+02] [ 6.42142344e-01 7.66576535e-01 -3.69140446e-03 5.28806513e+00] [ 5.82143458e-03 -6.11129384e-05 9.99983053e-01 -1.99401734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.67538475 meters 0.05486377774626088 Centerline is valid? [True, True] Translation: X:133.75, Y:5.31, Z:-2.00 [[ 7.66208696e-01 -6.42555565e-01 -6.82492915e-03 1.33745101e+02] [ 6.42531197e-01 7.66239086e-01 -5.59682062e-03 5.30900155e+00] [ 8.82579571e-03 -9.68972594e-05 9.99961047e-01 -1.99949397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.70538475 meters 0.0546813803453671 Centerline is valid? [True, True] Translation: X:133.77, Y:5.33, Z:-2.00 [[ 7.66602734e-01 -6.42081315e-01 -7.19948245e-03 1.33766015e+02] [ 6.42054146e-01 7.66636535e-01 -5.90741214e-03 5.32764962e+00] [ 9.31242523e-03 -9.38192513e-05 9.99956634e-01 -1.99915886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.73538475 meters 0.05470216857725482 Centerline is valid? [True, True] Translation: X:133.79, Y:5.35, Z:-2.00 [[ 7.67198257e-01 -6.41355711e-01 -8.34778880e-03 1.33786276e+02] [ 6.41319111e-01 7.67243665e-01 -6.85242907e-03 5.34780213e+00] [ 1.07996326e-02 -9.64248516e-05 9.99941678e-01 -1.99995931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.76538475 meters 0.054725127965907366 Centerline is valid? [True, True] Translation: X:133.81, Y:5.37, Z:-2.00 [[ 7.67925170e-01 -6.40486117e-01 -8.27451712e-03 1.33806610e+02] [ 6.40450057e-01 7.67969744e-01 -6.79681057e-03 5.36607098e+00] [ 1.07078416e-02 -7.99730454e-05 9.99942666e-01 -2.00063894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.79538475 meters 0.05473417526711532 Centerline is valid? [True, True] Translation: X:133.83, Y:5.39, Z:-2.00 [[ 7.68882074e-01 -6.39342998e-01 -7.80308406e-03 1.33825986e+02] [ 6.39310833e-01 7.68921666e-01 -6.41336495e-03 5.38565366e+00] [ 1.01003004e-02 -5.74748299e-05 9.99948989e-01 -2.00202246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.82538475 meters 0.054588948677867774 Centerline is valid? [True, True] Translation: X:133.84, Y:5.41, Z:-2.00 [[ 7.69553065e-01 -6.38549201e-01 -6.55725969e-03 1.33844301e+02] [ 6.38526429e-01 7.69581000e-01 -5.39291589e-03 5.40756396e+00] [ 8.48998461e-03 -3.68486587e-05 9.99963959e-01 -2.00007695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.85538475 meters 0.054457337961284887 Centerline is valid? [True, True] Translation: X:133.87, Y:5.43, Z:-2.00 [[ 7.69677553e-01 -6.38401883e-01 -6.28495517e-03 1.33865839e+02] [ 6.38380931e-01 7.69703212e-01 -5.17225542e-03 5.42646153e+00] [ 8.13952778e-03 -3.12266301e-05 9.99966873e-01 -2.00006666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.88538475000001 meters 0.05446174642081599 Centerline is valid? [True, True] Translation: X:133.89, Y:5.45, Z:-2.00 [[ 7.70940942e-01 -6.36878328e-01 -6.00486107e-03 1.33885437e+02] [ 6.36859132e-01 7.70964328e-01 -4.94478219e-03 5.44629739e+00] [ 7.77875829e-03 -1.21155660e-05 9.99969745e-01 -1.99880028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.91538475000002 meters 0.05458287284136833 Centerline is valid? [True, True] Translation: X:133.90, Y:5.47, Z:-2.00 [[ 7.71511274e-01 -6.36183693e-01 -6.37675637e-03 1.33904670e+02] [ 6.36162001e-01 7.71537626e-01 -5.25358134e-03 5.46534893e+00] [ 8.26215025e-03 -3.45286937e-06 9.99965868e-01 -2.00358819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.94538475000002 meters 0.05460823157519713 Centerline is valid? [True, True] Translation: X:133.92, Y:5.49, Z:-2.00 [[ 7.72099991e-01 -6.35465826e-01 -6.69231677e-03 1.33924821e+02] [ 6.35441882e-01 7.72128994e-01 -5.51648992e-03 5.48507583e+00] [ 8.67287264e-03 6.70346070e-06 9.99962390e-01 -2.00181559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.97538475000002 meters 0.05484731597653567 Centerline is valid? [True, True] Translation: X:133.94, Y:5.51, Z:-2.00 [[ 7.73881166e-01 -6.33283029e-01 -7.78118463e-03 1.33943149e+02] [ 6.33250526e-01 7.73920283e-01 -6.41612060e-03 5.50571538e+00] [ 1.00852369e-02 3.78756285e-05 9.99949142e-01 -2.00357421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.00538475 meters 0.05520657457333176 Centerline is valid? [True, True] Translation: X:133.96, Y:5.53, Z:-2.01 [[ 7.76360242e-01 -6.30238798e-01 -7.98950819e-03 1.33960736e+02] [ 6.30204363e-01 7.76401347e-01 -6.58860533e-03 5.52748110e+00] [ 1.03554596e-02 8.01083127e-05 9.99946378e-01 -2.00523346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03538475 meters 0.05533827396353178 Centerline is valid? [True, True] Translation: X:133.98, Y:5.55, Z:-2.01 [[ 7.76779509e-01 -6.29717852e-01 -8.30797117e-03 1.33981223e+02] [ 6.29680528e-01 7.76823930e-01 -6.85667503e-03 5.54725011e+00] [ 1.07716015e-02 9.47569837e-05 9.99941980e-01 -2.00638176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.06538475 meters 0.05551863033694046 Centerline is valid? [True, True] Translation: X:134.00, Y:5.57, Z:-2.01 [[ 7.78016739e-01 -6.28179817e-01 -8.94831769e-03 1.34001831e+02] [ 6.28136375e-01 7.78068186e-01 -7.38866889e-03 5.56758871e+00] [ 1.16038140e-02 1.27744239e-04 9.99932665e-01 -2.00503358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.09538475 meters 0.05611636462243302 Centerline is valid? [True, True] Translation: X:134.02, Y:5.59, Z:-2.01 [[ 7.79113982e-01 -6.26812580e-01 -9.34838068e-03 1.34020173e+02] [ 6.26765078e-01 7.79170049e-01 -7.71822092e-03 5.58770060e+00] [ 1.21218562e-02 1.54135292e-04 9.99926516e-01 -2.00895914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.12538475 meters 0.056177627381266734 Centerline is valid? [True, True] Translation: X:134.04, Y:5.61, Z:-2.01 [[ 7.80851437e-01 -6.24646097e-01 -9.39611558e-03 1.34039369e+02] [ 6.24597870e-01 7.80907943e-01 -7.76439529e-03 5.60900690e+00] [ 1.21875005e-02 1.94045446e-04 9.99925711e-01 -2.00667431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.15538475 meters 0.05655438747718337 Centerline is valid? [True, True] Translation: X:134.06, Y:5.63, Z:-2.01 [[ 7.81971344e-01 -6.23251775e-01 -8.83416353e-03 1.34059495e+02] [ 6.23209045e-01 7.82021217e-01 -7.30087758e-03 5.62955782e+00] [ 1.14587882e-02 2.03546438e-04 9.99934325e-01 -2.00751627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.18538475 meters 0.05620064707553912 Centerline is valid? [True, True] Translation: X:134.08, Y:5.65, Z:-2.00 [[ 7.81288481e-01 -6.24128098e-01 -7.24059940e-03 1.34082404e+02] [ 6.24099377e-01 7.81322015e-01 -5.98962359e-03 5.64701007e+00] [ 9.39553209e-03 1.60770337e-04 9.99955848e-01 -2.00498016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.21538475 meters 0.056204865627233674 Centerline is valid? [True, True] Translation: X:134.10, Y:5.67, Z:-2.00 [[ 7.80875729e-01 -6.24645871e-01 -7.11555683e-03 1.34103957e+02] [ 6.24618122e-01 7.80908133e-01 -5.88979617e-03 5.66513979e+00] [ 9.23563305e-03 1.54693134e-04 9.99957339e-01 -2.00480502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.24538475 meters 0.05613438164553892 Centerline is valid? [True, True] Translation: X:134.13, Y:5.68, Z:-2.00 [[ 7.81149953e-01 -6.24308985e-01 -6.56074162e-03 1.34125524e+02] [ 6.24285352e-01 7.81177489e-01 -5.43413633e-03 5.68355911e+00] [ 8.51768380e-03 1.49100446e-04 9.99963713e-01 -2.00481372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.27538475 meters 0.0563941855456477 Centerline is valid? [True, True] Translation: X:134.15, Y:5.70, Z:-2.01 [[ 7.81513753e-01 -6.23851454e-01 -6.75400361e-03 1.34145646e+02] [ 6.23826405e-01 7.81542922e-01 -5.59271842e-03 5.70148899e+00] [ 8.76756924e-03 1.57460576e-04 9.99961552e-01 -2.00660973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.30538475 meters 0.0565101023439906 Centerline is valid? [True, True] Translation: X:134.17, Y:5.72, Z:-2.01 [[ 7.81078044e-01 -6.24393108e-01 -7.09484707e-03 1.34168034e+02] [ 6.24365433e-01 7.81110249e-01 -5.88093297e-03 5.71822099e+00] [ 9.21387177e-03 1.63690352e-04 9.99957538e-01 -2.00668756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.33538475 meters 0.056290029551726344 Centerline is valid? [True, True] Translation: X:134.19, Y:5.73, Z:-2.01 [[ 7.79514256e-01 -6.26348415e-01 -6.72213574e-03 1.34191201e+02] [ 6.26323640e-01 7.79543228e-01 -5.57256378e-03 5.73298703e+00] [ 8.73056189e-03 1.33660385e-04 9.99961879e-01 -2.00729220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.36538475 meters 0.05581229357891323 Centerline is valid? [True, True] Translation: X:134.22, Y:5.75, Z:-2.01 [[ 7.77797388e-01 -6.28473892e-01 -7.19655746e-03 1.34216855e+02] [ 6.28445542e-01 7.77830671e-01 -5.97061656e-03 5.74672510e+00] [ 9.35007974e-03 1.21285507e-04 9.99956280e-01 -2.00734450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.39538475 meters 0.05544057805000268 Centerline is valid? [True, True] Translation: X:134.24, Y:5.76, Z:-2.01 [[ 7.76772637e-01 -6.29737821e-01 -7.38564740e-03 1.34240265e+02] [ 6.29707983e-01 7.76807740e-01 -6.13120125e-03 5.76234922e+00] [ 9.59827738e-03 1.11748240e-04 9.99953929e-01 -2.00630281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.42538475 meters 0.0553747656260355 Centerline is valid? [True, True] Translation: X:134.26, Y:5.78, Z:-2.01 [[ 7.75041820e-01 -6.31860380e-01 -7.91445987e-03 1.34262616e+02] [ 6.31826202e-01 7.75082223e-01 -6.57256761e-03 5.77796914e+00] [ 1.02873022e-02 9.34516424e-05 9.99947080e-01 -2.01027958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.45538475 meters 0.05555867540906889 Centerline is valid? [True, True] Translation: X:134.28, Y:5.80, Z:-2.01 [[ 7.74624939e-01 -6.32365763e-01 -8.35134235e-03 1.34284627e+02] [ 6.32327693e-01 7.74669951e-01 -6.93948916e-03 5.79508468e+00] [ 1.08578293e-02 9.47163275e-05 9.99941048e-01 -2.01150034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.48538475 meters 0.05559792982652537 Centerline is valid? [True, True] Translation: X:134.31, Y:5.81, Z:-2.01 [[ 7.73627949e-01 -6.33567421e-01 -9.59789837e-03 1.34308516e+02] [ 6.33517191e-01 7.73687479e-01 -7.97833712e-03 5.80950910e+00] [ 1.24805883e-02 9.18309706e-05 9.99922110e-01 -2.01311647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.51538475 meters 0.055698017234243856 Centerline is valid? [True, True] Translation: X:134.33, Y:5.83, Z:-2.01 [[ 7.72582821e-01 -6.34834845e-01 -1.00251912e-02 1.34331417e+02] [ 6.34780085e-01 7.72647858e-01 -8.33853677e-03 5.82597000e+00] [ 1.30395362e-02 7.84185338e-05 9.99914979e-01 -2.01360550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.54538475 meters 0.055374626955627185 Centerline is valid? [True, True] Translation: X:134.36, Y:5.84, Z:-2.01 [[ 7.71709647e-01 -6.35915844e-01 -8.67520650e-03 1.34355119e+02] [ 6.35874890e-01 7.71758405e-01 -7.21719236e-03 5.84062639e+00] [ 1.12846905e-02 5.32309900e-05 9.99936324e-01 -2.01301060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.57538475 meters 0.055441053413678075 Centerline is valid? [True, True] Translation: X:134.38, Y:5.86, Z:-2.01 [[ 7.71448965e-01 -6.36232454e-01 -8.64628786e-03 1.34377785e+02] [ 6.36191728e-01 7.71497415e-01 -7.19888900e-03 5.85794015e+00] [ 1.12507556e-02 5.28786559e-05 9.99936707e-01 -2.01267487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.60538475 meters 0.05517730824458003 Centerline is valid? [True, True] Translation: X:134.40, Y:5.87, Z:-2.01 [[ 7.71236995e-01 -6.36505311e-01 -7.38152723e-03 1.34399839e+02] [ 6.36475626e-01 7.71272317e-01 -6.14735333e-03 5.87414563e+00] [ 9.60599065e-03 4.29041437e-05 9.99953860e-01 -2.01097398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.63538475000001 meters 0.05515354939019517 Centerline is valid? [True, True] Translation: X:134.42, Y:5.89, Z:-2.01 [[ 7.71197702e-01 -6.36556893e-01 -7.03041395e-03 1.34420367e+02] [ 6.36529942e-01 7.71229746e-01 -5.85767862e-03 5.89182215e+00] [ 9.15081007e-03 4.23593074e-05 9.99958130e-01 -2.01225047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.66538475000002 meters 0.05517551092637115 Centerline is valid? [True, True] Translation: X:134.44, Y:5.91, Z:-2.01 [[ 7.70601941e-01 -6.37273347e-01 -7.43831626e-03 1.34442149e+02] [ 6.37243167e-01 7.70637839e-01 -6.20218352e-03 5.90978597e+00] [ 9.68473422e-03 3.93984481e-05 9.99953101e-01 -2.01251658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.69538475000002 meters 0.055362710860716376 Centerline is valid? [True, True] Translation: X:134.46, Y:5.93, Z:-2.02 [[ 7.69836371e-01 -6.38184916e-01 -8.48374094e-03 1.34463888e+02] [ 6.38145684e-01 7.69883115e-01 -7.07629259e-03 5.92642120e+00] [ 1.10474721e-02 3.37247436e-05 9.99938974e-01 -2.01622725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.72538475000002 meters 0.055513940825651815 Centerline is valid? [True, True] Translation: X:134.49, Y:5.94, Z:-2.02 [[ 7.69796874e-01 -6.38214511e-01 -9.74731837e-03 1.34485205e+02] [ 6.38162717e-01 7.69858582e-01 -8.13083271e-03 5.94425324e+00] [ 1.26932721e-02 3.87144267e-05 9.99919436e-01 -2.01866082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.75538475 meters 0.05550939617971544 Centerline is valid? [True, True] Translation: X:134.51, Y:5.96, Z:-2.02 [[ 7.69898515e-01 -6.38104238e-01 -8.90268851e-03 1.34505764e+02] [ 6.38060953e-01 7.69949985e-01 -7.43235599e-03 5.96190936e+00] [ 1.15972427e-02 4.17019261e-05 9.99932749e-01 -2.01937059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.78538475 meters 0.05552468023067346 Centerline is valid? [True, True] Translation: X:134.53, Y:5.98, Z:-2.02 [[ 7.69747174e-01 -6.38289979e-01 -8.67126375e-03 1.34526084e+02] [ 6.38248879e-01 7.69796012e-01 -7.24351477e-03 5.98001258e+00] [ 1.12985671e-02 4.12506615e-05 9.99936168e-01 -2.01906458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.81538475 meters 0.05510611787355647 Centerline is valid? [True, True] Translation: X:134.55, Y:6.00, Z:-2.02 [[ 7.69188443e-01 -6.38975400e-01 -7.71869670e-03 1.34548096e+02] [ 6.38942829e-01 7.69227169e-01 -6.45161316e-03 5.99838797e+00] [ 1.00598533e-02 3.07003797e-05 9.99949398e-01 -2.01509326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.84538475 meters 0.054993462953815665 Centerline is valid? [True, True] Translation: X:134.57, Y:6.02, Z:-2.02 [[ 7.68698963e-01 -6.39569200e-01 -7.28991026e-03 1.34569358e+02] [ 6.39540135e-01 7.68733529e-01 -6.09732853e-03 6.01646920e+00] [ 9.50366197e-03 2.48199267e-05 9.99954839e-01 -2.01503519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.87538475 meters 0.0549578128708074 Centerline is valid? [True, True] Translation: X:134.59, Y:6.03, Z:-2.01 [[ 7.68307183e-01 -6.40036715e-01 -7.55481875e-03 1.34591603e+02] [ 6.40005488e-01 7.68344325e-01 -6.32245832e-03 6.03453182e+00] [ 9.85130757e-03 2.24646889e-05 9.99951474e-01 -2.01436533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.90538475 meters 0.05520847223338603 Centerline is valid? [True, True] Translation: X:134.61, Y:6.05, Z:-2.02 [[ 7.68550509e-01 -6.39730077e-01 -8.69166341e-03 1.34612782e+02] [ 6.39688693e-01 7.68599654e-01 -7.27649576e-03 6.05212379e+00] [ 1.13354027e-02 3.23957073e-05 9.99935752e-01 -2.01647635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.93538475 meters 0.055235063533254136 Centerline is valid? [True, True] Translation: X:134.63, Y:6.07, Z:-2.02 [[ 7.68028263e-01 -6.40356426e-01 -8.73132506e-03 1.34634832e+02] [ 6.40314652e-01 7.68077892e-01 -7.31430575e-03 6.06977038e+00] [ 1.13901004e-02 2.67981690e-05 9.99935130e-01 -2.01588998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.96538475 meters 0.05513032855067668 Centerline is valid? [True, True] Translation: X:134.66, Y:6.09, Z:-2.02 [[ 7.67845517e-01 -6.40585530e-01 -7.96499271e-03 1.34656558e+02] [ 6.40550742e-01 7.67886826e-01 -6.67596608e-03 6.08848106e+00] [ 1.03927402e-02 2.41286322e-05 9.99945994e-01 -2.01653322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.99538475 meters 0.05515204399757725 Centerline is valid? [True, True] Translation: X:134.68, Y:6.11, Z:-2.02 [[ 7.67869202e-01 -6.40562913e-01 -7.48612482e-03 1.34678390e+02] [ 6.40532147e-01 7.67905693e-01 -6.27817942e-03 6.10704699e+00] [ 9.77020677e-03 2.57170241e-05 9.99952270e-01 -2.01616611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.02538475 meters 0.05493802857317837 Centerline is valid? [True, True] Translation: X:134.70, Y:6.12, Z:-2.02 [[ 7.67252526e-01 -6.41313121e-01 -6.40637572e-03 1.34698905e+02] [ 6.41290600e-01 7.67279272e-01 -5.37452868e-03 6.12455527e+00] [ 8.36223506e-03 1.52721803e-05 9.99965036e-01 -2.01544425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.05538475 meters 0.055158396794010786 Centerline is valid? [True, True] Translation: X:134.72, Y:6.14, Z:-2.02 [[ 7.67071028e-01 -6.41507191e-01 -8.40011959e-03 1.34719123e+02] [ 6.41468443e-01 7.67117021e-01 -7.05072896e-03 6.14430623e+00] [ 1.09669680e-02 1.99982762e-05 9.99939861e-01 -2.01863499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.08538475 meters 0.055158396794010786 Centerline is valid? [True, True] Translation: X:134.74, Y:6.16, Z:-2.02 [[ 7.66892413e-01 -6.41720734e-01 -8.39799299e-03 1.34740211e+02] [ 6.41681971e-01 7.66938394e-01 -7.05326273e-03 6.16223449e+00] [ 1.09669682e-02 2.02529816e-05 9.99939861e-01 -2.01900599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.11538475 meters 0.055362186063316866 Centerline is valid? [True, True] Translation: X:134.76, Y:6.18, Z:-2.02 [[ 7.66746639e-01 -6.41868556e-01 -1.02151529e-02 1.34761625e+02] [ 6.41811172e-01 7.66814682e-01 -8.58274259e-03 6.18082757e+00] [ 1.33421219e-02 2.45897492e-05 9.99910990e-01 -2.02108125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.14538475 meters 0.05529983609483532 Centerline is valid? [True, True] Translation: X:134.78, Y:6.20, Z:-2.02 [[ 7.66144990e-01 -6.42596243e-01 -9.58762183e-03 1.34783277e+02] [ 6.42545682e-01 7.66204978e-01 -8.06094446e-03 6.19661248e+00] [ 1.25260162e-02 1.53672085e-05 9.99921546e-01 -2.02149067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.17538475 meters 0.05515103190446248 Centerline is valid? [True, True] Translation: X:134.81, Y:6.21, Z:-2.02 [[ 7.65904284e-01 -6.42897669e-01 -8.55657847e-03 1.34805195e+02] [ 6.42857369e-01 7.65952079e-01 -7.19833905e-03 6.21406704e+00] [ 1.11817245e-02 1.25791930e-05 9.99937482e-01 -2.02009051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.20538475 meters 0.05509641513366254 Centerline is valid? [True, True] Translation: X:134.83, Y:6.23, Z:-2.02 [[ 7.65203609e-01 -6.43748696e-01 -7.14514794e-03 1.34826751e+02] [ 6.43720594e-01 7.65236967e-01 -6.01500554e-03 6.23238393e+00] [ 9.33988332e-03 3.22506834e-06 9.99956382e-01 -2.02048943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.23538475 meters 0.055039257084497674 Centerline is valid? [True, True] Translation: X:134.85, Y:6.25, Z:-2.02 [[ 7.64851187e-01 -6.44163456e-01 -7.49023138e-03 1.34847886e+02] [ 6.44132559e-01 7.64887863e-01 -6.30904376e-03 6.25092762e+00] [ 9.79324250e-03 7.77698404e-07 9.99952045e-01 -2.02122817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.26538475 meters 0.05507538627770571 Centerline is valid? [True, True] Translation: X:134.87, Y:6.27, Z:-2.02 [[ 7.65163601e-01 -6.43787839e-01 -7.86651395e-03 1.34868254e+02] [ 6.43753729e-01 7.65204037e-01 -6.62712446e-03 6.26940079e+00] [ 1.02859504e-02 6.73673161e-06 9.99947098e-01 -2.02292995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.29538475 meters 0.05507538627770571 Centerline is valid? [True, True] Translation: X:134.89, Y:6.29, Z:-2.02 [[ 7.64984687e-01 -6.44000455e-01 -7.86402849e-03 1.34889306e+02] [ 6.43966326e-01 7.65025107e-01 -6.63007491e-03 6.28737008e+00] [ 1.02859505e-02 7.73624718e-06 9.99947098e-01 -2.02330145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.32538475 meters 0.055564571083449955 Centerline is valid? [True, True] Translation: X:134.91, Y:6.30, Z:-2.03 [[ 7.64880042e-01 -6.44094253e-01 -1.00555960e-02 1.34910231e+02] [ 6.44038485e-01 7.64946138e-01 -8.47564546e-03 6.30435739e+00] [ 1.31511039e-02 6.66121755e-06 9.99913520e-01 -2.02826313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.35538475 meters 0.055171420095164965 Centerline is valid? [True, True] Translation: X:134.93, Y:6.32, Z:-2.02 [[ 7.64194893e-01 -6.44910559e-01 -9.82531930e-03 1.34933062e+02] [ 6.44857282e-01 7.64258053e-01 -8.28941595e-03 6.32057645e+00] [ 1.28550113e-02 -1.19936550e-06 9.99917371e-01 -2.02254588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.38538475000001 meters 0.05489841186215704 Centerline is valid? [True, True] Translation: X:134.95, Y:6.34, Z:-2.02 [[ 7.63666877e-01 -6.45555679e-01 -8.41223191e-03 1.34954053e+02] [ 6.45516646e-01 7.63713209e-01 -7.09896121e-03 6.33803902e+00] [ 1.10073073e-02 -8.99418364e-06 9.99939418e-01 -2.02302719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.41538475000002 meters 0.054668922569278085 Centerline is valid? [True, True] Translation: X:134.98, Y:6.35, Z:-2.02 [[ 7.60529367e-01 -6.49273483e-01 -6.24708418e-03 1.34978026e+02] [ 6.49252040e-01 7.60555023e-01 -5.27700047e-03 6.35305690e+00] [ 8.17746773e-03 -4.26183150e-05 9.99966563e-01 -2.02111113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.44538475000002 meters 0.05469433493000985 Centerline is valid? [True, True] Translation: X:135.00, Y:6.37, Z:-2.02 [[ 7.60029393e-01 -6.49861882e-01 -5.90393275e-03 1.34999264e+02] [ 6.49842723e-01 7.60052322e-01 -4.99034386e-03 6.37145784e+00] [ 7.73033205e-03 -4.38197205e-05 9.99970120e-01 -2.02249115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.47538475000002 meters 0.054815137653928064 Centerline is valid? [True, True] Translation: X:135.02, Y:6.39, Z:-2.02 [[ 7.56927500e-01 -6.53485821e-01 -4.12815467e-03 1.35023729e+02] [ 6.53476489e-01 7.56938755e-01 -3.49278320e-03 6.38594299e+00] [ 5.40724456e-03 -5.38683626e-05 9.99985379e-01 -2.01990823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.50538475 meters 0.05479914778273085 Centerline is valid? [True, True] Translation: X:135.05, Y:6.40, Z:-2.02 [[ 7.56242369e-01 -6.54276623e-01 -4.42500556e-03 1.35045656e+02] [ 6.54265903e-01 7.56255312e-01 -3.74569950e-03 6.40376594e+00] [ 5.79715757e-03 -6.24735950e-05 9.99983194e-01 -2.01990609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.53538475 meters 0.0550696361075892 Centerline is valid? [True, True] Translation: X:135.07, Y:6.42, Z:-2.03 [[ 7.55437914e-01 -6.55184398e-01 -6.85290018e-03 1.35066269e+02] [ 6.55158723e-01 7.55468989e-01 -5.80132280e-03 6.42238796e+00] [ 8.97808975e-03 -1.07198129e-04 9.99959690e-01 -2.02542580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.56538475 meters 0.05521198785852662 Centerline is valid? [True, True] Translation: X:135.09, Y:6.44, Z:-2.03 [[ 7.55909952e-01 -6.54628392e-01 -7.86210373e-03 1.35087171e+02] [ 6.54594540e-01 7.55950829e-01 -6.65825695e-03 6.44171200e+00] [ 1.03020479e-02 -1.13447487e-04 9.99946926e-01 -2.02723295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.59538475 meters 0.05487961179512602 Centerline is valid? [True, True] Translation: X:135.11, Y:6.46, Z:-2.03 [[ 7.56952203e-01 -6.53429173e-01 -7.32646614e-03 1.35107042e+02] [ 6.53399685e-01 7.56987654e-01 -6.20840072e-03 6.46197284e+00] [ 9.60279456e-03 -8.76480658e-05 9.99953888e-01 -2.02654175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.62538475 meters 0.05460942264455854 Centerline is valid? [True, True] Translation: X:135.13, Y:6.48, Z:-2.03 [[ 7.58747397e-01 -6.51357301e-01 -6.00453481e-03 1.35125958e+02] [ 6.51337422e-01 7.58771154e-01 -5.08897222e-03 6.48194416e+00] [ 7.87080702e-03 -4.97338037e-05 9.99969023e-01 -2.02639995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.65538475 meters 0.05464564254349201 Centerline is valid? [True, True] Translation: X:135.15, Y:6.50, Z:-2.03 [[ 7.58957625e-01 -6.51109912e-01 -6.26155501e-03 1.35146321e+02] [ 6.51088245e-01 7.58983452e-01 -5.31191707e-03 6.50056865e+00] [ 8.21105849e-03 -4.53048990e-05 9.99966288e-01 -2.02851724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.68538475 meters 0.054762009591041334 Centerline is valid? [True, True] Translation: X:135.17, Y:6.52, Z:-2.03 [[ 7.59589435e-01 -6.50365171e-01 -7.00241442e-03 1.35165792e+02] [ 6.50338020e-01 7.59621710e-01 -5.94279909e-03 6.52058709e+00] [ 9.18417556e-03 -3.98489227e-05 9.99957824e-01 -2.02852856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.71538475 meters 0.05462526744048499 Centerline is valid? [True, True] Translation: X:135.18, Y:6.54, Z:-2.03 [[ 7.60710876e-01 -6.49061178e-01 -6.20887904e-03 1.35184744e+02] [ 6.49039761e-01 7.60736214e-01 -5.27280514e-03 6.53962575e+00] [ 8.14569225e-03 -1.87291516e-05 9.99966823e-01 -2.02918454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.74538475 meters 0.054458205333793405 Centerline is valid? [True, True] Translation: X:135.21, Y:6.56, Z:-2.03 [[ 7.60978053e-01 -6.48753571e-01 -5.58640230e-03 1.35205781e+02] [ 6.48736199e-01 7.60998557e-01 -4.74766854e-03 6.55830410e+00] [ 7.33131101e-03 -1.12298285e-05 9.99973126e-01 -2.02576747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.77538475 meters 0.05451677762113628 Centerline is valid? [True, True] Translation: X:135.23, Y:6.58, Z:-2.03 [[ 7.61207155e-01 -6.48482412e-01 -5.85052551e-03 1.35226943e+02] [ 6.48463330e-01 7.61229637e-01 -4.97480779e-03 6.57705629e+00] [ 7.67966877e-03 -6.99197427e-06 9.99970511e-01 -2.02618006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.80538475 meters 0.05448402765789889 Centerline is valid? [True, True] Translation: X:135.25, Y:6.59, Z:-2.03 [[ 7.61231629e-01 -6.48450099e-01 -6.23500814e-03 1.35246750e+02] [ 6.48428416e-01 7.61257163e-01 -5.30290610e-03 6.59485561e+00] [ 8.18511459e-03 -6.21659483e-06 9.99966501e-01 -2.02840273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.83538475 meters 0.054953079177057246 Centerline is valid? [True, True] Translation: X:135.27, Y:6.62, Z:-2.03 [[ 7.62072100e-01 -6.47429092e-01 -9.03799661e-03 1.35265298e+02] [ 6.47383418e-01 7.62125692e-01 -7.69026155e-03 6.61586752e+00] [ 1.18669885e-02 9.48462822e-06 9.99929585e-01 -2.03316314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.86538475 meters 0.05510610908022261 Centerline is valid? [True, True] Translation: X:135.28, Y:6.64, Z:-2.04 [[ 7.63066213e-01 -6.46250778e-01 -9.48084358e-03 1.35283848e+02] [ 6.46200405e-01 7.63125108e-01 -8.06880550e-03 6.63530439e+00] [ 1.24495416e-02 3.05078963e-05 9.99922501e-01 -2.03572982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.89538475 meters 0.05460894677362941 Centerline is valid? [True, True] Translation: X:135.31, Y:6.65, Z:-2.03 [[ 7.61864197e-01 -6.47706135e-01 -6.30140443e-03 1.35305291e+02] [ 6.47683885e-01 7.61890257e-01 -5.36867629e-03 6.65379665e+00] [ 8.27830320e-03 8.88415215e-06 9.99965734e-01 -2.03141707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.92538475 meters 0.054569061294440696 Centerline is valid? [True, True] Translation: X:135.33, Y:6.67, Z:-2.03 [[ 7.61632446e-01 -6.47986893e-01 -5.38554643e-03 1.35325661e+02] [ 6.47970638e-01 7.61651486e-01 -4.58970555e-03 6.67225827e+00] [ 7.07597849e-03 5.99270763e-06 9.99974965e-01 -2.03037184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.95538475 meters 0.054428740489542646 Centerline is valid? [True, True] Translation: X:135.34, Y:6.69, Z:-2.03 [[ 7.62184037e-01 -6.47348394e-01 -3.94340556e-03 1.35344926e+02] [ 6.47339659e-01 7.62194238e-01 -3.36291180e-03 6.69195137e+00] [ 5.18261655e-03 1.04348764e-05 9.99986570e-01 -2.02829008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.98538475 meters 0.054532767666955105 Centerline is valid? [True, True] Translation: X:135.36, Y:6.71, Z:-2.03 [[ 7.63229184e-01 -6.46115780e-01 -3.95110912e-03 1.35364482e+02] [ 6.46106976e-01 7.63239411e-01 -3.37310726e-03 6.71133184e+00] [ 5.19506002e-03 2.16147403e-05 9.99986505e-01 -2.02886967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.01538475 meters 0.054803093006721974 Centerline is valid? [True, True] Translation: X:135.38, Y:6.73, Z:-2.03 [[ 7.66337957e-01 -6.42424517e-01 -4.10789024e-03 1.35381517e+02] [ 6.42414943e-01 7.66348966e-01 -3.50771683e-03 6.73356629e+00] [ 5.40152072e-03 4.91264772e-05 9.99985410e-01 -2.02941104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.04538475 meters 0.05479812703430689 Centerline is valid? [True, True] Translation: X:135.40, Y:6.75, Z:-2.03 [[ 7.66885360e-01 -6.41772888e-01 -3.79522935e-03 1.35401941e+02] [ 6.41764694e-01 7.66894750e-01 -3.24354237e-03 6.75331842e+00] [ 4.99215902e-03 5.17809569e-05 9.99987538e-01 -2.02966119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.07538475 meters 0.05488800332015216 Centerline is valid? [True, True] Translation: X:135.42, Y:6.77, Z:-2.03 [[ 7.67291871e-01 -6.41287737e-01 -3.63631245e-03 1.35422038e+02] [ 6.41280199e-01 7.67300486e-01 -3.10981819e-03 6.77250049e+00] [ 4.78443257e-03 5.42430467e-05 9.99988553e-01 -2.02899312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.10538475 meters 0.055040784074880944 Centerline is valid? [True, True] Translation: X:135.44, Y:6.79, Z:-2.03 [[ 7.68183322e-01 -6.40224950e-01 -2.52937240e-03 1.35440414e+02] [ 6.40221287e-01 7.68187485e-01 -2.16630493e-03 6.79224270e+00] [ 3.32995468e-03 4.47612638e-05 9.99994455e-01 -2.02989642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.13538475000001 meters 0.055152191252869735 Centerline is valid? [True, True] Translation: X:135.46, Y:6.81, Z:-2.03 [[ 7.68415054e-01 -6.39934192e-01 -4.74709337e-03 1.35462538e+02] [ 6.39921303e-01 7.68429712e-01 -4.06250905e-03 6.81070301e+00] [ 6.24754603e-03 8.39269372e-05 9.99980480e-01 -2.03213031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.16538475000002 meters 0.055283839366788316 Centerline is valid? [True, True] Translation: X:135.48, Y:6.83, Z:-2.03 [[ 7.68214508e-01 -6.40168345e-01 -5.56409028e-03 1.35483819e+02] [ 6.40150633e-01 7.68234652e-01 -4.76307846e-03 6.82870919e+00] [ 7.32369902e-03 9.72100567e-05 9.99973177e-01 -2.03324167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.19538475000002 meters 0.05532296699474622 Centerline is valid? [True, True] Translation: X:135.51, Y:6.85, Z:-2.04 [[ 7.67869818e-01 -6.40574836e-01 -6.31052842e-03 1.35505293e+02] [ 6.40552048e-01 7.67895741e-01 -5.40415713e-03 6.84631453e+00] [ 8.30759496e-03 1.07467246e-04 9.99965486e-01 -2.03507545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.22538475000002 meters 0.0553512910969408 Centerline is valid? [True, True] Translation: X:135.53, Y:6.86, Z:-2.04 [[ 7.67621709e-01 -6.40867966e-01 -6.72022761e-03 1.35527185e+02] [ 6.40842105e-01 7.67651117e-01 -5.75844252e-03 6.86341970e+00] [ 8.84919158e-03 1.13700677e-04 9.99960839e-01 -2.03627431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.25538475 meters 0.05532555114856851 Centerline is valid? [True, True] Translation: X:135.55, Y:6.88, Z:-2.04 [[ 7.67503838e-01 -6.41008669e-01 -6.76343022e-03 1.35548434e+02] [ 6.40982450e-01 7.67533630e-01 -5.79876638e-03 6.88165051e+00] [ 8.90821967e-03 1.15335377e-04 9.99960314e-01 -2.03755864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.28538475 meters 0.05494135933631492 Centerline is valid? [True, True] Translation: X:135.57, Y:6.90, Z:-2.04 [[ 7.66006488e-01 -6.42805854e-01 -5.89017687e-03 1.35571748e+02] [ 6.42786015e-01 7.66029130e-01 -5.05081958e-03 6.89681170e+00] [ 7.75874345e-03 8.28372434e-05 9.99969897e-01 -2.03720143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.31538475 meters 0.05492077093010791 Centerline is valid? [True, True] Translation: X:135.60, Y:6.91, Z:-2.04 [[ 7.64854404e-01 -6.44149235e-01 -8.33687317e-03 1.35595742e+02] [ 6.44109528e-01 7.64899832e-01 -7.15280051e-03 6.91253501e+00] [ 1.09843439e-02 1.00991525e-04 9.99939665e-01 -2.03838738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.34538475 meters 0.05463578130145477 Centerline is valid? [True, True] Translation: X:135.62, Y:6.93, Z:-2.04 [[ 7.62093616e-01 -6.47409630e-01 -8.60763610e-03 1.35620042e+02] [ 6.47367460e-01 7.62142222e-01 -7.38947536e-03 6.92728069e+00] [ 1.13442604e-02 5.91684688e-05 9.99935650e-01 -2.03858370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.37538475 meters 0.054639399350583435 Centerline is valid? [True, True] Translation: X:135.64, Y:6.94, Z:-2.04 [[ 7.60687211e-01 -6.49044864e-01 -9.78425312e-03 1.35642985e+02] [ 6.48990463e-01 7.60750132e-01 -8.40330046e-03 6.94488039e+00] [ 1.28974909e-02 4.23962300e-05 9.99916823e-01 -2.04068659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.40538475 meters 0.05452350347453441 Centerline is valid? [True, True] Translation: X:135.67, Y:6.96, Z:-2.04 [[ 7.59187205e-01 -6.50802312e-01 -9.54662312e-03 1.35665654e+02] [ 6.50750590e-01 7.59247226e-01 -8.20482728e-03 6.96077466e+00] [ 1.25879677e-02 1.65292721e-05 9.99920768e-01 -2.04099790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.43538475 meters 0.054498476361979964 Centerline is valid? [True, True] Translation: X:135.69, Y:6.98, Z:-2.04 [[ 7.58530312e-01 -6.51576876e-01 -8.90732364e-03 1.35687683e+02] [ 6.51531849e-01 7.58582609e-01 -7.66002520e-03 6.97717153e+00] [ 1.17480361e-02 6.95626337e-06 9.99930989e-01 -2.04233598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.46538475 meters 0.0545194524360948 Centerline is valid? [True, True] Translation: X:135.71, Y:6.99, Z:-2.04 [[ 7.57997214e-01 -6.52205576e-01 -8.25294382e-03 1.35709208e+02] [ 6.52166911e-01 7.58042141e-01 -7.10161277e-03 6.99435320e+00] [ 1.08877906e-02 7.05806421e-07 9.99940726e-01 -2.04331781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.49538475 meters 0.05399004994561383 Centerline is valid? [True, True] Translation: X:135.73, Y:7.01, Z:-2.04 [[ 7.57725736e-01 -6.52543604e-01 -6.20918001e-03 1.35732608e+02] [ 6.52521696e-01 7.57751176e-01 -5.34713880e-03 7.01130742e+00] [ 8.19425468e-03 4.00146446e-08 9.99966427e-01 -2.03735231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.52538475 meters 0.05406709843303802 Centerline is valid? [True, True] Translation: X:135.75, Y:7.03, Z:-2.04 [[ 7.57124490e-01 -6.53245585e-01 -5.71954294e-03 1.35754863e+02] [ 6.53226989e-01 7.57146093e-01 -4.92894090e-03 7.02785251e+00] [ 7.55033847e-03 -4.33795588e-06 9.99971496e-01 -2.03752043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.55538475 meters 0.05384906763865712 Centerline is valid? [True, True] Translation: X:135.78, Y:7.04, Z:-2.04 [[ 7.56378161e-01 -6.54115423e-01 -5.00900996e-03 1.35778512e+02] [ 6.54101161e-01 7.56394747e-01 -4.31952087e-03 7.04427475e+00] [ 6.61425404e-03 -9.20797713e-06 9.99978126e-01 -2.03703804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.58538475 meters 0.05383942548260268 Centerline is valid? [True, True] Translation: X:135.80, Y:7.06, Z:-2.04 [[ 7.55810023e-01 -6.54773612e-01 -4.76720123e-03 1.35800340e+02] [ 6.54760689e-01 7.55825057e-01 -4.11374440e-03 7.06157374e+00] [ 6.29674143e-03 -1.21667153e-05 9.99980175e-01 -2.03649941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.61538475 meters 0.05385212537010929 Centerline is valid? [True, True] Translation: X:135.82, Y:7.08, Z:-2.04 [[ 7.55473912e-01 -6.55160618e-01 -4.87164610e-03 1.35822370e+02] [ 6.55147116e-01 7.55489619e-01 -4.20618355e-03 7.07917618e+00] [ 6.43620387e-03 -1.39829601e-05 9.99979287e-01 -2.03708103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.64538475 meters 0.05384616899293339 Centerline is valid? [True, True] Translation: X:135.84, Y:7.10, Z:-2.04 [[ 7.55492586e-01 -6.55140632e-01 -4.65891633e-03 1.35843940e+02] [ 6.55128266e-01 7.55506951e-01 -4.02519164e-03 7.09763927e+00] [ 6.15691026e-03 -1.11853415e-05 9.99981046e-01 -2.03624018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.67538475 meters 0.05384093789164317 Centerline is valid? [True, True] Translation: X:135.87, Y:7.12, Z:-2.04 [[ 7.55217414e-01 -6.55463569e-01 -3.76399241e-03 1.35865864e+02] [ 6.55455487e-01 7.55226794e-01 -3.25488342e-03 7.11538085e+00] [ 4.97612542e-03 -8.98483699e-06 9.99987619e-01 -2.03767916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.70538475 meters 0.05393385961038436 Centerline is valid? [True, True] Translation: X:135.89, Y:7.13, Z:-2.04 [[ 7.54786142e-01 -6.55953073e-01 -4.84210714e-03 1.35887008e+02] [ 6.55939708e-01 7.54801673e-01 -4.18732459e-03 7.13337956e+00] [ 6.40151900e-03 -1.55957682e-05 9.99979510e-01 -2.04029940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.73538475 meters 0.0541188421612689 Centerline is valid? [True, True] Translation: X:135.91, Y:7.15, Z:-2.04 [[ 7.54167629e-01 -6.56650890e-01 -6.38719253e-03 1.35908591e+02] [ 6.56627648e-01 7.54194675e-01 -5.52483207e-03 7.15060042e+00] [ 8.44507249e-03 -2.73577023e-05 9.99964339e-01 -2.04333143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.76538475 meters 0.05443671309969128 Centerline is valid? [True, True] Translation: X:135.93, Y:7.17, Z:-2.04 [[ 7.53655640e-01 -6.57228356e-01 -7.35288487e-03 1.35930721e+02] [ 6.57197556e-01 7.53691506e-01 -6.36285883e-03 7.16869403e+00] [ 9.72365813e-03 -3.68935213e-05 9.99952723e-01 -2.04496729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.79538475 meters 0.05432310383796218 Centerline is valid? [True, True] Translation: X:135.95, Y:7.19, Z:-2.05 [[ 7.53561127e-01 -6.57324405e-01 -8.38183818e-03 1.35952322e+02] [ 6.57284349e-01 7.53607740e-01 -7.25663549e-03 7.18681053e+00] [ 1.10865817e-02 -4.09326386e-05 9.99938541e-01 -2.04519514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.82538475 meters 0.05436975996736911 Centerline is valid? [True, True] Translation: X:135.97, Y:7.21, Z:-2.05 [[ 7.53533240e-01 -6.57349888e-01 -8.87585208e-03 1.35973826e+02] [ 6.57304921e-01 7.53585512e-01 -7.68876093e-03 7.20528510e+00] [ 1.17429197e-02 -4.04043139e-05 9.99931049e-01 -2.04584299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.85538475 meters 0.05428537882285801 Centerline is valid? [True, True] Translation: X:135.99, Y:7.22, Z:-2.05 [[ 7.53955097e-01 -6.56862884e-01 -9.10291763e-03 1.35994216e+02] [ 6.56815493e-01 7.54010047e-01 -7.89036401e-03 7.22259585e+00] [ 1.20465786e-02 -2.99571646e-05 9.99927437e-01 -2.04630558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.88538475000001 meters 0.05423954834689612 Centerline is valid? [True, True] Translation: X:136.02, Y:7.24, Z:-2.05 [[ 7.53261481e-01 -6.57668753e-01 -8.30379966e-03 1.36015300e+02] [ 6.57629321e-01 7.53307248e-01 -7.20179788e-03 7.24061662e+00] [ 1.09917099e-02 -3.59852031e-05 9.99939589e-01 -2.04574630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.91538475000002 meters 0.053987117299994884 Centerline is valid? [True, True] Translation: X:136.04, Y:7.26, Z:-2.04 [[ 7.53466199e-01 -6.57446559e-01 -7.26005919e-03 1.36036026e+02] [ 6.57416369e-01 7.53501175e-01 -6.30048680e-03 7.25962881e+00] [ 9.61269650e-03 -2.56779131e-05 9.99953797e-01 -2.04425175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.94538475000002 meters 0.054060634914714446 Centerline is valid? [True, True] Translation: X:136.06, Y:7.28, Z:-2.05 [[ 7.53982078e-01 -6.56849978e-01 -7.68978187e-03 1.36055438e+02] [ 6.56816039e-01 7.54021291e-01 -6.67710430e-03 7.28045892e+00] [ 1.01841151e-02 -1.63550954e-05 9.99948140e-01 -2.04614884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97538475000002 meters 0.054060634914714446 Centerline is valid? [True, True] Translation: X:136.08, Y:7.30, Z:-2.05 [[ 7.53797176e-01 -6.57062184e-01 -7.68789348e-03 1.36076228e+02] [ 6.57028235e-01 7.53836379e-01 -6.67927930e-03 7.29874017e+00] [ 1.01841156e-02 -1.63412080e-05 9.99948140e-01 -2.04651968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.00538475 meters 0.05418634201760881 Centerline is valid? [True, True] Translation: X:136.10, Y:7.32, Z:-2.05 [[ 7.55627604e-01 -6.54940098e-01 -8.96615918e-03 1.36095090e+02] [ 6.54893731e-01 7.55680797e-01 -7.79315932e-03 7.32044023e+00] [ 1.18796069e-02 1.68448635e-05 9.99929435e-01 -2.04635742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.03538475 meters 0.054178067727152765 Centerline is valid? [True, True] Translation: X:136.11, Y:7.34, Z:-2.05 [[ 7.55916367e-01 -6.54613470e-01 -8.46471069e-03 1.36114458e+02] [ 6.54572098e-01 7.55963759e-01 -7.35963106e-03 7.33940495e+00] [ 1.12167281e-02 2.25021387e-05 9.99937090e-01 -2.04652921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.06538475 meters 0.05425018031919825 Centerline is valid? [True, True] Translation: X:136.13, Y:7.36, Z:-2.05 [[ 7.55834964e-01 -6.54714851e-01 -7.87226036e-03 1.36134585e+02] [ 6.54679012e-01 7.55875958e-01 -6.85030983e-03 7.35821034e+00] [ 1.04354519e-02 2.39000449e-05 9.99945549e-01 -2.04954441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.09538475 meters 0.05413962242159363 Centerline is valid? [True, True] Translation: X:136.15, Y:7.38, Z:-2.05 [[ 7.55868789e-01 -6.54678130e-01 -7.67590337e-03 1.36154791e+02] [ 6.54644017e-01 7.55907763e-01 -6.68321512e-03 7.37731901e+00] [ 1.01776297e-02 2.66494995e-05 9.99948206e-01 -2.04703336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.12538475 meters 0.05423772843488486 Centerline is valid? [True, True] Translation: X:136.18, Y:7.40, Z:-2.05 [[ 7.55695613e-01 -6.54878591e-01 -7.62702472e-03 1.36175766e+02] [ 6.54844883e-01 7.55734100e-01 -6.64449478e-03 7.39646793e+00] [ 1.01153400e-02 2.66974427e-05 9.99948838e-01 -2.04788744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.15538475 meters 0.05408289935412707 Centerline is valid? [True, True] Translation: X:136.20, Y:7.41, Z:-2.05 [[ 7.55014833e-01 -6.55666882e-01 -7.31723802e-03 1.36198204e+02] [ 6.55635856e-01 7.55050290e-01 -6.37842252e-03 7.41385512e+00] [ 9.70700309e-03 1.83599986e-05 9.99952886e-01 -2.04607799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.18538475 meters 0.05408289935412707 Centerline is valid? [True, True] Translation: X:136.22, Y:7.43, Z:-2.05 [[ 7.54830308e-01 -6.55879326e-01 -7.31544842e-03 1.36218963e+02] [ 6.55848290e-01 7.54865756e-01 -6.38047575e-03 7.43216832e+00] [ 9.70700363e-03 1.83521341e-05 9.99952886e-01 -2.04644880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.21538475 meters 0.05407791759619247 Centerline is valid? [True, True] Translation: X:136.24, Y:7.45, Z:-2.05 [[ 7.54791529e-01 -6.55927348e-01 -7.00441981e-03 1.36239752e+02] [ 6.55898864e-01 7.54824029e-01 -6.11281927e-03 7.45156953e+00] [ 9.29666971e-03 1.97132131e-05 9.99956785e-01 -2.04743428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.24538475 meters 0.053874940695879545 Centerline is valid? [True, True] Translation: X:136.26, Y:7.47, Z:-2.05 [[ 7.55049369e-01 -6.55626604e-01 -7.36249294e-03 1.36260504e+02] [ 6.55595083e-01 7.55085264e-01 -6.42899158e-03 7.47119589e+00] [ 9.77432784e-03 2.73918734e-05 9.99952230e-01 -2.04511545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.27538475 meters 0.054055465273740784 Centerline is valid? [True, True] Translation: X:136.28, Y:7.49, Z:-2.05 [[ 7.55320162e-01 -6.55321418e-01 -6.72984721e-03 1.36280302e+02] [ 6.55295035e-01 7.55350142e-01 -5.88038996e-03 7.49061853e+00] [ 8.93693653e-03 3.15416330e-05 9.99960064e-01 -2.04871382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.30538475 meters 0.054030259527111386 Centerline is valid? [True, True] Translation: X:136.30, Y:7.51, Z:-2.05 [[ 7.55923368e-01 -6.54634846e-01 -5.75164202e-03 1.36301353e+02] [ 6.54615527e-01 7.55945248e-01 -5.02937561e-03 7.50999791e+00] [ 7.64033097e-03 3.67083763e-05 9.99970812e-01 -2.04601669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.33538475 meters 0.05381269619098011 Centerline is valid? [True, True] Translation: X:136.32, Y:7.53, Z:-2.04 [[ 7.55755965e-01 -6.54831974e-01 -5.29225489e-03 1.36322536e+02] [ 6.54815601e-01 7.55774493e-01 -4.63081899e-03 7.52866322e+00] [ 7.03215960e-03 3.43180081e-05 9.99975273e-01 -2.04439652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.36538475 meters 0.05370234071374873 Centerline is valid? [True, True] Translation: X:136.34, Y:7.55, Z:-2.04 [[ 7.55309244e-01 -6.55354110e-01 -4.35158006e-03 1.36342819e+02] [ 6.55343042e-01 7.55321779e-01 -3.80885658e-03 7.54697479e+00] [ 5.78299301e-03 2.50868667e-05 9.99983278e-01 -2.04483552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.39538475 meters 0.0538368477291674 Centerline is valid? [True, True] Translation: X:136.36, Y:7.57, Z:-2.05 [[ 7.55510470e-01 -6.55108716e-01 -6.04149081e-03 1.36363900e+02] [ 6.55087355e-01 7.55534624e-01 -5.29049037e-03 7.56643032e+00] [ 8.03040184e-03 3.93166297e-05 9.99967755e-01 -2.04647451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.42538475 meters 0.054000001725665235 Centerline is valid? [True, True] Translation: X:136.38, Y:7.58, Z:-2.05 [[ 7.55661945e-01 -6.54926060e-01 -6.84703883e-03 1.36384035e+02] [ 6.54898607e-01 7.55692963e-01 -5.99665929e-03 7.58432433e+00] [ 9.10162750e-03 4.73310304e-05 9.99958578e-01 -2.04853304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.45538475 meters 0.05392709623327108 Centerline is valid? [True, True] Translation: X:136.40, Y:7.60, Z:-2.05 [[ 7.55698143e-01 -6.54884612e-01 -6.81630272e-03 1.36403487e+02] [ 6.54857356e-01 7.55728881e-01 -5.97509156e-03 7.60269302e+00] [ 9.06427235e-03 5.16596234e-05 9.99958917e-01 -2.05024086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.48538475 meters 0.05396422136038468 Centerline is valid? [True, True] Translation: X:136.43, Y:7.62, Z:-2.05 [[ 7.54727811e-01 -6.55996378e-01 -7.39483648e-03 1.36425792e+02] [ 6.55964320e-01 7.54764036e-01 -6.48545215e-03 7.62057725e+00] [ 9.83578975e-03 4.40022200e-05 9.99951626e-01 -2.04989852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.51538475 meters 0.05411865040193563 Centerline is valid? [True, True] Translation: X:136.45, Y:7.64, Z:-2.05 [[ 7.54032971e-01 -6.56790755e-01 -7.75771786e-03 1.36447025e+02] [ 6.56755477e-01 7.54072876e-01 -6.80748437e-03 7.63863459e+00] [ 1.03209774e-02 3.81439727e-05 9.99946737e-01 -2.05099332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.54538475 meters 0.053989017444167696 Centerline is valid? [True, True] Translation: X:136.47, Y:7.66, Z:-2.05 [[ 7.53607340e-01 -6.57274758e-01 -8.11605419e-03 1.36467142e+02] [ 6.57236124e-01 7.53651041e-01 -7.12640157e-03 7.65635298e+00] [ 1.08006766e-02 3.63445262e-05 9.99941670e-01 -2.05286947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.57538475 meters 0.05415366934305892 Centerline is valid? [True, True] Translation: X:136.49, Y:7.67, Z:-2.05 [[ 7.53757488e-01 -6.57093452e-01 -8.82296523e-03 1.36487753e+02] [ 6.57047752e-01 7.53809123e-01 -7.74975733e-03 7.67484135e+00] [ 1.17431465e-02 4.43281515e-05 9.99931046e-01 -2.05386949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.60538475 meters 0.05409642716348996 Centerline is valid? [True, True] Translation: X:136.51, Y:7.69, Z:-2.05 [[ 7.53567931e-01 -6.57316565e-01 -8.38490614e-03 1.36508502e+02] [ 6.57275245e-01 7.53614578e-01 -7.37025293e-03 7.69253659e+00] [ 1.11635768e-02 4.27950180e-05 9.99937684e-01 -2.05426124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.63538475000001 meters 0.05403744966903319 Centerline is valid? [True, True] Translation: X:136.53, Y:7.71, Z:-2.05 [[ 7.53156053e-01 -6.57792438e-01 -8.06643162e-03 1.36529725e+02] [ 6.57754181e-01 7.53199248e-01 -7.09442391e-03 7.71092646e+00] [ 1.07422886e-02 3.74791896e-05 9.99942299e-01 -2.05402892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.66538475000002 meters 0.05392330354143881 Centerline is valid? [True, True] Translation: X:136.55, Y:7.73, Z:-2.05 [[ 7.52852661e-01 -6.58124315e-01 -9.23342501e-03 1.36551091e+02] [ 6.58074166e-01 7.52909280e-01 -8.12452436e-03 7.72938834e+00] [ 1.22988784e-02 4.02913200e-05 9.99924365e-01 -2.05272366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69538475000002 meters 0.05420986549062581 Centerline is valid? [True, True] Translation: X:136.57, Y:7.75, Z:-2.06 [[ 7.52707345e-01 -6.58279542e-01 -9.98488138e-03 1.36570070e+02] [ 6.58220858e-01 7.52773567e-01 -8.78970716e-03 7.74882540e+00] [ 1.33024392e-02 4.38199443e-05 9.99911518e-01 -2.05714296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.72538475000002 meters 0.05418395150934071 Centerline is valid? [True, True] Translation: X:136.59, Y:7.77, Z:-2.06 [[ 7.52521473e-01 -6.58483191e-01 -1.05508132e-02 1.36590966e+02] [ 6.58417618e-01 7.52595432e-01 -9.29277385e-03 7.76791512e+00] [ 1.40596292e-02 4.61705412e-05 9.99901157e-01 -2.05835478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.75538475 meters 0.05422800698438874 Centerline is valid? [True, True] Translation: X:136.61, Y:7.79, Z:-2.06 [[ 7.51913777e-01 -6.59188657e-01 -9.79727476e-03 1.36611759e+02] [ 6.59132103e-01 7.51977601e-01 -8.63466134e-03 7.78572686e+00] [ 1.30592020e-02 3.48224958e-05 9.99914724e-01 -2.05889867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.78538475 meters 0.05391579117358195 Centerline is valid? [True, True] Translation: X:136.63, Y:7.81, Z:-2.06 [[ 7.53925689e-01 -6.56890253e-01 -9.55250935e-03 1.36630588e+02] [ 6.56836242e-01 7.53986200e-01 -8.42389515e-03 7.80751573e+00] [ 1.27360348e-02 7.65566234e-05 9.99918890e-01 -2.05573227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.81538475 meters 0.05381041892134709 Centerline is valid? [True, True] Translation: X:136.65, Y:7.83, Z:-2.05 [[ 7.53206802e-01 -6.57719012e-01 -9.23125123e-03 1.36651575e+02] [ 6.57668572e-01 7.53263365e-01 -8.14564478e-03 7.82583058e+00] [ 1.23111088e-02 6.42512345e-05 9.99924213e-01 -2.05400822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.84538475 meters 0.053864653159232716 Centerline is valid? [True, True] Translation: X:136.67, Y:7.84, Z:-2.06 [[ 7.52231611e-01 -6.58834966e-01 -9.17014093e-03 1.36671526e+02] [ 6.58785208e-01 7.52287502e-01 -8.09717782e-03 7.84435746e+00] [ 1.22332863e-02 4.97999192e-05 9.99925169e-01 -2.05684797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.87538475 meters 0.053998294597087076 Centerline is valid? [True, True] Translation: X:136.69, Y:7.86, Z:-2.06 [[ 7.52558169e-01 -6.58460508e-01 -9.27157942e-03 1.36690607e+02] [ 6.58409562e-01 7.52615278e-01 -8.19101040e-03 7.86462618e+00] [ 1.23713892e-02 5.97152449e-05 9.99923470e-01 -2.05889403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.90538475 meters 0.05413090357286441 Centerline is valid? [True, True] Translation: X:136.71, Y:7.88, Z:-2.06 [[ 7.52501306e-01 -6.58528073e-01 -9.08629421e-03 1.36710529e+02] [ 6.58479084e-01 7.52556159e-01 -8.03263924e-03 7.88293999e+00] [ 1.21276651e-02 6.14368365e-05 9.99926455e-01 -2.06025602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.93538475 meters 0.05400543404632032 Centerline is valid? [True, True] Translation: X:136.73, Y:7.90, Z:-2.06 [[ 7.52297852e-01 -6.58768015e-01 -8.52322263e-03 1.36731400e+02] [ 6.58724876e-01 7.52346130e-01 -7.53908223e-03 7.90138485e+00] [ 1.13789198e-02 5.71765902e-05 9.99935256e-01 -2.06007465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.96538475 meters 0.054066853718530074 Centerline is valid? [True, True] Translation: X:136.75, Y:7.92, Z:-2.06 [[ 7.52731003e-01 -6.58274777e-01 -8.38780194e-03 1.36752227e+02] [ 6.58232920e-01 7.52777731e-01 -7.42362987e-03 7.92016410e+00] [ 1.12009388e-02 6.68689962e-05 9.99937265e-01 -2.05945581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.99538475 meters 0.0539731709867624 Centerline is valid? [True, True] Translation: X:136.77, Y:7.94, Z:-2.06 [[ 7.52813546e-01 -6.58179628e-01 -8.44643699e-03 1.36774134e+02] [ 6.58137129e-01 7.52860925e-01 -7.47981289e-03 7.93799488e+00] [ 1.12820528e-02 7.19906783e-05 9.99936353e-01 -2.05853126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.02538475 meters 0.053963968325448114 Centerline is valid? [True, True] Translation: X:136.79, Y:7.96, Z:-2.06 [[ 7.52481597e-01 -6.58545116e-01 -9.47504853e-03 1.36794469e+02] [ 6.58491623e-01 7.52541245e-01 -8.39388110e-03 7.95608823e+00] [ 1.26581142e-02 7.70009718e-05 9.99919880e-01 -2.06017967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.05538475 meters 0.05410763242013206 Centerline is valid? [True, True] Translation: X:136.82, Y:7.98, Z:-2.06 [[ 7.51885640e-01 -6.59219415e-01 -9.88670735e-03 1.36815071e+02] [ 6.59161163e-01 7.51950635e-01 -8.76378773e-03 7.97516901e+00] [ 1.32115749e-02 7.24326312e-05 9.99912721e-01 -2.06207137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.08538475 meters 0.05419524718207689 Centerline is valid? [True, True] Translation: X:136.83, Y:7.99, Z:-2.06 [[ 7.51913715e-01 -6.59192819e-01 -9.51800236e-03 1.36834447e+02] [ 6.59138760e-01 7.51973950e-01 -8.44234928e-03 7.99450066e+00] [ 1.27224259e-02 7.42339404e-05 9.99919064e-01 -2.06293374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.11538475 meters 0.0540515801841786 Centerline is valid? [True, True] Translation: X:136.85, Y:8.01, Z:-2.06 [[ 7.52179316e-01 -6.58898555e-01 -8.88652075e-03 1.36854858e+02] [ 6.58851359e-01 7.52231805e-01 -7.88658112e-03 8.01340727e+00] [ 1.18811804e-02 7.72269157e-05 9.99929413e-01 -2.06351489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.14538475 meters 0.05407025401660405 Centerline is valid? [True, True] Translation: X:136.88, Y:8.03, Z:-2.06 [[ 7.52047206e-01 -6.59057394e-01 -8.26747118e-03 1.36875175e+02] [ 6.59016507e-01 7.52092644e-01 -7.34154002e-03 8.03247496e+00] [ 1.10564005e-02 7.27846783e-05 9.99938873e-01 -2.06272582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.17538475 meters 0.05410105704658072 Centerline is valid? [True, True] Translation: X:136.89, Y:8.05, Z:-2.06 [[ 7.52979929e-01 -6.57996786e-01 -7.83937241e-03 1.36894738e+02] [ 6.57959917e-01 7.53020732e-01 -6.96596427e-03 8.05106796e+00] [ 1.04867920e-02 8.72384574e-05 9.99945008e-01 -2.06056118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.20538475 meters 0.05382968927418449 Centerline is valid? [True, True] Translation: X:136.92, Y:8.07, Z:-2.06 [[ 7.53483565e-01 -6.57428241e-01 -7.11512313e-03 1.36915739e+02] [ 6.57397807e-01 7.53517153e-01 -6.32645399e-03 8.07057996e+00] [ 9.52055685e-03 8.94127680e-05 9.99954674e-01 -2.05700075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.23538475 meters 0.05406407074896141 Centerline is valid? [True, True] Translation: X:136.93, Y:8.09, Z:-2.06 [[ 7.53669908e-01 -6.57215498e-01 -7.03271880e-03 1.36934335e+02] [ 6.57185716e-01 7.53702714e-01 -6.25736941e-03 8.08995033e+00] [ 9.41301940e-03 9.41886874e-05 9.99955692e-01 -2.05941614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.26538475 meters 0.054021003836838215 Centerline is valid? [True, True] Translation: X:136.95, Y:8.11, Z:-2.06 [[ 7.54103280e-01 -6.56721663e-01 -6.70081681e-03 1.36953851e+02] [ 6.56694577e-01 7.54133044e-01 -5.96531411e-03 8.11026346e+00] [ 8.97085838e-03 9.80728773e-05 9.99959756e-01 -2.05835848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.29538475 meters 0.054121687153270585 Centerline is valid? [True, True] Translation: X:136.97, Y:8.13, Z:-2.06 [[ 7.53344512e-01 -6.57592783e-01 -6.61655620e-03 1.36973151e+02] [ 6.57566397e-01 7.53373562e-01 -5.89142054e-03 8.12926590e+00] [ 8.85889414e-03 8.74443051e-05 9.99960755e-01 -2.06032247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.32538475 meters 0.05433447635711161 Centerline is valid? [True, True] Translation: X:136.99, Y:8.15, Z:-2.06 [[ 7.53522475e-01 -6.57381149e-01 -7.34205507e-03 1.36993821e+02] [ 6.57348610e-01 7.53558236e-01 -6.54146412e-03 8.14886498e+00] [ 9.83290126e-03 1.02850542e-04 9.99951651e-01 -2.06150893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.35538475 meters 0.054451419016248954 Centerline is valid? [True, True] Translation: X:137.01, Y:8.17, Z:-2.06 [[ 7.54075216e-01 -6.56746560e-01 -7.38406067e-03 1.37013518e+02] [ 6.56713579e-01 7.54111359e-01 -6.58279914e-03 8.16862914e+00] [ 9.89163472e-03 1.14712781e-04 9.99951070e-01 -2.06139352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.38538475000001 meters 0.05444458606809427 Centerline is valid? [True, True] Translation: X:137.03, Y:8.19, Z:-2.06 [[ 7.54545495e-01 -6.56212458e-01 -6.80480257e-03 1.37034714e+02] [ 6.56184391e-01 7.54576170e-01 -6.07026877e-03 8.18672871e+00] [ 9.11812786e-03 1.15088725e-04 9.99958422e-01 -2.05882856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.41538475000002 meters 0.05446642107165874 Centerline is valid? [True, True] Translation: X:137.06, Y:8.21, Z:-2.06 [[ 7.54761337e-01 -6.55964722e-01 -6.75332069e-03 1.37055699e+02] [ 6.55937035e-01 7.54791540e-01 -6.02802449e-03 8.20539583e+00] [ 9.05152073e-03 1.19966676e-04 9.99959027e-01 -2.05768146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.44538475000002 meters 0.054076598533160034 Centerline is valid? [True, True] Translation: X:137.08, Y:8.22, Z:-2.06 [[ 7.53363573e-01 -6.57573545e-01 -6.35293694e-03 1.37078173e+02] [ 6.57549072e-01 7.53390352e-01 -5.67402689e-03 8.22267570e+00] [ 8.51733138e-03 9.72373745e-05 9.99963722e-01 -2.05633864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.47538475000002 meters 0.05407441966290688 Centerline is valid? [True, True] Translation: X:137.10, Y:8.24, Z:-2.06 [[ 7.53252415e-01 -6.57698946e-01 -6.54954278e-03 1.37098964e+02] [ 6.57672908e-01 7.53280882e-01 -5.85312389e-03 8.24175902e+00] [ 8.78323877e-03 1.01422852e-04 9.99961421e-01 -2.05751881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.50538475 meters 0.05429334505299028 Centerline is valid? [True, True] Translation: X:137.12, Y:8.26, Z:-2.06 [[ 7.53165765e-01 -6.57785172e-01 -7.74583493e-03 1.37119439e+02] [ 6.57748736e-01 7.53205585e-01 -6.92447654e-03 8.26047213e+00] [ 1.03890241e-02 1.20465537e-04 9.99946025e-01 -2.06028034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.53538475 meters 0.05428618009621391 Centerline is valid? [True, True] Translation: X:137.14, Y:8.28, Z:-2.06 [[ 7.52842257e-01 -6.58151408e-01 -8.07840712e-03 1.37140697e+02] [ 6.58111750e-01 7.52885588e-01 -7.22602243e-03 8.27881130e+00] [ 1.08379331e-02 1.23560389e-04 9.99941260e-01 -2.06094414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.56538475 meters 0.05430531984560948 Centerline is valid? [True, True] Translation: X:137.16, Y:8.30, Z:-2.06 [[ 7.52194577e-01 -6.58894838e-01 -7.80454708e-03 1.37161752e+02] [ 6.58857827e-01 7.52235056e-01 -6.98458748e-03 8.29820949e+00] [ 1.04729625e-02 1.11681897e-04 9.99945151e-01 -2.06228231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.59538475 meters 0.054203004429422566 Centerline is valid? [True, True] Translation: X:137.18, Y:8.32, Z:-2.06 [[ 7.51173609e-01 -6.60062221e-01 -7.48819640e-03 1.37182705e+02] [ 6.60028188e-01 7.51210926e-01 -6.70338690e-03 8.31604211e+00] [ 1.00498674e-02 9.29866293e-05 9.99949494e-01 -2.06246827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.62538475 meters 0.054281761689612976 Centerline is valid? [True, True] Translation: X:137.20, Y:8.33, Z:-2.06 [[ 7.50845512e-01 -6.60429865e-01 -7.96311132e-03 1.37203659e+02] [ 6.60391341e-01 7.50887731e-01 -7.13386556e-03 8.33452797e+00] [ 1.06908205e-02 9.76611748e-05 9.99942847e-01 -2.06251266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.65538475 meters 0.054209151331302656 Centerline is valid? [True, True] Translation: X:137.23, Y:8.35, Z:-2.06 [[ 7.50201709e-01 -6.61158579e-01 -8.16883265e-03 1.37225263e+02] [ 6.61118038e-01 7.50246177e-01 -7.32222943e-03 8.35213997e+00] [ 1.09697903e-02 9.25864185e-05 9.99939826e-01 -2.06263027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.68538475 meters 0.054172409651399675 Centerline is valid? [True, True] Translation: X:137.25, Y:8.37, Z:-2.06 [[ 7.49711446e-01 -6.61723785e-01 -7.37436163e-03 1.37245263e+02] [ 6.61690729e-01 7.49747709e-01 -6.61454337e-03 8.37050831e+00] [ 9.90591141e-03 7.94521479e-05 9.99950932e-01 -2.06214826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.71538475 meters 0.05381890697754224 Centerline is valid? [True, True] Translation: X:137.27, Y:8.39, Z:-2.06 [[ 7.48469381e-01 -6.63150719e-01 -4.97082261e-03 1.37266154e+02] [ 6.63135725e-01 7.48485886e-01 -4.45965506e-03 8.38778763e+00] [ 6.67801402e-03 4.15852054e-05 9.99977701e-01 -2.05990635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.74538475 meters 0.053703333449466206 Centerline is valid? [True, True] Translation: X:137.29, Y:8.41, Z:-2.06 [[ 7.47682414e-01 -6.64038843e-01 -4.83975070e-03 1.37286056e+02] [ 6.64024632e-01 7.47698077e-01 -4.34451442e-03 8.40620968e+00] [ 6.50359862e-03 3.46033493e-05 9.99978851e-01 -2.06076546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.77538475 meters 0.05411301966447858 Centerline is valid? [True, True] Translation: X:137.31, Y:8.43, Z:-2.06 [[ 7.48833990e-01 -6.62727437e-01 -6.32454719e-03 1.37305396e+02] [ 6.62703096e-01 7.48860695e-01 -5.68031118e-03 8.42658403e+00] [ 8.50070287e-03 6.23130805e-05 9.99963866e-01 -2.06345506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.80538475 meters 0.054330850416898085 Centerline is valid? [True, True] Translation: X:137.33, Y:8.45, Z:-2.07 [[ 7.49344372e-01 -6.62137736e-01 -7.52532174e-03 1.37325808e+02] [ 6.62103219e-01 7.49382153e-01 -6.76131859e-03 8.44717022e+00] [ 1.01162660e-02 8.40162855e-05 9.99948826e-01 -2.06695333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.83538475 meters 0.054454207356524245 Centerline is valid? [True, True] Translation: X:137.35, Y:8.47, Z:-2.07 [[ 7.49357635e-01 -6.62117781e-01 -7.94853833e-03 1.37346334e+02] [ 6.62079229e-01 7.49399784e-01 -7.14559087e-03 8.46697209e+00] [ 1.06878557e-02 9.20409518e-05 9.99942879e-01 -2.06837225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.86538475 meters 0.05436457791549118 Centerline is valid? [True, True] Translation: X:137.37, Y:8.49, Z:-2.07 [[ 7.50012979e-01 -6.61371329e-01 -8.27626749e-03 1.37367148e+02] [ 6.61329448e-01 7.50058633e-01 -7.44367053e-03 8.48568496e+00] [ 1.11307162e-02 1.09510092e-04 9.99938046e-01 -2.06577893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.89538475 meters 0.05468888581162846 Centerline is valid? [True, True] Translation: X:137.39, Y:8.51, Z:-2.07 [[ 7.50554459e-01 -6.60760217e-01 -7.99625283e-03 1.37386003e+02] [ 6.60721028e-01 7.50597043e-01 -7.19731397e-03 8.50575594e+00] [ 1.07576625e-02 1.18683697e-04 9.99942128e-01 -2.06830877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.92538475 meters 0.054671858645435514 Centerline is valid? [True, True] Translation: X:137.41, Y:8.52, Z:-2.07 [[ 7.50751329e-01 -6.60543421e-01 -7.40474452e-03 1.37407220e+02] [ 6.60509769e-01 7.50787836e-01 -6.66860241e-03 8.52488738e+00] [ 9.96429357e-03 1.15556037e-04 9.99950349e-01 -2.06769054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.95538475 meters 0.054538312401313904 Centerline is valid? [True, True] Translation: X:137.43, Y:8.54, Z:-2.07 [[ 7.50578138e-01 -6.60743202e-01 -7.13298452e-03 1.37428465e+02] [ 6.60711945e-01 7.50612022e-01 -6.42786156e-03 8.54322609e+00] [ 9.60126976e-03 1.11764285e-04 9.99953901e-01 -2.06715133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.98538475 meters 0.05487600005403302 Centerline is valid? [True, True] Translation: X:137.45, Y:8.56, Z:-2.07 [[ 7.49698662e-01 -6.61733742e-01 -7.76985219e-03 1.37447711e+02] [ 6.61696665e-01 7.49738916e-01 -7.00583089e-03 8.56247983e+00] [ 1.04613553e-02 1.10976762e-04 9.99945272e-01 -2.07245470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.01538475 meters 0.054741535490172 Centerline is valid? [True, True] Translation: X:137.47, Y:8.58, Z:-2.07 [[ 7.49072746e-01 -6.62447360e-01 -7.31546806e-03 1.37469753e+02] [ 6.62414490e-01 7.49108461e-01 -6.59982515e-03 8.58045718e+00] [ 9.85211576e-03 9.78771078e-05 9.99951462e-01 -2.07168872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.04538475 meters 0.05466379305165536 Centerline is valid? [True, True] Translation: X:137.49, Y:8.60, Z:-2.07 [[ 7.48732692e-01 -6.62832340e-01 -7.25565781e-03 1.37491575e+02] [ 6.62799987e-01 7.48767841e-01 -6.54963296e-03 8.59880973e+00] [ 9.77411178e-03 9.48744175e-05 9.99952228e-01 -2.07164043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.07538475 meters 0.05433433848504584 Centerline is valid? [True, True] Translation: X:137.52, Y:8.62, Z:-2.07 [[ 7.47106327e-01 -6.64672671e-01 -6.50973818e-03 1.37515243e+02] [ 6.64646667e-01 7.47134684e-01 -5.87981879e-03 8.61508587e+00] [ 8.77180604e-03 6.61740389e-05 9.99961525e-01 -2.07051195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.10538475 meters 0.05433433848504584 Centerline is valid? [True, True] Translation: X:137.54, Y:8.63, Z:-2.07 [[ 7.46918651e-01 -6.64883580e-01 -6.50797679e-03 1.37535671e+02] [ 6.64857567e-01 7.46947000e-01 -5.88176920e-03 8.63376171e+00] [ 8.77180550e-03 6.63255063e-05 9.99961525e-01 -2.07088286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.13538475000001 meters 0.054337477601325984 Centerline is valid? [True, True] Translation: X:137.56, Y:8.65, Z:-2.07 [[ 7.46634464e-01 -6.65204472e-01 -6.32360800e-03 1.37557521e+02] [ 6.65179895e-01 7.46661240e-01 -5.71849755e-03 8.65226364e+00] [ 8.52556313e-03 6.32904500e-05 9.99963655e-01 -2.07080765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.16538475000002 meters 0.05418761905365706 Centerline is valid? [True, True] Translation: X:137.58, Y:8.67, Z:-2.07 [[ 7.47225971e-01 -6.64548042e-01 -5.40820854e-03 1.37579261e+02] [ 6.64530019e-01 7.47245540e-01 -4.89460477e-03 8.67069810e+00] [ 7.29395972e-03 6.34588792e-05 9.99973397e-01 -2.06896683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.19538475000002 meters 0.05425108951647377 Centerline is valid? [True, True] Translation: X:137.60, Y:8.69, Z:-2.07 [[ 7.47066484e-01 -6.64725310e-01 -5.65069950e-03 1.37599087e+02] [ 6.64705616e-01 7.47087851e-01 -5.11732210e-03 8.68962463e+00] [ 7.62318246e-03 6.69281384e-05 9.99970941e-01 -2.07075045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.22538475000002 meters 0.05425689890459554 Centerline is valid? [True, True] Translation: X:137.62, Y:8.71, Z:-2.07 [[ 7.47124239e-01 -6.64664617e-01 -5.13016521e-03 1.37619946e+02] [ 6.64648365e-01 7.47141849e-01 -4.64853677e-03 8.70889650e+00] [ 6.92267903e-03 6.32785779e-05 9.99976036e-01 -2.07084258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.25538475 meters 0.05437311437281586 Centerline is valid? [True, True] Translation: X:137.64, Y:8.73, Z:-2.07 [[ 7.46825943e-01 -6.64997466e-01 -5.42035390e-03 1.37638894e+02] [ 6.64979329e-01 7.46845610e-01 -4.91182224e-03 8.72781376e+00] [ 7.31451686e-03 6.38529759e-05 9.99973247e-01 -2.07311809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.28538475 meters 0.05464935009677553 Centerline is valid? [True, True] Translation: X:137.66, Y:8.75, Z:-2.08 [[ 7.47396089e-01 -6.64351483e-01 -6.01607829e-03 1.37657869e+02] [ 6.64329094e-01 7.47420297e-01 -5.45479403e-03 8.74737086e+00] [ 8.12043953e-03 8.02358810e-05 9.99967025e-01 -2.07660135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.31538475 meters 0.054410002309894706 Centerline is valid? [True, True] Translation: X:137.68, Y:8.77, Z:-2.07 [[ 7.47171768e-01 -6.64605309e-01 -5.84220843e-03 1.37680149e+02] [ 6.64584173e-01 7.47194604e-01 -5.30098993e-03 8.76550116e+00] [ 7.88833267e-03 7.81107647e-05 9.99968884e-01 -2.07384768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.34538475 meters 0.05413004301711932 Centerline is valid? [True, True] Translation: X:137.70, Y:8.78, Z:-2.07 [[ 7.47025917e-01 -6.64771732e-01 -5.55182111e-03 1.37702754e+02] [ 6.64752626e-01 7.47046544e-01 -5.04060652e-03 8.78300846e+00] [ 7.49832150e-03 7.48760481e-05 9.99971884e-01 -2.07170340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.37538475 meters 0.05412352406072372 Centerline is valid? [True, True] Translation: X:137.72, Y:8.80, Z:-2.07 [[ 7.46903013e-01 -6.64914416e-01 -4.97078747e-03 1.37722474e+02] [ 6.64899080e-01 7.46919550e-01 -4.51648364e-03 8.80205196e+00] [ 6.71585342e-03 6.83032221e-05 9.99977446e-01 -2.07185118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.40538475 meters 0.05389164781020386 Centerline is valid? [True, True] Translation: X:137.74, Y:8.82, Z:-2.07 [[ 7.45447869e-01 -6.66550072e-01 -4.29831633e-03 1.37744683e+02] [ 6.66538618e-01 7.45460260e-01 -3.90788893e-03 8.81957035e+00] [ 5.80902766e-03 4.81336521e-05 9.99983126e-01 -2.07094448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.43538475 meters 0.05370164693395415 Centerline is valid? [True, True] Translation: X:137.76, Y:8.84, Z:-2.07 [[ 7.44862167e-01 -6.67205905e-01 -4.07832008e-03 1.37764923e+02] [ 6.67195589e-01 7.44873331e-01 -3.71045027e-03 8.83901588e+00] [ 5.51346619e-03 4.27368625e-05 9.99984800e-01 -2.07122351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.46538475 meters 0.05403016448704273 Centerline is valid? [True, True] Translation: X:137.78, Y:8.86, Z:-2.07 [[ 7.44776478e-01 -6.67294598e-01 -5.09084546e-03 1.37784424e+02] [ 6.67278523e-01 7.44793875e-01 -4.63214292e-03 8.85851159e+00] [ 6.88263447e-03 5.28992486e-05 9.99976313e-01 -2.07407969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.49538475 meters 0.05407703202328387 Centerline is valid? [True, True] Translation: X:137.81, Y:8.88, Z:-2.07 [[ 7.45238339e-01 -6.66780105e-01 -4.91011755e-03 1.37805071e+02] [ 6.66765119e-01 7.45254512e-01 -4.47082220e-03 8.87793709e+00] [ 6.64034256e-03 5.79329957e-05 9.99977951e-01 -2.07471673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.52538475 meters 0.05388994826398364 Centerline is valid? [True, True] Translation: X:137.83, Y:8.90, Z:-2.07 [[ 7.44876279e-01 -6.67185105e-01 -4.83366784e-03 1.37827363e+02] [ 6.67170573e-01 7.44891960e-01 -4.40388683e-03 8.89545862e+00] [ 6.53876801e-03 5.54698931e-05 9.99978620e-01 -2.07319317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.55538475 meters 0.05383261366564885 Centerline is valid? [True, True] Translation: X:137.85, Y:8.91, Z:-2.07 [[ 7.44090080e-01 -6.68064845e-01 -4.39483845e-03 1.37848094e+02] [ 6.68052830e-01 7.44103058e-01 -4.00704549e-03 8.91337920e+00] [ 5.94717896e-03 4.56185377e-05 9.99982314e-01 -2.07306013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.58538475 meters 0.053838321138833516 Centerline is valid? [True, True] Translation: X:137.87, Y:8.93, Z:-2.07 [[ 7.43118347e-01 -6.69142200e-01 -4.88259638e-03 1.37868166e+02] [ 6.69127378e-01 7.43134386e-01 -4.45384399e-03 8.93109920e+00] [ 6.60868022e-03 4.26542651e-05 9.99978162e-01 -2.07431856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.61538475 meters 0.05387787128223162 Centerline is valid? [True, True] Translation: X:137.89, Y:8.95, Z:-2.08 [[ 7.42512282e-01 -6.69810348e-01 -5.44132477e-03 1.37889582e+02] [ 6.69791947e-01 7.42532219e-01 -4.96511764e-03 8.94897340e+00] [ 7.36604613e-03 4.21053219e-05 9.99972869e-01 -2.07547764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.64538475 meters 0.05394791211222349 Centerline is valid? [True, True] Translation: X:137.91, Y:8.96, Z:-2.08 [[ 7.39395673e-01 -6.73224231e-01 -7.94818343e-03 1.37912985e+02] [ 6.73185149e-01 7.39438391e-01 -7.25398795e-03 8.96384936e+00] [ 1.07607524e-02 1.29682556e-05 9.99942101e-01 -2.07824119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.67538475 meters 0.05405447698293636 Centerline is valid? [True, True] Translation: X:137.93, Y:8.98, Z:-2.08 [[ 7.38969292e-01 -6.73677559e-01 -9.10670825e-03 1.37933662e+02] [ 6.73626244e-01 7.39025403e-01 -8.31483933e-03 8.98339536e+00] [ 1.23316094e-02 9.89326328e-06 9.99923963e-01 -2.08023426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.70538475 meters 0.05433729519137159 Centerline is valid? [True, True] Translation: X:137.95, Y:9.00, Z:-2.08 [[ 7.38971915e-01 -6.73648484e-01 -1.08733092e-02 1.37954098e+02] [ 6.73575256e-01 7.39051906e-01 -9.93247619e-03 9.00366450e+00] [ 1.47269374e-02 1.58289296e-05 9.99891553e-01 -2.08146039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.73538475 meters 0.05438346668991405 Centerline is valid? [True, True] Translation: X:137.97, Y:9.02, Z:-2.08 [[ 7.39103701e-01 -6.73509523e-01 -1.05186389e-02 1.37973713e+02] [ 6.73440887e-01 7.39178546e-01 -9.61503438e-03 9.02188182e+00] [ 1.42509695e-02 2.28259507e-05 9.99898450e-01 -2.08203880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.76538475 meters 0.05419266504456185 Centerline is valid? [True, True] Translation: X:137.99, Y:9.04, Z:-2.08 [[ 7.39623501e-01 -6.72943947e-01 -1.01744931e-02 1.37994256e+02] [ 6.72879607e-01 7.39693479e-01 -9.30550455e-03 9.04152043e+00] [ 1.37880892e-02 3.63609439e-05 9.99904939e-01 -2.07952060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.79538475 meters 0.054218779390507246 Centerline is valid? [True, True] Translation: X:138.01, Y:9.06, Z:-2.08 [[ 7.39764500e-01 -6.72800950e-01 -9.34706072e-03 1.38014948e+02] [ 6.72746570e-01 7.39823547e-01 -8.55402810e-03 9.06077284e+00] [ 1.26703338e-02 3.97632704e-05 9.99919727e-01 -2.07837284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.82538475 meters 0.0542299680796367 Centerline is valid? [True, True] Translation: X:138.03, Y:9.08, Z:-2.08 [[ 7.40275596e-01 -6.72237431e-01 -9.42752714e-03 1.38034084e+02] [ 6.72182039e-01 7.40335622e-01 -8.62980857e-03 9.07996776e+00] [ 1.27808145e-02 5.14222648e-05 9.99918321e-01 -2.07967902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.85538475 meters 0.05439066197823524 Centerline is valid? [True, True] Translation: X:138.05, Y:9.10, Z:-2.08 [[ 7.41024142e-01 -6.71397412e-01 -1.04276419e-02 1.38052650e+02] [ 6.71329479e-01 7.41097503e-01 -9.55099300e-03 9.10153706e+00] [ 1.41404114e-02 7.71329983e-05 9.99900016e-01 -2.07941268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.88538475000001 meters 0.054627714187701654 Centerline is valid? [True, True] Translation: X:138.07, Y:9.12, Z:-2.08 [[ 7.42491584e-01 -6.69772581e-01 -1.05326592e-02 1.38070066e+02] [ 6.69703034e-01 7.42566277e-01 -9.65245043e-03 9.12476228e+00] [ 1.42861442e-02 1.13109408e-04 9.99897941e-01 -2.08122198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.91538475000002 meters 0.05474902778045114 Centerline is valid? [True, True] Translation: X:138.09, Y:9.14, Z:-2.08 [[ 7.42646746e-01 -6.69585023e-01 -1.14763663e-02 1.38091171e+02] [ 6.69502353e-01 7.42735403e-01 -1.05223486e-02 9.14453763e+00] [ 1.55695106e-02 1.30933689e-04 9.99878779e-01 -2.08155525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.94538475000002 meters 0.054539103985558966 Centerline is valid? [True, True] Translation: X:138.11, Y:9.16, Z:-2.08 [[ 7.43021014e-01 -6.69182969e-01 -1.06736430e-02 1.38112524e+02] [ 6.69111326e-01 7.43097663e-01 -9.79272763e-03 9.16291723e+00] [ 1.44846857e-02 1.34346976e-04 9.99895082e-01 -2.07829021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97538475000002 meters 0.05447991135126205 Centerline is valid? [True, True] Translation: X:138.13, Y:9.18, Z:-2.08 [[ 7.42826275e-01 -6.69399065e-01 -1.06778423e-02 1.38131395e+02] [ 6.69327297e-01 7.42903004e-01 -9.80285054e-03 9.18180496e+00] [ 1.44946201e-02 1.34843604e-04 9.99894938e-01 -2.07967341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.00538475 meters 0.054311166774474395 Centerline is valid? [True, True] Translation: X:138.15, Y:9.20, Z:-2.08 [[ 7.41059117e-01 -6.71376297e-01 -9.23325267e-03 1.38152970e+02] [ 6.71322728e-01 7.41116631e-01 -8.48142218e-03 9.19949005e+00] [ 1.25371429e-02 8.67428528e-05 9.99921403e-01 -2.07954132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.03538475 meters 0.054349477888992775 Centerline is valid? [True, True] Translation: X:138.17, Y:9.22, Z:-2.08 [[ 7.40126861e-01 -6.72392691e-01 -1.00148888e-02 1.38174389e+02] [ 6.72329702e-01 7.40194611e-01 -9.20374981e-03 9.21819280e+00] [ 1.36015008e-02 7.86352679e-05 9.99907492e-01 -2.08096205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.06538475 meters 0.054615296533254296 Centerline is valid? [True, True] Translation: X:138.19, Y:9.24, Z:-2.08 [[ 7.40495191e-01 -6.71958526e-01 -1.17733234e-02 1.38193880e+02] [ 6.71871335e-01 7.40588771e-01 -1.08250093e-02 9.23784065e+00] [ 1.59931484e-02 1.05708808e-04 9.99872096e-01 -2.08434773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.09538475 meters 0.05463338412620647 Centerline is valid? [True, True] Translation: X:138.22, Y:9.26, Z:-2.09 [[ 7.40469503e-01 -6.71988390e-01 -1.16840969e-02 1.38215191e+02] [ 6.71902426e-01 7.40561673e-01 -1.07488728e-02 9.25694692e+00] [ 1.58759120e-02 1.08639406e-04 9.99873964e-01 -2.08501169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.12538475 meters 0.05463575586511913 Centerline is valid? [True, True] Translation: X:138.24, Y:9.28, Z:-2.08 [[ 7.40664840e-01 -6.71774604e-01 -1.15963749e-02 1.38235979e+02] [ 6.71689807e-01 7.40755606e-01 -1.06740698e-02 9.27525516e+00] [ 1.57606488e-02 1.16741371e-04 9.99875786e-01 -2.08462414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.15538475 meters 0.0541326677042198 Centerline is valid? [True, True] Translation: X:138.26, Y:9.29, Z:-2.08 [[ 7.38039217e-01 -6.74675666e-01 -1.05290607e-02 1.38261019e+02] [ 6.74605981e-01 7.38114316e-01 -9.69674912e-03 9.29097052e+00] [ 1.43138111e-02 5.36137706e-05 9.99897551e-01 -2.07971006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.18538475 meters 0.053997773090174346 Centerline is valid? [True, True] Translation: X:138.28, Y:9.31, Z:-2.08 [[ 7.37511904e-01 -6.75257197e-01 -1.01936068e-02 1.38282050e+02] [ 6.75191854e-01 7.37582345e-01 -9.39389506e-03 9.30994467e+00] [ 1.38619196e-02 4.54691723e-05 9.99903918e-01 -2.07925613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.21538475 meters 0.054297329594421455 Centerline is valid? [True, True] Translation: X:138.30, Y:9.33, Z:-2.08 [[ 7.36924337e-01 -6.75898812e-01 -1.01645120e-02 1.38299727e+02] [ 6.75833819e-01 7.36994433e-01 -9.37302603e-03 9.33087374e+00] [ 1.38264059e-02 3.76900580e-05 9.99904410e-01 -2.08274990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.24538475 meters 0.054461886916084445 Centerline is valid? [True, True] Translation: X:138.32, Y:9.35, Z:-2.08 [[ 7.38307875e-01 -6.74376845e-01 -1.08329015e-02 1.38317240e+02] [ 6.74302795e-01 7.38387341e-01 -9.99374188e-03 9.35401687e+00] [ 1.47384254e-02 7.38025896e-05 9.99891381e-01 -2.08421667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.27538475 meters 0.054823689339510075 Centerline is valid? [True, True] Translation: X:138.34, Y:9.37, Z:-2.09 [[ 7.38952585e-01 -6.73660756e-01 -1.14132568e-02 1.38335890e+02] [ 6.73578446e-01 7.39040714e-01 -1.05309101e-02 9.37405370e+00] [ 1.55291223e-02 9.41195183e-05 9.99879411e-01 -2.08723910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.30538475 meters 0.05479599317720431 Centerline is valid? [True, True] Translation: X:138.36, Y:9.39, Z:-2.08 [[ 7.40404286e-01 -6.72057638e-01 -1.18331522e-02 1.38356306e+02] [ 6.71968838e-01 7.40498826e-01 -1.09256196e-02 9.39465983e+00] [ 1.61050814e-02 1.37866010e-04 9.99870295e-01 -2.08496774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.33538475 meters 0.054828894075728406 Centerline is valid? [True, True] Translation: X:138.38, Y:9.41, Z:-2.08 [[ 7.40509972e-01 -6.71951334e-01 -1.12421638e-02 1.38375256e+02] [ 6.71871068e-01 7.40595291e-01 -1.03866515e-02 9.41350990e+00] [ 1.53052179e-02 1.38134473e-04 9.99882859e-01 -2.08486432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.36538475 meters 0.05468111324700443 Centerline is valid? [True, True] Translation: X:138.39, Y:9.43, Z:-2.08 [[ 7.40711577e-01 -6.71734713e-01 -1.09011333e-02 1.38394962e+02] [ 6.71659139e-01 7.40791776e-01 -1.00769801e-02 9.43336838e+00] [ 1.48445272e-02 1.42289967e-04 9.99889804e-01 -2.08405275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.39538475 meters 0.05495109792434564 Centerline is valid? [True, True] Translation: X:138.41, Y:9.46, Z:-2.09 [[ 7.41767907e-01 -6.70575041e-01 -1.04635791e-02 1.38411398e+02] [ 6.70505219e-01 7.41841687e-01 -9.67800169e-03 9.45650809e+00] [ 1.42521456e-02 1.62946634e-04 9.99898420e-01 -2.08648813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.42538475 meters 0.055359512757537095 Centerline is valid? [True, True] Translation: X:138.43, Y:9.48, Z:-2.09 [[ 7.42653793e-01 -6.69591518e-01 -1.06085760e-02 1.38429145e+02] [ 6.69519577e-01 7.42729536e-01 -9.81696713e-03 9.47926124e+00] [ 1.44526607e-02 1.87958567e-04 9.99895537e-01 -2.08862423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.45538475 meters 0.05521097234284131 Centerline is valid? [True, True] Translation: X:138.45, Y:9.50, Z:-2.09 [[ 7.41608385e-01 -6.70749733e-01 -1.05735295e-02 1.38449622e+02] [ 6.70678297e-01 7.41683738e-01 -9.79057521e-03 9.49740508e+00] [ 1.44092406e-02 1.69335947e-04 9.99896167e-01 -2.08742449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.48538475 meters 0.054568302905864716 Centerline is valid? [True, True] Translation: X:138.47, Y:9.51, Z:-2.08 [[ 7.39229457e-01 -6.73388880e-01 -9.33952078e-03 1.38473324e+02] [ 6.73333299e-01 7.39288445e-01 -8.65238504e-03 9.51437586e+00] [ 1.27310197e-02 1.07487558e-04 9.99918952e-01 -2.08333383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.51538475 meters 0.05436521850590202 Centerline is valid? [True, True] Translation: X:138.49, Y:9.53, Z:-2.08 [[ 7.37627351e-01 -6.75149377e-01 -8.89997763e-03 1.38494807e+02] [ 6.75098971e-01 7.37681037e-01 -8.25029022e-03 9.53307929e+00] [ 1.21355230e-02 7.72739794e-05 9.99926359e-01 -2.08312316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.54538475 meters 0.05426187039041559 Centerline is valid? [True, True] Translation: X:138.52, Y:9.55, Z:-2.08 [[ 7.36416318e-01 -6.76481670e-01 -7.97229146e-03 1.38515775e+02] [ 6.76441256e-01 7.36459468e-01 -7.39452583e-03 9.55218617e+00] [ 1.08735307e-02 5.26626250e-05 9.99940880e-01 -2.08284706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.57538475 meters 0.054205225850238105 Centerline is valid? [True, True] Translation: X:138.54, Y:9.57, Z:-2.08 [[ 7.34370164e-01 -6.78712947e-01 -7.01410783e-03 1.38536388e+02] [ 6.78681754e-01 7.34403660e-01 -6.50700593e-03 9.57021961e+00] [ 9.56757563e-03 1.82040041e-05 9.99954230e-01 -2.08240177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.60538475 meters 0.054221060590684024 Centerline is valid? [True, True] Translation: X:138.56, Y:9.59, Z:-2.08 [[ 7.32000187e-01 -6.81257767e-01 -7.97371392e-03 1.38557969e+02] [ 6.81217558e-01 7.32043615e-01 -7.40164887e-03 9.58798934e+00] [ 1.08795371e-02 -1.38255617e-05 9.99940816e-01 -2.08414631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.63538475000001 meters 0.05431783434494666 Centerline is valid? [True, True] Translation: X:138.58, Y:9.61, Z:-2.08 [[ 7.31098062e-01 -6.82223048e-01 -8.20586664e-03 1.38579206e+02] [ 6.82180475e-01 7.31144112e-01 -7.62151811e-03 9.60653493e+00] [ 1.11992464e-02 -2.58048738e-05 9.99937286e-01 -2.08477172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.66538475000002 meters 0.05450846953846902 Centerline is valid? [True, True] Translation: X:138.60, Y:9.63, Z:-2.09 [[ 7.29056241e-01 -6.84383021e-01 -9.84268693e-03 1.38599923e+02] [ 6.84321915e-01 7.29122676e-01 -9.14554442e-03 9.62583928e+00] [ 1.34355816e-02 -6.79501300e-05 9.99909736e-01 -2.08548129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.69538475000002 meters 0.05482484193328272 Centerline is valid? [True, True] Translation: X:138.62, Y:9.64, Z:-2.09 [[ 7.27911951e-01 -6.85599622e-01 -9.86662139e-03 1.38619615e+02] [ 6.85538248e-01 7.27978812e-01 -9.17384336e-03 9.64402254e+00] [ 1.34722749e-02 -8.61961342e-05 9.99909241e-01 -2.09069869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.72538475000002 meters 0.055057114122227864 Centerline is valid? [True, True] Translation: X:138.64, Y:9.66, Z:-2.09 [[ 7.26525259e-01 -6.87063716e-01 -1.02224386e-02 1.38640378e+02] [ 6.86997922e-01 7.26597163e-01 -9.50879738e-03 9.66268228e+00] [ 1.39607446e-02 -1.14412616e-04 9.99902538e-01 -2.09224099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.75538475 meters 0.05517221555037186 Centerline is valid? [True, True] Translation: X:138.66, Y:9.68, Z:-2.09 [[ 7.23807569e-01 -6.89919209e-01 -1.06812016e-02 1.38662974e+02] [ 6.89847616e-01 7.23886355e-01 -9.94042740e-03 9.68063945e+00] [ 1.45900679e-02 -1.73444852e-04 9.99893544e-01 -2.08855097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.78538475 meters 0.055513206757346376 Centerline is valid? [True, True] Translation: X:138.68, Y:9.70, Z:-2.09 [[ 7.22710585e-01 -6.91065355e-01 -1.08667589e-02 1.38684121e+02] [ 6.90991312e-01 7.22792250e-01 -1.01177919e-02 9.69794553e+00] [ 1.48464645e-02 -1.96600726e-04 9.99889766e-01 -2.08978487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.81538475 meters 0.055253930740547234 Centerline is valid? [True, True] Translation: X:138.70, Y:9.72, Z:-2.09 [[ 7.22181873e-01 -6.91608286e-01 -1.14595484e-02 1.38702159e+02] [ 6.91525977e-01 7.22272754e-01 -1.06719934e-02 9.71978032e+00] [ 1.56577587e-02 -2.17455181e-04 9.99877386e-01 -2.08816373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.84538475 meters 0.05558197938694481 Centerline is valid? [True, True] Translation: X:138.72, Y:9.74, Z:-2.09 [[ 7.22392804e-01 -6.91372562e-01 -1.23538511e-02 1.38721055e+02] [ 6.91276751e-01 7.22498395e-01 -1.15118491e-02 9.73994623e+00] [ 1.68846142e-02 -2.23853087e-04 9.99857420e-01 -2.09060365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.87538475 meters 0.0554620821986782 Centerline is valid? [True, True] Translation: X:138.74, Y:9.76, Z:-2.09 [[ 7.24489129e-01 -6.89170307e-01 -1.26408229e-02 1.38736729e+02] [ 6.89069536e-01 7.24599378e-01 -1.17862295e-02 9.76430789e+00] [ 1.72822519e-02 -1.71410838e-04 9.99850636e-01 -2.09098141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.90538475 meters 0.05516696611602303 Centerline is valid? [True, True] Translation: X:138.75, Y:9.79, Z:-2.09 [[ 7.26468613e-01 -6.87104918e-01 -1.14099117e-02 1.38753765e+02] [ 6.87022465e-01 7.26558202e-01 -1.06448198e-02 9.78775752e+00] [ 1.56040730e-02 -1.05738217e-04 9.99878243e-01 -2.08808171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.93538475 meters 0.05512776097055277 Centerline is valid? [True, True] Translation: X:138.77, Y:9.81, Z:-2.09 [[ 7.26641117e-01 -6.86929914e-01 -1.09535477e-02 1.38773824e+02] [ 6.86853825e-01 7.26723664e-01 -1.02244192e-02 9.80828307e+00] [ 1.49836618e-02 -9.40027494e-05 9.99887734e-01 -2.08639338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.96538475 meters 0.0549622381154884 Centerline is valid? [True, True] Translation: X:138.79, Y:9.83, Z:-2.08 [[ 7.27187836e-01 -6.86373044e-01 -9.48138282e-03 1.38793086e+02] [ 6.86315915e-01 7.27249641e-01 -8.85576108e-03 9.82891741e+00] [ 1.29736879e-02 -6.74221958e-05 9.99915836e-01 -2.08498232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.99538475 meters 0.0549622381154884 Centerline is valid? [True, True] Translation: X:138.81, Y:9.85, Z:-2.09 [[ 7.26995247e-01 -6.86577064e-01 -9.47878453e-03 1.38813203e+02] [ 6.86519916e-01 7.27057034e-01 -8.85854295e-03 9.84792202e+00] [ 1.29736894e-02 -6.72557427e-05 9.99915836e-01 -2.08535328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.02538475 meters 0.05488833967805306 Centerline is valid? [True, True] Translation: X:138.83, Y:9.87, Z:-2.09 [[ 7.29276051e-01 -6.84166929e-01 -8.48851240e-03 1.38828144e+02] [ 6.84120916e-01 7.29325451e-01 -7.93470995e-03 9.87162193e+00] [ 1.16195543e-02 -2.05749394e-05 9.99932490e-01 -2.08516665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.05538475 meters 0.05506780749888908 Centerline is valid? [True, True] Translation: X:138.85, Y:9.89, Z:-2.09 [[ 7.29815335e-01 -6.83578502e-01 -9.48726924e-03 1.38845719e+02] [ 6.83520905e-01 7.29876998e-01 -8.87359257e-03 9.89293735e+00] [ 1.29903367e-02 -8.66291648e-06 9.99915622e-01 -2.08752082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.08538475 meters 0.05526123651234889 Centerline is valid? [True, True] Translation: X:138.86, Y:9.92, Z:-2.09 [[ 7.30922802e-01 -6.82385687e-01 -1.00812124e-02 1.38863222e+02] [ 6.82320469e-01 7.30992321e-01 -9.43418675e-03 9.91553440e+00] [ 1.38070428e-02 1.70446510e-05 9.99904678e-01 -2.08806051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.11538475 meters 0.05532768074075213 Centerline is valid? [True, True] Translation: X:138.88, Y:9.94, Z:-2.09 [[ 7.31090586e-01 -6.82201614e-01 -1.03688194e-02 1.38881550e+02] [ 6.82132515e-01 7.31164111e-01 -9.70950545e-03 9.93557425e+00] [ 1.42051489e-02 2.56191464e-05 9.99899101e-01 -2.08882809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.14538475 meters 0.05547333129653144 Centerline is valid? [True, True] Translation: X:138.90, Y:9.96, Z:-2.09 [[ 7.31836288e-01 -6.81401428e-01 -1.03798392e-02 1.38899997e+02] [ 6.81332030e-01 7.31909893e-01 -9.72486723e-03 9.95719256e+00] [ 1.42236454e-02 4.48938011e-05 9.99898838e-01 -2.08929084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.17538475 meters 0.0554772047694935 Centerline is valid? [True, True] Translation: X:138.92, Y:9.98, Z:-2.09 [[ 7.31898847e-01 -6.81349037e-01 -9.35778792e-03 1.38918959e+02] [ 6.81292599e-01 7.31958666e-01 -8.76962572e-03 9.97700414e+00] [ 1.28246900e-02 4.30872990e-05 9.99917759e-01 -2.08879211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.20538475 meters 0.055298987963703694 Centerline is valid? [True, True] Translation: X:138.94, Y:10.00, Z:-2.09 [[ 7.31574333e-01 -6.81703133e-01 -8.93496540e-03 1.38939400e+02] [ 6.81651625e-01 7.31628892e-01 -8.38007144e-03 9.99647060e+00] [ 1.22497998e-02 4.01114850e-05 9.99924968e-01 -2.08554415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.23538475 meters 0.055412780660327864 Centerline is valid? [True, True] Translation: X:138.96, Y:10.02, Z:-2.09 [[ 7.31636103e-01 -6.81644129e-01 -8.36028909e-03 1.38958723e+02] [ 6.81598971e-01 7.31683866e-01 -7.84621378e-03 1.00159158e+01] [ 1.14654142e-02 4.22088346e-05 9.99934269e-01 -2.08747615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.26538475 meters 0.05545558903530838 Centerline is valid? [True, True] Translation: X:138.98, Y:10.04, Z:-2.09 [[ 7.31302557e-01 -6.82000972e-01 -8.44058758e-03 1.38978591e+02] [ 6.81954918e-01 7.31351264e-01 -7.92574174e-03 1.00354983e+01] [ 1.15783980e-02 4.00149913e-05 9.99932967e-01 -2.08799245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.29538475 meters 0.05555580300795362 Centerline is valid? [True, True] Translation: X:139.00, Y:10.06, Z:-2.09 [[ 7.32156187e-01 -6.81079136e-01 -8.86166074e-03 1.38998256e+02] [ 6.81028256e-01 7.32209811e-01 -8.32515088e-03 1.00554959e+01] [ 1.21586815e-02 6.02693669e-05 9.99926079e-01 -2.08761541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.32538475 meters 0.05600519959492297 Centerline is valid? [True, True] Translation: X:139.01, Y:10.08, Z:-2.09 [[ 7.35137940e-01 -6.77849377e-01 -9.61416873e-03 1.39015000e+02] [ 6.77789151e-01 7.35200793e-01 -9.03657328e-03 1.00774552e+01] [ 1.31937800e-02 1.26748606e-04 9.99912950e-01 -2.09008509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.35538475 meters 0.056735230965163405 Centerline is valid? [True, True] Translation: X:139.03, Y:10.10, Z:-2.09 [[ 7.38110449e-01 -6.74597902e-01 -1.05183540e-02 1.39033517e+02] [ 6.74525411e-01 7.38185362e-01 -9.89152567e-03 1.00987294e+01] [ 1.44372974e-02 2.06141427e-04 9.99895756e-01 -2.09119728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.38538475000001 meters 0.05710331012630524 Centerline is valid? [True, True] Translation: X:139.05, Y:10.12, Z:-2.09 [[ 7.39243128e-01 -6.73336485e-01 -1.17293024e-02 1.39053973e+02] [ 6.73246102e-01 7.39336128e-01 -1.10352558e-02 1.01186256e+01] [ 1.61023374e-02 2.61029906e-04 9.99870315e-01 -2.09178388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.41538475000002 meters 0.057426558243683416 Centerline is valid? [True, True] Translation: X:139.07, Y:10.14, Z:-2.09 [[ 7.41422417e-01 -6.70921557e-01 -1.25325201e-02 1.39073669e+02] [ 6.70817902e-01 7.41528252e-01 -1.17980213e-02 1.01388517e+01] [ 1.72087645e-02 3.40278640e-04 9.99851860e-01 -2.09043597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.44538475000002 meters 0.057738505736178225 Centerline is valid? [True, True] Translation: X:139.09, Y:10.16, Z:-2.09 [[ 7.42300988e-01 -6.69966240e-01 -1.15965444e-02 1.39092076e+02] [ 6.69877268e-01 7.42391488e-01 -1.09236008e-02 1.01596144e+01] [ 1.59276196e-02 3.40338230e-04 9.99873089e-01 -2.09307866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.47538475000002 meters 0.05832900425683053 Centerline is valid? [True, True] Translation: X:139.11, Y:10.18, Z:-2.09 [[ 7.43356222e-01 -6.68799674e-01 -1.13368076e-02 1.39110510e+02] [ 6.68714429e-01 7.43442578e-01 -1.06839437e-02 1.01796236e+01] [ 1.55736835e-02 3.60889201e-04 9.99878658e-01 -2.09416553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.50538475 meters 0.05836681250492953 Centerline is valid? [True, True] Translation: X:139.13, Y:10.20, Z:-2.09 [[ 7.44525745e-01 -6.67489073e-01 -1.18217050e-02 1.39133183e+02] [ 6.67396113e-01 7.44619479e-01 -1.11471664e-02 1.01969036e+01] [ 1.62432836e-02 4.09592352e-04 9.99867985e-01 -2.09212612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.53538475 meters 0.05861713329795033 Centerline is valid? [True, True] Translation: X:139.15, Y:10.22, Z:-2.09 [[ 7.45246600e-01 -6.66668881e-01 -1.26534022e-02 1.39153540e+02] [ 6.66562222e-01 7.45353870e-01 -1.19336400e-02 1.02162031e+01] [ 1.73870487e-02 4.59224694e-04 9.99848728e-01 -2.09365391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.56538475 meters 0.05909188114755138 Centerline is valid? [True, True] Translation: X:139.17, Y:10.23, Z:-2.10 [[ 7.45703461e-01 -6.66137430e-01 -1.36847909e-02 1.39174510e+02] [ 6.66012412e-01 7.45828839e-01 -1.29154883e-02 1.02347715e+01] [ 1.88100018e-02 5.16883732e-04 9.99822943e-01 -2.09523496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.59538475 meters 0.05919862271917853 Centerline is valid? [True, True] Translation: X:139.20, Y:10.25, Z:-2.09 [[ 7.46219445e-01 -6.65570242e-01 -1.31450730e-02 1.39195353e+02] [ 6.65454666e-01 7.46335036e-01 -1.24137731e-02 1.02531713e+01] [ 1.80728666e-02 5.15948706e-04 9.99836539e-01 -2.09431960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.62538475 meters 0.06007795442257442 Centerline is valid? [True, True] Translation: X:139.21, Y:10.27, Z:-2.09 [[ 7.48204164e-01 -6.63374754e-01 -1.11564235e-02 1.39213982e+02] [ 6.63291248e-01 7.48287179e-01 -1.05365195e-02 1.02725231e+01] [ 1.53378697e-02 4.83509685e-04 9.99882251e-01 -2.09296455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.65538475 meters 0.06013864057576756 Centerline is valid? [True, True] Translation: X:139.23, Y:10.29, Z:-2.09 [[ 7.48840939e-01 -6.62668758e-01 -1.03617124e-02 1.39234307e+02] [ 6.62596535e-01 7.48912476e-01 -9.79464917e-03 1.02916019e+01] [ 1.42506237e-02 4.68999584e-04 9.99898345e-01 -2.09249884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.68538475 meters 0.061044310652281115 Centerline is valid? [True, True] Translation: X:139.25, Y:10.31, Z:-2.09 [[ 7.49553485e-01 -6.61881127e-01 -9.10754659e-03 1.39253679e+02] [ 6.61825241e-01 7.49608692e-01 -8.61152892e-03 1.03100994e+01] [ 1.25269046e-02 4.27197295e-04 9.99921444e-01 -2.09260140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.71538475 meters 0.05965449628344251 Centerline is valid? [True, True] Translation: X:139.28, Y:10.32, Z:-2.09 [[ 7.46368096e-01 -6.65460786e-01 -9.82891271e-03 1.39280826e+02] [ 6.65395914e-01 7.46432704e-01 -9.30032612e-03 1.03224844e+01] [ 1.35256242e-02 4.01348348e-04 9.99908444e-01 -2.08940345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.74538475 meters 0.059334307998445586 Centerline is valid? [True, True] Translation: X:139.30, Y:10.34, Z:-2.09 [[ 7.44886513e-01 -6.67116664e-01 -9.97198845e-03 1.39302639e+02] [ 6.67050018e-01 7.44953163e-01 -9.43712534e-03 1.03392127e+01] [ 1.37243279e-02 3.77772312e-04 9.99905746e-01 -2.08998220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.77538475 meters 0.05909590333271084 Centerline is valid? [True, True] Translation: X:139.32, Y:10.36, Z:-2.09 [[ 7.43684514e-01 -6.68455865e-01 -1.00050382e-02 1.39324962e+02] [ 6.68388804e-01 7.43751724e-01 -9.47519448e-03 1.03573143e+01] [ 1.37750138e-02 3.59299867e-04 9.99905055e-01 -2.09227616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.80538475 meters 0.058489820522217566 Centerline is valid? [True, True] Translation: X:139.35, Y:10.37, Z:-2.09 [[ 7.41759204e-01 -6.70590863e-01 -1.00587462e-02 1.39349513e+02] [ 6.70523202e-01 7.41827331e-01 -9.53130120e-03 1.03727471e+01] [ 1.38534564e-02 3.25307662e-04 9.99903983e-01 -2.09402755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.83538475 meters 0.058101023568493 Centerline is valid? [True, True] Translation: X:139.37, Y:10.39, Z:-2.09 [[ 7.39760422e-01 -6.72814865e-01 -8.64148336e-03 1.39371864e+02] [ 6.72765014e-01 7.39810852e-01 -8.19391669e-03 1.03895259e+01] [ 1.19060521e-02 2.47847596e-04 9.99929090e-01 -2.09468617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.86538475 meters 0.05750694552955295 Centerline is valid? [True, True] Translation: X:139.40, Y:10.40, Z:-2.09 [[ 7.37197099e-01 -6.75645653e-01 -6.58706899e-03 1.39395631e+02] [ 6.75616794e-01 7.37226511e-01 -6.24658386e-03 1.04039742e+01] [ 9.07663911e-03 1.54629072e-04 9.99958795e-01 -2.09308801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.89538475 meters 0.05741979261933156 Centerline is valid? [True, True] Translation: X:139.42, Y:10.42, Z:-2.09 [[ 7.36936901e-01 -6.75931506e-01 -6.37201572e-03 1.39417822e+02] [ 6.75904460e-01 7.36964433e-01 -6.04853606e-03 1.04220262e+01] [ 8.78434504e-03 1.50515577e-04 9.99961406e-01 -2.09269328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.92538475 meters 0.057112438186311267 Centerline is valid? [True, True] Translation: X:139.44, Y:10.44, Z:-2.09 [[ 7.35184970e-01 -6.77829011e-01 -7.13379875e-03 1.39443550e+02] [ 6.77795168e-01 7.35219566e-01 -6.77496673e-03 1.04358250e+01] [ 9.83717742e-03 1.45599387e-04 9.99951603e-01 -2.09196184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.95538475 meters 0.05673509748120423 Centerline is valid? [True, True] Translation: X:139.47, Y:10.45, Z:-2.09 [[ 7.33676741e-01 -6.79465090e-01 -6.75501682e-03 1.39467531e+02] [ 6.79434781e-01 7.33707828e-01 -6.41890935e-03 1.04524646e+01] [ 9.31763354e-03 1.19811125e-04 9.99956583e-01 -2.09053329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.98538475 meters 0.05648534448801752 Centerline is valid? [True, True] Translation: X:139.49, Y:10.47, Z:-2.09 [[ 7.31633727e-01 -6.81658206e-01 -7.36068404e-03 1.39491720e+02] [ 6.81622288e-01 7.31670746e-01 -6.99829510e-03 1.04684483e+01] [ 1.01560425e-02 1.02982430e-04 9.99948421e-01 -2.09200787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.01538475 meters 0.056511848764035984 Centerline is valid? [True, True] Translation: X:139.51, Y:10.49, Z:-2.10 [[ 7.29952062e-01 -6.83452116e-01 -7.94931314e-03 1.39512581e+02] [ 6.83410282e-01 7.29995340e-01 -7.56241568e-03 1.04855115e+01] [ 1.09715106e-02 8.75585879e-05 9.99939807e-01 -2.09520062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.04538475 meters 0.05663551649204039 Centerline is valid? [True, True] Translation: X:139.53, Y:10.50, Z:-2.10 [[ 7.28297281e-01 -6.85219655e-01 -7.55607832e-03 1.39533321e+02] [ 6.85181909e-01 7.28336474e-01 -7.19249091e-03 1.05031395e+01] [ 1.04318036e-02 6.09834093e-05 9.99945585e-01 -2.09863726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.07538475 meters 0.05643543595857551 Centerline is valid? [True, True] Translation: X:139.56, Y:10.52, Z:-2.10 [[ 7.25916391e-01 -6.87739608e-01 -7.72166450e-03 1.39555592e+02] [ 6.87700287e-01 7.25957458e-01 -7.35424008e-03 1.05200723e+01] [ 1.06634021e-02 2.83725265e-05 9.99943144e-01 -2.09649625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.10538475 meters 0.05688864326175686 Centerline is valid? [True, True] Translation: X:139.57, Y:10.54, Z:-2.10 [[ 7.27861336e-01 -6.85652426e-01 -9.93107925e-03 1.39573736e+02] [ 6.85587191e-01 7.27929080e-01 -9.45824066e-03 1.05412621e+01] [ 1.37141870e-02 7.56669651e-05 9.99905953e-01 -2.10003626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.13538475000001 meters 0.05689328471760475 Centerline is valid? [True, True] Translation: X:139.59, Y:10.56, Z:-2.10 [[ 7.28508696e-01 -6.84965148e-01 -9.89074747e-03 1.39594046e+02] [ 6.84900274e-01 7.28575828e-01 -9.42748592e-03 1.05613009e+01] [ 1.36636588e-02 9.38298165e-05 9.99906643e-01 -2.09790667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.16538475000002 meters 0.057149456448854906 Centerline is valid? [True, True] Translation: X:139.61, Y:10.58, Z:-2.10 [[ 7.30350648e-01 -6.82999478e-01 -9.98219555e-03 1.39611136e+02] [ 6.82933195e-01 7.30418850e-01 -9.51602233e-03 1.05833785e+01] [ 1.37906221e-02 1.32860370e-04 9.99904896e-01 -2.09774077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.19538475000002 meters 0.05755558246162051 Centerline is valid? [True, True] Translation: X:139.63, Y:10.60, Z:-2.10 [[ 7.30459207e-01 -6.82890236e-01 -9.50122744e-03 1.39628402e+02] [ 6.82830075e-01 7.30520984e-01 -9.06535199e-03 1.06041168e+01] [ 1.31314864e-02 1.34145974e-04 9.99913769e-01 -2.10166053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.22538475000002 meters 0.05710198794133881 Centerline is valid? [True, True] Translation: X:139.65, Y:10.62, Z:-2.10 [[ 7.29768982e-01 -6.83637004e-01 -8.81363024e-03 1.39649321e+02] [ 6.83585232e-01 7.29822193e-01 -8.41407639e-03 1.06226437e+01] [ 1.21845569e-02 1.15464494e-04 9.99925759e-01 -2.09799577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.25538475 meters 0.057223162740114804 Centerline is valid? [True, True] Translation: X:139.67, Y:10.65, Z:-2.10 [[ 7.30809160e-01 -6.82520779e-01 -9.13010134e-03 1.39665462e+02] [ 6.82465076e-01 7.30866176e-01 -8.72082846e-03 1.06470745e+01] [ 1.26250289e-02 1.42286012e-04 9.99920291e-01 -2.09849848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.28538475 meters 0.05764814575713811 Centerline is valid? [True, True] Translation: X:139.68, Y:10.67, Z:-2.10 [[ 7.31701443e-01 -6.81564986e-01 -9.06463286e-03 1.39680648e+02] [ 6.81509931e-01 7.31757571e-01 -8.66432576e-03 1.06698371e+01] [ 1.25384148e-02 1.62062344e-04 9.99921378e-01 -2.10247995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.31538475 meters 0.05774416221301005 Centerline is valid? [True, True] Translation: X:139.70, Y:10.69, Z:-2.10 [[ 7.31725413e-01 -6.81539413e-01 -9.05251072e-03 1.39699890e+02] [ 6.81484438e-01 7.31781388e-01 -8.65794713e-03 1.06894137e+01] [ 1.25251911e-02 1.66094753e-04 9.99921543e-01 -2.10226769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.34538475 meters 0.05760607267304445 Centerline is valid? [True, True] Translation: X:139.72, Y:10.71, Z:-2.10 [[ 7.30807088e-01 -6.82519591e-01 -9.38126022e-03 1.39721664e+02] [ 6.82460564e-01 7.30867282e-01 -8.97748681e-03 1.07067072e+01] [ 1.29837668e-02 1.58470854e-04 9.99915695e-01 -2.10032706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.37538475 meters 0.05746430540431838 Centerline is valid? [True, True] Translation: X:139.74, Y:10.73, Z:-2.10 [[ 7.30415483e-01 -6.82931103e-01 -9.91621285e-03 1.39742481e+02] [ 6.82865124e-01 7.30482774e-01 -9.49423460e-03 1.07260943e+01] [ 1.37275308e-02 1.63300031e-04 9.99905760e-01 -2.10006032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.40538475 meters 0.058062401959348836 Centerline is valid? [True, True] Translation: X:139.76, Y:10.75, Z:-2.11 [[ 7.32057665e-01 -6.81140251e-01 -1.18124184e-02 1.39758566e+02] [ 6.81046356e-01 7.32152923e-01 -1.13118803e-02 1.07480083e+01] [ 1.63534737e-02 2.36144226e-04 9.99866245e-01 -2.10588819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.43538475 meters 0.05839891140192092 Centerline is valid? [True, True] Translation: X:139.78, Y:10.77, Z:-2.11 [[ 7.32282064e-01 -6.80893908e-01 -1.21022812e-02 1.39776800e+02] [ 6.80795203e-01 7.32382019e-01 -1.15960932e-02 1.07679555e+01] [ 1.67592024e-02 2.52436023e-04 9.99859523e-01 -2.10824229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.46538475 meters 0.0580574575587852 Centerline is valid? [True, True] Translation: X:139.80, Y:10.79, Z:-2.11 [[ 7.31511237e-01 -6.81737389e-01 -1.12001229e-02 1.39798035e+02] [ 6.81652846e-01 7.31596941e-01 -1.07384129e-02 1.07867011e+01] [ 1.55147532e-02 2.20674012e-04 9.99879615e-01 -2.10649502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.49538475 meters 0.05787906193906407 Centerline is valid? [True, True] Translation: X:139.82, Y:10.81, Z:-2.10 [[ 7.31636787e-01 -6.81614408e-01 -1.04599465e-02 1.39818275e+02] [ 6.81540565e-01 7.31711523e-01 -1.00352191e-02 1.08068208e+01] [ 1.44938133e-02 2.13257624e-04 9.99894936e-01 -2.10441747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.52538475 meters 0.058120668115078905 Centerline is valid? [True, True] Translation: X:139.84, Y:10.83, Z:-2.11 [[ 7.33137469e-01 -6.80016500e-01 -9.32801194e-03 1.39835118e+02] [ 6.79957563e-01 7.33196774e-01 -8.95559032e-03 1.08290176e+01] [ 1.29292175e-02 2.23026551e-04 9.99916389e-01 -2.10543122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.55538475 meters 0.05860128930670126 Centerline is valid? [True, True] Translation: X:139.85, Y:10.85, Z:-2.11 [[ 7.33907554e-01 -6.79189194e-01 -9.04105115e-03 1.39853246e+02] [ 6.79133740e-01 7.33963204e-01 -8.68204742e-03 1.08493266e+01] [ 1.25325517e-02 2.31737306e-04 9.99921438e-01 -2.10703678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.58538475 meters 0.05870711652400758 Centerline is valid? [True, True] Translation: X:139.87, Y:10.87, Z:-2.11 [[ 7.35099622e-01 -6.77895681e-01 -9.27318604e-03 1.39872581e+02] [ 6.77837164e-01 7.35158062e-01 -8.91083367e-03 1.08704749e+01] [ 1.28578731e-02 2.64640338e-04 9.99917299e-01 -2.10663378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.61538475 meters 0.05908632165397995 Centerline is valid? [True, True] Translation: X:139.89, Y:10.89, Z:-2.11 [[ 7.35028991e-01 -6.77974618e-01 -9.09947226e-03 1.39890737e+02] [ 6.77918203e-01 7.35085266e-01 -8.74992575e-03 1.08903022e+01] [ 1.26211156e-02 2.62751209e-04 9.99920316e-01 -2.10817390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.64538475 meters 0.05931445412522905 Centerline is valid? [True, True] Translation: X:139.91, Y:10.91, Z:-2.11 [[ 7.35490095e-01 -6.77479862e-01 -8.68082442e-03 1.39908752e+02] [ 6.77428463e-01 7.35541276e-01 -8.34917653e-03 1.09104853e+01] [ 1.20415036e-02 2.60099085e-04 9.99927465e-01 -2.10851606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.67538475 meters 0.05873449245482094 Centerline is valid? [True, True] Translation: X:139.93, Y:10.93, Z:-2.11 [[ 7.35115059e-01 -6.77888168e-01 -8.57209944e-03 1.39930540e+02] [ 6.77837999e-01 7.35164993e-01 -8.25113191e-03 1.09283718e+01] [ 1.18952521e-02 2.55036588e-04 9.99929216e-01 -2.10661628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.70538475 meters 0.05864545078850734 Centerline is valid? [True, True] Translation: X:139.95, Y:10.95, Z:-2.11 [[ 7.33875683e-01 -6.79230960e-01 -8.47254303e-03 1.39950993e+02] [ 6.79182017e-01 7.33924552e-01 -8.15716175e-03 1.09468923e+01] [ 1.17588042e-02 2.31943786e-04 9.99930836e-01 -2.10665971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.73538475 meters 0.05858986360730248 Centerline is valid? [True, True] Translation: X:139.97, Y:10.97, Z:-2.11 [[ 7.33542083e-01 -6.79596727e-01 -8.01882045e-03 1.39970888e+02] [ 6.79552842e-01 7.33585879e-01 -7.72619258e-03 1.09674185e+01] [ 1.11331886e-02 2.18275172e-04 9.99938000e-01 -2.10805965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.76538475 meters 0.05879086710853962 Centerline is valid? [True, True] Translation: X:139.99, Y:10.99, Z:-2.11 [[ 7.32904582e-01 -6.80272531e-01 -8.95310711e-03 1.39991894e+02] [ 6.80217826e-01 7.32959227e-01 -8.63017466e-03 1.09863504e+01] [ 1.24331332e-02 2.35031491e-04 9.99922678e-01 -2.11048460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.79538475 meters 0.05875669173765003 Centerline is valid? [True, True] Translation: X:140.01, Y:11.00, Z:-2.11 [[ 7.31696979e-01 -6.81565365e-01 -9.39067509e-03 1.40012426e+02] [ 6.81505259e-01 7.31757202e-01 -9.05425189e-03 1.10038953e+01] [ 1.30427586e-02 2.25174288e-04 9.99914914e-01 -2.11232607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.82538475 meters 0.05817637645808279 Centerline is valid? [True, True] Translation: X:140.04, Y:11.02, Z:-2.11 [[ 7.30057625e-01 -6.83322592e-01 -9.27902549e-03 1.40035091e+02] [ 6.83263969e-01 7.30116564e-01 -8.95270423e-03 1.10208491e+01] [ 1.28923553e-02 1.95966190e-04 9.99916871e-01 -2.11118073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.85538475 meters 0.0581917139309578 Centerline is valid? [True, True] Translation: X:140.06, Y:11.04, Z:-2.11 [[ 7.29669017e-01 -6.83747976e-01 -8.47532650e-03 1.40056007e+02] [ 6.83699037e-01 7.29718216e-01 -8.18244641e-03 1.10398462e+01] [ 1.17793313e-02 1.75905068e-04 9.99930606e-01 -2.11052685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.88538475000001 meters 0.05796223919985686 Centerline is valid? [True, True] Translation: X:140.08, Y:11.06, Z:-2.11 [[ 7.28809642e-01 -6.84673772e-01 -7.63751674e-03 1.40077492e+02] [ 6.84634062e-01 7.28849645e-01 -7.37538300e-03 1.10574157e+01] [ 1.06163327e-02 1.46346129e-04 9.99943634e-01 -2.11011418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.91538475000002 meters 0.05796223919985686 Centerline is valid? [True, True] Translation: X:140.10, Y:11.08, Z:-2.11 [[ 7.28617494e-01 -6.84878281e-01 -7.63463816e-03 1.40097276e+02] [ 6.84838551e-01 7.28657477e-01 -7.37836400e-03 1.10767684e+01] [ 1.06163174e-02 1.47510548e-04 9.99943634e-01 -2.11048580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.94538475000002 meters 0.057858853043171884 Centerline is valid? [True, True] Translation: X:140.12, Y:11.10, Z:-2.11 [[ 7.28346316e-01 -6.85171059e-01 -7.22936068e-03 1.40118485e+02] [ 6.85135406e-01 7.28382180e-01 -6.99104591e-03 1.10960303e+01] [ 1.00557998e-02 1.38811563e-04 9.99949430e-01 -2.11028780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.97538475000002 meters 0.05763840222662488 Centerline is valid? [True, True] Translation: X:140.14, Y:11.11, Z:-2.11 [[ 7.26994409e-01 -6.86611946e-01 -6.56996551e-03 1.40140399e+02] [ 6.86582530e-01 7.27024087e-01 -6.35658539e-03 1.11149749e+01] [ 9.14103064e-03 1.10378493e-04 9.99958214e-01 -2.11089010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.00538475 meters 0.05774286837831059 Centerline is valid? [True, True] Translation: X:140.16, Y:11.13, Z:-2.11 [[ 7.26141667e-01 -6.87513922e-01 -6.54884527e-03 1.40160401e+02] [ 6.87484693e-01 7.26171190e-01 -6.34026211e-03 1.11340627e+01] [ 9.11460123e-03 1.01697611e-04 9.99958456e-01 -2.11395178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.03538475 meters 0.05735361853953094 Centerline is valid? [True, True] Translation: X:140.18, Y:11.15, Z:-2.11 [[ 7.25107342e-01 -6.88602180e-01 -6.81036344e-03 1.40182919e+02] [ 6.88570584e-01 7.25139317e-01 -6.59707830e-03 1.11512956e+01] [ 9.48122479e-03 9.41739758e-05 9.99955048e-01 -2.11078056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.06538475 meters 0.057149016111172915 Centerline is valid? [True, True] Translation: X:140.20, Y:11.17, Z:-2.11 [[ 7.24179732e-01 -6.89576745e-01 -6.90131383e-03 1.40203728e+02] [ 6.89544304e-01 7.24212611e-01 -6.68933319e-03 1.11696824e+01] [ 9.61082711e-03 8.55178800e-05 9.99953811e-01 -2.11098951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.09538475 meters 0.05710122951033726 Centerline is valid? [True, True] Translation: X:140.22, Y:11.19, Z:-2.11 [[ 7.23921430e-01 -6.89856807e-01 -5.94543042e-03 1.40221694e+02] [ 6.89832705e-01 7.23945841e-01 -5.76710944e-03 1.11900365e+01] [ 8.28264933e-03 7.35817675e-05 9.99965696e-01 -2.11418795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.12538475 meters 0.05706448153381914 Centerline is valid? [True, True] Translation: X:140.24, Y:11.21, Z:-2.11 [[ 7.23239316e-01 -6.90571952e-01 -5.93890810e-03 1.40242927e+02] [ 6.90547901e-01 7.23263697e-01 -5.76386626e-03 1.12087234e+01] [ 8.27576100e-03 6.75541714e-05 9.99965753e-01 -2.11295803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.15538475 meters 0.05714214218735721 Centerline is valid? [True, True] Translation: X:140.26, Y:11.23, Z:-2.11 [[ 7.24032061e-01 -6.89729198e-01 -7.15598365e-03 1.40262512e+02] [ 6.89694216e-01 7.24067417e-01 -6.94731004e-03 1.12282248e+01] [ 9.97317718e-03 9.46346677e-05 9.99950262e-01 -2.11385170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.18538475 meters 0.05728520456660897 Centerline is valid? [True, True] Translation: X:140.28, Y:11.25, Z:-2.12 [[ 7.23959921e-01 -6.89803830e-01 -7.26009690e-03 1.40280953e+02] [ 6.89767778e-01 7.23996316e-01 -7.05311715e-03 1.12476133e+01] [ 1.01215506e-02 9.83932329e-05 9.99948771e-01 -2.11594963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.21538475 meters 0.05715871067114498 Centerline is valid? [True, True] Translation: X:140.30, Y:11.27, Z:-2.11 [[ 7.23885252e-01 -6.89885889e-01 -6.89944177e-03 1.40300803e+02] [ 6.89853297e-01 7.23918124e-01 -6.70651494e-03 1.12670075e+01] [ 9.62136096e-03 9.51445990e-05 9.99953709e-01 -2.11438146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.24538475 meters 0.0570324223793495 Centerline is valid? [True, True] Translation: X:140.32, Y:11.29, Z:-2.11 [[ 7.23115524e-01 -6.90690377e-01 -7.12335614e-03 1.40321659e+02] [ 6.90655638e-01 7.23150603e-01 -6.92782527e-03 1.12862387e+01] [ 9.93624154e-03 8.98319228e-05 9.99950630e-01 -2.11444609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.27538475 meters 0.0568017518864636 Centerline is valid? [True, True] Translation: X:140.34, Y:11.31, Z:-2.11 [[ 7.22559112e-01 -6.91276335e-01 -6.73481653e-03 1.40341124e+02] [ 6.91245270e-01 7.22590494e-01 -6.55399317e-03 1.13060522e+01] [ 9.39713479e-03 8.02374149e-05 9.99955843e-01 -2.11498766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.30538475 meters 0.056778546344928675 Centerline is valid? [True, True] Translation: X:140.36, Y:11.33, Z:-2.12 [[ 7.22215016e-01 -6.91638998e-01 -6.40051566e-03 1.40359795e+02] [ 6.91610942e-01 7.22243374e-01 -6.23006555e-03 1.13250928e+01] [ 8.93168632e-03 7.27802265e-05 9.99960109e-01 -2.11543194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.33538475 meters 0.056655704244922396 Centerline is valid? [True, True] Translation: X:140.38, Y:11.34, Z:-2.11 [[ 7.21695268e-01 -6.92184792e-01 -6.01280437e-03 1.40380579e+02] [ 6.92160011e-01 7.21720313e-01 -5.85742698e-03 1.13443367e+01] [ 8.39398493e-03 6.54545995e-05 9.99964768e-01 -2.11428665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.36538475 meters 0.05652321754901386 Centerline is valid? [True, True] Translation: X:140.40, Y:11.37, Z:-2.11 [[ 7.21800014e-01 -6.92077801e-01 -5.74957542e-03 1.40398972e+02] [ 6.92055112e-01 7.21822910e-01 -5.60435219e-03 1.13661317e+01] [ 8.02882299e-03 6.61984247e-05 9.99967766e-01 -2.11448523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.39538475 meters 0.0566034671291308 Centerline is valid? [True, True] Translation: X:140.42, Y:11.39, Z:-2.11 [[ 7.22743175e-01 -6.91088488e-01 -6.24546961e-03 1.40418013e+02] [ 6.91061656e-01 7.22770154e-01 -6.09034353e-03 1.13878535e+01] [ 8.72300533e-03 8.57496421e-05 9.99961950e-01 -2.11467546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.42538475 meters 0.05665886096336358 Centerline is valid? [True, True] Translation: X:140.44, Y:11.41, Z:-2.11 [[ 7.23706340e-01 -6.90071848e-01 -7.06955145e-03 1.40437315e+02] [ 6.90037390e-01 7.23740860e-01 -6.89693971e-03 1.14086225e+01] [ 9.87590717e-03 1.13104161e-04 9.99951226e-01 -2.11478208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.45538475 meters 0.05691455146607814 Centerline is valid? [True, True] Translation: X:140.46, Y:11.43, Z:-2.12 [[ 7.24030599e-01 -6.89724837e-01 -7.70338453e-03 1.40455755e+02] [ 6.89683870e-01 7.24071566e-01 -7.51843251e-03 1.14289576e+01] [ 1.07634513e-02 1.30675137e-04 9.99942064e-01 -2.11623251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.48538475 meters 0.056663114723894514 Centerline is valid? [True, True] Translation: X:140.48, Y:11.45, Z:-2.11 [[ 7.24484692e-01 -6.89251420e-01 -7.37641396e-03 1.40475495e+02] [ 6.89213780e-01 7.24522230e-01 -7.20442584e-03 1.14489816e+01] [ 1.03100366e-02 1.35570082e-04 9.99946841e-01 -2.11484447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.51538475 meters 0.05643589448384798 Centerline is valid? [True, True] Translation: X:140.50, Y:11.47, Z:-2.11 [[ 7.23028587e-01 -6.90779267e-01 -7.32574053e-03 1.40496301e+02] [ 6.90742179e-01 7.23065689e-01 -7.15907939e-03 1.14673136e+01] [ 1.02423352e-02 1.16021083e-04 9.99947539e-01 -2.11491795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.54538475 meters 0.05636017305923546 Centerline is valid? [True, True] Translation: X:140.52, Y:11.49, Z:-2.12 [[ 7.22735268e-01 -6.91087487e-01 -7.19845064e-03 1.40516512e+02] [ 6.91051657e-01 7.22771106e-01 -7.03812253e-03 1.14876303e+01] [ 1.00667905e-02 1.12198124e-04 9.99949322e-01 -2.11606549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.57538475 meters 0.05636406768588516 Centerline is valid? [True, True] Translation: X:140.54, Y:11.51, Z:-2.12 [[ 7.22820758e-01 -6.90996275e-01 -7.36875934e-03 1.40536387e+02] [ 6.90958679e-01 7.22858308e-01 -7.20906091e-03 1.15081459e+01] [ 1.03080031e-02 1.19350655e-04 9.99946864e-01 -2.11715418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.60538475 meters 0.05561482399388792 Centerline is valid? [True, True] Translation: X:140.56, Y:11.53, Z:-2.11 [[ 7.19943586e-01 -6.94015375e-01 -4.88801067e-03 1.40559319e+02] [ 6.93998874e-01 7.19960177e-01 -4.78610825e-03 1.15259075e+01] [ 6.84080573e-03 5.34540397e-05 9.99976600e-01 -2.11168554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.63538475000001 meters 0.055605475541006866 Centerline is valid? [True, True] Translation: X:140.58, Y:11.55, Z:-2.11 [[ 7.19114370e-01 -6.94874737e-01 -4.86036510e-03 1.40579727e+02] [ 6.94858421e-01 7.19130793e-01 -4.76200189e-03 1.15450378e+01] [ 6.80423302e-03 4.71583684e-05 9.99976850e-01 -2.11153522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.66538475000002 meters 0.05594361511703117 Centerline is valid? [True, True] Translation: X:140.60, Y:11.57, Z:-2.12 [[ 7.19949859e-01 -6.93977245e-01 -8.23316751e-03 1.40595536e+02] [ 6.93930390e-01 7.19996927e-01 -8.06468280e-03 1.15676460e+01] [ 1.15245617e-02 9.29221096e-05 9.99933586e-01 -2.11891715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.69538475000002 meters 0.05655779012618755 Centerline is valid? [True, True] Translation: X:140.61, Y:11.59, Z:-2.12 [[ 7.21507021e-01 -6.92331521e-01 -1.02314673e-02 1.40611752e+02] [ 6.92258989e-01 7.21579547e-01 -1.00224478e-02 1.15895685e+01] [ 1.43216741e-02 1.48441200e-04 9.99897429e-01 -2.12361848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.72538475000002 meters 0.057573729448043995 Centerline is valid? [True, True] Translation: X:140.63, Y:11.61, Z:-2.13 [[ 7.23798222e-01 -6.89884842e-01 -1.32302419e-02 1.40628179e+02] [ 6.89762976e-01 7.23919082e-01 -1.29691978e-02 1.16121125e+01] [ 1.85248775e-02 2.61351281e-04 9.99828366e-01 -2.13012345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.75538475 meters 0.05725444883323792 Centerline is valid? [True, True] Translation: X:140.65, Y:11.63, Z:-2.13 [[ 7.23090973e-01 -6.90617512e-01 -1.36710104e-02 1.40649856e+02] [ 6.90487384e-01 7.23220151e-01 -1.34084438e-02 1.16299393e+01] [ 1.91472563e-02 2.55864495e-04 9.99816642e-01 -2.12933270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.78538475 meters 0.05695419777295071 Centerline is valid? [True, True] Translation: X:140.67, Y:11.65, Z:-2.13 [[ 7.23402452e-01 -6.90299662e-01 -1.32389518e-02 1.40670969e+02] [ 6.90177436e-01 7.23523537e-01 -1.29922319e-02 1.16490481e+01] [ 1.85472266e-02 2.61386614e-04 9.99827951e-01 -2.12716874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.81538475 meters 0.05674215096691846 Centerline is valid? [True, True] Translation: X:140.69, Y:11.67, Z:-2.13 [[ 7.23861008e-01 -6.89823001e-01 -1.30180271e-02 1.40690386e+02] [ 6.89704607e-01 7.23978005e-01 -1.27829131e-02 1.16696025e+01] [ 1.82427128e-02 2.74459137e-04 9.99833550e-01 -2.12639557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.84538475 meters 0.056520548902597036 Centerline is valid? [True, True] Translation: X:140.71, Y:11.69, Z:-2.12 [[ 7.23842108e-01 -6.89874661e-01 -1.12051053e-02 1.40710408e+02] [ 6.89786863e-01 7.23928791e-01 -1.10086228e-02 1.16903463e+01] [ 1.57062683e-02 2.39370306e-04 9.99876620e-01 -2.12461711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.87538475 meters 0.05691356898208686 Centerline is valid? [True, True] Translation: X:140.73, Y:11.71, Z:-2.13 [[ 7.23510995e-01 -6.90230917e-01 -1.06358335e-02 1.40728204e+02] [ 6.90151749e-01 7.23589131e-01 -1.04562404e-02 1.17106569e+01] [ 1.49131939e-02 2.24865778e-04 9.99888767e-01 -2.12775444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.90538475 meters 0.05621348899606523 Centerline is valid? [True, True] Translation: X:140.75, Y:11.73, Z:-2.12 [[ 7.22707697e-01 -6.91081375e-01 -1.00058794e-02 1.40749242e+02] [ 6.91011317e-01 7.22776932e-01 -9.84203410e-03 1.17294693e+01] [ 1.40336653e-02 1.98737888e-04 9.99901504e-01 -2.12420318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.93538475 meters 0.056344628878805966 Centerline is valid? [True, True] Translation: X:140.77, Y:11.75, Z:-2.12 [[ 7.23196292e-01 -6.90560427e-01 -1.06498792e-02 1.40769031e+02] [ 6.90480929e-01 7.23274668e-01 -1.04805357e-02 1.17504890e+01] [ 1.49402311e-02 2.25946082e-04 9.99888363e-01 -2.12446860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.96538475 meters 0.05672992805261031 Centerline is valid? [True, True] Translation: X:140.79, Y:11.77, Z:-2.13 [[ 7.24848088e-01 -6.88834739e-01 -1.00971452e-02 1.40786271e+02] [ 6.88763082e-01 7.24918368e-01 -9.93864270e-03 1.17724402e+01] [ 1.41656884e-02 2.49465299e-04 9.99899630e-01 -2.12558741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.99538475 meters 0.05590221843373127 Centerline is valid? [True, True] Translation: X:140.81, Y:11.79, Z:-2.12 [[ 7.23774426e-01 -6.89986125e-01 -8.35026912e-03 1.40808896e+02] [ 6.89937117e-01 7.23822568e-01 -8.22586881e-03 1.17904814e+01] [ 1.17198486e-02 1.92512884e-04 9.99931302e-01 -2.12093949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.02538475 meters 0.05522885713291063 Centerline is valid? [True, True] Translation: X:140.83, Y:11.81, Z:-2.12 [[ 7.21823837e-01 -6.92032975e-01 -7.79164592e-03 1.40832102e+02] [ 6.91990368e-01 7.21865873e-01 -7.68057869e-03 1.18078464e+01] [ 1.09397370e-02 1.52280858e-04 9.99940148e-01 -2.11729821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.05538475 meters 0.0549936316955344 Centerline is valid? [True, True] Translation: X:140.85, Y:11.83, Z:-2.12 [[ 7.20101384e-01 -6.93829487e-01 -7.39184751e-03 1.40853214e+02] [ 6.93791218e-01 7.20139312e-01 -7.28811447e-03 1.18256691e+01] [ 1.03798687e-02 1.19782427e-04 9.99946121e-01 -2.11734619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.08538475 meters 0.054748306158267854 Centerline is valid? [True, True] Translation: X:140.87, Y:11.84, Z:-2.12 [[ 7.18272950e-01 -6.95712674e-01 -8.23677922e-03 1.40873714e+02] [ 6.95665210e-01 7.18320168e-01 -8.12724415e-03 1.18446801e+01] [ 1.15708714e-02 1.07538891e-04 9.99933049e-01 -2.11747586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.11538475 meters 0.05482003641643209 Centerline is valid? [True, True] Translation: X:140.89, Y:11.86, Z:-2.12 [[ 7.17498027e-01 -6.96507950e-01 -8.55901824e-03 1.40892443e+02] [ 6.96456692e-01 7.17549068e-01 -8.45051634e-03 1.18640215e+01] [ 1.20273674e-02 1.02243272e-04 9.99927663e-01 -2.12120501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.14538475 meters 0.05503041580392321 Centerline is valid? [True, True] Translation: X:140.91, Y:11.88, Z:-2.12 [[ 7.17709365e-01 -6.96268543e-01 -1.01677704e-02 1.40912397e+02] [ 6.96196136e-01 7.17781373e-01 -1.00419865e-02 1.18847010e+01] [ 1.42901555e-02 1.28465257e-04 9.99897882e-01 -2.12473672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.17538475 meters 0.055242291037036866 Centerline is valid? [True, True] Translation: X:140.93, Y:11.91, Z:-2.13 [[ 7.18664682e-01 -6.95269500e-01 -1.10180398e-02 1.40931362e+02] [ 6.95184276e-01 7.18749118e-01 -1.08870082e-02 1.19055088e+01] [ 1.54886111e-02 1.64540298e-04 9.99880031e-01 -2.12517049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.20538475 meters 0.055247922583261874 Centerline is valid? [True, True] Translation: X:140.95, Y:11.93, Z:-2.12 [[ 7.19010756e-01 -6.94913038e-01 -1.09271425e-02 1.40950919e+02] [ 6.94829074e-01 7.19093762e-01 -1.08036693e-02 1.19256420e+01] [ 1.53652507e-02 1.75458162e-04 9.99881932e-01 -2.12390596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.23538475 meters 0.054762380289739475 Centerline is valid? [True, True] Translation: X:140.97, Y:11.94, Z:-2.12 [[ 7.19797046e-01 -6.94127253e-01 -8.92010221e-03 1.40971689e+02] [ 6.94071166e-01 7.19852297e-01 -8.82533959e-03 1.19449265e+01] [ 1.25470648e-02 1.61267629e-04 9.99921269e-01 -2.11926349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.26538475 meters 0.05505875728990678 Centerline is valid? [True, True] Translation: X:140.99, Y:11.97, Z:-2.12 [[ 7.20337172e-01 -6.93563661e-01 -9.15463767e-03 1.40990508e+02] [ 6.93504485e-01 7.20395319e-01 -9.06161592e-03 1.19654498e+01] [ 1.28797656e-02 1.78636497e-04 9.99917036e-01 -2.12164027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.29538475 meters 0.05512760896512028 Centerline is valid? [True, True] Translation: X:141.01, Y:11.98, Z:-2.12 [[ 7.19644457e-01 -6.94282310e-01 -9.16129114e-03 1.41010204e+02] [ 6.94223029e-01 7.19702748e-01 -9.07417661e-03 1.19847660e+01] [ 1.28934467e-02 1.70201615e-04 9.99916862e-01 -2.12285573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.32538475 meters 0.054838059073786215 Centerline is valid? [True, True] Translation: X:141.03, Y:12.00, Z:-2.12 [[ 7.19221139e-01 -6.94714372e-01 -9.63812980e-03 1.41031406e+02] [ 6.94648727e-01 7.19285694e-01 -9.55177350e-03 1.20039969e+01] [ 1.35683232e-02 1.74722831e-04 9.99907931e-01 -2.12243397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.35538475 meters 0.054783156598721516 Centerline is valid? [True, True] Translation: X:141.05, Y:12.02, Z:-2.12 [[ 7.19296860e-01 -6.94637727e-01 -9.51081978e-03 1.41051414e+02] [ 6.94573722e-01 7.19359713e-01 -9.43124110e-03 1.20238895e+01] [ 1.33929965e-02 1.77896610e-04 9.99910294e-01 -2.12314124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.38538475000001 meters 0.05495665344519664 Centerline is valid? [True, True] Translation: X:141.07, Y:12.04, Z:-2.12 [[ 7.20234626e-01 -6.93667472e-01 -9.35533266e-03 1.41069199e+02] [ 6.93605435e-01 7.20295357e-01 -9.27899307e-03 1.20437503e+01] [ 1.31751383e-02 1.94142527e-04 9.99913185e-01 -2.12427683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.41538475000002 meters 0.055118587296426734 Centerline is valid? [True, True] Translation: X:141.09, Y:12.06, Z:-2.13 [[ 7.20000043e-01 -6.93908662e-01 -9.52400174e-03 1.41089296e+02] [ 6.93844294e-01 7.20063004e-01 -9.45335954e-03 1.20637245e+01] [ 1.34176494e-02 1.98245017e-04 9.99909960e-01 -2.12613646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.44538475000002 meters 0.05498453762153662 Centerline is valid? [True, True] Translation: X:141.11, Y:12.08, Z:-2.13 [[ 7.19188364e-01 -6.94740031e-01 -1.02169801e-02 1.41110176e+02] [ 6.94665960e-01 7.19260905e-01 -1.01466041e-02 1.20831180e+01] [ 1.43979265e-02 1.99931311e-04 9.99896324e-01 -2.12722936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.47538475000002 meters 0.054823765779803316 Centerline is valid? [True, True] Translation: X:141.13, Y:12.10, Z:-2.13 [[ 7.17358881e-01 -6.96613256e-01 -1.12342016e-02 1.41132303e+02] [ 6.96523838e-01 7.17446819e-01 -1.11626630e-02 1.21011526e+01] [ 1.58360012e-02 1.82746249e-04 9.99874586e-01 -2.12825732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.50538475 meters 0.05480725531587864 Centerline is valid? [True, True] Translation: X:141.15, Y:12.12, Z:-2.13 [[ 7.17097566e-01 -6.96869142e-01 -1.20200195e-02 1.41152121e+02] [ 6.96766712e-01 7.17198273e-01 -1.19493683e-02 1.21213370e+01] [ 1.69478832e-02 1.93713415e-04 9.99856356e-01 -2.12964825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.53538475 meters 0.054907703956022326 Centerline is valid? [True, True] Translation: X:141.17, Y:12.14, Z:-2.13 [[ 7.16782737e-01 -6.97186943e-01 -1.23642438e-02 1.41172369e+02] [ 6.97078483e-01 7.16889342e-01 -1.22987889e-02 1.21407878e+01] [ 1.74383496e-02 1.96711239e-04 9.99847921e-01 -2.13166840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.56538475 meters 0.054682790224370705 Centerline is valid? [True, True] Translation: X:141.20, Y:12.16, Z:-2.13 [[ 7.15201758e-01 -6.98809261e-01 -1.23313260e-02 1.41196264e+02] [ 6.98701494e-01 7.15308039e-01 -1.22732148e-02 1.21572646e+01] [ 1.73973328e-02 1.61908905e-04 9.99848642e-01 -2.13189974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.59538475 meters 0.05434297237994774 Centerline is valid? [True, True] Translation: X:141.22, Y:12.17, Z:-2.13 [[ 7.13425114e-01 -7.00639629e-01 -1.13454039e-02 1.41219004e+02] [ 7.00548600e-01 7.13515311e-01 -1.12942656e-02 1.21728000e+01] [ 1.60083294e-02 1.09605941e-04 9.99871852e-01 -2.13215619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.62538475 meters 0.054103244711476796 Centerline is valid? [True, True] Translation: X:141.24, Y:12.19, Z:-2.13 [[ 7.12332350e-01 -7.01759794e-01 -1.07617471e-02 1.41240581e+02] [ 7.01677905e-01 7.12413633e-01 -1.07207050e-02 1.21918270e+01] [ 1.51901751e-02 8.54248350e-05 9.99884619e-01 -2.13112721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.65538475 meters 0.05393151254047709 Centerline is valid? [True, True] Translation: X:141.26, Y:12.21, Z:-2.13 [[ 7.10324765e-01 -7.03798007e-01 -1.03485689e-02 1.41262225e+02] [ 7.03722404e-01 7.10400143e-01 -1.03157790e-02 1.22100438e+01] [ 1.46118495e-02 4.50334787e-05 9.99893240e-01 -2.13000689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.68538475 meters 0.05387226962300048 Centerline is valid? [True, True] Translation: X:141.28, Y:12.23, Z:-2.13 [[ 7.09373155e-01 -7.04750181e-01 -1.08124735e-02 1.41283367e+02] [ 7.04667665e-01 7.09455553e-01 -1.07842752e-02 1.22285438e+01] [ 1.52711892e-02 3.08748524e-05 9.99883388e-01 -2.13142290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.71538475 meters 0.0541180249823747 Centerline is valid? [True, True] Translation: X:141.31, Y:12.24, Z:-2.13 [[ 7.07598453e-01 -7.06526166e-01 -1.11895262e-02 1.41305406e+02] [ 7.06437907e-01 7.07686920e-01 -1.11672772e-02 1.22448827e+01] [ 1.58086549e-02 -2.75739285e-06 9.99875035e-01 -2.13302120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.74538475 meters 0.05375051817737813 Centerline is valid? [True, True] Translation: X:141.33, Y:12.26, Z:-2.13 [[ 7.07373926e-01 -7.06754494e-01 -1.09642234e-02 1.41325532e+02] [ 7.06669689e-01 7.07458893e-01 -1.09483200e-02 1.22640816e+01] [ 1.54945117e-02 -3.52829531e-06 9.99879953e-01 -2.13024452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.77538475 meters 0.0537483123443606 Centerline is valid? [True, True] Translation: X:141.34, Y:12.28, Z:-2.13 [[ 7.07721864e-01 -7.06419849e-01 -1.00379695e-02 1.41344488e+02] [ 7.06348694e-01 7.07793047e-01 -1.00262412e-02 1.22842844e+01] [ 1.41875408e-02 5.48343934e-06 9.99899352e-01 -2.12902642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.80538475 meters 0.0537483123443606 Centerline is valid? [True, True] Translation: X:141.36, Y:12.30, Z:-2.13 [[ 7.07522923e-01 -7.06619152e-01 -1.00343586e-02 1.41363956e+02] [ 7.06547966e-01 7.07594075e-01 -1.00298561e-02 1.23039646e+01] [ 1.41875411e-02 6.59745335e-06 9.99899352e-01 -2.12939803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.83538475 meters 0.053622781198926724 Centerline is valid? [True, True] Translation: X:141.38, Y:12.32, Z:-2.13 [[ 7.07296729e-01 -7.06856921e-01 -9.19947275e-03 1.41383984e+02] [ 7.06797044e-01 7.07356553e-01 -9.20031851e-03 1.23245380e+01] [ 1.30106161e-02 5.19504167e-06 9.99915358e-01 -2.12952132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.86538475 meters 0.05365443607830585 Centerline is valid? [True, True] Translation: X:141.40, Y:12.34, Z:-2.13 [[ 7.06868383e-01 -7.07287830e-01 -9.00082465e-03 1.41403861e+02] [ 7.07230475e-01 7.06925686e-01 -9.00715219e-03 1.23447077e+01] [ 1.27335633e-02 1.21361470e-06 9.99918925e-01 -2.12980081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.89538475 meters 0.053600241412361256 Centerline is valid? [True, True] Translation: X:141.42, Y:12.36, Z:-2.13 [[ 7.05909595e-01 -7.08250989e-01 -8.49586785e-03 1.41423459e+02] [ 7.08199900e-01 7.05960719e-01 -8.50679295e-03 1.23642444e+01] [ 1.20226935e-02 -1.17459920e-05 9.99927725e-01 -2.13071402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.92538475 meters 0.05359117854182955 Centerline is valid? [True, True] Translation: X:141.44, Y:12.38, Z:-2.13 [[ 7.04889627e-01 -7.09269698e-01 -8.19203382e-03 1.41443847e+02] [ 7.09222213e-01 7.04937227e-01 -8.20724546e-03 1.23835219e+01] [ 1.15960201e-02 -2.47701672e-05 9.99932764e-01 -2.13021474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.95538475 meters 0.053654977033282224 Centerline is valid? [True, True] Translation: X:141.46, Y:12.41, Z:-2.13 [[ 7.05825850e-01 -7.08337533e-01 -8.23464558e-03 1.41461493e+02] [ 7.08289436e-01 7.05873884e-01 -8.25444143e-03 1.24057211e+01] [ 1.16595519e-02 -6.31433372e-06 9.99932025e-01 -2.13074322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.98538475 meters 0.053521850178272545 Centerline is valid? [True, True] Translation: X:141.48, Y:12.43, Z:-2.13 [[ 7.08398710e-01 -7.05772501e-01 -7.51299209e-03 1.41478184e+02] [ 7.05732265e-01 7.08438548e-01 -7.53617283e-03 1.24285145e+01] [ 1.06413168e-02 3.64541856e-05 9.99943379e-01 -2.12744565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.01538475 meters 0.053663985346034504 Centerline is valid? [True, True] Translation: X:141.50, Y:12.45, Z:-2.13 [[ 7.08850755e-01 -7.05321076e-01 -7.26552689e-03 1.41496650e+02] [ 7.05283372e-01 7.08887987e-01 -7.29290290e-03 1.24491469e+01] [ 1.02942828e-02 4.53244202e-05 9.99947011e-01 -2.12898808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.04538475 meters 0.05350570035842175 Centerline is valid? [True, True] Translation: X:141.52, Y:12.47, Z:-2.13 [[ 7.09895449e-01 -7.04270168e-01 -7.20987703e-03 1.41515209e+02] [ 7.04232945e-01 7.09932058e-01 -7.24104843e-03 1.24703954e+01] [ 1.02181772e-02 6.29543939e-05 9.99947791e-01 -2.12757163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.07538475 meters 0.05377016250105545 Centerline is valid? [True, True] Translation: X:141.53, Y:12.49, Z:-2.13 [[ 7.11095132e-01 -7.03057815e-01 -7.30904467e-03 1.41531467e+02] [ 7.03019453e-01 7.11132690e-01 -7.34479330e-03 1.24936150e+01] [ 1.03615149e-02 8.44461810e-05 9.99946314e-01 -2.12896710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.10538475 meters 0.05401683526090245 Centerline is valid? [True, True] Translation: X:141.55, Y:12.51, Z:-2.13 [[ 7.11118417e-01 -7.03032720e-01 -7.45602211e-03 1.41548907e+02] [ 7.02992748e-01 7.11157498e-01 -7.49728443e-03 1.25145425e+01] [ 1.05732423e-02 8.99275563e-05 9.99944098e-01 -2.13188968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.13538475000001 meters 0.05430445997324427 Centerline is valid? [True, True] Translation: X:141.57, Y:12.54, Z:-2.13 [[ 7.11604871e-01 -7.02519998e-01 -9.17392473e-03 1.41567141e+02] [ 7.02459400e-01 7.11663992e-01 -9.22787645e-03 1.25360636e+01] [ 1.30115196e-02 1.22292168e-04 9.99915339e-01 -2.13367479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.16538475000002 meters 0.054637058905813204 Centerline is valid? [True, True] Translation: X:141.59, Y:12.56, Z:-2.13 [[ 7.12853186e-01 -7.01242020e-01 -9.99822456e-03 1.41585650e+02] [ 7.01169849e-01 7.12923280e-01 -1.00617387e-02 1.25584797e+01] [ 1.41836810e-02 1.62088851e-04 9.99899393e-01 -2.13333875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.19538475000002 meters 0.054598443867210765 Centerline is valid? [True, True] Translation: X:141.60, Y:12.58, Z:-2.13 [[ 7.12732374e-01 -7.01366070e-01 -9.90955332e-03 1.41604361e+02] [ 7.01295143e-01 7.12801242e-01 -9.97556910e-03 1.25783600e+01] [ 1.40600676e-02 1.60389423e-04 9.99901140e-01 -2.13324705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.22538475000002 meters 0.05487325479400072 Centerline is valid? [True, True] Translation: X:141.62, Y:12.60, Z:-2.14 [[ 7.13095023e-01 -7.00996321e-01 -9.98231472e-03 1.41622624e+02] [ 7.00924204e-01 7.13164867e-01 -1.00564696e-02 1.25986874e+01] [ 1.41685843e-02 1.74372417e-04 9.99899605e-01 -2.13508169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.25538475 meters 0.054195571591438445 Centerline is valid? [True, True] Translation: X:141.64, Y:12.62, Z:-2.13 [[ 7.12559809e-01 -7.01549534e-01 -9.31505969e-03 1.41643414e+02] [ 7.01486705e-01 7.12620675e-01 -9.39020791e-03 1.26178682e+01] [ 1.32258001e-02 1.56694219e-04 9.99912523e-01 -2.13175775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.28538475 meters 0.05441298200908187 Centerline is valid? [True, True] Translation: X:141.66, Y:12.64, Z:-2.13 [[ 7.11827734e-01 -7.02300510e-01 -8.67583201e-03 1.41661798e+02] [ 7.02245995e-01 7.11880590e-01 -8.75143676e-03 1.26372778e+01] [ 1.23222949e-02 1.36947123e-04 9.99924068e-01 -2.13361738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.31538475 meters 0.0540356034726867 Centerline is valid? [True, True] Translation: X:141.68, Y:12.66, Z:-2.13 [[ 7.11556065e-01 -7.02600433e-01 -6.37166375e-03 1.41682698e+02] [ 7.02571031e-01 7.11584585e-01 -6.42843235e-03 1.26572304e+01] [ 9.05059706e-03 9.76436603e-05 9.99959038e-01 -2.13117468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.34538475 meters 0.053996001042659135 Centerline is valid? [True, True] Translation: X:141.70, Y:12.68, Z:-2.13 [[ 7.11491522e-01 -7.02673357e-01 -5.47429057e-03 1.41702045e+02] [ 7.02651610e-01 7.11512576e-01 -5.52891911e-03 1.26778433e+01] [ 7.78005073e-03 8.72599834e-05 9.99969731e-01 -2.13063250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.37538475 meters 0.0540866409307192 Centerline is valid? [True, True] Translation: X:141.72, Y:12.70, Z:-2.13 [[ 7.11147694e-01 -7.03029537e-01 -4.29269099e-03 1.41720883e+02] [ 7.03016164e-01 7.11160646e-01 -4.33679661e-03 1.26974741e+01] [ 6.10168901e-03 6.62717544e-05 9.99981382e-01 -2.13123666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.40538475 meters 0.05369664741661372 Centerline is valid? [True, True] Translation: X:141.74, Y:12.71, Z:-2.13 [[ 7.08723650e-01 -7.05473060e-01 -4.30683840e-03 1.41743234e+02] [ 7.05459618e-01 7.08736735e-01 -4.35522373e-03 1.27145879e+01] [ 6.12490760e-03 4.83494871e-05 9.99981241e-01 -2.13042617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.43538475 meters 0.05371810130668915 Centerline is valid? [True, True] Translation: X:141.76, Y:12.73, Z:-2.13 [[ 7.07712472e-01 -7.06473454e-01 -6.18994548e-03 1.41763323e+02] [ 7.06445721e-01 7.07739539e-01 -6.26006971e-03 1.27329311e+01] [ 8.80344223e-03 5.74689059e-05 9.99961247e-01 -2.13243965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.46538475 meters 0.05396310819336924 Centerline is valid? [True, True] Translation: X:141.78, Y:12.76, Z:-2.14 [[ 7.08373959e-01 -7.05795399e-01 -7.69346699e-03 1.41781288e+02] [ 7.05752485e-01 7.08415731e-01 -7.78343749e-03 1.27553797e+01] [ 1.09436874e-02 8.39009778e-05 9.99940113e-01 -2.13620914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.49538475 meters 0.05450606743984246 Centerline is valid? [True, True] Translation: X:141.80, Y:12.78, Z:-2.14 [[ 7.08989952e-01 -7.05162711e-01 -8.87685460e-03 1.41799516e+02] [ 7.05105480e-01 7.09045512e-01 -8.98462748e-03 1.27774853e+01] [ 1.26297182e-02 1.10891779e-04 9.99920236e-01 -2.14193531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.52538475 meters 0.05478390370828814 Centerline is valid? [True, True] Translation: X:141.82, Y:12.80, Z:-2.14 [[ 7.09356956e-01 -7.04793732e-01 -8.86027878e-03 1.41817765e+02] [ 7.04736654e-01 7.09412278e-01 -8.97041137e-03 1.27975113e+01] [ 1.26078803e-02 1.19060480e-04 9.99920510e-01 -2.14392077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.55538475 meters 0.05490863447887702 Centerline is valid? [True, True] Translation: X:141.84, Y:12.82, Z:-2.14 [[ 7.09598382e-01 -7.04535881e-01 -9.96637816e-03 1.41838333e+02] [ 7.04463551e-01 7.09668354e-01 -1.00961662e-02 1.28170891e+01] [ 1.41859346e-02 1.43273081e-04 9.99899364e-01 -2.14324239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.58538475 meters 0.05472839607501797 Centerline is valid? [True, True] Translation: X:141.86, Y:12.84, Z:-2.14 [[ 7.09695820e-01 -7.04446728e-01 -9.30862689e-03 1.41858304e+02] [ 7.04383541e-01 7.09756851e-01 -9.43606110e-03 1.28369713e+01] [ 1.32540641e-02 1.39889540e-04 9.99912151e-01 -2.14142989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.61538475 meters 0.0546393090022883 Centerline is valid? [True, True] Translation: X:141.88, Y:12.86, Z:-2.14 [[ 7.10146228e-01 -7.04010334e-01 -7.86030244e-03 1.41877679e+02] [ 7.03965230e-01 7.10189717e-01 -7.97000711e-03 1.28562604e+01] [ 1.11932733e-02 1.26490879e-04 9.99937345e-01 -2.13952524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.64538475 meters 0.054446011298606274 Centerline is valid? [True, True] Translation: X:141.90, Y:12.88, Z:-2.14 [[ 7.10080090e-01 -7.04078869e-01 -7.69488328e-03 1.41897683e+02] [ 7.04035575e-01 7.10121771e-01 -7.80899340e-03 1.28755424e+01] [ 1.09624514e-02 1.27539168e-04 9.99939902e-01 -2.13770772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.67538475 meters 0.05441198355783198 Centerline is valid? [True, True] Translation: X:141.92, Y:12.90, Z:-2.14 [[ 7.08780023e-01 -7.05394715e-01 -7.01252597e-03 1.41916451e+02] [ 7.05358806e-01 7.08814706e-01 -7.11817672e-03 1.28954037e+01] [ 9.99170577e-03 9.88745212e-05 9.99950077e-01 -2.14043318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.70538475 meters 0.054384426160244886 Centerline is valid? [True, True] Translation: X:141.94, Y:12.91, Z:-2.14 [[ 7.08070728e-01 -7.06098628e-01 -7.78277001e-03 1.41936960e+02] [ 7.06054381e-01 7.08113491e-01 -7.90533476e-03 1.29148571e+01] [ 1.10930305e-02 1.02477268e-04 9.99938465e-01 -2.14172048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.73538475 meters 0.05429795319011704 Centerline is valid? [True, True] Translation: X:141.96, Y:12.93, Z:-2.14 [[ 7.07326652e-01 -7.06844167e-01 -7.76727965e-03 1.41958663e+02] [ 7.06800087e-01 7.07369291e-01 -7.89449220e-03 1.29328774e+01] [ 1.10745109e-02 9.40708049e-05 9.99938671e-01 -2.13999516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.76538475 meters 0.0542373845637264 Centerline is valid? [True, True] Translation: X:141.98, Y:12.95, Z:-2.14 [[ 7.06663082e-01 -7.07511591e-01 -7.39167340e-03 1.41979355e+02] [ 7.07471659e-01 7.06701735e-01 -7.51731518e-03 1.29519126e+01] [ 1.05422960e-02 8.28096679e-05 9.99944425e-01 -2.13989456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.79538475 meters 0.05442431143194496 Centerline is valid? [True, True] Translation: X:142.00, Y:12.97, Z:-2.14 [[ 7.06711459e-01 -7.07464838e-01 -7.23995026e-03 1.41998669e+02] [ 7.07426480e-01 7.06748538e-01 -7.36740286e-03 1.29724437e+01] [ 1.03290027e-02 8.48954914e-05 9.99946651e-01 -2.14158941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.82538475 meters 0.05464842427275267 Centerline is valid? [True, True] Translation: X:142.02, Y:12.99, Z:-2.14 [[ 7.06561990e-01 -7.07612793e-01 -7.36815756e-03 1.42016923e+02] [ 7.07573023e-01 7.06600402e-01 -7.50269550e-03 1.29919476e+01] [ 1.05153464e-02 8.76099463e-05 9.99944708e-01 -2.14285570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.85538475 meters 0.05454969256786796 Centerline is valid? [True, True] Translation: X:142.04, Y:13.01, Z:-2.14 [[ 7.06651747e-01 -7.07532069e-01 -6.45598410e-03 1.42037290e+02] [ 7.07501500e-01 7.06681233e-01 -6.57742687e-03 1.30121862e+01] [ 9.21606324e-03 8.03317494e-05 9.99957528e-01 -2.14122267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.88538475000001 meters 0.054652527631385825 Centerline is valid? [True, True] Translation: X:142.06, Y:13.03, Z:-2.14 [[ 7.06774876e-01 -7.07412753e-01 -6.03915095e-03 1.42055777e+02] [ 7.07385960e-01 7.06800673e-01 -6.15737534e-03 1.30319662e+01] [ 8.62428179e-03 7.98676056e-05 9.99962807e-01 -2.14211110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.91538475000002 meters 0.054460297969804485 Centerline is valid? [True, True] Translation: X:142.08, Y:13.05, Z:-2.14 [[ 7.06827293e-01 -7.07359714e-01 -6.11651620e-03 1.42075723e+02] [ 7.07332200e-01 7.06853752e-01 -6.23948512e-03 1.30521354e+01] [ 8.73704284e-03 8.38295159e-05 9.99961828e-01 -2.14184114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.94538475000002 meters 0.05478305878755347 Centerline is valid? [True, True] Translation: X:142.09, Y:13.07, Z:-2.14 [[ 7.06703223e-01 -7.07476284e-01 -6.91828922e-03 1.42094274e+02] [ 7.07441066e-01 7.06737079e-01 -7.05968822e-03 1.30723378e+01] [ 9.88397350e-03 9.48225117e-05 9.99951148e-01 -2.14462566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.97538475000002 meters 0.05485742014805325 Centerline is valid? [True, True] Translation: X:142.11, Y:13.09, Z:-2.15 [[ 7.06693115e-01 -7.07485114e-01 -7.04655210e-03 1.42112995e+02] [ 7.07448529e-01 7.06728239e-01 -7.19556580e-03 1.30920792e+01] [ 1.00707530e-02 9.99838933e-05 9.99949284e-01 -2.14593916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.00538475 meters 0.05467788440351228 Centerline is valid? [True, True] Translation: X:142.13, Y:13.11, Z:-2.14 [[ 7.06037849e-01 -7.08147881e-01 -6.09379921e-03 1.42133754e+02] [ 7.08120512e-01 7.06064141e-01 -6.22649016e-03 1.31112078e+01] [ 8.71188892e-03 8.09935084e-05 9.99962047e-01 -2.14367954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.03538475 meters 0.05451104133062738 Centerline is valid? [True, True] Translation: X:142.15, Y:13.13, Z:-2.14 [[ 7.05112490e-01 -7.09075588e-01 -5.30918457e-03 1.42153780e+02] [ 7.09054808e-01 7.05132475e-01 -5.42884868e-03 1.31295979e+01] [ 7.59314252e-03 6.34461617e-05 9.99971170e-01 -2.14263417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.06538475 meters 0.054036674795868204 Centerline is valid? [True, True] Translation: X:142.18, Y:13.15, Z:-2.14 [[ 7.01545987e-01 -7.12612915e-01 -4.00764487e-03 1.42176488e+02] [ 7.12601114e-01 7.01557434e-01 -4.10108668e-03 1.31475746e+01] [ 5.73408039e-03 2.12487037e-05 9.99983560e-01 -2.14067332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.09538475 meters 0.054080791813079725 Centerline is valid? [True, True] Translation: X:142.20, Y:13.17, Z:-2.14 [[ 7.01416086e-01 -7.12735964e-01 -4.78752933e-03 1.42195920e+02] [ 7.12719113e-01 7.01432424e-01 -4.90114138e-03 1.31680853e+01] [ 6.85134803e-03 2.55757505e-05 9.99976529e-01 -2.14037903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.12538475 meters 0.054229992151078724 Centerline is valid? [True, True] Translation: X:142.22, Y:13.19, Z:-2.14 [[ 7.00572330e-01 -7.13556773e-01 -5.92808490e-03 1.42215549e+02] [ 7.13530947e-01 7.00597411e-01 -6.07095291e-03 1.31886245e+01] [ 8.48517050e-03 2.32695946e-05 9.99964000e-01 -2.14318014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.15538475 meters 0.05431656991805804 Centerline is valid? [True, True] Translation: X:142.23, Y:13.21, Z:-2.15 [[ 7.00236306e-01 -7.13885758e-01 -6.02004617e-03 1.42233876e+02] [ 7.13859124e-01 7.00262183e-01 -6.16652247e-03 1.32088076e+01] [ 8.61780323e-03 2.05580249e-05 9.99962866e-01 -2.14528293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.18538475 meters 0.05450789756090974 Centerline is valid? [True, True] Translation: X:142.25, Y:13.23, Z:-2.15 [[ 7.00025727e-01 -7.14094770e-01 -5.71330172e-03 1.42253772e+02] [ 7.14070746e-01 7.00049041e-01 -5.85747099e-03 1.32293985e+01] [ 8.18238078e-03 2.06787700e-05 9.99966524e-01 -2.14633405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.21538475 meters 0.05464602579917109 Centerline is valid? [True, True] Translation: X:142.27, Y:13.25, Z:-2.15 [[ 7.00157489e-01 -7.13962728e-01 -6.05912153e-03 1.42273276e+02] [ 7.13935670e-01 7.00183706e-01 -6.21584740e-03 1.32487967e+01] [ 8.68038153e-03 2.62491157e-05 9.99962324e-01 -2.14664724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.24538475 meters 0.05463115920349362 Centerline is valid? [True, True] Translation: X:142.29, Y:13.27, Z:-2.15 [[ 7.00772818e-01 -7.13363402e-01 -5.48759308e-03 1.42292568e+02] [ 7.13341167e-01 7.00794303e-01 -5.63245034e-03 1.32697052e+01] [ 7.86365791e-03 3.25420507e-05 9.99969080e-01 -2.14633505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.27538475 meters 0.054617219308640566 Centerline is valid? [True, True] Translation: X:142.31, Y:13.29, Z:-2.15 [[ 7.00772901e-01 -7.13361141e-01 -5.76396023e-03 1.42311322e+02] [ 7.13336580e-01 7.00796604e-01 -5.91972138e-03 1.32905581e+01] [ 8.26226296e-03 3.67366470e-05 9.99965866e-01 -2.14689805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.30538475 meters 0.054838179341676514 Centerline is valid? [True, True] Translation: X:142.33, Y:13.31, Z:-2.15 [[ 7.01832310e-01 -7.12309610e-01 -6.81386654e-03 1.42328334e+02] [ 7.12275212e-01 7.01865383e-01 -7.00042204e-03 1.33134580e+01] [ 9.76888494e-03 5.97741357e-05 9.99952282e-01 -2.14899143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.33538475 meters 0.055100385423872335 Centerline is valid? [True, True] Translation: X:142.35, Y:13.34, Z:-2.15 [[ 7.02121665e-01 -7.12017815e-01 -7.46987895e-03 1.42345583e+02] [ 7.11976424e-01 7.02161396e-01 -7.67761474e-03 1.33352728e+01] [ 1.07116591e-02 7.22419435e-05 9.99942626e-01 -2.15183492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.36538475 meters 0.05538161179886095 Centerline is valid? [True, True] Translation: X:142.36, Y:13.36, Z:-2.15 [[ 7.04328417e-01 -7.09816253e-01 -9.07566666e-03 1.42362065e+02] [ 7.09754904e-01 7.04386875e-01 -9.33314723e-03 1.33584061e+01] [ 1.30176001e-02 1.32101897e-04 9.99915259e-01 -2.15207104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.39538475 meters 0.05571161189734013 Centerline is valid? [True, True] Translation: X:142.38, Y:13.38, Z:-2.15 [[ 7.05119316e-01 -7.09031818e-01 -8.97945132e-03 1.42379435e+02] [ 7.08971620e-01 7.05176473e-01 -9.24031808e-03 1.33797496e+01] [ 1.28837773e-02 1.49350614e-04 9.99916990e-01 -2.15366280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.42538475 meters 0.055848995996747246 Centerline is valid? [True, True] Translation: X:142.40, Y:13.40, Z:-2.15 [[ 7.06194934e-01 -7.07965065e-01 -8.61289648e-03 1.42398395e+02] [ 7.07909541e-01 7.06247435e-01 -8.86807846e-03 1.34011194e+01] [ 1.23611258e-02 1.65440486e-04 9.99923585e-01 -2.15290485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.45538475 meters 0.056252453331930866 Centerline is valid? [True, True] Translation: X:142.41, Y:13.42, Z:-2.15 [[ 7.07340299e-01 -7.06826995e-01 -8.08089892e-03 1.42414939e+02] [ 7.06777977e-01 7.07386434e-01 -8.32606571e-03 1.34229669e+01] [ 1.16014063e-02 1.77960412e-04 9.99932686e-01 -2.15256898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.48538475 meters 0.05630477215882563 Centerline is valid? [True, True] Translation: X:142.43, Y:13.44, Z:-2.15 [[ 7.07789617e-01 -7.06380544e-01 -7.77074691e-03 1.42432671e+02] [ 7.06335142e-01 7.07832250e-01 -8.01077559e-03 1.34443965e+01] [ 1.11590413e-02 1.81192169e-04 9.99937720e-01 -2.15400912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.51538475 meters 0.05632926645740725 Centerline is valid? [True, True] Translation: X:142.45, Y:13.46, Z:-2.16 [[ 7.07241015e-01 -7.06927116e-01 -8.01246152e-03 1.42451943e+02] [ 7.06878829e-01 7.07286378e-01 -8.26444515e-03 1.34643380e+01] [ 1.15094653e-02 1.81115160e-04 9.99933748e-01 -2.15556120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.54538475 meters 0.0560158745184106 Centerline is valid? [True, True] Translation: X:142.47, Y:13.48, Z:-2.16 [[ 7.06256658e-01 -7.07916510e-01 -7.46647670e-03 1.42473868e+02] [ 7.07874589e-01 7.06296107e-01 -7.70553210e-03 1.34826972e+01] [ 1.07284168e-02 1.56754217e-04 9.99942437e-01 -2.15644907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.57538475 meters 0.05577431788753325 Centerline is valid? [True, True] Translation: X:142.50, Y:13.50, Z:-2.16 [[ 7.05653929e-01 -7.08526681e-01 -6.51729655e-03 1.42495095e+02] [ 7.08494727e-01 7.05684012e-01 -6.73028187e-03 1.35014547e+01] [ 9.36773625e-03 1.31779605e-04 9.99956113e-01 -2.15543140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.60538475 meters 0.055748799127056825 Centerline is valid? [True, True] Translation: X:142.51, Y:13.52, Z:-2.16 [[ 7.05175182e-01 -7.09004558e-01 -6.36386617e-03 1.42514315e+02] [ 7.08974070e-01 7.05203886e-01 -6.57623367e-03 1.35206719e+01] [ 9.15040280e-03 1.25580671e-04 9.99958126e-01 -2.15600708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.63538475000001 meters 0.055595794585078434 Centerline is valid? [True, True] Translation: X:142.54, Y:13.54, Z:-2.15 [[ 7.05199347e-01 -7.08984197e-01 -5.94050329e-03 1.42535255e+02] [ 7.08957598e-01 7.05224358e-01 -6.14240525e-03 1.35400693e+01] [ 8.54425586e-03 1.20055227e-04 9.99963490e-01 -2.15467548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.66538475000002 meters 0.05599683514972193 Centerline is valid? [True, True] Translation: X:142.55, Y:13.56, Z:-2.16 [[ 7.05018788e-01 -7.09158658e-01 -6.51967076e-03 1.42553519e+02] [ 7.09126607e-01 7.05048921e-01 -6.74347890e-03 1.35610295e+01] [ 9.37888328e-03 1.31007311e-04 9.99956009e-01 -2.15827242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.69538475000002 meters 0.055652738534887156 Centerline is valid? [True, True] Translation: X:142.57, Y:13.58, Z:-2.16 [[ 7.04636284e-01 -7.09531907e-01 -7.22360487e-03 1.42574472e+02] [ 7.09492540e-01 7.04673295e-01 -7.47549785e-03 1.35805947e+01] [ 1.03943857e-02 1.42413261e-04 9.99945967e-01 -2.15678351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.72538475000002 meters 0.055652738534887156 Centerline is valid? [True, True] Translation: X:142.59, Y:13.60, Z:-2.16 [[ 7.04434439e-01 -7.09732325e-01 -7.22134660e-03 1.42593582e+02] [ 7.09692946e-01 7.04471438e-01 -7.47768022e-03 1.36006174e+01] [ 1.03943838e-02 1.42596734e-04 9.99945967e-01 -2.15715449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.75538475 meters 0.05580867191234381 Centerline is valid? [True, True] Translation: X:142.61, Y:13.62, Z:-2.16 [[ 7.04484140e-01 -7.09679416e-01 -7.56451334e-03 1.42612763e+02] [ 7.09636158e-01 7.04524735e-01 -7.83715709e-03 1.36215693e+01] [ 1.08912558e-02 1.53100694e-04 9.99940677e-01 -2.15832286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.78538475 meters 0.05592803984450225 Centerline is valid? [True, True] Translation: X:142.63, Y:13.64, Z:-2.16 [[ 7.03556987e-01 -7.10592154e-01 -8.14593020e-03 1.42631674e+02] [ 7.10542033e-01 7.03604127e-01 -8.44107747e-03 1.36413472e+01] [ 1.17296735e-02 1.50753228e-04 9.99931194e-01 -2.16132036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.81538475 meters 0.055391004933589096 Centerline is valid? [True, True] Translation: X:142.65, Y:13.66, Z:-2.16 [[ 7.01974794e-01 -7.12146199e-01 -8.89833059e-03 1.42653699e+02] [ 7.12086433e-01 7.02031175e-01 -9.22715612e-03 1.36593526e+01] [ 1.28179896e-02 1.40850524e-04 9.99917836e-01 -2.16051747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.84538475 meters 0.055344983765854325 Centerline is valid? [True, True] Translation: X:142.67, Y:13.68, Z:-2.16 [[ 7.01380411e-01 -7.12726962e-01 -9.26267269e-03 1.42673101e+02] [ 7.12662182e-01 7.01441557e-01 -9.61016165e-03 1.36792172e+01] [ 1.33466449e-02 1.39222598e-04 9.99910920e-01 -2.16200132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.87538475 meters 0.05571986171518142 Centerline is valid? [True, True] Translation: X:142.69, Y:13.70, Z:-2.16 [[ 7.02328819e-01 -7.11770441e-01 -1.08198584e-02 1.42691507e+02] [ 7.11681853e-01 7.02412132e-01 -1.12310557e-02 1.36995192e+01] [ 1.55939333e-02 1.87597236e-04 9.99878390e-01 -2.16404741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.90538475 meters 0.055579300882120236 Centerline is valid? [True, True] Translation: X:142.71, Y:13.72, Z:-2.16 [[ 7.01438630e-01 -7.12650036e-01 -1.06665166e-02 1.42712509e+02] [ 7.12563946e-01 7.01519705e-01 -1.10781649e-02 1.37186479e+01] [ 1.53776262e-02 1.70077605e-04 9.99881743e-01 -2.16428328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.93538475 meters 0.05529973344467015 Centerline is valid? [True, True] Translation: X:142.73, Y:13.74, Z:-2.16 [[ 7.00171920e-01 -7.13879651e-01 -1.16243937e-02 1.42734945e+02] [ 7.13777474e-01 7.00268390e-01 -1.20788973e-02 1.37367694e+01] [ 1.67630744e-02 1.60074344e-04 9.99859477e-01 -2.16315238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.96538475 meters 0.055531746366262215 Centerline is valid? [True, True] Translation: X:142.75, Y:13.76, Z:-2.17 [[ 6.99286105e-01 -7.14745092e-01 -1.17641964e-02 1.42753825e+02] [ 7.14640431e-01 6.99385038e-01 -1.22320193e-02 1.37556984e+01] [ 1.69704787e-02 1.46510741e-04 9.99855980e-01 -2.16621423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.99538475 meters 0.05547082312993052 Centerline is valid? [True, True] Translation: X:142.77, Y:13.78, Z:-2.17 [[ 6.98215735e-01 -7.15791236e-01 -1.17343069e-02 1.42774176e+02] [ 7.15687157e-01 6.98314321e-01 -1.22066630e-02 1.37759025e+01] [ 1.69316570e-02 1.24791374e-04 9.99856641e-01 -2.16647742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.02538475 meters 0.05557968619535225 Centerline is valid? [True, True] Translation: X:142.79, Y:13.79, Z:-2.17 [[ 6.96987204e-01 -7.16991013e-01 -1.15206682e-02 1.42794297e+02] [ 7.16890727e-01 6.97082404e-01 -1.19919520e-02 1.37940868e+01] [ 1.66289769e-02 9.91769127e-05 9.99861724e-01 -2.16878589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.05538475 meters 0.05537224394840203 Centerline is valid? [True, True] Translation: X:142.81, Y:13.81, Z:-2.17 [[ 6.96301009e-01 -7.17661132e-01 -1.12873558e-02 1.42814990e+02] [ 7.17564846e-01 6.96392484e-01 -1.17558533e-02 1.38135720e+01] [ 1.62971488e-02 8.62027728e-05 9.99867189e-01 -2.16572376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.08538475 meters 0.055219472657933664 Centerline is valid? [True, True] Translation: X:142.84, Y:13.83, Z:-2.16 [[ 6.95531832e-01 -7.18421405e-01 -1.03031564e-02 1.42837132e+02] [ 7.18341237e-01 6.95608137e-01 -1.07324854e-02 1.38322952e+01] [ 1.48774067e-02 6.36031073e-05 9.99889323e-01 -2.16329077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.11538475 meters 0.05532791748003881 Centerline is valid? [True, True] Translation: X:142.86, Y:13.85, Z:-2.17 [[ 6.94899404e-01 -7.19023949e-01 -1.09260360e-02 1.42857701e+02] [ 7.18933753e-01 6.94985293e-01 -1.13886785e-02 1.38512079e+01] [ 1.57821669e-02 5.88899025e-05 9.99875452e-01 -2.16703905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.14538475 meters 0.05534014522364145 Centerline is valid? [True, True] Translation: X:142.88, Y:13.87, Z:-2.17 [[ 6.94664140e-01 -7.19241228e-01 -1.15667212e-02 1.42876636e+02] [ 7.19140117e-01 6.94760428e-01 -1.20598066e-02 1.38703399e+01] [ 1.67100103e-02 5.94219233e-05 9.99860376e-01 -2.16818669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.17538475 meters 0.05524076758752393 Centerline is valid? [True, True] Translation: X:142.90, Y:13.89, Z:-2.17 [[ 6.93239127e-01 -7.20583625e-01 -1.33698586e-02 1.42898454e+02] [ 7.20448623e-01 6.93368040e-01 -1.39478742e-02 1.38892622e+01] [ 1.93208425e-02 3.69159191e-05 9.99813334e-01 -2.16926140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.20538475 meters 0.055059010014069425 Centerline is valid? [True, True] Translation: X:142.92, Y:13.91, Z:-2.17 [[ 6.91595247e-01 -7.22172658e-01 -1.27540230e-02 1.42919367e+02] [ 7.22049926e-01 6.91712839e-01 -1.33136573e-02 1.39082667e+01] [ 1.84368807e-02 -1.37924033e-06 9.99830026e-01 -2.16943269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.23538475 meters 0.054972816499629484 Centerline is valid? [True, True] Translation: X:142.94, Y:13.93, Z:-2.17 [[ 6.90460956e-01 -7.23273763e-01 -1.17784230e-02 1.42940167e+02] [ 7.23169125e-01 6.90561411e-01 -1.23025822e-02 1.39271160e+01] [ 1.70318593e-02 -2.33392023e-05 9.99854947e-01 -2.16965524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.26538475 meters 0.05492766612994259 Centerline is valid? [True, True] Translation: X:142.96, Y:13.95, Z:-2.17 [[ 6.90163961e-01 -7.23559267e-01 -1.16487925e-02 1.42959804e+02] [ 7.23456899e-01 6.90262259e-01 -1.21708001e-02 1.39459743e+01] [ 1.68470170e-02 -2.75517209e-05 9.99858079e-01 -2.16972962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.29538475 meters 0.05461352013946717 Centerline is valid? [True, True] Translation: X:142.98, Y:13.96, Z:-2.17 [[ 6.89430933e-01 -7.24275942e-01 -1.04569862e-02 1.42981493e+02] [ 7.24193412e-01 6.89510231e-01 -1.09336167e-02 1.39638552e+01] [ 1.51291545e-02 -3.49069193e-05 9.99885547e-01 -2.16676153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.32538475 meters 0.05466292325344084 Centerline is valid? [True, True] Translation: X:143.00, Y:13.98, Z:-2.17 [[ 6.89119849e-01 -7.24576580e-01 -1.01298837e-02 1.43001165e+02] [ 7.24499068e-01 6.89194297e-01 -1.05982191e-02 1.39832206e+01] [ 1.46606795e-02 -3.56481746e-05 9.99892526e-01 -2.16699215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.35538475 meters 0.05429241350798107 Centerline is valid? [True, True] Translation: X:143.02, Y:14.00, Z:-2.17 [[ 6.88607073e-01 -7.25073820e-01 -9.39439772e-03 1.43021137e+02] [ 7.25007119e-01 6.88671151e-01 -9.83480177e-03 1.40032661e+01] [ 1.36006080e-02 -3.86911620e-05 9.99907507e-01 -2.16517838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.38538475000001 meters 0.05453463795066343 Centerline is valid? [True, True] Translation: X:143.04, Y:14.02, Z:-2.17 [[ 6.87985721e-01 -7.25662445e-01 -9.46909217e-03 1.43040401e+02] [ 7.25594648e-01 6.88050881e-01 -9.91930897e-03 1.40218956e+01] [ 1.37132872e-02 -4.63796547e-05 9.99905967e-01 -2.16689358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.41538475000002 meters 0.054397089046425165 Centerline is valid? [True, True] Translation: X:143.06, Y:14.04, Z:-2.16 [[ 6.87164100e-01 -7.26455349e-01 -8.25379486e-03 1.43061206e+02] [ 7.26403833e-01 6.87213666e-01 -8.65149311e-03 1.40411748e+01] [ 1.19570441e-02 -5.05927559e-05 9.99928511e-01 -2.16479892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.44538475000002 meters 0.05442495036980431 Centerline is valid? [True, True] Translation: X:143.08, Y:14.06, Z:-2.16 [[ 6.85929222e-01 -7.27639727e-01 -6.44437049e-03 1.43080216e+02] [ 7.27608331e-01 6.85959492e-01 -6.75960588e-03 1.40607524e+01] [ 9.33913488e-03 -5.23664513e-05 9.99956388e-01 -2.16452074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.47538475000002 meters 0.05440539717001225 Centerline is valid? [True, True] Translation: X:143.10, Y:14.08, Z:-2.16 [[ 6.86269102e-01 -7.27319307e-01 -6.43000243e-03 1.43098658e+02] [ 7.27288000e-01 6.86299223e-01 -6.74848951e-03 1.40815476e+01] [ 9.32121238e-03 -4.51837643e-05 9.99956556e-01 -2.16461662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.50538475 meters 0.054628984209185286 Centerline is valid? [True, True] Translation: X:143.12, Y:14.10, Z:-2.17 [[ 6.86160069e-01 -7.27414855e-01 -7.21030907e-03 1.43117346e+02] [ 7.27375450e-01 6.86197950e-01 -7.57158844e-03 1.41012877e+01] [ 1.04553852e-02 -4.92801506e-05 9.99945340e-01 -2.16717696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.53538475 meters 0.054578663782488865 Centerline is valid? [True, True] Translation: X:143.14, Y:14.12, Z:-2.17 [[ 6.86113453e-01 -7.27445897e-01 -8.41405581e-03 1.43136000e+02] [ 7.27392187e-01 6.86165041e-01 -8.83984762e-03 1.41207749e+01] [ 1.22039418e-02 -5.51800833e-05 9.99925528e-01 -2.16932607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.56538475 meters 0.05482029959714497 Centerline is valid? [True, True] Translation: X:143.16, Y:14.14, Z:-2.17 [[ 6.85972452e-01 -7.27570724e-01 -9.09052268e-03 1.43155376e+02] [ 7.27507980e-01 6.86032681e-01 -9.55514888e-03 1.41411349e+01] [ 1.31884422e-02 -5.88588784e-05 9.99913027e-01 -2.16979950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.59538475 meters 0.05500472373628668 Centerline is valid? [True, True] Translation: X:143.17, Y:14.16, Z:-2.17 [[ 6.85377179e-01 -7.28124756e-01 -9.61569573e-03 1.43173512e+02] [ 7.28054531e-01 6.85444625e-01 -1.01125984e-02 1.41623492e+01] [ 1.39542602e-02 -6.98066898e-05 9.99902632e-01 -2.17229990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.62538475 meters 0.05543594168891602 Centerline is valid? [True, True] Translation: X:143.19, Y:14.18, Z:-2.18 [[ 6.85311907e-01 -7.28178129e-01 -1.02079356e-02 1.43190896e+02] [ 7.28098961e-01 6.85387924e-01 -1.07376226e-02 1.41824707e+01] [ 1.48152977e-02 -7.37666801e-05 9.99890245e-01 -2.17668835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.65538475 meters 0.055351989538913376 Centerline is valid? [True, True] Translation: X:143.21, Y:14.21, Z:-2.17 [[ 6.85603754e-01 -7.27914911e-01 -9.34748749e-03 1.43207057e+02] [ 7.27848404e-01 6.85667470e-01 -9.83982360e-03 1.42063524e+01] [ 1.35718224e-02 -5.73338591e-05 9.99907897e-01 -2.17437729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.68538475 meters 0.05521840609793758 Centerline is valid? [True, True] Translation: X:143.22, Y:14.23, Z:-2.17 [[ 6.87728000e-01 -7.25921833e-01 -8.22737520e-03 1.43222244e+02] [ 7.25870102e-01 6.87777211e-01 -8.66620294e-03 1.42296786e+01] [ 1.19495871e-02 -1.20152529e-05 9.99928601e-01 -2.17346019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.71538475 meters 0.05529752193969332 Centerline is valid? [True, True] Translation: X:143.24, Y:14.25, Z:-2.17 [[ 6.88736217e-01 -7.24966285e-01 -8.14307842e-03 1.43239956e+02] [ 7.24915483e-01 6.88784354e-01 -8.58231217e-03 1.42517104e+01] [ 1.18307120e-02 7.90558935e-06 9.99930015e-01 -2.17241014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.74538475 meters 0.05479085658091897 Centerline is valid? [True, True] Translation: X:143.26, Y:14.27, Z:-2.17 [[ 6.89033407e-01 -7.24705551e-01 -5.90153546e-03 1.43257836e+02] [ 7.24678820e-01 6.89058679e-01 -6.22443623e-03 1.42744705e+01] [ 8.57738772e-03 1.21267462e-05 9.99963213e-01 -2.16651233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.77538475 meters 0.054774753356099784 Centerline is valid? [True, True] Translation: X:143.27, Y:14.30, Z:-2.17 [[ 6.89325427e-01 -7.24438918e-01 -4.32549116e-03 1.43274811e+02] [ 7.24424526e-01 6.89338998e-01 -4.56637875e-03 1.42968502e+01] [ 6.28979222e-03 1.42290965e-05 9.99980219e-01 -2.16999753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.80538475 meters 0.05479144808876341 Centerline is valid? [True, True] Translation: X:143.29, Y:14.32, Z:-2.17 [[ 6.88537608e-01 -7.25191927e-01 -3.55400507e-03 1.43293206e+02] [ 7.25182206e-01 6.88546780e-01 -3.75481679e-03 1.43179218e+01] [ 5.17006157e-03 8.03133167e-06 9.99986635e-01 -2.16981299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.83538475 meters 0.054671670219656326 Centerline is valid? [True, True] Translation: X:143.31, Y:14.34, Z:-2.17 [[ 6.89487728e-01 -7.24294988e-01 -1.85558965e-03 1.43309247e+02] [ 7.24292325e-01 6.89490225e-01 -1.96413532e-03 1.43413512e+01] [ 2.70202429e-03 1.02578601e-05 9.99996349e-01 -2.16782934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.86538475 meters 0.054707454360386196 Centerline is valid? [True, True] Translation: X:143.33, Y:14.36, Z:-2.17 [[ 6.90023699e-01 -7.23783748e-01 -2.09303845e-03 1.43326583e+02] [ 7.23780354e-01 6.90026873e-01 -2.21665592e-03 1.43623321e+01] [ 3.04863230e-03 1.46450084e-05 9.99995353e-01 -2.16852793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.89538475 meters 0.05478783341623198 Centerline is valid? [True, True] Translation: X:143.34, Y:14.38, Z:-2.17 [[ 6.90897667e-01 -7.22947943e-01 -2.58568480e-03 1.43344468e+02] [ 7.22942761e-01 6.90902505e-01 -2.73734179e-03 1.43838956e+01] [ 3.76541172e-03 2.19209487e-05 9.99992911e-01 -2.16882474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.92538475 meters 0.0550005503178822 Centerline is valid? [True, True] Translation: X:143.36, Y:14.41, Z:-2.17 [[ 6.91574047e-01 -7.22297217e-01 -3.47385365e-03 1.43361804e+02] [ 7.22287854e-01 6.91582771e-01 -3.67782015e-03 1.44060259e+01] [ 5.05893659e-03 3.43626683e-05 9.99987203e-01 -2.17117146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.95538475 meters 0.055203121709875604 Centerline is valid? [True, True] Translation: X:143.38, Y:14.43, Z:-2.17 [[ 6.92035814e-01 -7.21854690e-01 -3.49835432e-03 1.43380337e+02] [ 7.21845176e-01 6.92044655e-01 -3.70638222e-03 1.44273953e+01] [ 5.09648680e-03 3.96790439e-05 9.99987012e-01 -2.17236783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.98538475 meters 0.05526050336250819 Centerline is valid? [True, True] Translation: X:143.40, Y:14.45, Z:-2.17 [[ 6.92031696e-01 -7.21860562e-01 -3.07593785e-03 1.43398365e+02] [ 7.21853195e-01 6.92038531e-01 -3.26131372e-03 1.44486494e+01] [ 4.48288126e-03 3.65568940e-05 9.99989951e-01 -2.17349055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.01538475 meters 0.05523494291773279 Centerline is valid? [True, True] Translation: X:143.42, Y:14.47, Z:-2.17 [[ 6.92337791e-01 -7.21565287e-01 -3.45267637e-03 1.43416469e+02] [ 7.21555993e-01 6.92346398e-01 -3.66253854e-03 1.44689138e+01] [ 5.03320872e-03 4.44145181e-05 9.99987332e-01 -2.17431906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.04538475 meters 0.055414055004209074 Centerline is valid? [True, True] Translation: X:143.43, Y:14.49, Z:-2.17 [[ 6.93090890e-01 -7.20843549e-01 -3.09781156e-03 1.43433206e+02] [ 7.20836050e-01 6.93097811e-01 -3.28828707e-03 1.44914095e+01] [ 4.51742693e-03 4.60675581e-05 9.99989795e-01 -2.17480306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.07538475 meters 0.05555445293900522 Centerline is valid? [True, True] Translation: X:143.45, Y:14.51, Z:-2.18 [[ 6.93404210e-01 -7.20541877e-01 -3.16297142e-03 1.43450338e+02] [ 7.20534057e-01 6.93411423e-01 -3.35724088e-03 1.45131726e+01] [ 4.61227316e-03 4.88963316e-05 9.99989362e-01 -2.17663979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.10538475 meters 0.05579893809145375 Centerline is valid? [True, True] Translation: X:143.47, Y:14.54, Z:-2.18 [[ 6.94050899e-01 -7.19912981e-01 -4.31854412e-03 1.43469022e+02] [ 7.19898378e-01 6.94064330e-01 -4.58596682e-03 1.45353617e+01] [ 6.29884447e-03 7.39814828e-05 9.99980159e-01 -2.17708076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.13538475000001 meters 0.05591991125028186 Centerline is valid? [True, True] Translation: X:143.49, Y:14.56, Z:-2.18 [[ 6.94507788e-01 -7.19471421e-01 -4.45044448e-03 1.43487324e+02] [ 7.19455882e-01 6.94522042e-01 -4.72938247e-03 1.45560717e+01] [ 6.49358732e-03 8.26944973e-05 9.99978913e-01 -2.17732869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.16538475000002 meters 0.055941678606676364 Centerline is valid? [True, True] Translation: X:143.51, Y:14.58, Z:-2.18 [[ 6.94674637e-01 -7.19306555e-01 -5.02291764e-03 1.43506279e+02] [ 7.19286745e-01 6.94692789e-01 -5.33923763e-03 1.45774717e+01] [ 7.32993329e-03 9.61148808e-05 9.99973131e-01 -2.17701232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.19538475000002 meters 0.055716682180082314 Centerline is valid? [True, True] Translation: X:143.53, Y:14.60, Z:-2.17 [[ 6.93257221e-01 -7.20685145e-01 -2.71059609e-03 1.43525803e+02] [ 7.20679369e-01 6.93262519e-01 -2.88561513e-03 1.45975156e+01] [ 3.95877463e-03 4.70028457e-05 9.99992163e-01 -2.17482305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.22538475000002 meters 0.05543520700770254 Centerline is valid? [True, True] Translation: X:143.55, Y:14.62, Z:-2.17 [[ 6.92030156e-01 -7.21866538e-01 -1.72151118e-03 1.43545821e+02] [ 7.21864205e-01 6.92032297e-01 -1.83549284e-03 1.46181673e+01] [ 2.51632220e-03 2.75190978e-05 9.99996834e-01 -2.17419413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.25538475 meters 0.0553503148751212 Centerline is valid? [True, True] Translation: X:143.57, Y:14.64, Z:-2.17 [[ 6.90174938e-01 -7.23641753e-01 -1.08074441e-03 1.43566866e+02] [ 7.23640832e-01 6.90175784e-01 -1.15493457e-03 1.46374115e+01] [ 1.58166250e-03 1.50361111e-05 9.99998749e-01 -2.17272674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.28538475 meters 0.05523057000240573 Centerline is valid? [True, True] Translation: X:143.59, Y:14.66, Z:-2.17 [[ 6.89135086e-01 -7.24632477e-01 -7.79383371e-04 1.43586185e+02] [ 7.24631995e-01 6.89135526e-01 -8.35282453e-04 1.46565178e+01] [ 1.14237356e-03 1.08563174e-05 9.99999347e-01 -2.17378423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.31538475 meters 0.05530230744638975 Centerline is valid? [True, True] Translation: X:143.61, Y:14.68, Z:-2.18 [[ 6.88437130e-01 -7.25295480e-01 -8.85908424e-04 1.43605704e+02] [ 7.25294860e-01 6.88437700e-01 -9.48796279e-04 1.46767247e+01] [ 1.29805041e-03 1.06417612e-05 9.99999157e-01 -2.17583618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.34538475 meters 0.055132261178534585 Centerline is valid? [True, True] Translation: X:143.63, Y:14.70, Z:-2.17 [[ 6.87832992e-01 -7.25868390e-01 -9.24430722e-04 1.43625420e+02] [ 7.25867714e-01 6.87833613e-01 -9.90743935e-04 1.46967184e+01] [ 1.35500423e-03 1.04519502e-05 9.99999082e-01 -2.17492303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.37538475 meters 0.0552974567820614 Centerline is valid? [True, True] Translation: X:143.65, Y:14.72, Z:-2.17 [[ 6.87782934e-01 -7.25916401e-01 -1.17931903e-04 1.43645170e+02] [ 7.25916389e-01 6.87782944e-01 -1.31541829e-04 1.47171667e+01] [ 1.76599922e-04 4.86352406e-06 9.99999984e-01 -2.17475918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.40538475 meters 0.05528281224824984 Centerline is valid? [True, True] Translation: X:143.66, Y:14.74, Z:-2.18 [[ 6.87924721e-01 -7.25781761e-01 -6.43152354e-04 1.43662955e+02] [ 7.25781431e-01 6.87925022e-01 -6.92228291e-04 1.47370961e+01] [ 9.44847264e-04 9.41291898e-06 9.99999554e-01 -2.17673268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.43538475 meters 0.05534404310459871 Centerline is valid? [True, True] Translation: X:143.68, Y:14.76, Z:-2.18 [[ 6.88395077e-01 -7.25334071e-01 -1.64401114e-03 1.43681212e+02] [ 7.25331937e-01 6.88397040e-01 -1.75981632e-03 1.47573459e+01] [ 2.40818714e-03 1.89951081e-05 9.99997100e-01 -2.17790906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.46538475 meters 0.05557825387839667 Centerline is valid? [True, True] Translation: X:143.70, Y:14.78, Z:-2.18 [[ 6.88582667e-01 -7.25153407e-01 -2.53893603e-03 1.43700472e+02] [ 7.25148319e-01 6.88587348e-01 -2.71666714e-03 1.47783791e+01] [ 3.71827965e-03 2.95447128e-05 9.99993087e-01 -2.18020271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.49538475 meters 0.05548302719983898 Centerline is valid? [True, True] Translation: X:143.72, Y:14.80, Z:-2.18 [[ 6.88208067e-01 -7.25510273e-01 -2.12155376e-03 1.43720072e+02] [ 7.25506713e-01 6.88211337e-01 -2.27275358e-03 1.47981316e+01] [ 3.10898342e-03 2.49258512e-05 9.99995167e-01 -2.17984345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.52538475 meters 0.055600558613625756 Centerline is valid? [True, True] Translation: X:143.74, Y:14.82, Z:-2.18 [[ 6.88045588e-01 -7.25664353e-01 -2.12516674e-03 1.43738637e+02] [ 7.25660776e-01 6.88048869e-01 -2.27833508e-03 1.48185335e+01] [ 3.11552512e-03 2.54482573e-05 9.99995146e-01 -2.18192933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.55538475 meters 0.0554477517525202 Centerline is valid? [True, True] Translation: X:143.76, Y:14.84, Z:-2.18 [[ 6.87081151e-01 -7.26579290e-01 -1.42395070e-03 1.43758442e+02] [ 7.26577681e-01 6.87082626e-01 -1.52918195e-03 1.48386504e+01] [ 2.08944373e-03 1.60612984e-05 9.99997817e-01 -2.18115037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.58538475 meters 0.055541020514058806 Centerline is valid? [True, True] Translation: X:143.78, Y:14.86, Z:-2.18 [[ 6.86754897e-01 -7.26886991e-01 -1.73606371e-03 1.43776983e+02] [ 7.26884600e-01 6.86757091e-01 -1.86456632e-03 1.48589102e+01] [ 2.54758307e-03 1.85820808e-05 9.99996755e-01 -2.18345851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.61538475 meters 0.05545422493621032 Centerline is valid? [True, True] Translation: X:143.80, Y:14.88, Z:-2.18 [[ 6.84459994e-01 -7.29048861e-01 -1.50821633e-03 1.43798330e+02] [ 7.29047059e-01 6.84461655e-01 -1.62118825e-03 1.48761524e+01] [ 2.21424169e-03 1.00778158e-05 9.99997549e-01 -2.18393162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.64538475 meters 0.05545422493621032 Centerline is valid? [True, True] Translation: X:143.82, Y:14.90, Z:-2.18 [[ 6.84260962e-01 -7.29235669e-01 -1.50792858e-03 1.43817080e+02] [ 7.29233867e-01 6.84262624e-01 -1.62145609e-03 1.48964948e+01] [ 2.21424279e-03 9.86651677e-06 9.99997549e-01 -2.18430224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.67538475 meters 0.05545410532976663 Centerline is valid? [True, True] Translation: X:143.84, Y:14.92, Z:-2.18 [[ 6.83921919e-01 -7.29554039e-01 -1.30899666e-03 1.43836842e+02] [ 7.29552677e-01 6.83923172e-01 -1.40927086e-03 1.49159570e+01] [ 1.92339240e-03 8.84920871e-06 9.99998150e-01 -2.18352179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.70538475 meters 0.055344188998931745 Centerline is valid? [True, True] Translation: X:143.86, Y:14.94, Z:-2.18 [[ 6.83785509e-01 -7.29682182e-01 -1.13625323e-03 1.43855106e+02] [ 7.29681153e-01 6.83786453e-01 -1.22507012e-03 1.49359402e+01] [ 1.67086640e-03 8.58263240e-06 9.99998604e-01 -2.18400950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.73538475 meters 0.05541356170504422 Centerline is valid? [True, True] Translation: X:143.87, Y:14.96, Z:-2.18 [[ 6.83840989e-01 -7.29631065e-01 1.01285143e-04 1.43874548e+02] [ 7.29631058e-01 6.83840996e-01 1.03202166e-04 1.49563092e+01] [-1.44562440e-04 3.32691538e-06 9.99999990e-01 -2.18363733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.76538475 meters 0.055457266866753355 Centerline is valid? [True, True] Translation: X:143.89, Y:14.98, Z:-2.18 [[ 6.83066808e-01 -7.30355697e-01 5.39096411e-04 1.43894271e+02] [ 7.30355472e-01 6.83067021e-01 5.73504821e-04 1.49770472e+01] [-7.87101494e-04 1.98990608e-06 9.99999690e-01 -2.18402752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.79538475 meters 0.055470798306812334 Centerline is valid? [True, True] Translation: X:143.91, Y:15.00, Z:-2.19 [[ 6.82738955e-01 -7.30662267e-01 4.13364594e-04 1.43912105e+02] [ 7.30662136e-01 6.82739080e-01 4.38446136e-04 1.49971192e+01] [-6.02576210e-04 2.68560042e-06 9.99999818e-01 -2.18606071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.82538475 meters 0.05561109226472468 Centerline is valid? [True, True] Translation: X:143.93, Y:15.02, Z:-2.19 [[ 6.82917294e-01 -7.30495369e-01 -6.96854108e-04 1.43930498e+02] [ 7.30494979e-01 6.82917649e-01 -7.55170425e-04 1.50174101e+01] [ 1.02754247e-03 6.67051602e-06 9.99999472e-01 -2.18845418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.85538475 meters 0.05568660714385133 Centerline is valid? [True, True] Translation: X:143.95, Y:15.04, Z:-2.19 [[ 6.82450057e-01 -7.30928515e-01 -2.32954429e-03 1.43950369e+02] [ 7.30924199e-01 6.82454032e-01 -2.51187577e-03 1.50373828e+01] [ 3.42580852e-03 1.15094650e-05 9.99994132e-01 -2.18931867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.88538475000001 meters 0.05595768401937774 Centerline is valid? [True, True] Translation: X:143.97, Y:15.06, Z:-2.19 [[ 6.82470276e-01 -7.30907304e-01 -2.97258355e-03 1.43968699e+02] [ 7.30900273e-01 6.82476749e-01 -3.20600279e-03 1.50583854e+01] [ 4.37201001e-03 1.53394771e-05 9.99990443e-01 -2.19016058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.91538475000002 meters 0.05606080017575972 Centerline is valid? [True, True] Translation: X:143.99, Y:15.08, Z:-2.19 [[ 6.83092850e-01 -7.30325041e-01 -3.08116069e-03 1.43986307e+02] [ 7.30317473e-01 6.83099798e-01 -3.32470866e-03 1.50800053e+01] [ 4.53285824e-03 2.08592240e-05 9.99989726e-01 -2.19203743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.94538475000002 meters 0.0561815440885952 Centerline is valid? [True, True] Translation: X:144.01, Y:15.10, Z:-2.19 [[ 6.83157271e-01 -7.30264844e-01 -3.06607408e-03 1.44005125e+02] [ 7.30257340e-01 6.83164151e-01 -3.31072403e-03 1.51004525e+01] [ 4.51233727e-03 2.27220926e-05 9.99989819e-01 -2.19081547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.97538475000002 meters 0.056452422392243504 Centerline is valid? [True, True] Translation: X:144.02, Y:15.12, Z:-2.19 [[ 6.83798485e-01 -7.29663406e-01 -3.30844965e-03 1.44022324e+02] [ 7.29654651e-01 6.83806488e-01 -3.57452745e-03 1.51216225e+01] [ 4.87054121e-03 3.02307823e-05 9.99988138e-01 -2.19289015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.00538475 meters 0.05667442197916798 Centerline is valid? [True, True] Translation: X:144.04, Y:15.14, Z:-2.19 [[ 6.83863996e-01 -7.29598301e-01 -4.04410853e-03 1.44041099e+02] [ 7.29585218e-01 6.83875952e-01 -4.36947842e-03 1.51431771e+01] [ 5.95363260e-03 3.76071649e-05 9.99982276e-01 -2.19431280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.03538475 meters 0.056789227452758204 Centerline is valid? [True, True] Translation: X:144.06, Y:15.16, Z:-2.19 [[ 6.83543616e-01 -7.29897406e-01 -4.23091267e-03 1.44060887e+02] [ 7.29883073e-01 6.83556709e-01 -4.57442185e-03 1.51623191e+01] [ 6.23092739e-03 3.87453128e-05 9.99980587e-01 -2.19491775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.06538475 meters 0.05664131903169196 Centerline is valid? [True, True] Translation: X:144.08, Y:15.18, Z:-2.19 [[ 6.81607909e-01 -7.31709863e-01 -3.36689309e-03 1.44081897e+02] [ 7.31700793e-01 6.81616224e-01 -3.64311296e-03 1.51804563e+01] [ 4.96063064e-03 1.96162627e-05 9.99987696e-01 -2.19410905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.09538475 meters 0.0565294250047213 Centerline is valid? [True, True] Translation: X:144.10, Y:15.20, Z:-2.19 [[ 6.81520503e-01 -7.31793836e-01 -2.75427111e-03 1.44101695e+02] [ 7.31787755e-01 6.81526068e-01 -2.98325964e-03 1.52007755e+01] [ 4.06023858e-03 1.76107362e-05 9.99991757e-01 -2.19207882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.12538475 meters 0.05656059275153725 Centerline is valid? [True, True] Translation: X:144.12, Y:15.22, Z:-2.19 [[ 6.80791600e-01 -7.32473231e-01 -2.40084922e-03 1.44120614e+02] [ 7.32468606e-01 6.80795833e-01 -2.60305531e-03 1.52203389e+01] [ 3.54115648e-03 1.35915092e-05 9.99993730e-01 -2.19327753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.15538475 meters 0.056646242179601486 Centerline is valid? [True, True] Translation: X:144.14, Y:15.24, Z:-2.19 [[ 6.80164046e-01 -7.33058438e-01 -1.48224693e-03 1.44140508e+02] [ 7.33056671e-01 6.80165661e-01 -1.60981511e-03 1.52408159e+01] [ 2.18826201e-03 8.36735563e-06 9.99997606e-01 -2.19436583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.18538475 meters 0.056874979769866225 Centerline is valid? [True, True] Translation: X:144.16, Y:15.26, Z:-2.20 [[ 6.79610896e-01 -7.33569019e-01 -2.35056256e-03 1.44160008e+02] [ 7.33564584e-01 6.79614960e-01 -2.55072402e-03 1.52614071e+01] [ 3.46860960e-03 9.21038322e-06 9.99993984e-01 -2.19575640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.21538475 meters 0.056985299230167374 Centerline is valid? [True, True] Translation: X:144.18, Y:15.28, Z:-2.20 [[ 6.79551682e-01 -7.33619272e-01 -3.50363103e-03 1.44178697e+02] [ 7.33609422e-01 6.79560713e-01 -3.80159150e-03 1.52827372e+01] [ 5.16985079e-03 1.30811606e-05 9.99986636e-01 -2.19720859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.24538475 meters 0.05730995357839762 Centerline is valid? [True, True] Translation: X:144.20, Y:15.30, Z:-2.20 [[ 6.80046916e-01 -7.33154483e-01 -4.54930431e-03 1.44196375e+02] [ 7.33137862e-01 6.80062132e-01 -4.93684312e-03 1.53039618e+01] [ 6.71327826e-03 2.20176993e-05 9.99977465e-01 -2.20121264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.27538475 meters 0.05756764936776271 Centerline is valid? [True, True] Translation: X:144.21, Y:15.33, Z:-2.20 [[ 6.81133454e-01 -7.32129137e-01 -6.64413939e-03 1.44214115e+02] [ 7.32093619e-01 6.81165857e-01 -7.21172228e-03 1.53267988e+01] [ 9.80567291e-03 4.80132565e-05 9.99951922e-01 -2.20147733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.30538475 meters 0.05771497378089186 Centerline is valid? [True, True] Translation: X:144.23, Y:15.35, Z:-2.20 [[ 6.81584043e-01 -7.31707281e-01 -6.90265197e-03 1.44231295e+02] [ 7.31668872e-01 6.81618993e-01 -7.49737171e-03 1.53483272e+01] [ 1.01908602e-02 5.96333430e-05 9.99948070e-01 -2.20277283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.33538475 meters 0.058136867616492886 Centerline is valid? [True, True] Translation: X:144.25, Y:15.37, Z:-2.20 [[ 6.82348039e-01 -7.30993537e-01 -7.04283314e-03 1.44246902e+02] [ 7.30953503e-01 6.82384381e-01 -7.65071857e-03 1.53707693e+01] [ 1.03985452e-02 7.24692659e-05 9.99945931e-01 -2.20393928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.36538475 meters 0.05819402449688139 Centerline is valid? [True, True] Translation: X:144.26, Y:15.39, Z:-2.20 [[ 6.83149308e-01 -7.30245344e-01 -6.98285106e-03 1.44264834e+02] [ 7.30205890e-01 6.83184990e-01 -7.59129141e-03 1.53931341e+01] [ 1.03140842e-02 8.70665031e-05 9.99946805e-01 -2.20393972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.39538475 meters 0.05847251417537287 Centerline is valid? [True, True] Translation: X:144.28, Y:15.42, Z:-2.20 [[ 6.83952042e-01 -7.29500565e-01 -6.20731064e-03 1.44280971e+02] [ 7.29469316e-01 6.83980203e-01 -6.75272769e-03 1.54163317e+01] [ 9.17179626e-03 9.04992472e-05 9.99957934e-01 -2.20182653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.42538475 meters 0.058413397923611554 Centerline is valid? [True, True] Translation: X:144.30, Y:15.44, Z:-2.20 [[ 6.84652904e-01 -7.28843849e-01 -6.08640847e-03 1.44299432e+02] [ 7.28813741e-01 6.84679950e-01 -6.62551236e-03 1.54378803e+01] [ 8.99620577e-03 1.00318154e-04 9.99959528e-01 -2.19916563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.45538475 meters 0.05857000911220609 Centerline is valid? [True, True] Translation: X:144.32, Y:15.46, Z:-2.20 [[ 6.85516192e-01 -7.28028836e-01 -6.44703510e-03 1.44315996e+02] [ 7.27994986e-01 6.85546497e-01 -7.02143123e-03 1.54608393e+01] [ 9.53154674e-03 1.19895572e-04 9.99954567e-01 -2.19757335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.48538475 meters 0.05911361083004513 Centerline is valid? [True, True] Translation: X:144.33, Y:15.48, Z:-2.20 [[ 6.86672121e-01 -7.26937863e-01 -6.53779534e-03 1.44331731e+02] [ 7.26902970e-01 6.86703229e-01 -7.12369730e-03 1.54841630e+01] [ 9.66801046e-03 1.39301483e-04 9.99953254e-01 -2.20087236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.51538475 meters 0.059119955738988685 Centerline is valid? [True, True] Translation: X:144.35, Y:15.51, Z:-2.20 [[ 6.88353907e-01 -7.25352811e-01 -5.67439440e-03 1.44348345e+02] [ 7.25326430e-01 6.88377280e-01 -6.18794913e-03 1.55067887e+01] [ 8.39457048e-03 1.43710730e-04 9.99964755e-01 -2.19840710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.54538475 meters 0.059463888277567045 Centerline is valid? [True, True] Translation: X:144.36, Y:15.53, Z:-2.20 [[ 6.88196162e-01 -7.25506433e-01 -5.14372440e-03 1.44364343e+02] [ 7.25484728e-01 6.88215372e-01 -5.61348480e-03 1.55287023e+01] [ 7.61260954e-03 1.31485196e-04 9.99971015e-01 -2.20046023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.57538475 meters 0.059546375775036624 Centerline is valid? [True, True] Translation: X:144.38, Y:15.55, Z:-2.20 [[ 6.88595426e-01 -7.25128325e-01 -5.02520371e-03 1.44383490e+02] [ 7.25107577e-01 6.88613749e-01 -5.48700268e-03 1.55494595e+01] [ 7.43920542e-03 1.34511663e-04 9.99972320e-01 -2.19831698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.60538475 meters 0.0594007672709538 Centerline is valid? [True, True] Translation: X:144.40, Y:15.57, Z:-2.20 [[ 6.87901830e-01 -7.25787471e-01 -4.86007720e-03 1.44403104e+02] [ 7.25768057e-01 6.87918986e-01 -5.31001775e-03 1.55692537e+01] [ 7.19728374e-03 1.25482143e-04 9.99974091e-01 -2.19740787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.63538475000001 meters 0.05893625183779837 Centerline is valid? [True, True] Translation: X:144.42, Y:15.59, Z:-2.20 [[ 6.84213886e-01 -7.29266687e-01 -4.63216800e-03 1.44423380e+02] [ 7.29249133e-01 6.84229561e-01 -5.06068295e-03 1.55879549e+01] [ 6.86005377e-03 8.45850502e-05 9.99976466e-01 -2.19809646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.66538475000002 meters 0.05892922046924366 Centerline is valid? [True, True] Translation: X:144.44, Y:15.61, Z:-2.20 [[ 6.83526507e-01 -7.29905333e-01 -5.45149020e-03 1.44442062e+02] [ 7.29880998e-01 6.83548239e-01 -5.96095846e-03 1.56086412e+01] [ 8.07729190e-03 9.55340107e-05 9.99967374e-01 -2.19896224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.69538475000002 meters 0.05940098624918074 Centerline is valid? [True, True] Translation: X:144.46, Y:15.63, Z:-2.21 [[ 6.83652432e-01 -7.29756513e-01 -8.64782950e-03 1.44459312e+02] [ 7.29695235e-01 6.83707107e-01 -9.45807614e-03 1.56303576e+01] [ 1.28146751e-02 1.55756769e-04 9.99917877e-01 -2.20523662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.72538475000002 meters 0.05971235317745793 Centerline is valid? [True, True] Translation: X:144.48, Y:15.65, Z:-2.21 [[ 6.83821122e-01 -7.29588881e-01 -9.42010296e-03 1.44477641e+02] [ 7.29516091e-01 6.83885980e-01 -1.03072628e-02 1.56521790e+01] [ 1.39623407e-02 1.76207351e-04 9.99902506e-01 -2.20694592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.75538475 meters 0.05987665503926937 Centerline is valid? [True, True] Translation: X:144.50, Y:15.67, Z:-2.21 [[ 6.85436937e-01 -7.28060952e-01 -1.01713026e-02 1.44495361e+02] [ 7.27975832e-01 6.85512362e-01 -1.11350476e-02 1.56735779e+01] [ 1.50795470e-02 2.27910509e-04 9.99886271e-01 -2.20645852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.78538475 meters 0.05990784753255765 Centerline is valid? [True, True] Translation: X:144.51, Y:15.70, Z:-2.21 [[ 6.86297541e-01 -7.27248597e-01 -1.02548808e-02 1.44514678e+02] [ 7.27161892e-01 6.86374107e-01 -1.12324643e-02 1.56950009e+01] [ 1.52074785e-02 2.51854126e-04 9.99884328e-01 -2.20568830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.81538475 meters 0.0594986570809142 Centerline is valid? [True, True] Translation: X:144.53, Y:15.71, Z:-2.20 [[ 6.85222632e-01 -7.28268610e-01 -9.73534754e-03 1.44534963e+02] [ 7.28190530e-01 6.85291751e-01 -1.06661954e-02 1.57132911e+01] [ 1.44394087e-02 2.19530624e-04 9.99895722e-01 -2.20468950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.84538475 meters 0.05923631041418627 Centerline is valid? [True, True] Translation: X:144.55, Y:15.73, Z:-2.20 [[ 6.84536702e-01 -7.28917157e-01 -9.44887274e-03 1.44554459e+02] [ 7.28843561e-01 6.84601881e-01 -1.03599272e-02 1.57335287e+01] [ 1.40202447e-02 2.05000313e-04 9.99901691e-01 -2.20420225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.87538475 meters 0.05878166261334605 Centerline is valid? [True, True] Translation: X:144.58, Y:15.75, Z:-2.20 [[ 6.82364085e-01 -7.30940978e-01 -1.02245547e-02 1.44575170e+02] [ 7.30854941e-01 6.82440659e-01 -1.12161184e-02 1.57530729e+01] [ 1.51759725e-02 1.80810045e-04 9.99884822e-01 -2.20427584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.90538475 meters 0.05876809869684416 Centerline is valid? [True, True] Translation: X:144.59, Y:15.77, Z:-2.20 [[ 6.82158785e-01 -7.31133877e-01 -1.01314491e-02 1.44593960e+02] [ 7.31049326e-01 6.82233993e-01 -1.11203519e-02 1.57738984e+01] [ 1.50424850e-02 1.79256687e-04 9.99886839e-01 -2.20400463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.93538475 meters 0.059342874289305576 Centerline is valid? [True, True] Translation: X:144.61, Y:15.80, Z:-2.21 [[ 6.82976882e-01 -7.30355799e-01 -1.10898935e-02 1.44610109e+02] [ 7.30254295e-01 6.83066878e-01 -1.21780568e-02 1.57965087e+01] [ 1.64694533e-02 2.18888854e-04 9.99864345e-01 -2.20882315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.96538475 meters 0.059245798788374056 Centerline is valid? [True, True] Translation: X:144.63, Y:15.82, Z:-2.21 [[ 6.84099397e-01 -7.29301291e-01 -1.12978586e-02 1.44627735e+02] [ 7.29195682e-01 6.84192636e-01 -1.24134874e-02 1.58190976e+01] [ 1.67830841e-02 2.53709550e-04 9.99859122e-01 -2.20715969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.99538475 meters 0.05932055737293941 Centerline is valid? [True, True] Translation: X:144.65, Y:15.84, Z:-2.21 [[ 6.85134348e-01 -7.28329515e-01 -1.12713643e-02 1.44645652e+02] [ 7.28224164e-01 6.85226998e-01 -1.23906409e-02 1.58409057e+01] [ 1.67479125e-02 2.81173820e-04 9.99859704e-01 -2.20664198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.02538475 meters 0.05969231751093878 Centerline is valid? [True, True] Translation: X:144.66, Y:15.86, Z:-2.21 [[ 6.86064850e-01 -7.27454841e-01 -1.11568267e-02 1.44662394e+02] [ 7.27351374e-01 6.86155493e-01 -1.22726230e-02 1.58625790e+01] [ 1.65830970e-02 3.04882076e-04 9.99862445e-01 -2.20713847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.05538475 meters 0.059512245770031294 Centerline is valid? [True, True] Translation: X:144.68, Y:15.88, Z:-2.20 [[ 6.87340464e-01 -7.26239341e-01 -1.18112743e-02 1.44681442e+02] [ 7.26123087e-01 6.87441846e-01 -1.29988643e-02 1.58843788e+01] [ 1.75598509e-02 3.58206444e-04 9.99845750e-01 -2.20410680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.08538475 meters 0.05987052379888916 Centerline is valid? [True, True] Translation: X:144.70, Y:15.91, Z:-2.21 [[ 6.87297039e-01 -7.26263991e-01 -1.27826213e-02 1.44698341e+02] [ 7.26127697e-01 6.87415785e-01 -1.40750031e-02 1.59066030e+01] [ 1.90091435e-02 3.91892568e-04 9.99819233e-01 -2.20767851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.11538475 meters 0.05996439494589156 Centerline is valid? [True, True] Translation: X:144.72, Y:15.93, Z:-2.21 [[ 6.87219323e-01 -7.26338550e-01 -1.27245283e-02 1.44715702e+02] [ 7.26203348e-01 6.87337004e-01 -1.40193302e-02 1.59284927e+01] [ 1.89288191e-02 3.93759511e-04 9.99820756e-01 -2.20911276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.14538475 meters 0.06085973274321128 Centerline is valid? [True, True] Translation: X:144.73, Y:15.95, Z:-2.21 [[ 6.87366837e-01 -7.26198038e-01 -1.27765758e-02 1.44730695e+02] [ 7.26061538e-01 6.87485451e-01 -1.40853524e-02 1.59511230e+01] [ 1.90124652e-02 4.05223896e-04 9.99819165e-01 -2.21378975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.17538475 meters 0.059890222385866575 Centerline is valid? [True, True] Translation: X:144.75, Y:15.97, Z:-2.21 [[ 6.88246991e-01 -7.25359825e-01 -1.30078121e-02 1.44751995e+02] [ 7.25218047e-01 6.88369762e-01 -1.43476347e-02 1.59701857e+01] [ 1.93613823e-02 4.41216305e-04 9.99812454e-01 -2.20847866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.20538475 meters 0.06004201643924277 Centerline is valid? [True, True] Translation: X:144.77, Y:15.99, Z:-2.21 [[ 6.87408582e-01 -7.26160556e-01 -1.26605001e-02 1.44770913e+02] [ 7.26026232e-01 6.87525037e-01 -1.39726384e-02 1.59907414e+01] [ 1.88507897e-02 4.13056324e-04 9.99822223e-01 -2.20961645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.23538475 meters 0.05936544103916937 Centerline is valid? [True, True] Translation: X:144.79, Y:16.01, Z:-2.21 [[ 6.85347625e-01 -7.28094382e-01 -1.33118055e-02 1.44792675e+02] [ 7.27946082e-01 6.85476786e-01 -1.46995953e-02 1.60089721e+01] [ 1.98276264e-02 3.84056061e-04 9.99803340e-01 -2.20760351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.26538475 meters 0.05960388991987388 Centerline is valid? [True, True] Translation: X:144.81, Y:16.03, Z:-2.21 [[ 6.85225331e-01 -7.28206728e-01 -1.34612711e-02 1.44810302e+02] [ 7.28054917e-01 6.85357430e-01 -1.48737917e-02 1.60300942e+01] [ 2.00569773e-02 3.91354198e-04 9.99798762e-01 -2.20972945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.29538475 meters 0.05963148140229304 Centerline is valid? [True, True] Translation: X:144.83, Y:16.05, Z:-2.21 [[ 6.84574722e-01 -7.28816624e-01 -1.35565134e-02 1.44829031e+02] [ 7.28662617e-01 6.84708831e-01 -1.49868985e-02 1.60505451e+01] [ 2.02049652e-02 3.81527347e-04 9.99795786e-01 -2.21163182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.32538475 meters 0.0590430758847605 Centerline is valid? [True, True] Translation: X:144.85, Y:16.07, Z:-2.21 [[ 6.83120640e-01 -7.30190345e-01 -1.29711871e-02 1.44850498e+02] [ 7.30049446e-01 6.83243698e-01 -1.43476732e-02 1.60695301e+01] [ 1.93390142e-02 3.31583721e-04 9.99812929e-01 -2.21035712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.35538475 meters 0.058463430868431795 Centerline is valid? [True, True] Translation: X:144.87, Y:16.09, Z:-2.21 [[ 6.81038590e-01 -7.32156951e-01 -1.15168298e-02 1.44871668e+02] [ 7.32046016e-01 6.81135916e-01 -1.27473318e-02 1.60880132e+01] [ 1.71775740e-02 2.50575465e-04 9.99852423e-01 -2.20750525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.38538475000001 meters 0.058577703564756674 Centerline is valid? [True, True] Translation: X:144.89, Y:16.11, Z:-2.21 [[ 6.80223908e-01 -7.32919724e-01 -1.11405777e-02 1.44889925e+02] [ 7.32815897e-01 6.80315093e-01 -1.23383593e-02 1.61086622e+01] [ 1.66221300e-02 2.28854551e-04 9.99861817e-01 -2.20910540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.41538475000002 meters 0.05847471355665358 Centerline is valid? [True, True] Translation: X:144.91, Y:16.13, Z:-2.21 [[ 6.79989144e-01 -7.33139795e-01 -1.09911217e-02 1.44909223e+02] [ 7.33038656e-01 6.80077929e-01 -1.21794475e-02 1.61289079e+01] [ 1.64040570e-02 2.24974978e-04 9.99865419e-01 -2.20902902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.44538475000002 meters 0.058466052957057486 Centerline is valid? [True, True] Translation: X:144.93, Y:16.15, Z:-2.21 [[ 6.79795240e-01 -7.33319361e-01 -1.10066385e-02 1.44928647e+02] [ 7.33217846e-01 6.79884302e-01 -1.22035337e-02 1.61487917e+01] [ 1.64323282e-02 2.25640354e-04 9.99864955e-01 -2.20910998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.47538475000002 meters 0.058180690305147845 Centerline is valid? [True, True] Translation: X:144.95, Y:16.17, Z:-2.21 [[ 6.79235516e-01 -7.33835249e-01 -1.11777059e-02 1.44950019e+02] [ 7.33730501e-01 6.79327446e-01 -1.24005462e-02 1.61680992e+01] [ 1.66932803e-02 2.21467663e-04 9.99860633e-01 -2.20722582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.50538475 meters 0.058180690305147845 Centerline is valid? [True, True] Translation: X:144.97, Y:16.19, Z:-2.21 [[ 6.79022487e-01 -7.34032425e-01 -1.11741027e-02 1.44968439e+02] [ 7.33927650e-01 6.79114386e-01 -1.24037939e-02 1.61887653e+01] [ 1.66932808e-02 2.21472098e-04 9.99860633e-01 -2.20759673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.53538475 meters 0.05832311445190177 Centerline is valid? [True, True] Translation: X:144.99, Y:16.21, Z:-2.21 [[ 6.79138368e-01 -7.33921171e-01 -1.14364557e-02 1.44986356e+02] [ 7.33811303e-01 6.79234614e-01 -1.27007924e-02 1.62095118e+01] [ 1.70894170e-02 2.33394940e-04 9.99853938e-01 -2.20843542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.56538475 meters 0.05824485754641008 Centerline is valid? [True, True] Translation: X:145.01, Y:16.23, Z:-2.21 [[ 6.80565739e-01 -7.32609517e-01 -1.06568884e-02 1.45005235e+02] [ 7.32513827e-01 6.80649124e-01 -1.18432679e-02 1.62308291e+01] [ 1.59300925e-02 2.53804323e-04 9.99873076e-01 -2.20786429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.59538475 meters 0.058708027488885324 Centerline is valid? [True, True] Translation: X:145.02, Y:16.25, Z:-2.21 [[ 6.80461511e-01 -7.32700060e-01 -1.10794382e-02 1.45023304e+02] [ 7.32596548e-01 6.80551653e-01 -1.23185130e-02 1.62518921e+01] [ 1.65659052e-02 2.65515822e-04 9.99862741e-01 -2.21180558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.62538475 meters 0.0582706975573122 Centerline is valid? [True, True] Translation: X:145.05, Y:16.27, Z:-2.21 [[ 6.78221775e-01 -7.34758470e-01 -1.20505040e-02 1.45045810e+02] [ 7.34636207e-01 6.78328779e-01 -1.34056249e-02 1.62700069e+01] [ 1.80241002e-02 2.39250157e-04 9.99837524e-01 -2.21278435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.65538475 meters 0.0581972083050919 Centerline is valid? [True, True] Translation: X:145.07, Y:16.29, Z:-2.21 [[ 6.77165046e-01 -7.35724530e-01 -1.25266709e-02 1.45065536e+02] [ 7.35592428e-01 6.77280861e-01 -1.39432939e-02 1.62899531e+01] [ 1.87424978e-02 2.27387002e-04 9.99824318e-01 -2.21303525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.68538475 meters 0.05815095807469386 Centerline is valid? [True, True] Translation: X:145.09, Y:16.31, Z:-2.22 [[ 6.75869997e-01 -7.36918337e-01 -1.22927121e-02 1.45085881e+02] [ 7.36791170e-01 6.75981749e-01 -1.36911068e-02 1.63086727e+01] [ 1.83988766e-02 1.96246567e-04 9.99830707e-01 -2.21510805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.71538475 meters 0.05773114233442088 Centerline is valid? [True, True] Translation: X:145.11, Y:16.33, Z:-2.21 [[ 6.75476289e-01 -7.37285235e-01 -1.19275425e-02 1.45106101e+02] [ 7.37165424e-01 6.75581563e-01 -1.32924360e-02 1.63283096e+01] [ 1.78583446e-02 1.86153433e-04 9.99840510e-01 -2.21273120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.74538475 meters 0.05775542811125461 Centerline is valid? [True, True] Translation: X:145.13, Y:16.35, Z:-2.21 [[ 6.74856053e-01 -7.37864346e-01 -1.12033306e-02 1.45125359e+02] [ 7.37758663e-01 6.74949021e-01 -1.24889877e-02 1.63480184e+01] [ 1.67768558e-02 1.62914763e-04 9.99859245e-01 -2.21384397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.77538475 meters 0.05757867999347335 Centerline is valid? [True, True] Translation: X:145.15, Y:16.37, Z:-2.21 [[ 6.73960592e-01 -7.38689889e-01 -1.06943537e-02 1.45145260e+02] [ 7.38593562e-01 6.74045420e-01 -1.19298679e-02 1.63680358e+01] [ 1.60209529e-02 1.41480100e-04 9.99871646e-01 -2.21369658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.80538475 meters 0.05728443335140863 Centerline is valid? [True, True] Translation: X:145.16, Y:16.39, Z:-2.21 [[ 6.73019291e-01 -7.39557570e-01 -9.98169649e-03 1.45164786e+02] [ 7.39473648e-01 6.73093297e-01 -1.11417400e-02 1.63869808e+01] [ 1.49585711e-02 1.17404412e-04 9.99888107e-01 -2.21283909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.83538475 meters 0.05712388465178938 Centerline is valid? [True, True] Translation: X:145.18, Y:16.41, Z:-2.21 [[ 6.72386991e-01 -7.40137511e-01 -9.60200624e-03 1.45184159e+02] [ 7.40059820e-01 6.72455540e-01 -1.07242585e-02 1.64068534e+01] [ 1.43943483e-02 1.04792898e-04 9.99896391e-01 -2.21164533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.86538475 meters 0.05703329290818648 Centerline is valid? [True, True] Translation: X:145.20, Y:16.43, Z:-2.21 [[ 6.71885342e-01 -7.40602202e-01 -8.85815660e-03 1.45203120e+02] [ 7.40536082e-01 6.71943726e-01 -9.89645444e-03 1.64261739e+01] [ 1.32815187e-02 8.94980904e-05 9.99911793e-01 -2.21112501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.89538475 meters 0.05689544043244787 Centerline is valid? [True, True] Translation: X:145.22, Y:16.45, Z:-2.21 [[ 6.71540237e-01 -7.40920540e-01 -8.39423309e-03 1.45222154e+02] [ 7.40861101e-01 6.71592694e-01 -9.38527214e-03 1.64469432e+01] [ 1.25912465e-02 8.36271043e-05 9.99920724e-01 -2.20997239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.92538475 meters 0.056885881729132004 Centerline is valid? [True, True] Translation: X:145.24, Y:16.47, Z:-2.21 [[ 6.70680961e-01 -7.41702766e-01 -8.00346491e-03 1.45241419e+02] [ 7.41648719e-01 6.70728709e-01 -8.95411009e-03 1.64679470e+01] [ 1.20094419e-02 6.95916568e-05 9.99927882e-01 -2.20992900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.95538475 meters 0.05695148354827097 Centerline is valid? [True, True] Translation: X:145.26, Y:16.49, Z:-2.21 [[ 6.70467827e-01 -7.41888142e-01 -8.65321291e-03 1.45260407e+02] [ 7.41824926e-01 6.70523661e-01 -9.68501148e-03 1.64881772e+01] [ 1.29873792e-02 7.43195740e-05 9.99915658e-01 -2.21244084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.98538475 meters 0.05696108299965761 Centerline is valid? [True, True] Translation: X:145.28, Y:16.51, Z:-2.21 [[ 6.70266138e-01 -7.42060945e-01 -9.42649296e-03 1.45279692e+02] [ 7.41985864e-01 6.70332416e-01 -1.05560681e-02 1.65093803e+01] [ 1.41521297e-02 8.10504876e-05 9.99899850e-01 -2.21321049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.01538475 meters 0.05707372810911082 Centerline is valid? [True, True] Translation: X:145.30, Y:16.53, Z:-2.22 [[ 6.70265723e-01 -7.42050275e-01 -1.02591207e-02 1.45297921e+02] [ 7.41961316e-01 6.70344226e-01 -1.14902078e-02 1.65305118e+01] [ 1.54034542e-02 8.96217957e-05 9.99881356e-01 -2.21607932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.04538475 meters 0.057181273647102154 Centerline is valid? [True, True] Translation: X:145.32, Y:16.55, Z:-2.22 [[ 6.70227840e-01 -7.42060457e-01 -1.18710274e-02 1.45317421e+02] [ 7.41941187e-01 6.70332952e-01 -1.33044717e-02 1.65511615e+01] [ 1.78302632e-02 1.09423199e-04 9.99841022e-01 -2.21566156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.07538475 meters 0.057587389156965936 Centerline is valid? [True, True] Translation: X:145.33, Y:16.57, Z:-2.22 [[ 6.70085341e-01 -7.42178867e-01 -1.24966281e-02 1.45334961e+02] [ 7.42046707e-01 6.70201848e-01 -1.40059833e-02 1.65715209e+01] [ 1.87702081e-02 1.12122327e-04 9.99823818e-01 -2.22212544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.10538475 meters 0.05728103730683049 Centerline is valid? [True, True] Translation: X:145.36, Y:16.59, Z:-2.22 [[ 6.69481629e-01 -7.42713019e-01 -1.31041789e-02 1.45355017e+02] [ 7.42567579e-01 6.69609856e-01 -1.46980171e-02 1.65920326e+01] [ 1.96910960e-02 1.09314024e-04 9.99806106e-01 -2.22003149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.13538475000001 meters 0.05762037199615362 Centerline is valid? [True, True] Translation: X:145.37, Y:16.61, Z:-2.22 [[ 6.69186162e-01 -7.42965806e-01 -1.38452689e-02 1.45372773e+02] [ 7.42803342e-01 6.69329365e-01 -1.55369615e-02 1.66135658e+01] [ 2.08104762e-02 1.12807608e-04 9.99783432e-01 -2.22375798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.16538475000002 meters 0.05772693705632326 Centerline is valid? [True, True] Translation: X:145.39, Y:16.63, Z:-2.23 [[ 6.69335652e-01 -7.42823203e-01 -1.42644374e-02 1.45389785e+02] [ 7.42650504e-01 6.69487620e-01 -1.60173255e-02 1.66345095e+01] [ 2.14479053e-02 1.27475398e-04 9.99769959e-01 -2.22618429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.19538475000002 meters 0.057792223675245995 Centerline is valid? [True, True] Translation: X:145.41, Y:16.65, Z:-2.23 [[ 6.69520013e-01 -7.42660606e-01 -1.40774981e-02 1.45407062e+02] [ 7.42492133e-01 6.69667981e-01 -1.58185765e-02 1.66544520e+01] [ 2.11750833e-02 1.38421985e-04 9.99775773e-01 -2.22742798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.22538475000002 meters 0.05755514146575297 Centerline is valid? [True, True] Translation: X:145.43, Y:16.67, Z:-2.22 [[ 6.69119244e-01 -7.43037428e-01 -1.32218565e-02 1.45426983e+02] [ 7.42888734e-01 6.69249852e-01 -1.48648437e-02 1.66740377e+01] [ 1.98938607e-02 1.23984734e-04 9.99802090e-01 -2.22452975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.25538475 meters 0.0573134390334808 Centerline is valid? [True, True] Translation: X:145.45, Y:16.69, Z:-2.22 [[ 6.68759390e-01 -7.43361153e-01 -1.32316160e-02 1.45447068e+02] [ 7.43212132e-01 6.68890262e-01 -1.48843446e-02 1.66945297e+01] [ 1.99149426e-02 1.20147663e-04 9.99801671e-01 -2.22298975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.28538475 meters 0.057070139625234814 Centerline is valid? [True, True] Translation: X:145.47, Y:16.71, Z:-2.22 [[ 6.67273930e-01 -7.44714373e-01 -1.20832227e-02 1.45467990e+02] [ 7.44590185e-01 6.67383320e-01 -1.36000244e-02 1.67142053e+01] [ 1.81922749e-02 7.78927275e-05 9.99834504e-01 -2.22098911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.31538475 meters 0.057010711859383625 Centerline is valid? [True, True] Translation: X:145.49, Y:16.73, Z:-2.22 [[ 6.66471082e-01 -7.45435965e-01 -1.18961712e-02 1.45486720e+02] [ 7.45315551e-01 6.66577241e-01 -1.33981939e-02 1.67335830e+01] [ 1.79172125e-02 6.31073869e-05 9.99839472e-01 -2.22116584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.34538475 meters 0.05665422338327151 Centerline is valid? [True, True] Translation: X:145.51, Y:16.75, Z:-2.22 [[ 6.65344221e-01 -7.46444682e-01 -1.17219595e-02 1.45506871e+02] [ 7.46327784e-01 6.65447470e-01 -1.32099840e-02 1.67535076e+01] [ 1.76608706e-02 4.07624002e-05 9.99844034e-01 -2.21899839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.37538475 meters 0.0569463872751668 Centerline is valid? [True, True] Translation: X:145.52, Y:16.77, Z:-2.22 [[ 6.65099550e-01 -7.46663942e-01 -1.16424523e-02 1.45524335e+02] [ 7.46548506e-01 6.65201440e-01 -1.31290475e-02 1.67737475e+01] [ 1.75475624e-02 4.04682083e-05 9.99846029e-01 -2.22327378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.40538475 meters 0.05696967159668701 Centerline is valid? [True, True] Translation: X:145.54, Y:16.79, Z:-2.22 [[ 6.64440697e-01 -7.47255246e-01 -1.13206204e-02 1.45543086e+02] [ 7.47146049e-01 6.64537129e-01 -1.27743948e-02 1.67938135e+01] [ 1.70687061e-02 2.96709524e-05 9.99854319e-01 -2.22284341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.43538475 meters 0.05699079227477398 Centerline is valid? [True, True] Translation: X:145.56, Y:16.81, Z:-2.22 [[ 6.64720737e-01 -7.47001160e-01 -1.16451481e-02 1.45560846e+02] [ 7.46885444e-01 6.64822732e-01 -1.31479235e-02 1.68147713e+01] [ 1.75634733e-02 4.21057919e-05 9.99845749e-01 -2.22289770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.46538475 meters 0.05678966776345453 Centerline is valid? [True, True] Translation: X:145.58, Y:16.84, Z:-2.22 [[ 6.64958201e-01 -7.46800913e-01 -1.09080994e-02 1.45576637e+02] [ 7.46699213e-01 6.65047662e-01 -1.23244482e-02 1.68357027e+01] [ 1.64583152e-02 5.01736326e-05 9.99864551e-01 -2.22194469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.49538475 meters 0.0570309472907694 Centerline is valid? [True, True] Translation: X:145.59, Y:16.86, Z:-2.22 [[ 6.66005610e-01 -7.45854496e-01 -1.17302153e-02 1.45591570e+02] [ 7.45736629e-01 6.66108898e-01 -1.32595435e-02 1.68604820e+01] [ 1.77032909e-02 8.32792074e-05 9.99843281e-01 -2.22294229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.52538475 meters 0.05728703275103106 Centerline is valid? [True, True] Translation: X:145.61, Y:16.88, Z:-2.23 [[ 6.66305971e-01 -7.45578910e-01 -1.21836571e-02 1.45607978e+02] [ 7.45451568e-01 6.66417346e-01 -1.37797166e-02 1.68836162e+01] [ 1.83932665e-02 9.91811340e-05 9.99830825e-01 -2.22520320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.55538475 meters 0.057476067572735746 Centerline is valid? [True, True] Translation: X:145.62, Y:16.91, Z:-2.23 [[ 6.67270973e-01 -7.44700813e-01 -1.30440633e-02 1.45624564e+02] [ 7.44554536e-01 6.67398442e-01 -1.47601566e-02 1.69067710e+01] [ 1.96974882e-02 1.37007588e-04 9.99805976e-01 -2.22530385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.58538475 meters 0.057514785839097325 Centerline is valid? [True, True] Translation: X:145.64, Y:16.93, Z:-2.22 [[ 6.69017801e-01 -7.43146783e-01 -1.21672151e-02 1.45640391e+02] [ 7.43019096e-01 6.69128409e-01 -1.37766338e-02 1.69303641e+01] [ 1.83794904e-02 1.76340070e-04 9.99831067e-01 -2.22419579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.61538475 meters 0.05763917641537644 Centerline is valid? [True, True] Translation: X:145.66, Y:16.95, Z:-2.22 [[ 6.69949711e-01 -7.42315387e-01 -1.16297929e-02 1.45656940e+02] [ 7.42198457e-01 6.70050616e-01 -1.31765965e-02 1.69515249e+01] [ 1.75737402e-02 1.96042642e-04 9.99845551e-01 -2.22429292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.64538475 meters 0.057576226181494404 Centerline is valid? [True, True] Translation: X:145.67, Y:16.97, Z:-2.22 [[ 6.71055039e-01 -7.41333676e-01 -1.04649587e-02 1.45674427e+02] [ 7.41238772e-01 6.71136603e-01 -1.18635564e-02 1.69744759e+01] [ 1.58182707e-02 2.04066128e-04 9.99874863e-01 -2.22156608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.67538475 meters 0.05754317707030874 Centerline is valid? [True, True] Translation: X:145.69, Y:17.00, Z:-2.22 [[ 6.70354720e-01 -7.41976034e-01 -9.80381729e-03 1.45692867e+02] [ 7.41892763e-01 6.70426382e-01 -1.11173118e-02 1.69952152e+01] [ 1.48215167e-02 1.79161352e-04 9.99890139e-01 -2.22122199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.70538475 meters 0.05745906818986776 Centerline is valid? [True, True] Translation: X:145.71, Y:17.02, Z:-2.22 [[ 6.70584684e-01 -7.41777877e-01 -9.04227935e-03 1.45709940e+02] [ 7.41706959e-01 6.70645623e-01 -1.02584513e-02 1.70167187e+01] [ 1.36736573e-02 1.72438781e-04 9.99906496e-01 -2.22189233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.73538475 meters 0.057795987961448636 Centerline is valid? [True, True] Translation: X:145.73, Y:17.04, Z:-2.22 [[ 6.69803174e-01 -7.42478671e-01 -9.44092960e-03 1.45727836e+02] [ 7.42401317e-01 6.69869685e-01 -1.07187009e-02 1.70376916e+01] [ 1.42825993e-02 1.70461339e-04 9.99897984e-01 -2.22284319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.76538475 meters 0.05764127713264448 Centerline is valid? [True, True] Translation: X:145.75, Y:17.06, Z:-2.22 [[ 6.68672289e-01 -7.43500724e-01 -9.16754135e-03 1.45746365e+02] [ 7.43427785e-01 6.68735113e-01 -1.04152302e-02 1.70573477e+01] [ 1.38743880e-02 1.48970883e-04 9.99903735e-01 -2.22354976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.79538475 meters 0.057411692324797925 Centerline is valid? [True, True] Translation: X:145.77, Y:17.08, Z:-2.22 [[ 6.66597751e-01 -7.45366376e-01 -8.74093816e-03 1.45766896e+02] [ 7.45300160e-01 6.66655049e-01 -9.93562150e-03 1.70767931e+01] [ 1.32328687e-02 1.08440333e-04 9.99912436e-01 -2.22347173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.82538475 meters 0.05701466430067652 Centerline is valid? [True, True] Translation: X:145.79, Y:17.09, Z:-2.22 [[ 6.64951233e-01 -7.46833068e-01 -8.95688602e-03 1.45788284e+02] [ 7.46763584e-01 6.65011549e-01 -1.01877216e-02 1.70949403e+01] [ 1.35649600e-02 8.56617434e-05 9.99907988e-01 -2.21891889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.85538475 meters 0.05743038214070829 Centerline is valid? [True, True] Translation: X:145.81, Y:17.12, Z:-2.23 [[ 6.64198746e-01 -7.47493107e-01 -9.69951788e-03 1.45805426e+02] [ 7.47411622e-01 6.64269560e-01 -1.10371649e-02 1.71159647e+01] [ 1.46932992e-02 8.13386837e-05 9.99892044e-01 -2.22544502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.88538475000001 meters 0.05746513977189031 Centerline is valid? [True, True] Translation: X:145.82, Y:17.14, Z:-2.22 [[ 6.66462756e-01 -7.45469881e-01 -1.01020698e-02 1.45821919e+02] [ 7.45381160e-01 6.66539300e-01 -1.15016583e-02 1.71391113e+01] [ 1.53075664e-02 1.35534440e-04 9.99882823e-01 -2.22372147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.91538475000002 meters 0.05791849200856002 Centerline is valid? [True, True] Translation: X:145.84, Y:17.16, Z:-2.23 [[ 6.69060376e-01 -7.43146154e-01 -9.59201071e-03 1.45837309e+02] [ 7.43065873e-01 6.69129106e-01 -1.09246754e-02 1.71619727e+01] [ 1.45369241e-02 1.81771647e-04 9.99894317e-01 -2.22544227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.94538475000002 meters 0.05834015922853036 Centerline is valid? [True, True] Translation: X:145.85, Y:17.18, Z:-2.23 [[ 6.69113882e-01 -7.43100564e-01 -9.38960380e-03 1.45853355e+02] [ 7.43023511e-01 6.69179735e-01 -1.07025389e-02 1.71836956e+01] [ 1.42363952e-02 1.84520938e-04 9.99898640e-01 -2.22919438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.97538475000002 meters 0.05841695250547536 Centerline is valid? [True, True] Translation: X:145.87, Y:17.21, Z:-2.23 [[ 6.69719682e-01 -7.42558746e-01 -9.05852654e-03 1.45869669e+02] [ 7.42486896e-01 6.69780913e-01 -1.03313704e-02 1.72052207e+01] [ 1.37388776e-02 1.93284814e-04 9.99905598e-01 -2.22851811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.00538475 meters 0.057663843890883144 Centerline is valid? [True, True] Translation: X:145.89, Y:17.22, Z:-2.22 [[ 6.69453010e-01 -7.42805662e-01 -8.50980566e-03 1.45890835e+02] [ 7.42742194e-01 6.69507070e-01 -9.71172150e-03 1.72241672e+01] [ 1.29112968e-02 1.80949465e-04 9.99916629e-01 -2.22288600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.03538475 meters 0.05835305527935634 Centerline is valid? [True, True] Translation: X:145.91, Y:17.25, Z:-2.23 [[ 6.68713062e-01 -7.43469691e-01 -8.69825392e-03 1.45906884e+02] [ 7.43403352e-01 6.68769607e-01 -9.93323340e-03 1.72464093e+01] [ 1.32021858e-02 1.76171803e-04 9.99912832e-01 -2.22966646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.06538475 meters 0.05762014344312437 Centerline is valid? [True, True] Translation: X:145.93, Y:17.27, Z:-2.23 [[ 6.67461404e-01 -7.44606603e-01 -7.50203985e-03 1.45927361e+02] [ 7.44557269e-01 6.67503549e-01 -8.57234248e-03 1.72660881e+01] [ 1.13906610e-02 1.36009448e-04 9.99935115e-01 -2.22630124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.09538475 meters 0.05747498105733197 Centerline is valid? [True, True] Translation: X:145.95, Y:17.29, Z:-2.23 [[ 6.65732083e-01 -7.46156848e-01 -7.12404761e-03 1.45948164e+02] [ 7.46112395e-01 6.65770191e-01 -8.14536760e-03 1.72856721e+01] [ 1.08207003e-02 1.07292312e-04 9.99941449e-01 -2.22552497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.12538475 meters 0.057296350117317735 Centerline is valid? [True, True] Translation: X:145.97, Y:17.31, Z:-2.22 [[ 6.65149902e-01 -7.46676811e-01 -7.02483467e-03 1.45967595e+02] [ 7.46633567e-01 6.65186989e-01 -8.03656037e-03 1.73060623e+01] [ 1.06735419e-02 1.00539970e-04 9.99943031e-01 -2.22436713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.15538475 meters 0.057347479374709374 Centerline is valid? [True, True] Translation: X:145.99, Y:17.33, Z:-2.22 [[ 6.65207136e-01 -7.46629117e-01 -6.66548403e-03 1.45987309e+02] [ 7.46590130e-01 6.65240522e-01 -7.63053031e-03 1.73252053e+01] [ 1.01313262e-02 9.94986247e-05 9.99948672e-01 -2.22411256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.18538475 meters 0.05736318106887479 Centerline is valid? [True, True] Translation: X:146.01, Y:17.35, Z:-2.22 [[ 6.64852069e-01 -7.46945522e-01 -6.64184204e-03 1.46006938e+02] [ 7.46906786e-01 6.64885236e-01 -7.60755317e-03 1.73461087e+01] [ 1.00984905e-02 9.70605732e-05 9.99949004e-01 -2.22316774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.21538475 meters 0.0572698946177957 Centerline is valid? [True, True] Translation: X:146.03, Y:17.37, Z:-2.22 [[ 6.64420274e-01 -7.47329995e-01 -6.60128969e-03 1.46026130e+02] [ 7.47291703e-01 6.64453060e-01 -7.56578669e-03 1.73662910e+01] [ 1.00403865e-02 9.37730540e-05 9.99949590e-01 -2.22402016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.24538475 meters 0.057362183215838365 Centerline is valid? [True, True] Translation: X:146.04, Y:17.39, Z:-2.23 [[ 6.63834126e-01 -7.47843304e-01 -7.39222802e-03 1.46044372e+02] [ 7.47795284e-01 6.63875276e-01 -8.47534402e-03 1.73870017e+01] [ 1.12457467e-02 9.83493452e-05 9.99936760e-01 -2.22816161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.27538475 meters 0.057233886584284875 Centerline is valid? [True, True] Translation: X:146.07, Y:17.41, Z:-2.23 [[ 6.61747404e-01 -7.49681503e-01 -8.24718344e-03 1.46065625e+02] [ 7.49621806e-01 6.61798789e-01 -9.46102612e-03 1.74058294e+01] [ 1.25507323e-02 7.85409319e-05 9.99921233e-01 -2.22755406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.30538475 meters 0.05739546031457009 Centerline is valid? [True, True] Translation: X:146.08, Y:17.43, Z:-2.23 [[ 6.61470131e-01 -7.49925427e-01 -8.31379287e-03 1.46084048e+02] [ 7.49864750e-01 6.61522372e-01 -9.53982005e-03 1.74261382e+01] [ 1.26539136e-02 7.60858060e-05 9.99919933e-01 -2.23057839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.33538475 meters 0.057320602364383244 Centerline is valid? [True, True] Translation: X:146.10, Y:17.45, Z:-2.23 [[ 6.60360480e-01 -7.50887679e-01 -9.57763030e-03 1.46104505e+02] [ 7.50807137e-01 6.60429927e-01 -1.09978872e-02 1.74451323e+01] [ 1.45835317e-02 7.16168700e-05 9.99893652e-01 -2.23107841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.36538475 meters 0.057343177682593165 Centerline is valid? [True, True] Translation: X:146.12, Y:17.47, Z:-2.23 [[ 6.59653870e-01 -7.51503241e-01 -9.98246482e-03 1.46124297e+02] [ 7.51415728e-01 6.59729395e-01 -1.14686322e-02 1.74656686e+01] [ 1.52044398e-02 6.43465745e-05 9.99884404e-01 -2.23142709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.39538475 meters 0.05732835881373449 Centerline is valid? [True, True] Translation: X:146.14, Y:17.49, Z:-2.23 [[ 6.59463238e-01 -7.51671522e-01 -9.90762203e-03 1.46141162e+02] [ 7.51585203e-01 6.59537656e-01 -1.13913928e-02 1.74855404e+01] [ 1.50970353e-02 6.57826593e-05 9.99886031e-01 -2.23277884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.42538475 meters 0.05761129945344447 Centerline is valid? [True, True] Translation: X:146.16, Y:17.51, Z:-2.24 [[ 6.59039111e-01 -7.52045925e-01 -9.71476470e-03 1.46157347e+02] [ 7.51962864e-01 6.59110706e-01 -1.11771218e-02 1.75057172e+01] [ 1.48088143e-02 6.10181339e-05 9.99890342e-01 -2.23659303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.45538475 meters 0.05761129945344447 Centerline is valid? [True, True] Translation: X:146.17, Y:17.53, Z:-2.24 [[ 6.58816780e-01 -7.52240740e-01 -9.71179814e-03 1.46174793e+02] [ 7.52157663e-01 6.58888355e-01 -1.11797001e-02 1.75261360e+01] [ 1.48088166e-02 6.05706561e-05 9.99890342e-01 -2.23695232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.48538475 meters 0.0575246745743336 Centerline is valid? [True, True] Translation: X:146.19, Y:17.55, Z:-2.23 [[ 6.59516603e-01 -7.51627065e-01 -9.72655450e-03 1.46191521e+02] [ 7.51543559e-01 6.59588318e-01 -1.12040129e-02 1.75475547e+01] [ 1.48367611e-02 7.93031654e-05 9.99889926e-01 -2.23368987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.51538475 meters 0.05734546422829063 Centerline is valid? [True, True] Translation: X:146.21, Y:17.57, Z:-2.23 [[ 6.59984938e-01 -7.51218258e-01 -9.53988311e-03 1.46210254e+02] [ 7.51137798e-01 6.60053877e-01 -1.09949145e-02 1.75689728e+01] [ 1.45564174e-02 9.07111815e-05 9.99894046e-01 -2.23097103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.54538475 meters 0.05709336429635749 Centerline is valid? [True, True] Translation: X:146.23, Y:17.59, Z:-2.23 [[ 6.61281974e-01 -7.50090993e-01 -8.34581681e-03 1.46227383e+02] [ 7.50029252e-01 6.61334629e-01 -9.62444053e-03 1.75921863e+01] [ 1.27385838e-02 1.04862290e-04 9.99918855e-01 -2.22772220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.57538475 meters 0.05736773503232299 Centerline is valid? [True, True] Translation: X:146.24, Y:17.62, Z:-2.23 [[ 6.61767774e-01 -7.49675018e-01 -7.12608360e-03 1.46242361e+02] [ 7.49629917e-01 6.61806133e-01 -8.22371421e-03 1.76154915e+01] [ 1.08811989e-02 1.00263595e-04 9.99940793e-01 -2.23195936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.60538475 meters 0.05732730565211974 Centerline is valid? [True, True] Translation: X:146.26, Y:17.64, Z:-2.23 [[ 6.61525850e-01 -7.49891790e-01 -6.77152837e-03 1.46259733e+02] [ 7.49851022e-01 6.61560499e-01 -7.81986697e-03 1.76366945e+01] [ 1.03438297e-02 9.54066701e-05 9.99946497e-01 -2.23211870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.63538475000001 meters 0.057153626863424956 Centerline is valid? [True, True] Translation: X:146.28, Y:17.66, Z:-2.23 [[ 6.61684275e-01 -7.49751275e-01 -6.85168373e-03 1.46278338e+02] [ 7.49709487e-01 6.61719741e-01 -7.91645995e-03 1.76579270e+01] [ 1.04692703e-02 1.01424774e-04 9.99945191e-01 -2.23022429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.66538475000002 meters 0.05712958513723715 Centerline is valid? [True, True] Translation: X:146.30, Y:17.68, Z:-2.23 [[ 6.61656913e-01 -7.49779624e-01 -6.37531268e-03 1.46295746e+02] [ 7.49743384e-01 6.61687619e-01 -7.37245753e-03 1.76777357e+01] [ 9.74618391e-03 9.81889904e-05 9.99952500e-01 -2.22977760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.69538475000002 meters 0.05708147575786518 Centerline is valid? [True, True] Translation: X:146.32, Y:17.70, Z:-2.23 [[ 6.60198782e-01 -7.51053991e-01 -7.44786492e-03 1.46316502e+02] [ 7.51004580e-01 6.60240785e-01 -8.61549605e-03 1.76975984e+01] [ 1.13880869e-02 9.45593369e-05 9.99935149e-01 -2.22915813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.72538475000002 meters 0.057083481605844574 Centerline is valid? [True, True] Translation: X:146.33, Y:17.72, Z:-2.23 [[ 6.60218431e-01 -7.51035739e-01 -7.54591273e-03 1.46333184e+02] [ 7.50984939e-01 6.60261545e-01 -8.73572737e-03 1.77175131e+01] [ 1.15431195e-02 1.00621410e-04 9.99933371e-01 -2.23102015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.75538475 meters 0.05700058407485529 Centerline is valid? [True, True] Translation: X:146.35, Y:17.74, Z:-2.23 [[ 6.59920121e-01 -7.51291193e-01 -8.18398014e-03 1.46352001e+02] [ 7.51231408e-01 6.59970857e-01 -9.47837789e-03 1.77386107e+01] [ 1.25222102e-02 1.06909353e-04 9.99921588e-01 -2.23132624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.78538475 meters 0.05718886481615828 Centerline is valid? [True, True] Translation: X:146.37, Y:17.76, Z:-2.23 [[ 6.59532626e-01 -7.51627994e-01 -8.48962033e-03 1.46368919e+02] [ 7.51563609e-01 6.59587255e-01 -9.83846245e-03 1.77596241e+01] [ 1.29945092e-02 1.08297280e-04 9.99915562e-01 -2.23340580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.81538475 meters 0.05713212366230439 Centerline is valid? [True, True] Translation: X:146.39, Y:17.78, Z:-2.23 [[ 6.59411452e-01 -7.51729992e-01 -8.86314887e-03 1.46386712e+02] [ 7.51659752e-01 6.59471004e-01 -1.02767834e-02 1.77812073e+01] [ 1.35703560e-02 1.14556374e-04 9.99907912e-01 -2.23290860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.84538475 meters 0.057086083721053345 Centerline is valid? [True, True] Translation: X:146.41, Y:17.80, Z:-2.23 [[ 6.58322470e-01 -7.52688201e-01 -8.48511397e-03 1.46405108e+02] [ 7.52623824e-01 6.58377143e-01 -9.84461828e-03 1.78013953e+01] [ 1.29963331e-02 9.48344962e-05 9.99915540e-01 -2.23269665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.87538475 meters 0.056877966336937806 Centerline is valid? [True, True] Translation: X:146.42, Y:17.82, Z:-2.23 [[ 6.57399157e-01 -7.53489850e-01 -8.91032514e-03 1.46424272e+02] [ 7.53418858e-01 6.57459534e-01 -1.03434302e-02 1.78215969e+01] [ 1.36518479e-02 8.65553027e-05 9.99906805e-01 -2.23226048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.90538475 meters 0.056880966428998245 Centerline is valid? [True, True] Translation: X:146.44, Y:17.84, Z:-2.23 [[ 6.58200012e-01 -7.52794996e-01 -8.51105164e-03 1.46441498e+02] [ 7.52730081e-01 6.58255029e-01 -9.88644714e-03 1.78428549e+01] [ 1.30449105e-02 1.00735036e-04 9.99914906e-01 -2.23150844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.93538475 meters 0.05682504603128577 Centerline is valid? [True, True] Translation: X:146.46, Y:17.87, Z:-2.23 [[ 6.59027547e-01 -7.52080892e-01 -7.55145278e-03 1.46457205e+02] [ 7.52029665e-01 6.59070801e-01 -8.77851175e-03 1.78651363e+01] [ 1.15790930e-02 1.06364561e-04 9.99932954e-01 -2.22942112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.96538475 meters 0.05651723099459906 Centerline is valid? [True, True] Translation: X:146.48, Y:17.89, Z:-2.23 [[ 6.59298455e-01 -7.51851926e-01 -6.65049412e-03 1.46475396e+02] [ 7.51812131e-01 6.59331989e-01 -7.73618385e-03 1.78863100e+01] [ 1.02013482e-02 1.00531907e-04 9.99947960e-01 -2.22598421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.99538475 meters 0.05661819291878747 Centerline is valid? [True, True] Translation: X:146.49, Y:17.91, Z:-2.23 [[ 6.59157643e-01 -7.51986526e-01 -5.24084540e-03 1.46490161e+02] [ 7.51961804e-01 6.59178473e-01 -6.09803834e-03 1.79091922e+01] [ 8.04029514e-03 7.86530169e-05 9.99967673e-01 -2.22832481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.02538475 meters 0.05671692319301839 Centerline is valid? [True, True] Translation: X:146.51, Y:17.93, Z:-2.23 [[ 6.59881425e-01 -7.51352189e-01 -5.13743514e-03 1.46507456e+02] [ 7.51328371e-01 6.59901417e-01 -5.98313916e-03 1.79310162e+01] [ 7.88564544e-03 8.82616150e-05 9.99968904e-01 -2.22757185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.05538475 meters 0.05685705881390871 Centerline is valid? [True, True] Translation: X:146.52, Y:17.95, Z:-2.23 [[ 6.61069662e-01 -7.50308104e-01 -4.96494845e-03 1.46523685e+02] [ 7.50285802e-01 6.61088299e-01 -5.78586554e-03 1.79538717e+01] [ 7.62345113e-03 9.97298534e-05 9.99970936e-01 -2.22777428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.08538475 meters 0.05710923356020433 Centerline is valid? [True, True] Translation: X:146.54, Y:17.98, Z:-2.23 [[ 6.61449887e-01 -7.49970397e-01 -5.33396369e-03 1.46540313e+02] [ 7.49944615e-01 6.61471383e-01 -6.21962578e-03 1.79752711e+01] [ 8.19279955e-03 1.13793417e-04 9.99966432e-01 -2.22884831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.11538475 meters 0.05715188045782538 Centerline is valid? [True, True] Translation: X:146.56, Y:18.00, Z:-2.23 [[ 6.61801867e-01 -7.49660124e-01 -5.29030501e-03 1.46557265e+02] [ 7.49634722e-01 6.61823000e-01 -6.17252071e-03 1.79964088e+01] [ 8.12853818e-03 1.19189408e-04 9.99966956e-01 -2.22954014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.14538475 meters 0.057169808328845176 Centerline is valid? [True, True] Translation: X:146.58, Y:18.02, Z:-2.23 [[ 6.61454324e-01 -7.49963210e-01 -5.77594401e-03 1.46576159e+02] [ 7.49932914e-01 6.61479529e-01 -6.74214757e-03 1.80177521e+01] [ 8.87703135e-03 1.28052137e-04 9.99960590e-01 -2.22956491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.17538475 meters 0.057150256907536855 Centerline is valid? [True, True] Translation: X:146.59, Y:18.04, Z:-2.23 [[ 6.60859035e-01 -7.50486888e-01 -5.89631787e-03 1.46593707e+02] [ 7.50455298e-01 6.60885326e-01 -6.88706552e-03 1.80382487e+01] [ 9.06544233e-03 1.26456488e-04 9.99958900e-01 -2.23114412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.20538475 meters 0.05702559054334652 Centerline is valid? [True, True] Translation: X:146.61, Y:18.06, Z:-2.23 [[ 6.60277761e-01 -7.51001901e-01 -5.42432267e-03 1.46611730e+02] [ 7.50975153e-01 6.60300032e-01 -6.33940695e-03 1.80593213e+01] [ 8.34258710e-03 1.12237882e-04 9.99965194e-01 -2.23134446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.23538475 meters 0.05697350409750775 Centerline is valid? [True, True] Translation: X:146.63, Y:18.08, Z:-2.23 [[ 6.59298674e-01 -7.51860807e-01 -5.53046803e-03 1.46629756e+02] [ 7.51832991e-01 6.59321861e-01 -6.46817360e-03 1.80801395e+01] [ 8.50952469e-03 1.06469956e-04 9.99963788e-01 -2.23250949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.26538475 meters 0.056820386614511026 Centerline is valid? [True, True] Translation: X:146.65, Y:18.10, Z:-2.23 [[ 6.58383396e-01 -7.52660506e-01 -5.78498487e-03 1.46647703e+02] [ 7.52630077e-01 6.58408803e-01 -6.76868896e-03 1.81015961e+01] [ 8.90340982e-03 1.02438811e-04 9.99960359e-01 -2.23415090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.29538475 meters 0.05706687661475719 Centerline is valid? [True, True] Translation: X:146.66, Y:18.12, Z:-2.24 [[ 6.58560501e-01 -7.52499514e-01 -6.52288436e-03 1.46664752e+02] [ 7.52460778e-01 6.58592793e-01 -7.63618748e-03 1.81223021e+01] [ 1.00421520e-02 1.20676820e-04 9.99949569e-01 -2.23623395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.32538475 meters 0.05679518881682744 Centerline is valid? [True, True] Translation: X:146.68, Y:18.14, Z:-2.23 [[ 6.57991427e-01 -7.52996850e-01 -6.55946255e-03 1.46684399e+02] [ 7.52957660e-01 6.58024111e-01 -7.68318426e-03 1.81429301e+01] [ 1.01016981e-02 1.16471803e-04 9.99948970e-01 -2.23422889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.35538475 meters 0.05667663120760485 Centerline is valid? [True, True] Translation: X:146.70, Y:18.16, Z:-2.23 [[ 6.58191474e-01 -7.52834265e-01 -4.95517157e-03 1.46703422e+02] [ 7.52811861e-01 6.58210119e-01 -5.80866838e-03 1.81626723e+01] [ 7.63450866e-03 9.29040699e-05 9.99970852e-01 -2.23123714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.38538475000001 meters 0.056538633224530364 Centerline is valid? [True, True] Translation: X:146.72, Y:18.18, Z:-2.23 [[ 6.58004683e-01 -7.53002883e-01 -4.06150813e-03 1.46722660e+02] [ 7.52987810e-01 6.58017213e-01 -4.76499969e-03 1.81838226e+01] [ 6.26060076e-03 7.71259928e-05 9.99980399e-01 -2.22951532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.41538475000002 meters 0.05663201143226656 Centerline is valid? [True, True] Translation: X:146.74, Y:18.21, Z:-2.23 [[ 6.57693697e-01 -7.53281452e-01 -2.46078565e-03 1.46740378e+02] [ 7.53275905e-01 6.57698299e-01 -2.89098885e-03 1.82056504e+01] [ 3.79618281e-03 4.77346071e-05 9.99992793e-01 -2.22878350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.44538475000002 meters 0.056637152202932195 Centerline is valid? [True, True] Translation: X:146.76, Y:18.23, Z:-2.23 [[ 6.56988818e-01 -7.53896081e-01 -2.52824698e-03 1.46758062e+02] [ 7.53890233e-01 6.56993681e-01 -2.96973140e-03 1.82260920e+01] [ 3.89991115e-03 4.50596141e-05 9.99992394e-01 -2.23023714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.47538475000002 meters 0.056683300933885176 Centerline is valid? [True, True] Translation: X:146.78, Y:18.25, Z:-2.23 [[ 6.55723830e-01 -7.54994841e-01 -3.00815411e-03 1.46775462e+02] [ 7.54986555e-01 6.55730728e-01 -3.53755361e-03 1.82454237e+01] [ 4.64337381e-03 4.85422924e-05 9.99989218e-01 -2.23253173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.50538475 meters 0.056619667998070305 Centerline is valid? [True, True] Translation: X:146.79, Y:18.27, Z:-2.23 [[ 6.55033623e-01 -7.55593575e-01 -3.04989730e-03 1.46794641e+02] [ 7.55585059e-01 6.55040722e-01 -3.58755834e-03 1.82662843e+01] [ 4.70854296e-03 4.55145059e-05 9.99988914e-01 -2.23259069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.53538475 meters 0.056588356681080115 Centerline is valid? [True, True] Translation: X:146.81, Y:18.29, Z:-2.23 [[ 6.53945361e-01 -7.56536968e-01 -2.69837480e-03 1.46812806e+02] [ 7.56530294e-01 6.53950927e-01 -3.17793086e-03 1.82855082e+01] [ 4.16882688e-03 3.67908542e-05 9.99991310e-01 -2.23323286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.56538475 meters 0.05640634340061643 Centerline is valid? [True, True] Translation: X:146.83, Y:18.31, Z:-2.23 [[ 6.53495387e-01 -7.56925093e-01 -2.86047671e-03 1.46831063e+02] [ 7.56917592e-01 6.53501647e-01 -3.37006381e-03 1.83064551e+01] [ 4.42021211e-03 3.71760129e-05 9.99990230e-01 -2.23295959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.59538475 meters 0.05641434820237969 Centerline is valid? [True, True] Translation: X:146.85, Y:18.33, Z:-2.23 [[ 6.53169566e-01 -7.57208858e-01 -2.06492710e-03 1.46849699e+02] [ 7.57204942e-01 6.53172829e-01 -2.43539097e-03 1.83280995e+01] [ 3.19285389e-03 2.71502609e-05 9.99994902e-01 -2.23129361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.62538475 meters 0.056331237505133365 Centerline is valid? [True, True] Translation: X:146.87, Y:18.35, Z:-2.23 [[ 6.52984240e-01 -7.57369128e-01 -1.89394615e-03 1.46866706e+02] [ 7.57365832e-01 6.52986986e-01 -2.23457324e-03 1.83482533e+01] [ 2.92911897e-03 2.47310023e-05 9.99995710e-01 -2.23176575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.65538475 meters 0.05645363130907061 Centerline is valid? [True, True] Translation: X:146.88, Y:18.37, Z:-2.23 [[ 6.53138447e-01 -7.57233386e-01 -2.78727963e-03 1.46884391e+02] [ 7.57226244e-01 6.53144393e-01 -3.28887687e-03 1.83703422e+01] [ 4.31094343e-03 3.74906401e-05 9.99990707e-01 -2.23355191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.68538475 meters 0.0565668882492325 Centerline is valid? [True, True] Translation: X:146.90, Y:18.39, Z:-2.24 [[ 6.53099514e-01 -7.57266398e-01 -2.93720663e-03 1.46901483e+02] [ 7.57258470e-01 6.53106118e-01 -3.46532544e-03 1.83917425e+01] [ 4.54248213e-03 3.89777602e-05 9.99989682e-01 -2.23559492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.71538475 meters 0.05663782102634568 Centerline is valid? [True, True] Translation: X:146.92, Y:18.41, Z:-2.24 [[ 6.53111245e-01 -7.57255579e-01 -3.11283710e-03 1.46919538e+02] [ 7.57246654e-01 6.53118662e-01 -3.67686679e-03 1.84123681e+01] [ 4.81737989e-03 4.42175719e-05 9.99988395e-01 -2.23555233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.74538475 meters 0.056595892611129545 Centerline is valid? [True, True] Translation: X:146.94, Y:18.43, Z:-2.24 [[ 6.53166792e-01 -7.57206804e-01 -3.31633626e-03 1.46937233e+02] [ 7.57196666e-01 6.53175209e-01 -3.91853925e-03 1.84337740e+01] [ 5.13329321e-03 4.83409485e-05 9.99986823e-01 -2.23569806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.77538475 meters 0.05671756177841385 Centerline is valid? [True, True] Translation: X:146.96, Y:18.46, Z:-2.24 [[ 6.52831532e-01 -7.57496869e-01 -3.07980147e-03 1.46955200e+02] [ 7.57488116e-01 6.52838795e-01 -3.64170965e-03 1.84551154e+01] [ 4.76919754e-03 4.45098745e-05 9.99988626e-01 -2.23571403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.80538475 meters 0.0565632449911235 Centerline is valid? [True, True] Translation: X:146.97, Y:18.48, Z:-2.24 [[ 6.52139180e-01 -7.58091784e-01 -3.36702722e-03 1.46973682e+02] [ 7.58081321e-01 6.52147871e-01 -3.98315698e-03 1.84759488e+01] [ 5.21539821e-03 4.50922824e-05 9.99986399e-01 -2.23527953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.83538475 meters 0.05646685324655471 Centerline is valid? [True, True] Translation: X:146.99, Y:18.50, Z:-2.24 [[ 6.51571712e-01 -7.58581382e-01 -2.93103609e-03 1.46992107e+02] [ 7.58573455e-01 6.51578304e-01 -3.46804584e-03 1.84965135e+01] [ 4.54059453e-03 3.62743936e-05 9.99989691e-01 -2.23503708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.86538475 meters 0.05641316557585859 Centerline is valid? [True, True] Translation: X:147.01, Y:18.52, Z:-2.24 [[ 6.51719730e-01 -7.58455999e-01 -2.42703474e-03 1.47009416e+02] [ 7.58450556e-01 6.51724249e-01 -2.87363886e-03 1.85174658e+01] [ 3.76128602e-03 3.20212935e-05 9.99992926e-01 -2.23500498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.89538475 meters 0.05664507868171185 Centerline is valid? [True, True] Translation: X:147.03, Y:18.54, Z:-2.24 [[ 6.50865980e-01 -7.59186108e-01 -3.15099996e-03 1.47026892e+02] [ 7.59176928e-01 6.50873607e-01 -3.73365637e-03 1.85386360e+01] [ 4.88544275e-03 3.79434435e-05 9.99988065e-01 -2.23586589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.92538475 meters 0.056263869610967375 Centerline is valid? [True, True] Translation: X:147.05, Y:18.56, Z:-2.24 [[ 6.50512024e-01 -7.59491955e-01 -2.46524711e-03 1.47045715e+02] [ 7.59486329e-01 6.50516695e-01 -2.92330339e-03 1.85603112e+01] [ 3.82390981e-03 2.93225312e-05 9.99992688e-01 -2.23513684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.95538475 meters 0.05637029128465127 Centerline is valid? [True, True] Translation: X:147.06, Y:18.58, Z:-2.24 [[ 6.51056867e-01 -7.59025502e-01 -2.29001308e-03 1.47059889e+02] [ 7.59020632e-01 6.51060894e-01 -2.71913630e-03 1.85826254e+01] [ 3.55483175e-03 3.21451863e-05 9.99993681e-01 -2.23680977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.98538475 meters 0.05654070762406928 Centerline is valid? [True, True] Translation: X:147.08, Y:18.61, Z:-2.24 [[ 6.51725845e-01 -7.58449976e-01 -2.65669422e-03 1.47075131e+02] [ 7.58443417e-01 6.51731258e-01 -3.15440125e-03 1.86050536e+01] [ 4.12390622e-03 4.08525746e-05 9.99991496e-01 -2.23806711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.01538475 meters 0.05649146278929335 Centerline is valid? [True, True] Translation: X:147.09, Y:18.63, Z:-2.24 [[ 6.52815731e-01 -7.57511837e-01 -2.72715702e-03 1.47093330e+02] [ 7.57504911e-01 6.52821426e-01 -3.23967990e-03 1.86271996e+01] [ 4.23444241e-03 4.90791676e-05 9.99991034e-01 -2.23645864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.04538475 meters 0.05654315224419841 Centerline is valid? [True, True] Translation: X:147.11, Y:18.65, Z:-2.24 [[ 6.52480032e-01 -7.57800770e-01 -2.79291573e-03 1.47110294e+02] [ 7.57793499e-01 6.52486007e-01 -3.32001684e-03 1.86482209e+01] [ 4.33824975e-03 4.97913111e-05 9.99990589e-01 -2.23616557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.07538475 meters 0.0563783967578045 Centerline is valid? [True, True] Translation: X:147.13, Y:18.67, Z:-2.24 [[ 6.50604823e-01 -7.59410984e-01 -2.88484843e-03 1.47129263e+02] [ 7.59403235e-01 6.50611217e-01 -3.43075723e-03 1.86688414e+01] [ 4.48226947e-03 4.13039682e-05 9.99989954e-01 -2.23667030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.10538475 meters 0.05643463289923925 Centerline is valid? [True, True] Translation: X:147.15, Y:18.69, Z:-2.24 [[ 6.50084380e-01 -7.59855062e-01 -3.25317230e-03 1.47145511e+02] [ 7.59845205e-01 6.50092518e-01 -3.87069200e-03 1.86904854e+01] [ 5.05602789e-03 4.43690400e-05 9.99987217e-01 -2.24112311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.13538475000001 meters 0.056600194235760536 Centerline is valid? [True, True] Translation: X:147.16, Y:18.71, Z:-2.24 [[ 6.49904808e-01 -7.60005103e-01 -3.99804989e-03 1.47162902e+02] [ 7.59990213e-01 6.49917103e-01 -4.75765660e-03 1.87124130e+01] [ 6.21424429e-03 5.35451083e-05 9.99980690e-01 -2.24264554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.16538475000002 meters 0.056708292324904874 Centerline is valid? [True, True] Translation: X:147.18, Y:18.73, Z:-2.24 [[ 6.50454792e-01 -7.59536442e-01 -3.59950590e-03 1.47180535e+02] [ 7.59524342e-01 6.50464750e-01 -4.28754829e-03 1.87327781e+01] [ 5.59790087e-03 5.49439837e-05 9.99984330e-01 -2.24112514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.19538475000002 meters 0.05653745823445553 Centerline is valid? [True, True] Translation: X:147.20, Y:18.75, Z:-2.24 [[ 6.50177595e-01 -7.59774892e-01 -3.34801993e-03 1.47199007e+02] [ 7.59764411e-01 6.50186213e-01 -3.99104272e-03 1.87534599e+01] [ 5.20913045e-03 5.11801626e-05 9.99986431e-01 -2.23990031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.22538475000002 meters 0.056376234326676856 Centerline is valid? [True, True] Translation: X:147.22, Y:18.77, Z:-2.24 [[ 6.49721435e-01 -7.60169475e-01 -2.10365056e-03 1.47218152e+02] [ 7.60165330e-01 6.49724840e-01 -2.51076266e-03 1.87735424e+01] [ 3.27539916e-03 3.21741017e-05 9.99994635e-01 -2.23877886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.25538475 meters 0.05639759629356836 Centerline is valid? [True, True] Translation: X:147.24, Y:18.79, Z:-2.24 [[ 6.49205159e-01 -7.60609541e-01 -2.40577202e-03 1.47236372e+02] [ 7.60604116e-01 6.49209615e-01 -2.87304667e-03 1.87941327e+01] [ 3.74711703e-03 3.53566174e-05 9.99992979e-01 -2.23943867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.28538475 meters 0.05644902128773085 Centerline is valid? [True, True] Translation: X:147.26, Y:18.81, Z:-2.24 [[ 6.48092902e-01 -7.61554733e-01 -3.15913560e-03 1.47255872e+02] [ 7.61545391e-01 6.48100600e-01 -3.77227981e-03 1.88145944e+01] [ 4.92023522e-03 3.89626087e-05 9.99987895e-01 -2.24230071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.31538475 meters 0.05644902128773085 Centerline is valid? [True, True] Translation: X:147.27, Y:18.84, Z:-2.24 [[ 6.47875659e-01 -7.61739560e-01 -3.15805512e-03 1.47273529e+02] [ 7.61730216e-01 6.47883355e-01 -3.77318513e-03 1.88359082e+01] [ 4.92023572e-03 3.89688008e-05 9.99987895e-01 -2.24267150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.34538475 meters 0.05635746238018626 Centerline is valid? [True, True] Translation: X:147.29, Y:18.85, Z:-2.24 [[ 6.46415331e-01 -7.62980353e-01 -2.86373354e-03 1.47291658e+02] [ 7.62972664e-01 6.46421674e-01 -3.42549407e-03 1.88547227e+01] [ 4.46476410e-03 2.93414741e-05 9.99990032e-01 -2.24337052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.37538475 meters 0.05638035095976147 Centerline is valid? [True, True] Translation: X:147.31, Y:18.87, Z:-2.24 [[ 6.45123362e-01 -7.64069083e-01 -3.77946762e-03 1.47312327e+02] [ 7.64055713e-01 6.45134433e-01 -4.52015853e-03 1.88747244e+01] [ 5.89197808e-03 2.83360462e-05 9.99982642e-01 -2.24288116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.40538475 meters 0.05632859317777477 Centerline is valid? [True, True] Translation: X:147.33, Y:18.90, Z:-2.24 [[ 6.43243486e-01 -7.65653698e-01 -3.49735962e-03 1.47332260e+02] [ 7.65642258e-01 6.43252994e-01 -4.18558739e-03 1.88950545e+01] [ 5.45439751e-03 1.46255113e-05 9.99985125e-01 -2.24283319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.43538475 meters 0.05630989895616088 Centerline is valid? [True, True] Translation: X:147.35, Y:18.92, Z:-2.24 [[ 6.42923321e-01 -7.65923798e-01 -3.21530856e-03 1.47349659e+02] [ 7.65914118e-01 6.42931361e-01 -3.85088740e-03 1.89171742e+01] [ 5.01670901e-03 1.31751008e-05 9.99987416e-01 -2.24315076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.46538475 meters 0.05638932830277112 Centerline is valid? [True, True] Translation: X:147.37, Y:18.94, Z:-2.24 [[ 6.42913708e-01 -7.65929320e-01 -3.77374719e-03 1.47366170e+02] [ 7.65915992e-01 6.42924783e-01 -4.51852557e-03 1.89380424e+01] [ 5.88710681e-03 1.46487077e-05 9.99982671e-01 -2.24366490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.49538475 meters 0.05637860613664165 Centerline is valid? [True, True] Translation: X:147.38, Y:18.96, Z:-2.24 [[ 6.42961704e-01 -7.65889883e-01 -3.59642578e-03 1.47382068e+02] [ 7.65877749e-01 6.42971762e-01 -4.31128474e-03 1.89597335e+01] [ 5.61436959e-03 1.75685004e-05 9.99984239e-01 -2.24384444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.52538475 meters 0.05642835005053359 Centerline is valid? [True, True] Translation: X:147.40, Y:18.98, Z:-2.24 [[ 6.43700257e-01 -7.65266593e-01 -4.12574140e-03 1.47398288e+02] [ 7.65250600e-01 6.43713478e-01 -4.94743914e-03 1.89824700e+01] [ 6.44190524e-03 2.74417670e-05 9.99979250e-01 -2.24389603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.55538475 meters 0.056724341278327886 Centerline is valid? [True, True] Translation: X:147.41, Y:19.01, Z:-2.25 [[ 6.45080301e-01 -7.64101094e-01 -4.57429463e-03 1.47412451e+02] [ 7.64081384e-01 6.45096517e-01 -5.48839166e-03 1.90058643e+01] [ 7.14454760e-03 4.53199693e-05 9.99974476e-01 -2.24660293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.58538475 meters 0.05686566600866533 Centerline is valid? [True, True] Translation: X:147.43, Y:19.03, Z:-2.25 [[ 6.46774534e-01 -7.62668266e-01 -4.45179442e-03 1.47426978e+02] [ 7.62649533e-01 6.46789852e-01 -5.34579945e-03 1.90286395e+01] [ 6.95644705e-03 6.23680077e-05 9.99975802e-01 -2.24550552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.61538475 meters 0.05682962781085322 Centerline is valid? [True, True] Translation: X:147.44, Y:19.05, Z:-2.24 [[ 6.47290423e-01 -7.62231389e-01 -4.29159341e-03 1.47443914e+02] [ 7.62213955e-01 6.47304646e-01 -5.15578036e-03 1.90507801e+01] [ 6.70786598e-03 6.61748648e-05 9.99977500e-01 -2.24350494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.64538475 meters 0.056902082619146206 Centerline is valid? [True, True] Translation: X:147.46, Y:19.07, Z:-2.25 [[ 6.47357621e-01 -7.62176221e-01 -3.93927750e-03 1.47459582e+02] [ 7.62161511e-01 6.47369604e-01 -4.73569592e-03 1.90737131e+01] [ 6.15960333e-03 6.33231538e-05 9.99981027e-01 -2.24525550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.67538475 meters 0.05704522575742956 Centerline is valid? [True, True] Translation: X:147.48, Y:19.10, Z:-2.25 [[ 6.48521473e-01 -7.61181487e-01 -4.75844324e-03 1.47475120e+02] [ 7.61160000e-01 6.48538924e-01 -5.72008018e-03 1.90966597e+01] [ 7.44005479e-03 8.76581695e-05 9.99972319e-01 -2.24635071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.70538475 meters 0.05732345357568183 Centerline is valid? [True, True] Translation: X:147.49, Y:19.12, Z:-2.25 [[ 6.48331415e-01 -7.61337624e-01 -5.60348305e-03 1.47491836e+02] [ 7.61307786e-01 6.48355621e-01 -6.74114388e-03 1.91184144e+01] [ 8.76533620e-03 1.04520073e-04 9.99961578e-01 -2.24898295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.73538475 meters 0.05749225512598198 Centerline is valid? [True, True] Translation: X:147.51, Y:19.14, Z:-2.25 [[ 6.48588336e-01 -7.61118144e-01 -5.68699917e-03 1.47507243e+02] [ 7.61087358e-01 6.48613258e-01 -6.84654769e-03 1.91394655e+01] [ 8.89969473e-03 1.12287799e-04 9.99960391e-01 -2.25069303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.76538475 meters 0.05760906153673997 Centerline is valid? [True, True] Translation: X:147.53, Y:19.16, Z:-2.25 [[ 6.49116118e-01 -7.60669666e-01 -5.47039757e-03 1.47525109e+02] [ 7.60641137e-01 6.49139158e-01 -6.58901005e-03 1.91609073e+01] [ 8.56310935e-03 1.16023196e-04 9.99963329e-01 -2.24958423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.79538475 meters 0.057521033253899054 Centerline is valid? [True, True] Translation: X:147.54, Y:19.18, Z:-2.25 [[ 6.49095430e-01 -7.60691109e-01 -4.91516971e-03 1.47543325e+02] [ 7.60668047e-01 6.49114031e-01 -5.92432871e-03 1.91829790e+01] [ 7.69708980e-03 1.06642152e-04 9.99970371e-01 -2.24926077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.82538475 meters 0.057426347559726004 Centerline is valid? [True, True] Translation: X:147.56, Y:19.20, Z:-2.25 [[ 6.49304170e-01 -7.60515103e-01 -4.56875787e-03 1.47561285e+02] [ 7.60495146e-01 6.49320235e-01 -5.51046937e-03 1.92048386e+01] [ 7.15738211e-03 1.03452556e-04 9.99974380e-01 -2.24839586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.85538475 meters 0.05752873396144827 Centerline is valid? [True, True] Translation: X:147.58, Y:19.23, Z:-2.25 [[ 6.48821686e-01 -7.60927021e-01 -4.52641388e-03 1.47578093e+02] [ 7.60907437e-01 6.48837468e-01 -5.46015013e-03 1.92257299e+01] [ 7.09168269e-03 9.84818305e-05 9.99974849e-01 -2.25006860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.88538475000001 meters 0.057434195460834024 Centerline is valid? [True, True] Translation: X:147.60, Y:19.25, Z:-2.25 [[ 6.47756921e-01 -7.61829875e-01 -5.11986525e-03 1.47596937e+02] [ 7.61804810e-01 6.47777146e-01 -6.18074044e-03 1.92468600e+01] [ 8.02520442e-03 1.03279419e-04 9.99967792e-01 -2.25037334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.91538475000002 meters 0.057441600952529794 Centerline is valid? [True, True] Translation: X:147.61, Y:19.27, Z:-2.25 [[ 6.47281233e-01 -7.62234037e-01 -5.12628000e-03 1.47614989e+02] [ 7.62208892e-01 6.47301524e-01 -6.19202496e-03 1.92682487e+01] [ 8.03802104e-03 1.00685348e-04 9.99967690e-01 -2.25124631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.94538475000002 meters 0.057181524056176894 Centerline is valid? [True, True] Translation: X:147.63, Y:19.29, Z:-2.25 [[ 6.45414714e-01 -7.63821242e-01 -4.11787493e-03 1.47633866e+02] [ 7.63805025e-01 6.45427847e-01 -4.97774639e-03 1.92877549e+01] [ 6.45989958e-03 6.74571997e-05 9.99979132e-01 -2.25012515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.97538475 meters 0.05711605194889169 Centerline is valid? [True, True] Translation: X:147.65, Y:19.31, Z:-2.25 [[ 6.44984414e-01 -7.64184635e-01 -4.11704435e-03 1.47651964e+02] [ 7.64168412e-01 6.44997550e-01 -4.97985496e-03 1.93098204e+01] [ 6.46101217e-03 6.58135880e-05 9.99979125e-01 -2.25016021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.00538475 meters 0.057089609478190716 Centerline is valid? [True, True] Translation: X:147.67, Y:19.33, Z:-2.25 [[ 6.44262134e-01 -7.64797375e-01 -3.35811113e-03 1.47669408e+02] [ 7.64786572e-01 6.44270884e-01 -4.06543731e-03 1.93310634e+01] [ 5.27276902e-03 5.09690187e-05 9.99986098e-01 -2.25201879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.03538475 meters 0.057110512720518945 Centerline is valid? [True, True] Translation: X:147.69, Y:19.35, Z:-2.25 [[ 6.43888454e-01 -7.65111427e-01 -3.48748299e-03 1.47687698e+02] [ 7.65099763e-01 6.43897897e-01 -4.22516353e-03 1.93516957e+01] [ 5.47830386e-03 5.22616103e-05 9.99984993e-01 -2.25220147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.06538475 meters 0.05694599490961651 Centerline is valid? [True, True] Translation: X:147.71, Y:19.37, Z:-2.25 [[ 6.42220994e-01 -7.66511063e-01 -3.60346209e-03 1.47707541e+02] [ 7.66498623e-01 6.42231102e-01 -4.36725442e-03 1.93718792e+01] [ 5.66180425e-03 4.26937454e-05 9.99983971e-01 -2.25149687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.09538475 meters 0.056853126201706454 Centerline is valid? [True, True] Translation: X:147.72, Y:19.39, Z:-2.25 [[ 6.41743641e-01 -7.66913332e-01 -3.00664771e-03 1.47724522e+02] [ 7.66904654e-01 6.41750683e-01 -3.64851187e-03 1.93925363e+01] [ 4.72761062e-03 3.55971673e-05 9.99988824e-01 -2.25252441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.12538475 meters 0.05702839304584343 Centerline is valid? [True, True] Translation: X:147.74, Y:19.41, Z:-2.26 [[ 6.41333494e-01 -7.67251025e-01 -4.14886778e-03 1.47742694e+02] [ 7.67234514e-01 6.41346912e-01 -5.03372279e-03 1.94136445e+01] [ 6.52299251e-03 4.51404763e-05 9.99978724e-01 -2.25514520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.15538475 meters 0.05721697130368716 Centerline is valid? [True, True] Translation: X:147.76, Y:19.43, Z:-2.26 [[ 6.40810389e-01 -7.67686313e-01 -4.44627686e-03 1.47760912e+02] [ 7.67667342e-01 6.40825813e-01 -5.39725203e-03 1.94348006e+01] [ 6.99268549e-03 4.53536387e-05 9.99975550e-01 -2.25651215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.18538475 meters 0.05722409161868236 Centerline is valid? [True, True] Translation: X:147.78, Y:19.46, Z:-2.26 [[ 6.40264086e-01 -7.68137398e-01 -5.18056090e-03 1.47779106e+02] [ 7.68111630e-01 6.40285043e-01 -6.29187592e-03 1.94556903e+01] [ 8.15006085e-03 4.92131086e-05 9.99966786e-01 -2.25740898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.21538475 meters 0.057201281391759805 Centerline is valid? [True, True] Translation: X:147.80, Y:19.48, Z:-2.26 [[ 6.39786240e-01 -7.68529488e-01 -5.99950887e-03 1.47798054e+02] [ 7.68494915e-01 6.39814367e-01 -7.28987020e-03 1.94753349e+01] [ 9.44105218e-03 5.33665892e-05 9.99955431e-01 -2.25977890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.24538475 meters 0.057275469685607726 Centerline is valid? [True, True] Translation: X:147.82, Y:19.50, Z:-2.26 [[ 6.38762736e-01 -7.69375694e-01 -6.57323992e-03 1.47816270e+02] [ 7.69334181e-01 6.38796555e-01 -7.99244068e-03 1.94951234e+01] [ 1.03481526e-02 4.82551328e-05 9.99946455e-01 -2.26024433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.27538475 meters 0.05703796620289998 Centerline is valid? [True, True] Translation: X:147.84, Y:19.51, Z:-2.26 [[ 6.37894843e-01 -7.70096990e-01 -6.38709157e-03 1.47835495e+02] [ 7.70057780e-01 6.37926818e-01 -7.77117339e-03 1.95147596e+01] [ 1.00590542e-02 3.87618837e-05 9.99949406e-01 -2.25912913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.30538475 meters 0.05687369068536583 Centerline is valid? [True, True] Translation: X:147.86, Y:19.53, Z:-2.26 [[ 6.35493197e-01 -7.72086632e-01 -5.53447305e-03 1.47856261e+02] [ 7.72057226e-01 6.35517296e-01 -6.73840827e-03 1.95337805e+01] [ 8.71988829e-03 9.28269727e-06 9.99961981e-01 -2.26025062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.33538475 meters 0.05691750386393315 Centerline is valid? [True, True] Translation: X:147.87, Y:19.55, Z:-2.26 [[ 6.34112842e-01 -7.73218213e-01 -5.87358326e-03 1.47874365e+02] [ 7.73185099e-01 6.34140044e-01 -7.15590605e-03 1.95541243e+01] [ 9.25775123e-03 -3.71512897e-06 9.99957146e-01 -2.26168859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.36538475 meters 0.05703939918262455 Centerline is valid? [True, True] Translation: X:147.89, Y:19.57, Z:-2.26 [[ 6.32143292e-01 -7.74829246e-01 -5.87353845e-03 1.47893610e+02] [ 7.74796154e-01 6.32170577e-01 -7.16109005e-03 1.95722222e+01] [ 9.26170020e-03 -2.39599623e-05 9.99957109e-01 -2.26362816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.39538475 meters 0.056793392740530704 Centerline is valid? [True, True] Translation: X:147.91, Y:19.59, Z:-2.26 [[ 6.30603168e-01 -7.76087361e-01 -5.29651653e-03 1.47913996e+02] [ 7.76060465e-01 6.30625410e-01 -6.46123327e-03 1.95919191e+01] [ 8.35459938e-03 -3.59429096e-05 9.99965099e-01 -2.26060990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.42538475 meters 0.056696425960189686 Centerline is valid? [True, True] Translation: X:147.93, Y:19.61, Z:-2.26 [[ 6.29478595e-01 -7.77007354e-01 -4.03365205e-03 1.47933602e+02] [ 7.76991745e-01 6.29491518e-01 -4.92517253e-03 1.96115134e+01] [ 6.36604503e-03 -3.38236630e-05 9.99979736e-01 -2.26057936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.45538475 meters 0.056603354975525474 Centerline is valid? [True, True] Translation: X:147.95, Y:19.63, Z:-2.26 [[ 6.28313495e-01 -7.77953460e-01 -3.25057854e-03 1.47952288e+02] [ 7.77943314e-01 6.28321903e-01 -3.97337573e-03 1.96315034e+01] [ 5.13351109e-03 -3.22402451e-05 9.99986823e-01 -2.25848138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.48538475 meters 0.05654404879303649 Centerline is valid? [True, True] Translation: X:147.97, Y:19.65, Z:-2.26 [[ 6.27598233e-01 -7.78531624e-01 -2.99479092e-03 1.47969922e+02] [ 7.78523008e-01 6.27605378e-01 -3.66278677e-03 1.96532401e+01] [ 4.73114221e-03 -3.27551280e-05 9.99988808e-01 -2.25845727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.51538475 meters 0.05676553245130718 Centerline is valid? [True, True] Translation: X:147.99, Y:19.67, Z:-2.26 [[ 6.26081920e-01 -7.79752355e-01 -2.77381867e-03 1.47986491e+02] [ 7.79744959e-01 6.26088064e-01 -3.39650046e-03 1.96735329e+01] [ 4.38508399e-03 -3.63835960e-05 9.99990385e-01 -2.26142422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.54538475 meters 0.0568403389909144 Centerline is valid? [True, True] Translation: X:148.00, Y:19.70, Z:-2.26 [[ 6.25696814e-01 -7.80058881e-01 -3.41168040e-03 1.48003873e+02] [ 7.80047698e-01 6.25706113e-01 -4.17717560e-03 1.96952961e+01] [ 5.39315220e-03 -4.76279784e-05 9.99985456e-01 -2.26223339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.57538475 meters 0.056856015420985985 Centerline is valid? [True, True] Translation: X:148.02, Y:19.72, Z:-2.26 [[ 6.25834817e-01 -7.79945076e-01 -4.05717498e-03 1.48020155e+02] [ 7.79929241e-01 6.25847965e-01 -4.97032062e-03 1.97176057e+01] [ 6.41575180e-03 -5.37097097e-05 9.99979417e-01 -2.26432742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.60538475 meters 0.056867104815990846 Centerline is valid? [True, True] Translation: X:148.04, Y:19.74, Z:-2.27 [[ 6.25811695e-01 -7.79964001e-01 -3.98487262e-03 1.48035886e+02] [ 7.79948719e-01 6.25824380e-01 -4.88283788e-03 1.97384400e+01] [ 6.30226820e-03 -5.22592451e-05 9.99980139e-01 -2.26562157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.63538475000001 meters 0.056859692501680624 Centerline is valid? [True, True] Translation: X:148.05, Y:19.76, Z:-2.27 [[ 6.26322658e-01 -7.79545908e-01 -5.30152713e-03 1.48053104e+02] [ 7.79518819e-01 6.26345092e-01 -6.49896234e-03 1.97610877e+01] [ 8.38682499e-03 -6.21928012e-05 9.99964828e-01 -2.26759286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.66538475000002 meters 0.05693941315641001 Centerline is valid? [True, True] Translation: X:148.07, Y:19.78, Z:-2.27 [[ 6.26006500e-01 -7.79792563e-01 -6.27857909e-03 1.48070578e+02] [ 7.79754549e-01 6.26037980e-01 -7.70004005e-03 1.97831243e+01] [ 9.93506294e-03 -7.54754893e-05 9.99950643e-01 -2.26892860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.69538475000002 meters 0.05695052189891275 Centerline is valid? [True, True] Translation: X:148.09, Y:19.80, Z:-2.27 [[ 6.25943914e-01 -7.79842442e-01 -6.32306421e-03 1.48086708e+02] [ 7.79803827e-01 6.25975846e-01 -7.76094048e-03 1.98045488e+01] [ 1.00103963e-02 -7.28362029e-05 9.99949892e-01 -2.27127321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.72538475 meters 0.057236888975757357 Centerline is valid? [True, True] Translation: X:148.10, Y:19.83, Z:-2.28 [[ 6.25970988e-01 -7.79816087e-01 -6.86962758e-03 1.48102165e+02] [ 7.79770466e-01 6.26008677e-01 -8.43544789e-03 1.98271831e+01] [ 1.08785444e-02 -7.63870412e-05 9.99940824e-01 -2.27553604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.75538475 meters 0.05710689026383843 Centerline is valid? [True, True] Translation: X:148.12, Y:19.85, Z:-2.27 [[ 6.27169098e-01 -7.78855599e-01 -6.54813546e-03 1.48117975e+02] [ 7.78814037e-01 6.27203279e-01 -8.04634528e-03 1.98501537e+01] [ 1.03739531e-02 -5.33607000e-05 9.99946188e-01 -2.27443429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.78538475 meters 0.056827463684347136 Centerline is valid? [True, True] Translation: X:148.13, Y:19.87, Z:-2.27 [[ 6.27687213e-01 -7.78443896e-01 -5.81924161e-03 1.48134717e+02] [ 7.78411012e-01 6.27714186e-01 -7.15514562e-03 1.98724777e+01] [ 9.22269994e-03 -3.85683340e-05 9.99957469e-01 -2.27149951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.81538475 meters 0.056421602361161914 Centerline is valid? [True, True] Translation: X:148.15, Y:19.89, Z:-2.27 [[ 6.28495359e-01 -7.77801987e-01 -4.20150579e-03 1.48151885e+02] [ 7.77784800e-01 6.28509402e-01 -5.17077011e-03 1.98949049e+01] [ 6.66252116e-03 -1.80623271e-05 9.99977805e-01 -2.26780128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.84538475 meters 0.05628064915054088 Centerline is valid? [True, True] Translation: X:148.17, Y:19.92, Z:-2.27 [[ 6.27788773e-01 -7.78377916e-01 -3.01273112e-03 1.48169121e+02] [ 7.78369067e-01 6.27796002e-01 -3.71169768e-03 1.99154831e+01] [ 4.78048406e-03 -1.48545730e-05 9.99988573e-01 -2.26759181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.87538475 meters 0.05622347542315072 Centerline is valid? [True, True] Translation: X:148.19, Y:19.94, Z:-2.27 [[ 6.26603957e-01 -7.79335881e-01 -1.75116076e-03 1.48187246e+02] [ 7.79332881e-01 6.26606404e-01 -2.16221694e-03 1.99358323e+01] [ 2.78238179e-03 -9.88346423e-06 9.99996129e-01 -2.26684706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.90538475 meters 0.05621955900046951 Centerline is valid? [True, True] Translation: X:148.21, Y:19.95, Z:-2.27 [[ 6.23370374e-01 -7.81926658e-01 -2.80810629e-04 1.48207617e+02] [ 7.81926578e-01 6.23370437e-01 -3.53101237e-04 1.99528690e+01] [ 4.51148314e-04 5.39555773e-07 9.99999898e-01 -2.26640257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.93538475 meters 0.05665849560268691 Centerline is valid? [True, True] Translation: X:148.23, Y:19.97, Z:-2.27 [[ 6.19223280e-01 -7.85214957e-01 2.73317419e-05 1.48228812e+02] [ 7.85214956e-01 6.19223281e-01 2.75767923e-05 1.99720516e+01] [-3.85781613e-05 4.38510081e-06 9.99999999e-01 -2.26740960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.96538475 meters 0.05700860851015166 Centerline is valid? [True, True] Translation: X:148.25, Y:19.99, Z:-2.27 [[ 6.17064161e-01 -7.86912749e-01 -3.84147969e-04 1.48248527e+02] [ 7.86912602e-01 6.17064280e-01 -4.80098998e-04 1.99906333e+01] [ 6.14840011e-04 -6.03899283e-06 9.99999811e-01 -2.26804571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.99538475 meters 0.05723473510195457 Centerline is valid? [True, True] Translation: X:148.27, Y:20.01, Z:-2.27 [[ 6.14863466e-01 -7.88632955e-01 -9.90011386e-04 1.48268393e+02] [ 7.88632000e-01 6.14864262e-01 -1.22749150e-03 2.00112343e+01] [ 1.57676287e-03 -2.60149828e-05 9.99998757e-01 -2.26765660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.02538475 meters 0.05842926509331027 Centerline is valid? [True, True] Translation: X:148.29, Y:20.03, Z:-2.27 [[ 6.10561708e-01 -7.91965978e-01 -2.07134207e-03 1.48290494e+02] [ 7.91961834e-01 6.10565217e-01 -2.56321001e-03 2.00275938e+01] [ 3.29466454e-03 -7.54259834e-05 9.99994570e-01 -2.27016418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.05538475 meters 0.059572685093213076 Centerline is valid? [True, True] Translation: X:148.31, Y:20.05, Z:-2.27 [[ 6.04965910e-01 -7.96247970e-01 -2.32762534e-03 1.48310938e+02] [ 7.96242763e-01 6.04970378e-01 -2.88176313e-03 2.00464743e+01] [ 3.70274243e-03 -1.09986379e-04 9.99993139e-01 -2.27045551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.08538475 meters 0.06031850376582342 Centerline is valid? [True, True] Translation: X:148.33, Y:20.07, Z:-2.27 [[ 6.02231902e-01 -7.98317117e-01 -2.55272913e-03 1.48329895e+02] [ 7.98310868e-01 6.02237298e-01 -3.16156279e-03 2.00665163e+01] [ 4.06127838e-03 -1.33877432e-04 9.99991744e-01 -2.27255543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.11538475 meters 0.06132096644672414 Centerline is valid? [True, True] Translation: X:148.35, Y:20.09, Z:-2.27 [[ 5.99676256e-01 -8.00238055e-01 -2.72827494e-03 1.48348894e+02] [ 8.00230932e-01 5.99682442e-01 -3.38003376e-03 2.00876737e+01] [ 4.34093022e-03 -1.56324007e-04 9.99990566e-01 -2.27434953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.14538475 meters 0.06123288148849777 Centerline is valid? [True, True] Translation: X:148.36, Y:20.11, Z:-2.27 [[ 5.97574852e-01 -8.01807023e-01 -3.12940293e-03 1.48364665e+02] [ 8.01797666e-01 5.97583016e-01 -3.87845537e-03 2.01107896e+01] [ 4.97985080e-03 -1.91480572e-04 9.99987582e-01 -2.27483894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.17538475 meters 0.061162461529332426 Centerline is valid? [True, True] Translation: X:148.38, Y:20.13, Z:-2.27 [[ 5.97573803e-01 -8.01808793e-01 -2.86526210e-03 1.48380312e+02] [ 8.01800932e-01 5.97580647e-01 -3.55462876e-03 2.01329151e+01] [ 4.56235777e-03 -1.73216801e-04 9.99989577e-01 -2.27438702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.20538475 meters 0.06057244150035721 Centerline is valid? [True, True] Translation: X:148.39, Y:20.16, Z:-2.27 [[ 6.00022980e-01 -7.99979701e-01 -2.21404527e-03 1.48392225e+02] [ 7.99974987e-01 6.00027052e-01 -2.74895846e-03 2.01571233e+01] [ 3.52759803e-03 -1.21742588e-04 9.99993771e-01 -2.27387073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.23538475 meters 0.06059813157804883 Centerline is valid? [True, True] Translation: X:148.41, Y:20.18, Z:-2.27 [[ 6.00926199e-01 -7.99302796e-01 -1.65639931e-03 1.48408122e+02] [ 7.99300148e-01 6.00928476e-01 -2.05922540e-03 2.01797920e+01] [ 2.64132213e-03 -8.65177201e-05 9.99996508e-01 -2.27400957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.26538475 meters 0.06059813157804883 Centerline is valid? [True, True] Translation: X:148.42, Y:20.20, Z:-2.27 [[ 6.00681605e-01 -7.99486628e-01 -1.65544370e-03 1.48424834e+02] [ 7.99483979e-01 6.00683880e-01 -2.05999532e-03 2.02008469e+01] [ 2.64133706e-03 -8.60994246e-05 9.99996508e-01 -2.27436956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.29538475 meters 0.05929806445862739 Centerline is valid? [True, True] Translation: X:148.44, Y:20.23, Z:-2.27 [[ 6.04258707e-01 -7.96786194e-01 -1.78187135e-03 1.48435761e+02] [ 7.96783112e-01 6.04261329e-01 -2.21785023e-03 2.02276265e+01] [ 2.84386840e-03 -7.96096860e-05 9.99995953e-01 -2.27346435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.32538475 meters 0.0580115637202648 Centerline is valid? [True, True] Translation: X:148.45, Y:20.26, Z:-2.27 [[ 6.06821230e-01 -7.94837420e-01 -1.21273410e-03 1.48445709e+02] [ 7.94835983e-01 6.06822440e-01 -1.51199091e-03 2.02559498e+01] [ 1.93770122e-03 -4.64165166e-05 9.99998122e-01 -2.27276342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.35538475 meters 0.05793575839844962 Centerline is valid? [True, True] Translation: X:148.46, Y:20.28, Z:-2.27 [[ 6.07332779e-01 -7.94446063e-01 -1.53248266e-03 1.48460787e+02] [ 7.94443766e-01 6.07334710e-01 -1.91126701e-03 2.02791184e+01] [ 2.44912846e-03 -5.66961909e-05 9.99996999e-01 -2.27349549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.38538475000001 meters 0.05808545464535823 Centerline is valid? [True, True] Translation: X:148.47, Y:20.30, Z:-2.28 [[ 6.07999950e-01 -7.93932114e-01 -2.80345725e-03 1.48474165e+02] [ 7.93924434e-01 6.08006405e-01 -3.49340251e-03 2.03027442e+01] [ 4.47804440e-03 -1.01744659e-04 9.99989968e-01 -2.27624235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.41538475000002 meters 0.05800668656510861 Centerline is valid? [True, True] Translation: X:148.49, Y:20.33, Z:-2.28 [[ 6.07872501e-01 -7.94027835e-01 -3.28932484e-03 1.48489649e+02] [ 7.94017260e-01 6.07881389e-01 -4.09977940e-03 2.03253256e+01] [ 5.25485831e-03 -1.19637542e-04 9.99986186e-01 -2.27667204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.44538475000002 meters 0.05815962956881697 Centerline is valid? [True, True] Translation: X:148.51, Y:20.35, Z:-2.28 [[ 6.07639269e-01 -7.94204725e-01 -3.65696109e-03 1.48505573e+02] [ 7.94191645e-01 6.07650259e-01 -4.56012844e-03 2.03476541e+01] [ 5.84382891e-03 -1.33414835e-04 9.99982916e-01 -2.27757180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.47538475 meters 0.05845475194083786 Centerline is valid? [True, True] Translation: X:148.52, Y:20.37, Z:-2.28 [[ 6.06994007e-01 -7.94692086e-01 -4.77116770e-03 1.48520127e+02] [ 7.94669827e-01 6.07012731e-01 -5.95060546e-03 2.03704225e+01] [ 7.62505860e-03 -1.79521158e-04 9.99970913e-01 -2.27971498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.50538475 meters 0.058704530106022335 Centerline is valid? [True, True] Translation: X:148.53, Y:20.40, Z:-2.28 [[ 6.07181201e-01 -7.94543282e-01 -5.65345655e-03 1.48533220e+02] [ 7.94511991e-01 6.07207484e-01 -7.05457635e-03 2.03950562e+01] [ 9.03798738e-03 -2.08332884e-04 9.99959135e-01 -2.28250080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.53538475 meters 0.05850053884953413 Centerline is valid? [True, True] Translation: X:148.55, Y:20.42, Z:-2.28 [[ 6.08277200e-01 -7.93701301e-01 -6.09041290e-03 1.48547716e+02] [ 7.93664902e-01 6.08307654e-01 -7.60403115e-03 2.04188016e+01] [ 9.74017419e-03 -2.08388184e-04 9.99952542e-01 -2.28351667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.56538475 meters 0.05743692526655551 Centerline is valid? [True, True] Translation: X:148.56, Y:20.45, Z:-2.29 [[ 6.12822074e-01 -7.90197583e-01 -6.07337459e-03 1.48557096e+02] [ 7.90161180e-01 6.12852150e-01 -7.58629349e-03 2.04474161e+01] [ 9.71675145e-03 -1.49896726e-04 9.99952780e-01 -2.28501204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.59538475 meters 0.056630428168276105 Centerline is valid? [True, True] Translation: X:148.57, Y:20.47, Z:-2.28 [[ 6.16228347e-01 -7.87547668e-01 -5.59417458e-03 1.48569086e+02] [ 7.87516634e-01 6.16253731e-01 -6.99218462e-03 2.04746504e+01] [ 8.95410965e-03 -9.67231691e-05 9.99959906e-01 -2.28221303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.62538475 meters 0.056474452455287365 Centerline is valid? [True, True] Translation: X:148.58, Y:20.50, Z:-2.29 [[ 6.19998715e-01 -7.84584310e-01 -5.39024088e-03 1.48582032e+02] [ 7.84555346e-01 6.20022144e-01 -6.74162933e-03 2.04995076e+01] [ 8.63144530e-03 -4.91407861e-05 9.99962747e-01 -2.28556254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.65538475 meters 0.05621680332716653 Centerline is valid? [True, True] Translation: X:148.59, Y:20.53, Z:-2.29 [[ 6.27908541e-01 -7.78268494e-01 -5.38668632e-03 1.48589171e+02] [ 7.78239286e-01 6.27931645e-01 -6.74263792e-03 2.05272931e+01] [ 8.63005346e-03 4.16290200e-05 9.99962760e-01 -2.28621526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.68538475 meters 0.05630328096755524 Centerline is valid? [True, True] Translation: X:148.60, Y:20.55, Z:-2.28 [[ 6.31876707e-01 -7.75051828e-01 -5.14684319e-03 1.48603527e+02] [ 7.75025037e-01 6.31897663e-01 -6.44482585e-03 2.05517404e+01] [ 8.24735225e-03 8.34030016e-05 9.99965987e-01 -2.28207392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.71538475 meters 0.057417116303826565 Centerline is valid? [True, True] Translation: X:148.61, Y:20.58, Z:-2.28 [[ 6.39114657e-01 -7.69097049e-01 -4.71010295e-03 1.48612740e+02] [ 7.69074413e-01 6.39131995e-01 -5.90263586e-03 2.05798547e+01] [ 7.55007732e-03 1.50041426e-04 9.99971487e-01 -2.28446654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.74538475 meters 0.058541803215480914 Centerline is valid? [True, True] Translation: X:148.63, Y:20.60, Z:-2.29 [[ 6.44173206e-01 -7.64866466e-01 -4.49111111e-03 1.48625900e+02] [ 7.64845752e-01 6.44188833e-01 -5.63239048e-03 2.06047038e+01] [ 7.20115022e-03 1.93227784e-04 9.99974053e-01 -2.28550152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.77538475 meters 0.060540035799170604 Centerline is valid? [True, True] Translation: X:148.64, Y:20.63, Z:-2.29 [[ 6.45242319e-01 -7.63962751e-01 -4.82342682e-03 1.48638891e+02] [ 7.63938808e-01 6.45260309e-01 -6.05228604e-03 2.06292855e+01] [ 7.73608697e-03 2.20388145e-04 9.99970052e-01 -2.29024711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.80538475 meters 0.05921723840757349 Centerline is valid? [True, True] Translation: X:148.66, Y:20.65, Z:-2.29 [[ 6.45936198e-01 -7.63380034e-01 -4.16542497e-03 1.48663099e+02] [ 7.63362142e-01 6.45949598e-01 -5.23030637e-03 2.06457235e+01] [ 6.68336605e-03 1.98716487e-04 9.99977646e-01 -2.28522211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.83538475 meters 0.059537986258084666 Centerline is valid? [True, True] Translation: X:148.68, Y:20.67, Z:-2.29 [[ 6.45995688e-01 -7.63332410e-01 -3.63359165e-03 1.48680492e+02] [ 7.63318771e-01 6.46005883e-01 -4.56646837e-03 2.06665101e+01] [ 5.83305488e-03 1.76330163e-04 9.99982972e-01 -2.28638241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.86538475 meters 0.05954755057627835 Centerline is valid? [True, True] Translation: X:148.70, Y:20.68, Z:-2.29 [[ 6.45030407e-01 -7.64148059e-01 -3.67660686e-03 1.48701301e+02] [ 7.64134086e-01 6.45040862e-01 -4.62430506e-03 2.06835007e+01] [ 5.90521539e-03 1.73396749e-04 9.99982549e-01 -2.28728171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.89538475 meters 0.05864872348572522 Centerline is valid? [True, True] Translation: X:148.72, Y:20.70, Z:-2.29 [[ 6.42787312e-01 -7.66036020e-01 -3.64522572e-03 1.48723587e+02] [ 7.66022306e-01 6.42797629e-01 -4.58647127e-03 2.07017744e+01] [ 5.85654465e-03 1.55801327e-04 9.99982838e-01 -2.28662783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.92538475 meters 0.057182491327482377 Centerline is valid? [True, True] Translation: X:148.75, Y:20.72, Z:-2.29 [[ 6.37789560e-01 -7.70202112e-01 -3.63104800e-03 1.48750838e+02] [ 7.70188556e-01 6.37799885e-01 -4.57112466e-03 2.07165595e+01] [ 5.83657186e-03 1.18823964e-04 9.99982960e-01 -2.28598574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.95538475 meters 0.056840631354156124 Centerline is valid? [True, True] Translation: X:148.77, Y:20.74, Z:-2.29 [[ 6.35919396e-01 -7.71746897e-01 -3.63972917e-03 1.48770655e+02] [ 7.71733300e-01 6.35929804e-01 -4.58236169e-03 2.07355835e+01] [ 5.85103567e-03 1.05112471e-04 9.99982877e-01 -2.28768507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.98538475 meters 0.05658431967626537 Centerline is valid? [True, True] Translation: X:148.79, Y:20.75, Z:-2.29 [[ 6.32207489e-01 -7.74791173e-01 -3.51118636e-03 1.48793157e+02] [ 7.74778542e-01 6.32217235e-01 -4.42474166e-03 2.07523290e+01] [ 5.64808331e-03 7.69629669e-05 9.99984046e-01 -2.29062994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.01538475 meters 0.05618239076371714 Centerline is valid? [True, True] Translation: X:148.81, Y:20.77, Z:-2.29 [[ 6.30416560e-01 -7.76251335e-01 -2.97080193e-03 1.48814012e+02] [ 7.76242293e-01 6.30423557e-01 -3.74712300e-03 2.07717240e+01] [ 4.78157275e-03 5.61862825e-05 9.99988567e-01 -2.28903981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.04538475 meters 0.05589592204110892 Centerline is valid? [True, True] Translation: X:148.84, Y:20.79, Z:-2.29 [[ 6.28166294e-01 -7.78073980e-01 -2.82642263e-03 1.48837813e+02] [ 7.78065803e-01 6.28172651e-01 -3.56751104e-03 2.07891060e+01] [ 4.55126891e-03 4.18473979e-05 9.99989642e-01 -2.28739019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.07538475 meters 0.05576572846786423 Centerline is valid? [True, True] Translation: X:148.86, Y:20.81, Z:-2.29 [[ 6.26864021e-01 -7.79123211e-01 -2.91917986e-03 1.48857143e+02] [ 7.79114488e-01 6.26870817e-01 -3.68704690e-03 2.08089895e+01] [ 4.70261248e-03 3.69017265e-05 9.99988942e-01 -2.28835091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.10538475 meters 0.055711083673422694 Centerline is valid? [True, True] Translation: X:148.88, Y:20.83, Z:-2.29 [[ 6.25112812e-01 -7.80525393e-01 -3.75265198e-03 1.48878346e+02] [ 7.80510999e-01 6.25124075e-01 -4.74040140e-03 2.08285879e+01] [ 6.04587677e-03 3.42995002e-05 9.99981723e-01 -2.28958748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.13538475000001 meters 0.055553077075140116 Centerline is valid? [True, True] Translation: X:148.90, Y:20.85, Z:-2.29 [[ 6.22067524e-01 -7.82951995e-01 -4.26248419e-03 1.48900005e+02] [ 7.82933452e-01 6.22082127e-01 -5.38851900e-03 2.08450541e+01] [ 6.87056693e-03 1.47812142e-05 9.99976397e-01 -2.29002490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.16538475000002 meters 0.05559032503903154 Centerline is valid? [True, True] Translation: X:148.92, Y:20.86, Z:-2.29 [[ 6.20169374e-01 -7.84454414e-01 -4.60649637e-03 1.48919063e+02] [ 7.84432775e-01 6.20186482e-01 -5.82667455e-03 2.08638583e+01] [ 7.42764735e-03 3.83742462e-08 9.99972415e-01 -2.29302414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.19538475000002 meters 0.055519565258895634 Centerline is valid? [True, True] Translation: X:148.94, Y:20.88, Z:-2.29 [[ 6.18989728e-01 -7.85384304e-01 -4.81782154e-03 1.48937397e+02] [ 7.85360636e-01 6.19008477e-01 -6.09724749e-03 2.08848011e+01] [ 7.77095485e-03 -9.59383324e-06 9.99969806e-01 -2.29197279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.22538475 meters 0.055769475555194625 Centerline is valid? [True, True] Translation: X:148.95, Y:20.90, Z:-2.29 [[ 6.17455483e-01 -7.86589850e-01 -5.01333336e-03 1.48954804e+02] [ 7.86564226e-01 6.17475835e-01 -6.34915567e-03 2.09046338e+01] [ 8.08979362e-03 -2.29876899e-05 9.99967277e-01 -2.29478570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.25538475 meters 0.05583470772991604 Centerline is valid? [True, True] Translation: X:148.97, Y:20.93, Z:-2.30 [[ 6.16864410e-01 -7.87052067e-01 -5.22910123e-03 1.48972157e+02] [ 7.87024176e-01 6.16886572e-01 -6.62594114e-03 2.09261276e+01] [ 8.44072301e-03 -2.81218170e-05 9.99964376e-01 -2.29594520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.28538475 meters 0.05572508148426682 Centerline is valid? [True, True] Translation: X:148.99, Y:20.95, Z:-2.30 [[ 6.16937151e-01 -7.86996227e-01 -5.04869403e-03 1.48988283e+02] [ 7.86970186e-01 6.16957809e-01 -6.40228793e-03 2.09470090e+01] [ 8.15340765e-03 -2.33623978e-05 9.99966760e-01 -2.29680060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.31538475 meters 0.055696426800550695 Centerline is valid? [True, True] Translation: X:149.00, Y:20.97, Z:-2.30 [[ 6.17049353e-01 -7.86906672e-01 -5.29024683e-03 1.49004522e+02] [ 7.86878044e-01 6.17072030e-01 -6.71229032e-03 2.09685661e+01] [ 8.54640938e-03 -2.09646802e-05 9.99963479e-01 -2.29668160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.34538475 meters 0.05570723404595718 Centerline is valid? [True, True] Translation: X:149.02, Y:20.99, Z:-2.30 [[ 6.16714913e-01 -7.87170391e-01 -5.04896329e-03 1.49022082e+02] [ 7.87144288e-01 6.16735579e-01 -6.41053022e-03 2.09892395e+01] [ 8.16005488e-03 -2.07930353e-05 9.99966706e-01 -2.29622813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.37538475 meters 0.05555765658506662 Centerline is valid? [True, True] Translation: X:149.04, Y:21.01, Z:-2.30 [[ 6.16630886e-01 -7.87235351e-01 -5.18189898e-03 1.49039272e+02] [ 7.87207822e-01 6.16652658e-01 -6.58356588e-03 2.10104732e+01] [ 8.37824758e-03 -1.96013455e-05 9.99964902e-01 -2.29574953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.40538475 meters 0.0555239416232175 Centerline is valid? [True, True] Translation: X:149.06, Y:21.03, Z:-2.30 [[ 6.16595166e-01 -7.87262848e-01 -5.25450490e-03 1.49055195e+02] [ 7.87234505e-01 6.16617554e-01 -6.68026630e-03 2.10329057e+01] [ 8.49914543e-03 -1.75076557e-05 9.99963881e-01 -2.29611728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.43538475 meters 0.05550580462643697 Centerline is valid? [True, True] Translation: X:149.07, Y:21.05, Z:-2.30 [[ 6.16343058e-01 -7.87459372e-01 -5.38252560e-03 1.49070484e+02] [ 7.87429596e-01 6.16366560e-01 -6.84799872e-03 2.10548893e+01] [ 8.71012956e-03 -1.76434869e-05 9.99962066e-01 -2.29822601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.46538475 meters 0.05564402023806525 Centerline is valid? [True, True] Translation: X:149.08, Y:21.08, Z:-2.30 [[ 6.16888304e-01 -7.87020711e-01 -6.87168900e-03 1.49084655e+02] [ 7.86972157e-01 6.16926576e-01 -8.74206916e-03 2.10775310e+01] [ 1.11195171e-02 -1.49476951e-05 9.99938176e-01 -2.30178946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.49538475 meters 0.05566331647359232 Centerline is valid? [True, True] Translation: X:149.10, Y:21.10, Z:-2.30 [[ 6.17579154e-01 -7.86475468e-01 -7.23373023e-03 1.49099066e+02] [ 7.86421531e-01 6.17621517e-01 -9.21068639e-03 2.11005854e+01] [ 1.17116863e-02 -4.33290349e-07 9.99931416e-01 -2.30200145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.52538475 meters 0.0556086091009714 Centerline is valid? [True, True] Translation: X:149.12, Y:21.12, Z:-2.30 [[ 6.18123074e-01 -7.86043576e-01 -7.70461520e-03 1.49115369e+02] [ 7.85982293e-01 6.18171089e-01 -9.81525494e-03 2.11239974e+01] [ 1.24779885e-02 1.13444392e-05 9.99922147e-01 -2.30082204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.55538475 meters 0.05573490817635216 Centerline is valid? [True, True] Translation: X:149.13, Y:21.15, Z:-2.30 [[ 6.18917559e-01 -7.85413033e-01 -8.21117371e-03 1.49130828e+02] [ 7.85343282e-01 6.18972024e-01 -1.04672146e-02 2.11463345e+01] [ 1.33035736e-02 2.97527842e-05 9.99911503e-01 -2.30404463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.58538475 meters 0.05563625371420262 Centerline is valid? [True, True] Translation: X:149.15, Y:21.17, Z:-2.30 [[ 6.19986294e-01 -7.84569558e-01 -8.22215542e-03 1.49145414e+02] [ 7.84499451e-01 6.20040810e-01 -1.04883708e-02 2.11698291e+01] [ 1.33269283e-02 5.23697073e-05 9.99911191e-01 -2.30253799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.61538475 meters 0.05571965402137201 Centerline is valid? [True, True] Translation: X:149.16, Y:21.19, Z:-2.30 [[ 6.20559626e-01 -7.84112865e-01 -8.53025116e-03 1.49160412e+02] [ 7.84037279e-01 6.20618249e-01 -1.08873977e-02 2.11927684e+01] [ 1.38309781e-02 6.82445442e-05 9.99904345e-01 -2.30467503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.64538475 meters 0.05575335192810228 Centerline is valid? [True, True] Translation: X:149.18, Y:21.22, Z:-2.30 [[ 6.21345926e-01 -7.83497084e-01 -7.84592180e-03 1.49175450e+02] [ 7.83432995e-01 6.21395456e-01 -1.00214498e-02 2.12159725e+01] [ 1.27271968e-02 8.00329618e-05 9.99919003e-01 -2.30292483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.67538475 meters 0.05557841976404149 Centerline is valid? [True, True] Translation: X:149.19, Y:21.24, Z:-2.30 [[ 6.20987394e-01 -7.83793030e-01 -6.56832691e-03 1.49191370e+02] [ 7.83748078e-01 6.21022127e-01 -8.39452526e-03 2.12377591e+01] [ 1.06586467e-02 6.49807627e-05 9.99943193e-01 -2.30427617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.70538475 meters 0.05545027879571581 Centerline is valid? [True, True] Translation: X:149.21, Y:21.26, Z:-2.30 [[ 6.20678749e-01 -7.84039655e-01 -6.30162917e-03 1.49208909e+02] [ 7.83998225e-01 6.20710734e-01 -8.06022093e-03 2.12583087e+01] [ 1.02310217e-02 6.23417503e-05 9.99947660e-01 -2.30194241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.73538475 meters 0.05524481109920331 Centerline is valid? [True, True] Translation: X:149.23, Y:21.28, Z:-2.30 [[ 6.20351239e-01 -7.84311991e-01 -4.36358998e-03 1.49226382e+02] [ 7.84292104e-01 6.20366584e-01 -5.58546105e-03 2.12794140e+01] [ 7.08776949e-03 4.26185178e-05 9.99974881e-01 -2.29855700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.76538475 meters 0.05520751587657924 Centerline is valid? [True, True] Translation: X:149.24, Y:21.30, Z:-2.30 [[ 6.20151926e-01 -7.84472302e-01 -3.84667269e-03 1.49242431e+02] [ 7.84456820e-01 6.20163855e-01 -4.92861779e-03 2.13010137e+01] [ 6.25193150e-03 3.89431924e-05 9.99980456e-01 -2.29880310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.79538475 meters 0.05503898038350501 Centerline is valid? [True, True] Translation: X:149.26, Y:21.32, Z:-2.30 [[ 6.19611098e-01 -7.84903347e-01 -2.97032849e-03 1.49260029e+02] [ 7.84894104e-01 6.19618217e-01 -3.80923865e-03 2.13234499e+01] [ 4.83035381e-03 2.88532213e-05 9.99988333e-01 -2.29719885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.82538475 meters 0.055183260287137166 Centerline is valid? [True, True] Translation: X:149.28, Y:21.34, Z:-2.30 [[ 6.18915332e-01 -7.85453701e-01 -2.50907016e-03 1.49276766e+02] [ 7.85447108e-01 6.18920418e-01 -3.21840506e-03 2.13448866e+01] [ 4.08082292e-03 2.11783412e-05 9.99991673e-01 -2.29991215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.85538475 meters 0.055222157045412265 Centerline is valid? [True, True] Translation: X:149.29, Y:21.37, Z:-2.30 [[ 6.18832810e-01 -7.85518994e-01 -2.42146948e-03 1.49294445e+02] [ 7.85512839e-01 6.18837547e-01 -3.10973126e-03 2.13671642e+01] [ 3.94124920e-03 2.23083708e-05 9.99992233e-01 -2.30055442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.88538475000001 meters 0.05519757460870786 Centerline is valid? [True, True] Translation: X:149.31, Y:21.39, Z:-2.30 [[ 6.18037067e-01 -7.86144296e-01 -2.70727924e-03 1.49311222e+02] [ 7.86136596e-01 6.18042996e-01 -3.47963856e-03 2.13874347e+01] [ 4.40871297e-03 2.22543237e-05 9.99990281e-01 -2.30268709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.91538475000002 meters 0.05533036814845102 Centerline is valid? [True, True] Translation: X:149.33, Y:21.41, Z:-2.30 [[ 6.16727994e-01 -7.87164837e-01 -4.25446459e-03 1.49331281e+02] [ 7.87145861e-01 6.16742668e-01 -5.46568294e-03 2.14078547e+01] [ 6.92630327e-03 2.19554852e-05 9.99976013e-01 -2.30373497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.94538475000002 meters 0.05528909709648893 Centerline is valid? [True, True] Translation: X:149.35, Y:21.43, Z:-2.30 [[ 6.15653695e-01 -7.88003191e-01 -4.63665137e-03 1.49348886e+02] [ 7.87980646e-01 6.15671154e-01 -5.96087144e-03 2.14286555e+01] [ 7.55183822e-03 1.62409883e-05 9.99971484e-01 -2.30454851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.97538475 meters 0.05540692243844582 Centerline is valid? [True, True] Translation: X:149.37, Y:21.45, Z:-2.31 [[ 6.13574413e-01 -7.89618444e-01 -5.39930024e-03 1.49367991e+02] [ 7.89587914e-01 6.13598169e-01 -6.94355655e-03 2.14494591e+01] [ 8.79576106e-03 -2.83357834e-06 9.99961317e-01 -2.30672098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.00538475 meters 0.05540856227158422 Centerline is valid? [True, True] Translation: X:149.38, Y:21.47, Z:-2.31 [[ 6.12927400e-01 -7.90119642e-01 -5.56367367e-03 1.49384894e+02] [ 7.90087192e-01 6.12952651e-01 -7.16082648e-03 2.14691715e+01] [ 9.06817818e-03 -6.72054903e-06 9.99958883e-01 -2.30836724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.03538475 meters 0.05540173145672372 Centerline is valid? [True, True] Translation: X:149.40, Y:21.49, Z:-2.31 [[ 6.11941888e-01 -7.90882961e-01 -5.59171855e-03 1.49401834e+02] [ 7.90850200e-01 6.11967435e-01 -7.19856253e-03 2.14893847e+01] [ 9.11517011e-03 -1.71097819e-05 9.99958456e-01 -2.30911415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.06538475 meters 0.05541122349968885 Centerline is valid? [True, True] Translation: X:149.42, Y:21.51, Z:-2.31 [[ 6.11139366e-01 -7.91506970e-01 -5.03903972e-03 1.49420511e+02] [ 7.91480334e-01 6.11160140e-01 -6.49337406e-03 2.15095561e+01] [ 8.21921105e-03 -1.99443298e-05 9.99966222e-01 -2.30737803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.09538475 meters 0.05528132145614786 Centerline is valid? [True, True] Translation: X:149.44, Y:21.53, Z:-2.31 [[ 6.11170333e-01 -7.91483792e-01 -4.92257665e-03 1.49437591e+02] [ 7.91458334e-01 6.11190156e-01 -6.34814453e-03 2.15294135e+01] [ 8.03308390e-03 -1.62167147e-05 9.99967734e-01 -2.30556283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.12538475 meters 0.05528132145614786 Centerline is valid? [True, True] Translation: X:149.45, Y:21.55, Z:-2.31 [[ 6.10923903e-01 -7.91674030e-01 -4.92081851e-03 1.49453895e+02] [ 7.91648567e-01 6.10943721e-01 -6.34950810e-03 2.15507664e+01] [ 8.03308384e-03 -1.64926525e-05 9.99967734e-01 -2.30592218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.15538475 meters 0.05515667479255719 Centerline is valid? [True, True] Translation: X:149.47, Y:21.57, Z:-2.31 [[ 6.10991611e-01 -7.91624355e-01 -4.48693238e-03 1.49470471e+02] [ 7.91603151e-01 6.11008085e-01 -5.79396665e-03 2.15724988e+01] [ 7.32819708e-03 -1.18047982e-05 9.99973148e-01 -2.30635987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.18538475 meters 0.055192679022140465 Centerline is valid? [True, True] Translation: X:149.49, Y:21.60, Z:-2.31 [[ 6.11374873e-01 -7.91324631e-01 -5.10819468e-03 1.49485371e+02] [ 7.91297117e-01 6.11396213e-01 -6.59874977e-03 2.15964883e+01] [ 8.34488410e-03 -7.78992087e-06 9.99965181e-01 -2.30632708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.21538475 meters 0.05524653406855529 Centerline is valid? [True, True] Translation: X:149.50, Y:21.62, Z:-2.31 [[ 6.11408359e-01 -7.91297397e-01 -5.31482916e-03 1.49500614e+02] [ 7.91267590e-01 6.11431459e-01 -6.86813704e-03 2.16180154e+01] [ 8.68439271e-03 -6.21566478e-06 9.99962290e-01 -2.31144932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.24538475 meters 0.0549925527608037 Centerline is valid? [True, True] Translation: X:149.52, Y:21.64, Z:-2.31 [[ 6.09282433e-01 -7.92940894e-01 -4.43345565e-03 1.49518988e+02] [ 7.92920152e-01 6.09298562e-01 -5.73532125e-03 2.16382105e+01] [ 7.24906892e-03 -2.09458427e-05 9.99973725e-01 -2.30680739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.27538475 meters 0.055024606044638956 Centerline is valid? [True, True] Translation: X:149.54, Y:21.66, Z:-2.31 [[ 6.08776670e-01 -7.93333307e-01 -3.63733023e-03 1.49535557e+02] [ 7.93319328e-01 6.08787536e-01 -4.70963313e-03 2.16604199e+01] [ 5.95067013e-03 -1.84496049e-05 9.99982294e-01 -2.30765446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.30538475 meters 0.05517558824387365 Centerline is valid? [True, True] Translation: X:149.55, Y:21.68, Z:-2.31 [[ 6.08007085e-01 -7.93926504e-01 -2.84464082e-03 1.49551196e+02] [ 7.93917952e-01 6.08013739e-01 -3.68506844e-03 2.16810506e+01] [ 4.65525420e-03 -1.78636953e-05 9.99989164e-01 -2.30793794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.33538475 meters 0.05517464202317342 Centerline is valid? [True, True] Translation: X:149.57, Y:21.70, Z:-2.31 [[ 6.07604848e-01 -7.94236758e-01 -2.07867217e-03 1.49568318e+02] [ 7.94232177e-01 6.07608403e-01 -2.69771882e-03 2.17025235e+01] [ 3.40564613e-03 -1.18012939e-05 9.99994201e-01 -2.30609898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.36538475 meters 0.05502207574892681 Centerline is valid? [True, True] Translation: X:149.58, Y:21.72, Z:-2.31 [[ 6.07447806e-01 -7.94357174e-01 -1.96026093e-03 1.49584746e+02] [ 7.94353094e-01 6.07450969e-01 -2.54614331e-03 2.17249518e+01] [ 3.21330960e-03 -1.04901656e-05 9.99994837e-01 -2.30686215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.39538475 meters 0.055047155184271446 Centerline is valid? [True, True] Translation: X:149.60, Y:21.75, Z:-2.31 [[ 6.07885599e-01 -7.94024304e-01 -7.10030682e-04 1.49601558e+02] [ 7.94023763e-01 6.07886013e-01 -9.26486754e-04 2.17469300e+01] [ 1.16727072e-03 -5.83279228e-07 9.99999319e-01 -2.30675020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.42538475 meters 0.05490607293492218 Centerline is valid? [True, True] Translation: X:149.62, Y:21.77, Z:-2.31 [[ 6.07875115e-01 -7.94032634e-01 -1.40927188e-04 1.49618008e+02] [ 7.94032612e-01 6.07875132e-01 -1.89926270e-04 2.17689253e+01] [ 2.36473789e-04 3.55067031e-06 9.99999972e-01 -2.30515743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.45538475 meters 0.0548300331837451 Centerline is valid? [True, True] Translation: X:149.63, Y:21.79, Z:-2.30 [[ 6.08077657e-01 -7.93876964e-01 9.63595906e-04 1.49634517e+02] [ 7.93875991e-01 6.08078420e-01 1.24302354e-03 2.17896826e+01] [-1.57274963e-03 9.12081280e-06 9.99998763e-01 -2.30396907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.48538475 meters 0.054814809509184416 Centerline is valid? [True, True] Translation: X:149.65, Y:21.81, Z:-2.30 [[ 6.08121642e-01 -7.93843484e-01 7.68953900e-04 1.49650240e+02] [ 7.93842865e-01 6.08122128e-01 9.91227089e-04 2.18104893e+01] [-1.25449705e-03 7.64192187e-06 9.99999213e-01 -2.30474277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.51538475 meters 0.05500758558680715 Centerline is valid? [True, True] Translation: X:149.67, Y:21.83, Z:-2.31 [[ 6.07863347e-01 -7.94041402e-01 6.35251804e-04 1.49666122e+02] [ 7.94040979e-01 6.07863679e-01 8.18944270e-04 2.18325076e+01] [-1.03642216e-03 6.60975930e-06 9.99999463e-01 -2.30789769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.54538475 meters 0.05492359680430418 Centerline is valid? [True, True] Translation: X:149.68, Y:21.85, Z:-2.31 [[ 6.07396665e-01 -7.94398694e-01 -7.96276578e-05 1.49682512e+02] [ 7.94398686e-01 6.07396670e-01 -1.10783191e-04 2.18539813e+01] [ 1.36371596e-04 4.03323414e-06 9.99999991e-01 -2.30876505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.57538475 meters 0.055038364804238654 Centerline is valid? [True, True] Translation: X:149.70, Y:21.87, Z:-2.31 [[ 6.05845090e-01 -7.95579907e-01 -2.08290302e-03 1.49700917e+02] [ 7.95575267e-01 6.05848670e-01 -2.71729775e-03 2.18747489e+01] [ 3.42375152e-03 -1.08446254e-05 9.99994139e-01 -2.31102149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.60538475 meters 0.05544825496074874 Centerline is valid? [True, True] Translation: X:149.72, Y:21.89, Z:-2.31 [[ 6.02569380e-01 -7.98059354e-01 -3.37780257e-03 1.49720750e+02] [ 7.98047199e-01 6.02578846e-01 -4.40492884e-03 2.18939155e+01] [ 5.55078704e-03 -4.13706373e-05 9.99984593e-01 -2.31470771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.63538475000001 meters 0.055792371610331196 Centerline is valid? [True, True] Translation: X:149.74, Y:21.91, Z:-2.32 [[ 5.99829089e-01 -8.00118151e-01 -4.00106018e-03 1.49741034e+02] [ 8.00101133e-01 5.99842428e-01 -5.21906273e-03 2.19143051e+01] [ 6.57587248e-03 -7.07071409e-05 9.99978376e-01 -2.31610198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.66538475000002 meters 0.05592231318542078 Centerline is valid? [True, True] Translation: X:149.76, Y:21.93, Z:-2.32 [[ 5.98502640e-01 -8.01108827e-01 -4.38611013e-03 1.49760221e+02] [ 8.01088400e-01 5.98518705e-01 -5.72145457e-03 2.19339493e+01] [ 7.20867671e-03 -8.93562871e-05 9.99974013e-01 -2.31658305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.69538475000002 meters 0.05589441101527076 Centerline is valid? [True, True] Translation: X:149.78, Y:21.95, Z:-2.32 [[ 5.98101183e-01 -8.01410109e-01 -4.10030707e-03 1.49777741e+02] [ 8.01392219e-01 5.98115232e-01 -5.35537305e-03 2.19534176e+01] [ 6.74430621e-03 -8.28992222e-05 9.99977253e-01 -2.31629063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.72538475 meters 0.0554624959047464 Centerline is valid? [True, True] Translation: X:149.79, Y:21.98, Z:-2.31 [[ 5.99625413e-01 -8.00276651e-01 -2.57790177e-03 1.49793268e+02] [ 8.00269554e-01 5.99630953e-01 -3.37071545e-03 2.19770486e+01] [ 4.24329457e-03 -4.18496599e-05 9.99990996e-01 -2.31418420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.75538475 meters 0.05530344247859784 Centerline is valid? [True, True] Translation: X:149.81, Y:22.00, Z:-2.31 [[ 6.00933803e-01 -7.99297313e-01 -1.53917193e-03 1.49809612e+02] [ 7.99294770e-01 6.00935774e-01 -2.01630566e-03 2.20005516e+01] [ 2.53657117e-03 -1.85858439e-05 9.99996783e-01 -2.31278546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.78538475 meters 0.055127128372533224 Centerline is valid? [True, True] Translation: X:149.82, Y:22.02, Z:-2.31 [[ 6.02622571e-01 -7.98026229e-01 -4.18823684e-04 1.49822924e+02] [ 7.98026037e-01 6.02622716e-01 -5.53504897e-04 2.20245698e+01] [ 6.94104091e-04 -6.77661195e-07 9.99999759e-01 -2.31297443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.81538475 meters 0.05512001811173437 Centerline is valid? [True, True] Translation: X:149.84, Y:22.05, Z:-2.31 [[ 6.04029526e-01 -7.96961912e-01 -2.07154274e-04 1.49836466e+02] [ 7.96961864e-01 6.04029561e-01 -2.77713647e-04 2.20488811e+01] [ 3.46454504e-04 2.65318568e-06 9.99999940e-01 -2.31481445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.84538475 meters 0.05517456512218774 Centerline is valid? [True, True] Translation: X:149.85, Y:22.07, Z:-2.32 [[ 6.06370054e-01 -7.95181629e-01 -1.23866053e-03 1.49848904e+02] [ 7.95179963e-01 6.06371319e-01 -1.62776959e-03 2.20727771e+01] [ 2.04546069e-03 2.07269791e-06 9.99997908e-01 -2.31734887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.87538475 meters 0.055401794282993716 Centerline is valid? [True, True] Translation: X:149.86, Y:22.10, Z:-2.32 [[ 6.07152253e-01 -7.94583725e-01 -1.68678078e-03 1.49864340e+02] [ 7.94580637e-01 6.07154596e-01 -2.21523704e-03 2.20958925e+01] [ 2.78432800e-03 4.70281563e-06 9.99996124e-01 -2.31766053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.90538475 meters 0.055329245218221274 Centerline is valid? [True, True] Translation: X:149.88, Y:22.12, Z:-2.32 [[ 6.07503925e-01 -7.94315491e-01 -1.37183662e-03 1.49879214e+02] [ 7.94313441e-01 6.07505474e-01 -1.80450760e-03 2.21178026e+01] [ 2.26674660e-03 6.57718703e-06 9.99997431e-01 -2.31885519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.93538475 meters 0.05526585816026921 Centerline is valid? [True, True] Translation: X:149.90, Y:22.14, Z:-2.32 [[ 6.07027324e-01 -7.94680431e-01 -9.16606571e-04 1.49896300e+02] [ 7.94679512e-01 6.07028016e-01 -1.20847183e-03 2.21395482e+01] [ 1.51675478e-03 5.16695831e-06 9.99998850e-01 -2.31819535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.96538475 meters 0.05539577288484914 Centerline is valid? [True, True] Translation: X:149.91, Y:22.16, Z:-2.32 [[ 6.05929342e-01 -7.95518345e-01 -4.40920500e-04 1.49913228e+02] [ 7.95518130e-01 6.05929503e-01 -5.85625556e-04 2.21593100e+01] [ 7.33042612e-04 4.08745606e-06 9.99999731e-01 -2.31635622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.99538475 meters 0.05543654667311856 Centerline is valid? [True, True] Translation: X:149.93, Y:22.18, Z:-2.32 [[ 6.06148158e-01 -7.95351531e-01 -5.93565977e-04 1.49929232e+02] [ 7.95351143e-01 6.06148449e-01 -7.85900803e-04 2.21815693e+01] [ 9.84856502e-04 4.27894575e-06 9.99999515e-01 -2.31655303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.02538475 meters 0.055752211452107486 Centerline is valid? [True, True] Translation: X:149.94, Y:22.21, Z:-2.32 [[ 6.06596082e-01 -7.95010182e-01 -6.70860507e-05 1.49943739e+02] [ 7.95010176e-01 6.06596085e-01 -9.49683997e-05 2.22052423e+01] [ 1.16194980e-04 4.27336610e-06 9.99999993e-01 -2.31797143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.05538475 meters 0.05586783870290645 Centerline is valid? [True, True] Translation: X:149.96, Y:22.23, Z:-2.32 [[ 6.07097106e-01 -7.94627650e-01 3.55001600e-05 1.49959492e+02] [ 7.94627649e-01 6.07097107e-01 4.01094350e-05 2.22271845e+01] [-5.34241111e-05 3.85908678e-06 9.99999999e-01 -2.31833230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.08538475 meters 0.056056923359980554 Centerline is valid? [True, True] Translation: X:149.98, Y:22.25, Z:-2.32 [[ 6.08382354e-01 -7.93643827e-01 -6.21887248e-04 1.49976049e+02] [ 7.93643399e-01 6.08382672e-01 -8.24397294e-04 2.22493905e+01] [ 1.03262325e-03 7.99205703e-06 9.99999467e-01 -2.31789615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.11538475 meters 0.056148140107921816 Centerline is valid? [True, True] Translation: X:149.99, Y:22.27, Z:-2.32 [[ 6.08807344e-01 -7.93317791e-01 -7.06923827e-04 1.49991974e+02] [ 7.93317238e-01 6.08807755e-01 -9.37295876e-04 2.22712521e+01] [ 1.17395420e-03 9.81775558e-06 9.99999311e-01 -2.31678690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.14538475 meters 0.05645168522230848 Centerline is valid? [True, True] Translation: X:150.01, Y:22.29, Z:-2.32 [[ 6.10665220e-01 -7.91888325e-01 -9.33207739e-04 1.50006854e+02] [ 7.91887361e-01 6.10665932e-01 -1.23539198e-03 2.22945833e+01] [ 1.54817066e-03 1.54155007e-05 9.99998801e-01 -2.31822898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.17538475 meters 0.05673046670422657 Centerline is valid? [True, True] Translation: X:150.02, Y:22.32, Z:-2.32 [[ 6.10781910e-01 -7.91797280e-01 -1.58900986e-03 1.50021978e+02] [ 7.91794496e-01 6.10783977e-01 -2.10014202e-03 2.23169130e+01] [ 2.63342850e-03 2.45594975e-05 9.99996532e-01 -2.32059462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.20538475 meters 0.0570595530611679 Centerline is valid? [True, True] Translation: X:150.04, Y:22.34, Z:-2.32 [[ 6.12373114e-01 -7.90565641e-01 -2.26659272e-03 1.50036370e+02] [ 7.90559971e-01 6.12377307e-01 -2.99437327e-03 2.23414996e+01] [ 3.75525857e-03 4.17962053e-05 9.99992948e-01 -2.32251908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.23538475 meters 0.05751573235463424 Centerline is valid? [True, True] Translation: X:150.05, Y:22.37, Z:-2.32 [[ 6.13340564e-01 -7.89813975e-01 -2.69040419e-03 1.50049813e+02] [ 7.89805973e-01 6.13346462e-01 -3.55562680e-03 2.23651223e+01] [ 4.45843363e-03 5.59128429e-05 9.99990060e-01 -2.32499997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.26538475 meters 0.058192590308725596 Centerline is valid? [True, True] Translation: X:150.06, Y:22.39, Z:-2.33 [[ 6.15496296e-01 -7.88129836e-01 -3.95874192e-03 1.50064470e+02] [ 7.88112480e-01 6.15509019e-01 -5.23127490e-03 2.23893180e+01] [ 6.55956518e-03 9.98964099e-05 9.99978481e-01 -2.32842474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.29538475 meters 0.058265674482367094 Centerline is valid? [True, True] Translation: X:150.08, Y:22.41, Z:-2.33 [[ 6.16191815e-01 -7.87583813e-01 -4.40284811e-03 1.50081521e+02] [ 7.87562311e-01 6.16207532e-01 -5.82090332e-03 2.24118974e+01] [ 7.29751740e-03 1.19275745e-04 9.99973366e-01 -2.32948534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.32538475 meters 0.058723149591590425 Centerline is valid? [True, True] Translation: X:150.10, Y:22.43, Z:-2.33 [[ 6.16974442e-01 -7.86970934e-01 -4.39171311e-03 1.50098140e+02] [ 7.86949500e-01 6.16990059e-01 -5.80959029e-03 2.24343652e+01] [ 7.28162203e-03 1.28312294e-04 9.99973480e-01 -2.32824396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.35538475 meters 0.058916463240708906 Centerline is valid? [True, True] Translation: X:150.11, Y:22.46, Z:-2.33 [[ 6.17155461e-01 -7.86827845e-01 -4.59121830e-03 1.50113928e+02] [ 7.86804382e-01 6.17172523e-01 -6.07791784e-03 2.24571254e+01] [ 7.61584878e-03 1.38629518e-04 9.99970989e-01 -2.32870090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.38538475000001 meters 0.059982403079981095 Centerline is valid? [True, True] Translation: X:150.13, Y:22.48, Z:-2.33 [[ 6.19686328e-01 -7.84834382e-01 -4.88332286e-03 1.50127298e+02] [ 7.84807757e-01 6.19705544e-01 -6.46706806e-03 2.24824847e+01] [ 8.10179962e-03 1.75084001e-04 9.99967165e-01 -2.33165532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.41538475000002 meters 0.060939693753096456 Centerline is valid? [True, True] Translation: X:150.14, Y:22.51, Z:-2.33 [[ 6.22310969e-01 -7.82755656e-01 -4.75824335e-03 1.50140088e+02] [ 7.82730281e-01 6.22329128e-01 -6.30591468e-03 2.25075049e+01] [ 7.89718382e-03 1.99818719e-04 9.99968797e-01 -2.33363954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.44538475000002 meters 0.06148210767021103 Centerline is valid? [True, True] Translation: X:150.16, Y:22.53, Z:-2.33 [[ 6.22661462e-01 -7.82477631e-01 -4.63268794e-03 1.50155795e+02] [ 7.82453535e-01 6.22678663e-01 -6.14400305e-03 2.25296483e+01] [ 7.69222088e-03 2.00770870e-04 9.99970394e-01 -2.33413667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.47538475 meters 0.06080543847448914 Centerline is valid? [True, True] Translation: X:150.18, Y:22.55, Z:-2.33 [[ 6.21676393e-01 -7.83267052e-01 -3.34480843e-03 1.50177463e+02] [ 7.83254482e-01 6.21685375e-01 -4.43961989e-03 2.25493974e+01] [ 5.55682647e-03 1.40170686e-04 9.99984551e-01 -2.32918224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.50538475 meters 0.06129679699850798 Centerline is valid? [True, True] Translation: X:150.19, Y:22.57, Z:-2.33 [[ 6.21140078e-01 -7.83695884e-01 -2.40105488e-03 1.50193346e+02] [ 7.83689394e-01 6.21144710e-01 -3.19097876e-03 2.25713719e+01] [ 3.99215946e-03 1.00363545e-04 9.99992026e-01 -2.32917975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.53538475 meters 0.060833348259442324 Centerline is valid? [True, True] Translation: X:150.21, Y:22.59, Z:-2.33 [[ 6.18346675e-01 -7.85904831e-01 -9.93271904e-04 1.50212822e+02] [ 7.85903716e-01 6.18347471e-01 -1.32459514e-03 2.25918415e+01] [ 1.65519289e-03 3.84429206e-05 9.99998629e-01 -2.32783002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.56538475 meters 0.06074224134640171 Centerline is valid? [True, True] Translation: X:150.23, Y:22.61, Z:-2.33 [[ 6.16970764e-01 -7.86985242e-01 -1.14294162e-03 1.50229766e+02] [ 7.86983765e-01 6.16971821e-01 -1.52481017e-03 2.26133236e+01] [ 1.90516587e-03 4.12867962e-05 9.99998184e-01 -2.32868601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.59538475 meters 0.06083297963618591 Centerline is valid? [True, True] Translation: X:150.25, Y:22.63, Z:-2.33 [[ 6.15537491e-01 -7.88107254e-01 -7.43809713e-04 1.50246826e+02] [ 7.88106627e-01 6.15537940e-01 -9.94517841e-04 2.26349875e+01] [ 1.24162982e-03 2.59616532e-05 9.99999229e-01 -2.32962927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.62538475 meters 0.060106303883060944 Centerline is valid? [True, True] Translation: X:150.27, Y:22.65, Z:-2.33 [[ 6.11928391e-01 -7.90912675e-01 -8.86036100e-04 1.50268480e+02] [ 7.90911788e-01 6.11929032e-01 -1.18441982e-03 2.26539148e+01] [ 1.47896386e-03 2.40037211e-05 9.99998906e-01 -2.32983501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.65538475 meters 0.0601982254685281 Centerline is valid? [True, True] Translation: X:150.29, Y:22.67, Z:-2.33 [[ 6.08792890e-01 -7.93328515e-01 -1.04139231e-03 1.50286254e+02] [ 7.93327294e-01 6.08793780e-01 -1.39173510e-03 2.26748987e+01] [ 1.73809630e-03 2.11134888e-05 9.99998489e-01 -2.33371381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.68538475 meters 0.06011889668567285 Centerline is valid? [True, True] Translation: X:150.30, Y:22.70, Z:-2.33 [[ 6.06692440e-01 -7.94935447e-01 -1.38532953e-03 1.50304137e+02] [ 7.94933292e-01 6.06694021e-01 -1.85121296e-03 2.26954103e+01] [ 2.31206594e-03 2.18723444e-05 9.99997327e-01 -2.33486640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.71538475 meters 0.06032461966524791 Centerline is valid? [True, True] Translation: X:150.32, Y:22.71, Z:-2.34 [[ 6.01808483e-01 -7.98635674e-01 -2.75869853e-03 1.50324890e+02] [ 7.98627187e-01 6.01814806e-01 -3.68174683e-03 2.27135716e+01] [ 4.60059998e-03 1.25348277e-05 9.99989417e-01 -2.33657244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.74538475 meters 0.060359771794201114 Centerline is valid? [True, True] Translation: X:150.34, Y:22.73, Z:-2.34 [[ 6.00091873e-01 -7.99927591e-01 -2.36503858e-03 1.50342969e+02] [ 7.99921352e-01 6.00096533e-01 -3.15936003e-03 2.27344960e+01] [ 3.94651071e-03 4.06142417e-06 9.99992212e-01 -2.33674025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.77538475 meters 0.06049215565099926 Centerline is valid? [True, True] Translation: X:150.36, Y:22.75, Z:-2.34 [[ 5.97508016e-01 -8.01860702e-01 -1.89361432e-03 1.50360508e+02] [ 8.01856701e-01 5.97511017e-01 -2.53305167e-03 2.27540792e+01] [ 3.16261001e-03 -4.88865806e-06 9.99994999e-01 -2.33823029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.80538475 meters 0.06060890071795167 Centerline is valid? [True, True] Translation: X:150.38, Y:22.78, Z:-2.34 [[ 5.96699624e-01 -8.02462151e-01 -2.01365837e-03 1.50376738e+02] [ 8.02457628e-01 5.96703021e-01 -2.69450039e-03 2.27761566e+01] [ 3.36379061e-03 -8.06814386e-06 9.99994342e-01 -2.33957392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.83538475 meters 0.06085428676436147 Centerline is valid? [True, True] Translation: X:150.39, Y:22.80, Z:-2.34 [[ 5.97812924e-01 -8.01632144e-01 -2.36935931e-03 1.50390222e+02] [ 8.01625869e-01 5.97817619e-01 -3.17170442e-03 2.27989015e+01] [ 3.95898496e-03 -3.25382194e-06 9.99992163e-01 -2.34403359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.86538475 meters 0.06085286039358218 Centerline is valid? [True, True] Translation: X:150.40, Y:22.82, Z:-2.35 [[ 5.99976990e-01 -8.00012560e-01 -2.74146359e-03 1.50404405e+02] [ 8.00004139e-01 5.99983253e-01 -3.67060935e-03 2.28220811e+01] [ 4.58136582e-03 9.09892988e-06 9.99989505e-01 -2.34582185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.89538475 meters 0.061030440843486265 Centerline is valid? [True, True] Translation: X:150.42, Y:22.85, Z:-2.35 [[ 6.04072466e-01 -7.96921563e-01 -3.53244591e-03 1.50418099e+02] [ 7.96907527e-01 6.04082793e-01 -4.73007619e-03 2.28457131e+01] [ 5.90338950e-03 4.22760513e-05 9.99982574e-01 -2.34789748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.92538475 meters 0.06123476490948788 Centerline is valid? [True, True] Translation: X:150.43, Y:22.87, Z:-2.35 [[ 6.06599399e-01 -7.94998548e-01 -3.80496496e-03 1.50433723e+02] [ 7.94982212e-01 6.06611329e-01 -5.09695691e-03 2.28692929e+01] [ 6.36020819e-03 6.69315390e-05 9.99979771e-01 -2.34720145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.95538475 meters 0.061937172825189124 Centerline is valid? [True, True] Translation: X:150.45, Y:22.89, Z:-2.35 [[ 6.10945451e-01 -7.91664899e-01 -3.51334253e-03 1.50446305e+02] [ 7.91650911e-01 6.10955546e-01 -4.70704435e-03 2.28936335e+01] [ 5.87289789e-03 9.44065153e-05 9.99982750e-01 -2.34871891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.98538475 meters 0.061812355678156586 Centerline is valid? [True, True] Translation: X:150.46, Y:22.92, Z:-2.35 [[ 6.12475880e-01 -7.90480504e-01 -3.72417077e-03 1.50463763e+02] [ 7.90464737e-01 6.12487191e-01 -4.99408882e-03 2.29158666e+01] [ 6.22873675e-03 1.14933275e-04 9.99980595e-01 -2.34746588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.01538475 meters 0.062274957421219156 Centerline is valid? [True, True] Translation: X:150.48, Y:22.94, Z:-2.35 [[ 6.13871998e-01 -7.89393793e-01 -4.31384691e-03 1.50478789e+02] [ 7.89372589e-01 6.13887137e-01 -5.78773924e-03 2.29384365e+01] [ 7.21702057e-03 1.47698542e-04 9.99973946e-01 -2.34926109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.04538475 meters 0.061919165788679446 Centerline is valid? [True, True] Translation: X:150.50, Y:22.96, Z:-2.35 [[ 6.12716695e-01 -7.90291584e-01 -4.17905273e-03 1.50495922e+02] [ 7.90271674e-01 6.12730931e-01 -5.61130194e-03 2.29595215e+01] [ 6.99519957e-03 1.35551381e-04 9.99975524e-01 -2.34886659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.07538475 meters 0.061919165788679446 Centerline is valid? [True, True] Translation: X:150.51, Y:22.98, Z:-2.35 [[ 6.12466878e-01 -7.90485214e-01 -4.17729405e-03 1.50511816e+02] [ 7.90465300e-01 6.12481109e-01 -5.61261213e-03 2.29811863e+01] [ 6.99520058e-03 1.35533036e-04 9.99975524e-01 -2.34922617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.10538475 meters 0.0613056290196766 Centerline is valid? [True, True] Translation: X:150.53, Y:23.00, Z:-2.35 [[ 6.08610043e-01 -7.93465267e-01 -2.58574909e-03 1.50528951e+02] [ 7.93457649e-01 6.08615532e-01 -3.47756356e-03 2.30018261e+01] [ 4.33305296e-03 6.47977136e-05 9.99990610e-01 -2.34755048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.13538475000001 meters 0.060717705932727385 Centerline is valid? [True, True] Translation: X:150.55, Y:23.02, Z:-2.35 [[ 6.04410906e-01 -7.96672311e-01 -8.28756469e-04 1.50548376e+02] [ 7.96671524e-01 6.04411474e-01 -1.11976892e-03 2.30225262e+01] [ 1.39299881e-03 1.65538709e-05 9.99999030e-01 -2.34588674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.16538475000002 meters 0.06002833474573788 Centerline is valid? [True, True] Translation: X:150.57, Y:23.04, Z:-2.34 [[ 5.95127493e-01 -8.03631080e-01 5.95311044e-04 1.50572711e+02] [ 8.03630687e-01 5.95127791e-01 7.94280053e-04 2.30380121e+01] [-9.92594284e-04 5.71232689e-06 9.99999507e-01 -2.34232279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.19538475000002 meters 0.06070478354142639 Centerline is valid? [True, True] Translation: X:150.60, Y:23.05, Z:-2.34 [[ 5.84659650e-01 -8.11278340e-01 7.40633350e-04 1.50598836e+02] [ 8.11277736e-01 5.84660119e-01 9.89889218e-04 2.30538258e+01] [-1.23609446e-03 2.21110633e-05 9.99999236e-01 -2.33964863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.22538475 meters 0.06159004116968175 Centerline is valid? [True, True] Translation: X:150.62, Y:23.07, Z:-2.34 [[ 5.79153734e-01 -8.15217865e-01 8.86354461e-04 1.50619611e+02] [ 8.15217000e-01 5.79154411e-01 1.18760997e-03 2.30713859e+01] [-1.48149696e-03 3.47624756e-05 9.99998902e-01 -2.34047136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.25538475 meters 0.06388571745773204 Centerline is valid? [True, True] Translation: X:150.64, Y:23.09, Z:-2.34 [[ 5.69809215e-01 -8.21776934e-01 -3.60766626e-04 1.50642260e+02] [ 8.21776786e-01 5.69809329e-01 -4.92865876e-04 2.30880204e+01] [ 6.10593997e-04 -1.56301211e-05 9.99999813e-01 -2.34176400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.28538475 meters 0.06387285379458592 Centerline is valid? [True, True] Translation: X:150.66, Y:23.11, Z:-2.34 [[ 5.65492956e-01 -8.24753080e-01 -2.72465309e-04 1.50657578e+02] [ 8.24752995e-01 5.65493021e-01 -3.73637012e-04 2.31117026e+01] [ 4.62235506e-04 -1.34274812e-05 9.99999893e-01 -2.34113705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.31538475 meters 0.06483883926863787 Centerline is valid? [True, True] Translation: X:150.68, Y:23.13, Z:-2.34 [[ 5.62419232e-01 -8.26852055e-01 -5.35160871e-04 1.50675825e+02] [ 8.26851735e-01 5.62419486e-01 -7.27963764e-04 2.31312369e+01] [ 9.02903236e-04 -3.30778739e-05 9.99999592e-01 -2.34127055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.34538475 meters 0.06585602944946399 Centerline is valid? [True, True] Translation: X:150.69, Y:23.15, Z:-2.34 [[ 5.58716842e-01 -8.29358193e-01 -6.91612729e-04 1.50694887e+02] [ 8.29357662e-01 5.58717267e-01 -9.39731883e-04 2.31514504e+01] [ 1.16579031e-03 -4.85502864e-05 9.99999319e-01 -2.34090777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.37538475 meters 0.06621723296072649 Centerline is valid? [True, True] Translation: X:150.71, Y:23.17, Z:-2.34 [[ 5.57578994e-01 -8.30123081e-01 -1.15565707e-03 1.50712311e+02] [ 8.30121608e-01 5.57580185e-01 -1.56602278e-03 2.31736683e+01] [ 1.94436314e-03 -8.61544944e-05 9.99998106e-01 -2.34081756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.40538475 meters 0.06553614556208803 Centerline is valid? [True, True] Translation: X:150.73, Y:23.20, Z:-2.34 [[ 5.59475090e-01 -8.28844992e-01 -1.89816511e-03 1.50726645e+02] [ 8.28841016e-01 5.59478294e-01 -2.57086241e-03 2.31961998e+01] [ 3.19282861e-03 -1.34943620e-04 9.99994894e-01 -2.34104161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.43538475 meters 0.06387881552065407 Centerline is valid? [True, True] Translation: X:150.74, Y:23.22, Z:-2.34 [[ 5.64726368e-01 -8.25277354e-01 -1.19058840e-03 1.50738551e+02] [ 8.25275775e-01 5.64727619e-01 -1.61602110e-03 2.32215256e+01] [ 2.00602377e-03 -6.99540360e-05 9.99997985e-01 -2.34215791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.46538475 meters 0.062341934696696015 Centerline is valid? [True, True] Translation: X:150.75, Y:23.25, Z:-2.34 [[ 5.68016108e-01 -8.23016087e-01 -1.49019996e-03 1.50750911e+02] [ 8.23013614e-01 5.68018058e-01 -2.01940217e-03 2.32471942e+01] [ 2.50846096e-03 -7.94018940e-05 9.99996851e-01 -2.34150473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.49538475 meters 0.06110258640925229 Centerline is valid? [True, True] Translation: X:150.76, Y:23.27, Z:-2.34 [[ 5.74762886e-01 -8.18317972e-01 -1.82272777e-03 1.50763052e+02] [ 8.18314237e-01 5.74765772e-01 -2.47335743e-03 2.32709306e+01] [ 3.07163437e-03 -6.99700351e-05 9.99995280e-01 -2.34280681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.52538475 meters 0.059878716054940835 Centerline is valid? [True, True] Translation: X:150.78, Y:23.30, Z:-2.34 [[ 5.78413460e-01 -8.15740911e-01 -2.15275710e-03 1.50775344e+02] [ 8.15735684e-01 5.78417463e-01 -2.92106014e-03 2.32966414e+01] [ 3.62802056e-03 -6.65002864e-05 9.99993417e-01 -2.34090675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.55538475 meters 0.05964614273622771 Centerline is valid? [True, True] Translation: X:150.79, Y:23.32, Z:-2.34 [[ 5.81727359e-01 -8.13381527e-01 -1.94205907e-03 1.50789708e+02] [ 8.13377254e-01 5.81730599e-01 -2.63684805e-03 2.33193072e+01] [ 3.27451868e-03 -4.57000153e-05 9.99994638e-01 -2.34332550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.58538475 meters 0.05896825409850516 Centerline is valid? [True, True] Translation: X:150.80, Y:23.35, Z:-2.34 [[ 5.88354707e-01 -8.08598313e-01 -2.73968446e-03 1.50801245e+02] [ 8.08589759e-01 5.88361085e-01 -3.71961223e-03 2.33453184e+01] [ 4.61959590e-03 -2.68294254e-05 9.99989329e-01 -2.34486149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.61538475 meters 0.05893986585009711 Centerline is valid? [True, True] Translation: X:150.81, Y:23.37, Z:-2.35 [[ 5.93132199e-01 -8.05097407e-01 -3.51574301e-03 1.50812228e+02] [ 8.05083258e-01 5.93142619e-01 -4.77306377e-03 2.33696267e+01] [ 5.92811828e-03 5.91974367e-07 9.99982429e-01 -2.35112966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.64538475 meters 0.058982231834153714 Centerline is valid? [True, True] Translation: X:150.83, Y:23.39, Z:-2.35 [[ 5.94927279e-01 -8.03768094e-01 -4.28773640e-03 1.50826663e+02] [ 8.03746987e-01 5.94942730e-01 -5.82497011e-03 2.33934661e+01] [ 7.23288271e-03 1.91784065e-05 9.99973842e-01 -2.34958925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.67538475 meters 0.05906979634439897 Centerline is valid? [True, True] Translation: X:150.84, Y:23.42, Z:-2.35 [[ 5.96711539e-01 -8.02441537e-01 -4.78733043e-03 1.50841070e+02] [ 8.02415183e-01 5.96730741e-01 -6.50352076e-03 2.34159614e+01] [ 8.07544243e-03 3.92992576e-05 9.99967392e-01 -2.35208871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.70538475 meters 0.059085697262938316 Centerline is valid? [True, True] Translation: X:150.86, Y:23.44, Z:-2.35 [[ 5.96919976e-01 -8.02281329e-01 -5.58677319e-03 1.50857583e+02] [ 8.02245408e-01 5.96946117e-01 -7.59199269e-03 2.34380703e+01] [ 9.42591655e-03 4.98489483e-05 9.99955574e-01 -2.35172730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.73538475 meters 0.058871810449002894 Centerline is valid? [True, True] Translation: X:150.88, Y:23.46, Z:-2.35 [[ 5.95222602e-01 -8.03543113e-01 -5.34035263e-03 1.50876072e+02] [ 8.03510275e-01 5.95246557e-01 -7.26452942e-03 2.34579973e+01] [ 9.01618910e-03 3.29838880e-05 9.99959353e-01 -2.35037933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.76538475 meters 0.058767750548042764 Centerline is valid? [True, True] Translation: X:150.89, Y:23.48, Z:-2.35 [[ 5.93767013e-01 -8.04617920e-01 -5.54417513e-03 1.50893371e+02] [ 8.04582531e-01 5.93792896e-01 -7.54637284e-03 2.34791026e+01] [ 9.36403862e-03 2.00407987e-05 9.99956156e-01 -2.35049573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.79538475 meters 0.05870650944607993 Centerline is valid? [True, True] Translation: X:150.91, Y:23.50, Z:-2.35 [[ 5.91531011e-01 -8.06261595e-01 -5.77084701e-03 1.50911121e+02] [ 8.06223286e-01 5.91559160e-01 -7.85963870e-03 2.35004571e+01] [ 9.75072224e-03 -3.37120575e-06 9.99952461e-01 -2.35080900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.82538475 meters 0.05872999828173409 Centerline is valid? [True, True] Translation: X:150.93, Y:23.52, Z:-2.35 [[ 5.86394069e-01 -8.10003422e-01 -6.03765901e-03 1.50930307e+02] [ 8.09961642e-01 5.86425147e-01 -8.22719006e-03 2.35196985e+01] [ 1.02046872e-02 -6.58967496e-05 9.99947929e-01 -2.35207217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.85538475 meters 0.058983931774931234 Centerline is valid? [True, True] Translation: X:150.95, Y:23.54, Z:-2.35 [[ 5.81440658e-01 -8.13567438e-01 -5.89793795e-03 1.50949807e+02] [ 8.13527735e-01 5.81470557e-01 -8.03839068e-03 2.35397823e+01] [ 9.96925017e-03 -1.24288935e-04 9.99950298e-01 -2.34979498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.88538475000001 meters 0.059231462912798793 Centerline is valid? [True, True] Translation: X:150.97, Y:23.56, Z:-2.35 [[ 5.78714022e-01 -8.15516966e-01 -4.70726107e-03 1.50967787e+02] [ 8.15491679e-01 5.78733153e-01 -6.42323646e-03 2.35604960e+01] [ 7.96250635e-03 -1.21515236e-04 9.99968291e-01 -2.34839746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.91538475000002 meters 0.059573114315787205 Centerline is valid? [True, True] Translation: X:150.99, Y:23.58, Z:-2.35 [[ 5.74679398e-01 -8.18368944e-01 -3.98244977e-03 1.50986617e+02] [ 8.18350886e-01 5.74693182e-01 -5.43819253e-03 2.35806364e+01] [ 6.73913461e-03 -1.33824091e-04 9.99977283e-01 -2.34750061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.94538475000002 meters 0.05968356699092306 Centerline is valid? [True, True] Translation: X:151.00, Y:23.60, Z:-2.35 [[ 5.72886672e-01 -8.19626336e-01 -3.67847565e-03 1.51004438e+02] [ 8.19610936e-01 5.72898465e-01 -5.02611186e-03 2.36028677e+01] [ 6.22692670e-03 -1.35526376e-04 9.99980603e-01 -2.34606177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.97538475 meters 0.05965647777543653 Centerline is valid? [True, True] Translation: X:151.02, Y:23.62, Z:-2.35 [[ 5.71391795e-01 -8.20673048e-01 -2.67656165e-03 1.51021379e+02] [ 8.20664885e-01 5.71398055e-01 -3.66195272e-03 2.36239347e+01] [ 4.53464802e-03 -1.04150415e-04 9.99989713e-01 -2.34502569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.00538475 meters 0.05954184840480278 Centerline is valid? [True, True] Translation: X:151.04, Y:23.65, Z:-2.35 [[ 5.71348723e-01 -8.20702625e-01 -2.79945539e-03 1.51036746e+02] [ 8.20693685e-01 5.71355571e-01 -3.83236996e-03 2.36469328e+01] [ 4.74472052e-03 -1.07875675e-04 9.99988738e-01 -2.34577318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.03538475 meters 0.05940806722144107 Centerline is valid? [True, True] Translation: X:151.05, Y:23.67, Z:-2.35 [[ 5.72115306e-01 -8.20168209e-01 -2.86103242e-03 1.51050693e+02] [ 8.20158850e-01 5.72122450e-01 -3.91954161e-03 2.36690826e+01] [ 4.85154430e-03 -1.04071309e-04 9.99988226e-01 -2.34836871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.06538475 meters 0.05914446959168893 Centerline is valid? [True, True] Translation: X:151.07, Y:23.69, Z:-2.35 [[ 5.73077209e-01 -8.19497520e-01 -2.51552196e-03 1.51066477e+02] [ 8.19490272e-01 5.73082723e-01 -3.44774525e-03 2.36916782e+01] [ 4.26702085e-03 -8.56215508e-05 9.99990893e-01 -2.34907422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.09538475 meters 0.05859330906623684 Centerline is valid? [True, True] Translation: X:151.08, Y:23.72, Z:-2.35 [[ 5.75822558e-01 -8.17570950e-01 -2.47442452e-03 1.51081974e+02] [ 8.17563911e-01 5.75827870e-01 -3.39352596e-03 2.37152608e+01] [ 4.19929084e-03 -6.89313908e-05 9.99991181e-01 -2.34835033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.12538475 meters 0.05805156418044527 Centerline is valid? [True, True] Translation: X:151.10, Y:23.74, Z:-2.35 [[ 5.78234312e-01 -8.15866309e-01 -2.69190508e-03 1.51096794e+02] [ 8.15857951e-01 5.78240575e-01 -3.69342930e-03 2.37397263e+01] [ 4.56991327e-03 -6.05446082e-05 9.99989556e-01 -2.34867439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.15538475 meters 0.05752991096293809 Centerline is valid? [True, True] Translation: X:151.11, Y:23.77, Z:-2.35 [[ 5.85000258e-01 -8.11025390e-01 -3.53761861e-03 1.51107639e+02] [ 8.11010862e-01 5.85010953e-01 -4.85455293e-03 2.37658812e+01] [ 6.00671132e-03 -2.91323996e-05 9.99981959e-01 -2.35130985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.18538475 meters 0.05757727976500199 Centerline is valid? [True, True] Translation: X:151.12, Y:23.79, Z:-2.35 [[ 5.87016964e-01 -8.09562363e-01 -4.45703265e-03 1.51121826e+02] [ 8.09539245e-01 5.87033884e-01 -6.11802918e-03 2.37901979e+01] [ 7.56935534e-03 -1.67559340e-05 9.99971352e-01 -2.35273540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.21538475 meters 0.05767952669904602 Centerline is valid? [True, True] Translation: X:151.14, Y:23.81, Z:-2.35 [[ 5.85413728e-01 -8.10718707e-01 -5.09366553e-03 1.51138615e+02] [ 8.10688528e-01 5.85435886e-01 -6.99522646e-03 2.38126453e+01] [ 8.65317554e-03 -3.42746080e-05 9.99962560e-01 -2.35432468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.24538475 meters 0.05781496345755803 Centerline is valid? [True, True] Translation: X:151.15, Y:23.84, Z:-2.36 [[ 5.85267700e-01 -8.10819422e-01 -5.79522635e-03 1.51154528e+02] [ 8.10780326e-01 5.85296390e-01 -7.96238577e-03 2.38353867e+01] [ 9.84798208e-03 -3.85282943e-05 9.99951507e-01 -2.35685818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.27538475 meters 0.05802037114836439 Centerline is valid? [True, True] Translation: X:151.17, Y:23.86, Z:-2.36 [[ 5.84393731e-01 -8.11439627e-01 -7.04972207e-03 1.51170973e+02] [ 8.11381805e-01 5.84436248e-01 -9.68705828e-03 2.38566648e+01] [ 1.19805761e-02 -5.89600891e-05 9.99928229e-01 -2.35976279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.30538475 meters 0.0578433132926344 Centerline is valid? [True, True] Translation: X:151.19, Y:23.88, Z:-2.36 [[ 5.83799382e-01 -8.11866148e-01 -7.18606575e-03 1.51186806e+02] [ 8.11805989e-01 5.83843604e-01 -9.88341743e-03 2.38786516e+01] [ 1.22195506e-02 -6.37582263e-05 9.99925336e-01 -2.35880051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.33538475 meters 0.05785624576070256 Centerline is valid? [True, True] Translation: X:151.20, Y:23.90, Z:-2.36 [[ 5.83342800e-01 -8.12197296e-01 -6.83590136e-03 1.51200894e+02] [ 8.12142797e-01 5.83382849e-01 -9.40896314e-03 2.39008762e+01] [ 1.16298820e-02 -6.30771443e-05 9.99932369e-01 -2.35980800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.36538475 meters 0.057730605053508494 Centerline is valid? [True, True] Translation: X:151.22, Y:23.92, Z:-2.36 [[ 5.82617597e-01 -8.12719901e-01 -6.56485744e-03 1.51216597e+02] [ 8.12669607e-01 5.82654578e-01 -9.04166954e-03 2.39228959e+01] [ 1.11733890e-02 -6.72243336e-05 9.99937573e-01 -2.35894290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.39538475 meters 0.057558744811730844 Centerline is valid? [True, True] Translation: X:151.23, Y:23.95, Z:-2.36 [[ 5.81677858e-01 -8.13399815e-01 -5.62225522e-03 1.51233365e+02] [ 8.13362912e-01 5.81705025e-01 -7.74836581e-03 2.39461221e+01] [ 9.57301343e-03 -6.58810524e-05 9.99954175e-01 -2.35504317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.42538475 meters 0.05751750166324754 Centerline is valid? [True, True] Translation: X:151.25, Y:23.97, Z:-2.35 [[ 5.81360410e-01 -8.13633307e-01 -4.57342636e-03 1.51248909e+02] [ 8.13608867e-01 5.81378396e-01 -6.30652580e-03 2.39672297e+01] [ 7.79009072e-03 -5.46158132e-05 9.99969655e-01 -2.35496648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.45538475 meters 0.05736561863210063 Centerline is valid? [True, True] Translation: X:151.27, Y:23.99, Z:-2.35 [[ 5.80512806e-01 -8.14245832e-01 -2.93371479e-03 1.51266039e+02] [ 8.14235759e-01 5.80520218e-01 -4.05026886e-03 2.39887733e+01] [ 5.00099529e-03 -3.75025513e-05 9.99987494e-01 -2.35239455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.48538475 meters 0.05720560415939462 Centerline is valid? [True, True] Translation: X:151.28, Y:24.01, Z:-2.35 [[ 5.80057209e-01 -8.14571907e-01 -2.49865589e-03 1.51282420e+02] [ 8.14564586e-01 5.80062590e-01 -3.45371685e-03 2.40102734e+01] [ 4.26267752e-03 -3.19632498e-05 9.99990914e-01 -2.35119623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.51538475 meters 0.057164165312428905 Centerline is valid? [True, True] Translation: X:151.30, Y:24.03, Z:-2.35 [[ 5.79273251e-01 -8.15131484e-01 -1.77904927e-03 1.51298340e+02] [ 8.15127762e-01 5.79275982e-01 -2.46313538e-03 2.40317706e+01] [ 3.03833971e-03 -2.33240134e-05 9.99995384e-01 -2.35003880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.54538475 meters 0.05724322001969023 Centerline is valid? [True, True] Translation: X:151.31, Y:24.05, Z:-2.35 [[ 5.78483046e-01 -8.15692298e-01 -1.85510816e-03 1.51314691e+02] [ 8.15688251e-01 5.78486019e-01 -2.56939307e-03 2.40542194e+01] [ 3.16898827e-03 -2.68395991e-05 9.99994978e-01 -2.35112825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.57538475 meters 0.05753477951729641 Centerline is valid? [True, True] Translation: X:151.33, Y:24.08, Z:-2.35 [[ 5.78082764e-01 -8.15974198e-01 -2.53493410e-03 1.51331589e+02] [ 8.15966650e-01 5.78088320e-01 -3.51007113e-03 2.40754918e+01] [ 4.32954327e-03 -3.93100639e-05 9.99990627e-01 -2.35295664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.60538475 meters 0.057571118740718484 Centerline is valid? [True, True] Translation: X:151.35, Y:24.10, Z:-2.35 [[ 5.77369400e-01 -8.16477878e-01 -2.90701819e-03 1.51347836e+02] [ 8.16467947e-01 5.77376716e-01 -4.02725961e-03 2.40979524e+01] [ 4.96661299e-03 -4.82707122e-05 9.99987665e-01 -2.35341198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.63538475000001 meters 0.05742061537687652 Centerline is valid? [True, True] Translation: X:151.36, Y:24.12, Z:-2.36 [[ 5.77895435e-01 -8.16103813e-01 -3.38129105e-03 1.51362611e+02] [ 8.16090373e-01 5.77905325e-01 -4.68387923e-03 2.41196023e+01] [ 5.77659780e-03 -5.26466479e-05 9.99983314e-01 -2.35558013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.66538475000002 meters 0.05762677278064763 Centerline is valid? [True, True] Translation: X:151.38, Y:24.14, Z:-2.36 [[ 5.78224262e-01 -8.15867699e-01 -4.07443176e-03 1.51376561e+02] [ 8.15848149e-01 5.78238614e-01 -5.64826112e-03 2.41434569e+01] [ 6.96422757e-03 -5.81559986e-05 9.99975748e-01 -2.35569441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.69538475000002 meters 0.0579093507499639 Centerline is valid? [True, True] Translation: X:151.39, Y:24.17, Z:-2.36 [[ 5.77908777e-01 -8.16088580e-01 -4.56889211e-03 1.51390181e+02] [ 8.16063979e-01 5.77926834e-01 -6.33701549e-03 2.41669315e+01] [ 7.81205133e-03 -6.62914012e-05 9.99969483e-01 -2.35828977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.72538475 meters 0.05849659162780886 Centerline is valid? [True, True] Translation: X:151.41, Y:24.19, Z:-2.36 [[ 5.76582332e-01 -8.17014068e-01 -6.38959609e-03 1.51405497e+02] [ 8.16966010e-01 5.76617725e-01 -8.86220701e-03 2.41886512e+01] [ 1.09249022e-02 -1.10290834e-04 9.99940315e-01 -2.36168638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.75538475 meters 0.05857705848698073 Centerline is valid? [True, True] Translation: X:151.42, Y:24.21, Z:-2.36 [[ 5.75930195e-01 -8.17471760e-01 -6.65820569e-03 1.51421349e+02] [ 8.17419522e-01 5.75968668e-01 -9.24223662e-03 2.42106700e+01] [ 1.13901853e-02 -1.19664178e-04 9.99935123e-01 -2.36184139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.78538475 meters 0.058793086061782567 Centerline is valid? [True, True] Translation: X:151.44, Y:24.23, Z:-2.36 [[ 5.75410137e-01 -8.17845426e-01 -5.65989157e-03 1.51439452e+02] [ 8.17807650e-01 5.75437963e-01 -7.86122682e-03 2.42315380e+01] [ 9.68618487e-03 -1.05273019e-04 9.99953082e-01 -2.36261305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.81538475 meters 0.05850473336466441 Centerline is valid? [True, True] Translation: X:151.45, Y:24.25, Z:-2.36 [[ 5.75203048e-01 -8.17991945e-01 -5.53457744e-03 1.51454137e+02] [ 8.17955773e-01 5.75229665e-01 -7.69323607e-03 2.42547837e+01] [ 9.47665826e-03 -1.01866730e-04 9.99955090e-01 -2.35785843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.84538475 meters 0.05887565925981228 Centerline is valid? [True, True] Translation: X:151.47, Y:24.27, Z:-2.36 [[ 5.74179706e-01 -8.18717597e-01 -4.37733874e-03 1.51470832e+02] [ 8.18694969e-01 5.74196385e-01 -6.08759451e-03 2.42746417e+01] [ 7.49747283e-03 -8.83319731e-05 9.99971890e-01 -2.35987404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.87538475 meters 0.058642949387041676 Centerline is valid? [True, True] Translation: X:151.48, Y:24.30, Z:-2.36 [[ 5.73277682e-01 -8.19354620e-01 -3.27190645e-03 1.51484909e+02] [ 8.19341956e-01 5.73287015e-01 -4.55606967e-03 2.42978475e+01] [ 5.60877822e-03 -6.89171703e-05 9.99984268e-01 -2.35630788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.90538475 meters 0.05873174037020709 Centerline is valid? [True, True] Translation: X:151.50, Y:24.32, Z:-2.36 [[ 5.73210517e-01 -8.19402215e-01 -3.11661900e-03 1.51499901e+02] [ 8.19390709e-01 5.73218986e-01 -4.34288608e-03 2.43209050e+01] [ 5.34507566e-03 -6.43406810e-05 9.99985713e-01 -2.35774415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.93538475 meters 0.05873174037020709 Centerline is valid? [True, True] Translation: X:151.52, Y:24.34, Z:-2.36 [[ 5.72961710e-01 -8.19576216e-01 -3.11528694e-03 1.51515400e+02] [ 8.19564707e-01 5.72970175e-01 -4.34384249e-03 2.43428461e+01] [ 5.34507650e-03 -6.43238126e-05 9.99985713e-01 -2.35810370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.96538475 meters 0.05895564338681601 Centerline is valid? [True, True] Translation: X:151.53, Y:24.36, Z:-2.36 [[ 5.72137511e-01 -8.20151520e-01 -3.18632742e-03 1.51531807e+02] [ 8.20139472e-01 5.72146380e-01 -4.44605625e-03 2.43640637e+01] [ 5.46948549e-03 -6.94773218e-05 9.99985040e-01 -2.36092125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.99538475 meters 0.058862670418369206 Centerline is valid? [True, True] Translation: X:151.55, Y:24.39, Z:-2.36 [[ 5.71600616e-01 -8.20525984e-01 -3.13762703e-03 1.51547512e+02] [ 8.20514292e-01 5.71609223e-01 -4.38082323e-03 2.43867320e+01] [ 5.38807584e-03 -7.03865580e-05 9.99985482e-01 -2.35932309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.02538475 meters 0.05926450190302057 Centerline is valid? [True, True] Translation: X:151.57, Y:24.41, Z:-2.36 [[ 5.69423302e-01 -8.22040916e-01 -2.41560468e-03 1.51566502e+02] [ 8.22033984e-01 5.69428422e-01 -3.37655962e-03 2.44072510e+01] [ 4.15118412e-03 -6.30174092e-05 9.99991382e-01 -2.35756469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.05538475 meters 0.05978625739684554 Centerline is valid? [True, True] Translation: X:151.59, Y:24.43, Z:-2.36 [[ 5.67810062e-01 -8.23156527e-01 -2.25082234e-03 1.51586042e+02] [ 8.23150520e-01 5.67814519e-01 -3.14551930e-03 2.44262235e+01] [ 3.86730435e-03 -6.67080691e-05 9.99992520e-01 -2.35726927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.08538475 meters 0.05990191689992885 Centerline is valid? [True, True] Translation: X:151.60, Y:24.45, Z:-2.36 [[ 5.67724038e-01 -8.23215725e-01 -2.29957441e-03 1.51602233e+02] [ 8.23209439e-01 5.67728691e-01 -3.21774009e-03 2.44485248e+01] [ 3.95442861e-03 -6.62429614e-05 9.99992179e-01 -2.35651956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.11538475 meters 0.059561929491594695 Centerline is valid? [True, True] Translation: X:151.61, Y:24.47, Z:-2.36 [[ 5.69549985e-01 -8.21949263e-01 -3.49630187e-03 1.51613587e+02] [ 8.21934709e-01 5.69560709e-01 -4.89213056e-03 2.44734627e+01] [ 6.01243928e-03 -8.74189720e-05 9.99981921e-01 -2.35849390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.14538475 meters 0.05935407690264116 Centerline is valid? [True, True] Translation: X:151.63, Y:24.50, Z:-2.36 [[ 5.71179852e-01 -8.20815807e-01 -3.87124442e-03 1.51626234e+02] [ 8.20797920e-01 5.71192965e-01 -5.41955488e-03 2.44975564e+01] [ 6.65968389e-03 -8.19688096e-05 9.99977821e-01 -2.36117359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.17538475 meters 0.05942371351103242 Centerline is valid? [True, True] Translation: X:151.64, Y:24.52, Z:-2.37 [[ 5.74309429e-01 -8.18620662e-01 -5.37516798e-03 1.51636926e+02] [ 8.18586058e-01 5.74334577e-01 -7.52720300e-03 2.45238856e+01] [ 9.24906872e-03 -7.70939117e-05 9.99957223e-01 -2.36549300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.20538475 meters 0.05955998267167328 Centerline is valid? [True, True] Translation: X:151.65, Y:24.55, Z:-2.37 [[ 5.76228348e-01 -8.17265165e-01 -6.20813310e-03 1.51649590e+02] [ 8.17218871e-01 5.76261786e-01 -8.69884830e-03 2.45471135e+01] [ 1.06867756e-02 -6.08805384e-05 9.99942893e-01 -2.36739333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.23538475 meters 0.05961571303439114 Centerline is valid? [True, True] Translation: X:151.66, Y:24.57, Z:-2.37 [[ 5.80097688e-01 -8.14516944e-01 -6.98715808e-03 1.51661307e+02] [ 8.14458042e-01 5.80139766e-01 -9.79537723e-03 2.45726800e+01] [ 1.20320290e-02 -8.47139593e-06 9.99927612e-01 -2.36947907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.26538475 meters 0.05991782329176592 Centerline is valid? [True, True] Translation: X:151.68, Y:24.60, Z:-2.37 [[ 5.81783876e-01 -8.13306482e-01 -7.75162035e-03 1.51675743e+02] [ 8.13233814e-01 5.81835515e-01 -1.08719043e-02 2.45973545e+01] [ 1.33523583e-02 2.12188734e-05 9.99910853e-01 -2.37074384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.29538475 meters 0.06048273007658461 Centerline is valid? [True, True] Translation: X:151.69, Y:24.62, Z:-2.37 [[ 5.83466464e-01 -8.12080061e-01 -9.63639890e-03 1.51689066e+02] [ 8.11967469e-01 5.83546032e-01 -1.35224915e-02 2.46209827e+01] [ 1.66046281e-02 6.54778838e-05 9.99862132e-01 -2.37431474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.32538475 meters 0.06070393206817024 Centerline is valid? [True, True] Translation: X:151.70, Y:24.64, Z:-2.38 [[ 5.83594937e-01 -8.11985578e-01 -9.81686290e-03 1.51704467e+02] [ 8.11868562e-01 5.83677493e-01 -1.37848331e-02 2.46438862e+01] [ 1.69229676e-02 7.47564202e-05 9.99856794e-01 -2.37508815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.35538475 meters 0.060892099435473516 Centerline is valid? [True, True] Translation: X:151.72, Y:24.67, Z:-2.38 [[ 5.84874074e-01 -8.11069804e-01 -9.38563931e-03 1.51718713e+02] [ 8.10962584e-01 5.84949367e-01 -1.31880973e-02 2.46677555e+01] [ 1.61865913e-02 1.01973878e-04 9.99868983e-01 -2.37512317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.38538475000001 meters 0.06087952022550424 Centerline is valid? [True, True] Translation: X:151.73, Y:24.69, Z:-2.37 [[ 5.84644983e-01 -8.11237216e-01 -9.18820444e-03 1.51734463e+02] [ 8.11134336e-01 5.84717170e-01 -1.29197339e-02 2.46904121e+01] [ 1.58534698e-02 1.00589489e-04 9.99874321e-01 -2.37377393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.41538475000002 meters 0.060765831000672024 Centerline is valid? [True, True] Translation: X:151.75, Y:24.71, Z:-2.37 [[ 5.81966798e-01 -8.13170722e-01 -8.24765614e-03 1.51752236e+02] [ 8.13087937e-01 5.82025236e-01 -1.16030942e-02 2.47129237e+01] [ 1.42356405e-02 4.65458474e-05 9.99898667e-01 -2.37329508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.44538475000002 meters 0.06087188590361868 Centerline is valid? [True, True] Translation: X:151.77, Y:24.73, Z:-2.37 [[ 5.76077268e-01 -8.17364285e-01 -7.11392189e-03 1.51773049e+02] [ 8.17302928e-01 5.76121189e-01 -1.00149647e-02 2.47310192e+01] [ 1.22843556e-02 -4.48356786e-05 9.99924543e-01 -2.37267104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.47538475 meters 0.06111246551166343 Centerline is valid? [True, True] Translation: X:151.79, Y:24.75, Z:-2.37 [[ 5.71577120e-01 -8.20527547e-01 -5.84302419e-03 1.51792781e+02] [ 8.20486245e-01 5.71606978e-01 -8.23312278e-03 2.47501604e+01] [ 1.00954174e-02 -8.82563731e-05 9.99949036e-01 -2.37148994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.50538475 meters 0.06167934075682426 Centerline is valid? [True, True] Translation: X:151.82, Y:24.77, Z:-2.37 [[ 5.64859281e-01 -8.25179513e-01 -3.57269222e-03 1.51816054e+02] [ 8.25164126e-01 5.64870570e-01 -5.04020975e-03 2.47671833e+01] [ 6.17718652e-03 -1.01048203e-04 9.99980916e-01 -2.36772438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.53538475 meters 0.062444220335269154 Centerline is valid? [True, True] Translation: X:151.84, Y:24.79, Z:-2.37 [[ 5.61878821e-01 -8.27214241e-01 -2.96494081e-03 1.51835756e+02] [ 8.27203669e-01 5.61886634e-01 -4.18327933e-03 2.47868862e+01] [ 5.12642885e-03 -1.02113853e-04 9.99986855e-01 -2.36851051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.56538475 meters 0.06284359990338396 Centerline is valid? [True, True] Translation: X:151.85, Y:24.81, Z:-2.37 [[ 5.59310091e-01 -8.28955960e-01 -2.05898305e-03 1.51853849e+02] [ 8.28950857e-01 5.59313875e-01 -2.90972312e-03 2.48087313e+01] [ 3.56365012e-03 -7.93582629e-05 9.99993647e-01 -2.36722600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.59538475 meters 0.06345450286489232 Centerline is valid? [True, True] Translation: X:151.87, Y:24.83, Z:-2.37 [[ 5.57252429e-01 -8.30342823e-01 -7.25638022e-04 1.51869772e+02] [ 8.30342183e-01 5.57252901e-01 -1.03131793e-03 2.48296592e+01] [ 1.26071133e-03 -2.78234377e-05 9.99999205e-01 -2.36800786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.62538475 meters 0.06370008894741512 Centerline is valid? [True, True] Translation: X:151.89, Y:24.85, Z:-2.37 [[ 5.56212524e-01 -8.31040066e-01 1.93833936e-04 1.51886604e+02] [ 8.31040023e-01 5.56212558e-01 2.66387645e-04 2.48499747e+01] [-3.29191676e-04 1.29156140e-05 9.99999946e-01 -2.36997429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.65538475 meters 0.06331002776602243 Centerline is valid? [True, True] Translation: X:151.90, Y:24.87, Z:-2.37 [[ 5.56122889e-01 -8.31099987e-01 3.80289295e-04 1.51902222e+02] [ 8.31099818e-01 5.56123018e-01 5.30243668e-04 2.48718657e+01] [-6.52173137e-04 2.11777238e-05 9.99999787e-01 -2.37040551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.68538475 meters 0.06335512823187907 Centerline is valid? [True, True] Translation: X:151.92, Y:24.89, Z:-2.37 [[ 5.58317500e-01 -8.29627298e-01 -3.40481435e-04 1.51918431e+02] [ 8.29627154e-01 5.58317604e-01 -4.88827551e-04 2.48928993e+01] [ 5.95641458e-04 -9.55166736e-06 9.99999823e-01 -2.37267961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.71538475 meters 0.06301816597398747 Centerline is valid? [True, True] Translation: X:151.93, Y:24.91, Z:-2.37 [[ 5.59766154e-01 -8.28649866e-01 -1.11948227e-03 1.51933049e+02] [ 8.28648337e-01 5.59767272e-01 -1.59190276e-03 2.49136957e+01] [ 1.94577955e-03 -3.65638377e-05 9.99998106e-01 -2.37468723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.74538475 meters 0.06216310963453595 Centerline is valid? [True, True] Translation: X:151.95, Y:24.94, Z:-2.38 [[ 5.64354971e-01 -8.25531830e-01 -8.14719369e-04 1.51945551e+02] [ 8.25531016e-01 5.64355559e-01 -1.16001852e-03 2.49384962e+01] [ 1.41742362e-03 -1.79138893e-05 9.99998995e-01 -2.37611554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.77538475 meters 0.061786888705302495 Centerline is valid? [True, True] Translation: X:151.96, Y:24.96, Z:-2.38 [[ 5.66659181e-01 -8.23950968e-01 -1.47478864e-03 1.51958277e+02] [ 8.23948300e-01 5.66661099e-01 -2.09686874e-03 2.49615308e+01] [ 2.56342238e-03 -2.69396688e-05 9.99996714e-01 -2.37848733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.80538475 meters 0.06131484822319215 Centerline is valid? [True, True] Translation: X:151.97, Y:24.99, Z:-2.38 [[ 5.72170927e-01 -8.20129635e-01 -2.79484544e-03 1.51968082e+02] [ 8.20120031e-01 5.72177753e-01 -3.96904061e-03 2.49881533e+01] [ 4.85427621e-03 -2.11390837e-05 9.99988218e-01 -2.38032344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.83538475 meters 0.06130956463599116 Centerline is valid? [True, True] Translation: X:151.98, Y:25.01, Z:-2.38 [[ 5.74700176e-01 -8.18358266e-01 -3.07517684e-03 1.51980371e+02] [ 8.18346599e-01 5.74708404e-01 -4.36969823e-03 2.50120562e+01] [ 5.34330863e-03 -5.29416538e-06 9.99985724e-01 -2.38379307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.86538475 meters 0.06153102807430938 Centerline is valid? [True, True] Translation: X:151.99, Y:25.04, Z:-2.39 [[ 5.79381808e-01 -8.15049705e-01 -3.27073760e-03 1.51991553e+02] [ 8.15036444e-01 5.79391040e-01 -4.64956735e-03 2.50376347e+01] [ 5.68466456e-03 2.81043981e-05 9.99983842e-01 -2.38616402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.89538475 meters 0.06162857497385951 Centerline is valid? [True, True] Translation: X:152.01, Y:25.06, Z:-2.39 [[ 5.81375267e-01 -8.13630416e-01 -2.88862540e-03 1.52005245e+02] [ 8.13620036e-01 5.81382442e-01 -4.11002361e-03 2.50612986e+01] [ 5.02343631e-03 3.92225718e-05 9.99987382e-01 -2.38617767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.92538475 meters 0.06199098257908677 Centerline is valid? [True, True] Translation: X:152.02, Y:25.09, Z:-2.39 [[ 5.85619814e-01 -8.10582395e-01 -2.36939211e-03 1.52017870e+02] [ 8.10575376e-01 5.85624605e-01 -3.37384454e-03 2.50872164e+01] [ 4.12235330e-03 5.52193156e-05 9.99991502e-01 -2.38544552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.95538475 meters 0.06239277698339578 Centerline is valid? [True, True] Translation: X:152.03, Y:25.11, Z:-2.39 [[ 5.88011967e-01 -8.08849414e-01 -2.13349715e-03 1.52030876e+02] [ 8.08843711e-01 5.88015834e-01 -3.03818799e-03 2.51105492e+01] [ 3.71196668e-03 6.08251456e-05 9.99993109e-01 -2.38680651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.98538475 meters 0.06292660123363988 Centerline is valid? [True, True] Translation: X:152.05, Y:25.13, Z:-2.38 [[ 5.92243950e-01 -8.05757320e-01 -1.49806533e-03 1.52045634e+02] [ 8.05754487e-01 5.92245842e-01 -2.13772773e-03 2.51348379e+01] [ 2.60971273e-03 5.89834559e-05 9.99996593e-01 -2.38414454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.01538475 meters 0.06333370226816218 Centerline is valid? [True, True] Translation: X:152.06, Y:25.16, Z:-2.38 [[ 5.94433901e-01 -8.04143889e-01 -9.71011311e-04 1.52059498e+02] [ 8.04142691e-01 5.94434693e-01 -1.38873019e-03 2.51590816e+01] [ 1.69394171e-03 4.46766565e-05 9.99998564e-01 -2.38438005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.04538475 meters 0.06447281073421081 Centerline is valid? [True, True] Translation: X:152.07, Y:25.18, Z:-2.39 [[ 5.97527071e-01 -8.01848601e-01 -4.68904648e-04 1.52071061e+02] [ 8.01848319e-01 5.97527254e-01 -6.73055867e-04 2.51834516e+01] [ 8.19872212e-04 2.61786968e-05 9.99999664e-01 -2.38590978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.07538475 meters 0.06464336623218507 Centerline is valid? [True, True] Translation: X:152.09, Y:25.21, Z:-2.39 [[ 5.96971295e-01 -8.02262444e-01 -4.94384091e-04 1.52086692e+02] [ 8.02262128e-01 5.96971499e-01 -7.12213315e-04 2.52052508e+01] [ 8.66515206e-04 2.85452717e-05 9.99999624e-01 -2.38570544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.10538475 meters 0.06425997517368233 Centerline is valid? [True, True] Translation: X:152.10, Y:25.23, Z:-2.39 [[ 5.96086890e-01 -8.02919933e-01 1.44166120e-05 1.52104009e+02] [ 8.02919933e-01 5.96086890e-01 1.41580446e-05 2.52277317e+01] [-1.99613302e-05 3.13596040e-06 1.00000000e+00 -2.38518636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.13538475000001 meters 0.06412340682258615 Centerline is valid? [True, True] Translation: X:152.12, Y:25.25, Z:-2.39 [[ 5.94581487e-01 -8.04035352e-01 9.01815896e-05 1.52120561e+02] [ 8.04035343e-01 5.94581494e-01 1.22361320e-04 2.52493096e+01] [-1.52003132e-04 -2.44590260e-07 9.99999988e-01 -2.38618056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.16538475000002 meters 0.06359968481637046 Centerline is valid? [True, True] Translation: X:152.14, Y:25.27, Z:-2.39 [[ 5.93133237e-01 -8.05104262e-01 3.01345304e-04 1.52137267e+02] [ 8.05104151e-01 5.93133313e-01 4.23129860e-04 2.52707259e+01] [-5.19401593e-04 -8.35802898e-06 9.99999865e-01 -2.38569115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.19538475000002 meters 0.0637049046087685 Centerline is valid? [True, True] Translation: X:152.15, Y:25.29, Z:-2.39 [[ 5.92775727e-01 -8.05367515e-01 -3.20946032e-04 1.52151399e+02] [ 8.05367381e-01 5.92775814e-01 -4.65520341e-04 2.52943612e+01] [ 5.65164005e-04 1.74696938e-05 9.99999840e-01 -2.38865797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.22538475 meters 0.06288176359362088 Centerline is valid? [True, True] Translation: X:152.17, Y:25.32, Z:-2.39 [[ 5.91456801e-01 -8.06336655e-01 2.26424786e-04 1.52169134e+02] [ 8.06336593e-01 5.91456844e-01 3.17203301e-04 2.53159550e+01] [-3.89693138e-04 -5.03745917e-06 9.99999924e-01 -2.38817086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.25538475 meters 0.062296539524425744 Centerline is valid? [True, True] Translation: X:152.19, Y:25.34, Z:-2.39 [[ 5.89992521e-01 -8.07408371e-01 7.40295466e-04 1.52187019e+02] [ 8.07407686e-01 5.89992985e-01 1.05213132e-03 2.53376680e+01] [-1.28626877e-03 -2.30293624e-05 9.99999172e-01 -2.38631449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.28538475 meters 0.06263455542406984 Centerline is valid? [True, True] Translation: X:152.20, Y:25.36, Z:-2.39 [[ 5.88908103e-01 -8.08199471e-01 9.27823401e-04 1.52200568e+02] [ 8.08198393e-01 5.88908833e-01 1.32048833e-03 2.53608705e+01] [-1.61362137e-03 -2.77808951e-05 9.99998698e-01 -2.38864259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.31538475 meters 0.061724024724829914 Centerline is valid? [True, True] Translation: X:152.22, Y:25.38, Z:-2.39 [[ 5.86687458e-01 -8.09813344e-01 4.18994346e-04 1.52220721e+02] [ 8.09813126e-01 5.86687607e-01 5.93391359e-04 2.53806608e+01] [-7.26355031e-04 -8.82814643e-06 9.99999736e-01 -2.38756897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.34538475 meters 0.06227930426734295 Centerline is valid? [True, True] Translation: X:152.23, Y:25.40, Z:-2.39 [[ 5.85966080e-01 -8.10335578e-01 5.97427874e-05 1.52233632e+02] [ 8.10335574e-01 5.85966083e-01 7.77476502e-05 2.54039700e+01] [-9.80089349e-05 2.85422013e-06 9.99999995e-01 -2.39043894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.37538475 meters 0.06188678732268215 Centerline is valid? [True, True] Translation: X:152.25, Y:25.43, Z:-2.39 [[ 5.84621267e-01 -8.11306285e-01 -2.94771611e-04 1.52249698e+02] [ 8.11306171e-01 5.84621341e-01 -4.30298914e-04 2.54251492e+01] [ 5.21433988e-04 1.24118693e-05 9.99999864e-01 -2.39164975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.40538475 meters 0.06098700304209093 Centerline is valid? [True, True] Translation: X:152.27, Y:25.44, Z:-2.39 [[ 5.82049945e-01 -8.13151795e-01 -1.42096681e-03 1.52268768e+02] [ 8.13149220e-01 5.82051679e-01 -2.04655193e-03 2.54447042e+01] [ 2.49123350e-03 3.57373823e-05 9.99996896e-01 -2.39102628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.43538475 meters 0.06044065737308466 Centerline is valid? [True, True] Translation: X:152.29, Y:25.47, Z:-2.39 [[ 5.78509499e-01 -8.15674510e-01 -1.36179509e-03 1.52286865e+02] [ 8.15672151e-01 5.78511101e-01 -1.96191582e-03 2.54659167e+01] [ 2.38809830e-03 2.42086120e-05 9.99997148e-01 -2.39144192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.46538475 meters 0.06026398826007275 Centerline is valid? [True, True] Translation: X:152.30, Y:25.49, Z:-2.39 [[ 5.76187480e-01 -8.17315526e-01 -1.82165714e-03 1.52303132e+02] [ 8.17311318e-01 5.76190359e-01 -2.62275882e-03 2.54861905e+01] [ 3.19324279e-03 2.23397968e-05 9.99994901e-01 -2.39186332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.49538475 meters 0.05981901530575843 Centerline is valid? [True, True] Translation: X:152.32, Y:25.51, Z:-2.39 [[ 5.71938516e-01 -8.20295111e-01 -1.50457090e-03 1.52321437e+02] [ 8.20292240e-01 5.71940495e-01 -2.17047268e-03 2.55070816e+01] [ 2.64095316e-03 7.18908925e-06 9.99996513e-01 -2.39055584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.52538475 meters 0.05967019681890545 Centerline is valid? [True, True] Translation: X:152.34, Y:25.53, Z:-2.39 [[ 5.68884587e-01 -8.22416287e-01 -1.33304689e-03 1.52338485e+02] [ 8.22414033e-01 5.68886149e-01 -1.92555083e-03 2.55277097e+01] [ 2.34195628e-03 -9.00277841e-07 9.99997258e-01 -2.39052915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.55538475 meters 0.05965131437369379 Centerline is valid? [True, True] Translation: X:152.36, Y:25.55, Z:-2.39 [[ 5.63928083e-01 -8.25823888e-01 -1.54905313e-04 1.52358806e+02] [ 8.25823856e-01 5.63928104e-01 -2.30372081e-04 2.55465511e+01] [ 2.77602226e-04 1.98878332e-06 9.99999961e-01 -2.38734887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.58538475 meters 0.0598094461080702 Centerline is valid? [True, True] Translation: X:152.38, Y:25.57, Z:-2.39 [[ 5.61476165e-01 -8.27492858e-01 2.93471581e-04 1.52376501e+02] [ 8.27492754e-01 5.61476241e-01 4.15427206e-04 2.55671096e+01] [-5.08540367e-04 9.59313236e-06 9.99999871e-01 -2.38632552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.61538475 meters 0.06018001943137631 Centerline is valid? [True, True] Translation: X:152.40, Y:25.59, Z:-2.39 [[ 5.58779257e-01 -8.29316053e-01 7.91663189e-04 1.52395991e+02] [ 8.29315275e-01 5.58779817e-01 1.13619423e-03 2.55870579e+01] [-1.38462953e-03 2.16566072e-05 9.99999041e-01 -2.38682946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.64538475 meters 0.06002919537910181 Centerline is valid? [True, True] Translation: X:152.41, Y:25.61, Z:-2.39 [[ 5.57071285e-01 -8.30463569e-01 1.35788962e-03 1.52410292e+02] [ 8.30461278e-01 5.57072939e-01 1.95094059e-03 2.56107747e+01] [-2.37662865e-03 4.08617643e-05 9.99997175e-01 -2.38506308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.67538475 meters 0.05990667695161584 Centerline is valid? [True, True] Translation: X:152.43, Y:25.63, Z:-2.39 [[ 5.57363794e-01 -8.30267549e-01 1.18212231e-03 1.52425408e+02] [ 8.30265813e-01 5.57365047e-01 1.69860090e-03 2.56333839e+01] [-2.06916687e-03 3.47370979e-05 9.99997859e-01 -2.38536177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.70538475 meters 0.05986316100937001 Centerline is valid? [True, True] Translation: X:152.44, Y:25.66, Z:-2.39 [[ 5.57346126e-01 -8.30279691e-01 9.64589584e-04 1.52441480e+02] [ 8.30278536e-01 5.57346960e-01 1.38558257e-03 2.56552533e+01] [-1.68803214e-03 2.86289481e-05 9.99998575e-01 -2.38610304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.73538475 meters 0.059648515986128164 Centerline is valid? [True, True] Translation: X:152.46, Y:25.68, Z:-2.39 [[ 5.58590689e-01 -8.29442744e-01 1.08511321e-03 1.52456037e+02] [ 8.29441276e-01 5.58591742e-01 1.56062827e-03 2.56780773e+01] [-1.90058708e-03 2.82852643e-05 9.99998193e-01 -2.38517810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.76538475 meters 0.0595977821951198 Centerline is valid? [True, True] Translation: X:152.47, Y:25.70, Z:-2.38 [[ 5.57717017e-01 -8.30030630e-01 9.39692834e-04 1.52472039e+02] [ 8.30029530e-01 5.57717808e-01 1.35132773e-03 2.56998804e+01] [-1.64572683e-03 2.63143322e-05 9.99998645e-01 -2.38442550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.79538475 meters 0.05921736713645469 Centerline is valid? [True, True] Translation: X:152.49, Y:25.72, Z:-2.39 [[ 5.59230876e-01 -8.29011717e-01 6.32664955e-04 1.52485154e+02] [ 8.29011221e-01 5.59231233e-01 9.07653818e-04 2.57228139e+01] [-1.10626165e-03 1.68983070e-05 9.99999388e-01 -2.38600758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.82538475 meters 0.05943043488927696 Centerline is valid? [True, True] Translation: X:152.50, Y:25.75, Z:-2.39 [[ 5.58620850e-01 -8.29423138e-01 6.90054858e-05 1.52498709e+02] [ 8.29423132e-01 5.58620854e-01 9.23548044e-05 2.57451279e+01] [-1.15149116e-04 5.64342685e-06 9.99999993e-01 -2.38880173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.85538475 meters 0.059433348947760194 Centerline is valid? [True, True] Translation: X:152.51, Y:25.77, Z:-2.39 [[ 5.58356531e-01 -8.29600959e-01 -4.81997769e-04 1.52513435e+02] [ 8.29600659e-01 5.58356739e-01 -7.06181787e-04 2.57668921e+01] [ 8.54975790e-04 -5.56445369e-06 9.99999634e-01 -2.38964777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.88538475000001 meters 0.059433348947760194 Centerline is valid? [True, True] Translation: X:152.53, Y:25.79, Z:-2.39 [[ 5.58084229e-01 -8.29784165e-01 -4.81762775e-04 1.52528006e+02] [ 8.29783865e-01 5.58084437e-01 -7.06343029e-04 2.57884819e+01] [ 8.54976568e-04 -5.56007237e-06 9.99999634e-01 -2.38999602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.91538475000002 meters 0.05952690144916328 Centerline is valid? [True, True] Translation: X:152.54, Y:25.81, Z:-2.39 [[ 5.55851928e-01 -8.31280947e-01 -7.88234673e-04 1.52544888e+02] [ 8.31280151e-01 5.55852487e-01 -1.15060321e-03 2.58105622e+01] [ 1.39461673e-03 -1.56788245e-05 9.99999027e-01 -2.39008891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.94538475000002 meters 0.060026307097697275 Centerline is valid? [True, True] Translation: X:152.56, Y:25.83, Z:-2.39 [[ 5.52926974e-01 -8.33229004e-01 -1.08984256e-03 1.52562636e+02] [ 8.33227494e-01 5.52928047e-01 -1.58668577e-03 2.58310154e+01] [ 1.92467712e-03 -3.07654216e-05 9.99998147e-01 -2.39120322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.97538475 meters 0.060806733593870725 Centerline is valid? [True, True] Translation: X:152.58, Y:25.85, Z:-2.39 [[ 5.51023984e-01 -8.34488784e-01 -1.01885981e-03 1.52580171e+02] [ 8.34487460e-01 5.51024926e-01 -1.48681116e-03 2.58502794e+01] [ 1.80214439e-03 -3.09571229e-05 9.99998376e-01 -2.39236872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.00538475 meters 0.06094522707302069 Centerline is valid? [True, True] Translation: X:152.60, Y:25.87, Z:-2.39 [[ 5.46343418e-01 -8.37560717e-01 -9.56828817e-04 1.52598356e+02] [ 8.37559552e-01 5.46344254e-01 -1.39714986e-03 2.58719975e+01] [ 1.69295576e-03 -3.80774853e-05 9.99998566e-01 -2.38909310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.03538475 meters 0.061614880222711804 Centerline is valid? [True, True] Translation: X:152.62, Y:25.89, Z:-2.39 [[ 5.44629399e-01 -8.38676792e-01 -2.37833218e-04 1.52616135e+02] [ 8.38676718e-01 5.44629451e-01 -3.52747557e-04 2.58931852e+01] [ 4.25372164e-04 -7.34849230e-06 9.99999910e-01 -2.38985929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.06538475 meters 0.062191001886786945 Centerline is valid? [True, True] Translation: X:152.63, Y:25.91, Z:-2.39 [[ 5.41512230e-01 -8.40692676e-01 -5.73500317e-04 1.52632037e+02] [ 8.40692255e-01 5.41512533e-01 -8.42187220e-04 2.59148716e+01] [ 1.01857824e-03 -2.60825954e-05 9.99999481e-01 -2.39056647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.09538475 meters 0.06253975720581291 Centerline is valid? [True, True] Translation: X:152.65, Y:25.94, Z:-2.39 [[ 5.41193030e-01 -8.40898105e-01 -6.93196115e-04 1.52646949e+02] [ 8.40897491e-01 5.41193473e-01 -1.01698385e-03 2.59362285e+01] [ 1.23033301e-03 -3.25223014e-05 9.99999243e-01 -2.39148272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.12538475 meters 0.06228904208402402 Centerline is valid? [True, True] Translation: X:152.66, Y:25.96, Z:-2.39 [[ 5.41438304e-01 -8.40739924e-01 -9.71193388e-04 1.52660832e+02] [ 8.40738720e-01 5.41439174e-01 -1.42359301e-03 2.59573837e+01] [ 1.72271362e-03 -4.57321016e-05 9.99998515e-01 -2.39273254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.15538475 meters 0.061206396632927186 Centerline is valid? [True, True] Translation: X:152.67, Y:25.98, Z:-2.39 [[ 5.44292725e-01 -8.38894576e-01 -1.14881048e-03 1.52672034e+02] [ 8.38892891e-01 5.44293935e-01 -1.68207976e-03 2.59832611e+01] [ 2.03637816e-03 -4.81851743e-05 9.99997925e-01 -2.39179290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.18538475 meters 0.06104267019103444 Centerline is valid? [True, True] Translation: X:152.69, Y:26.01, Z:-2.39 [[ 5.46205336e-01 -8.37650738e-01 -9.86270259e-04 1.52685824e+02] [ 8.37649489e-01 5.46206225e-01 -1.44678623e-03 2.60055970e+01] [ 1.75060851e-03 -3.59064189e-05 9.99998467e-01 -2.39318914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.21538475 meters 0.05990158381010467 Centerline is valid? [True, True] Translation: X:152.69, Y:26.03, Z:-2.40 [[ 5.50670547e-01 -8.34720594e-01 -1.86492918e-03 1.52694228e+02] [ 8.34716140e-01 5.50673702e-01 -2.72762513e-03 2.60335798e+01] [ 3.30377233e-03 -5.46636594e-05 9.99994541e-01 -2.39500755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.24538475 meters 0.06079538760265037 Centerline is valid? [True, True] Translation: X:152.71, Y:26.05, Z:-2.40 [[ 5.48540954e-01 -8.36121689e-01 -1.82822813e-03 1.52714575e+02] [ 8.36117404e-01 5.48543997e-01 -2.67749405e-03 2.60527511e+01] [ 3.24157442e-03 -5.98982206e-05 9.99994744e-01 -2.39702525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.27538475 meters 0.06054680016839874 Centerline is valid? [True, True] Translation: X:152.73, Y:26.08, Z:-2.39 [[ 5.47006897e-01 -8.37125571e-01 -2.05763368e-03 1.52731024e+02] [ 8.37120148e-01 5.47010762e-01 -3.01397941e-03 2.60757725e+01] [ 3.64862700e-03 -7.38190821e-05 9.99993341e-01 -2.39455333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.30538475 meters 0.06072304083645764 Centerline is valid? [True, True] Translation: X:152.75, Y:26.10, Z:-2.39 [[ 5.45619031e-01 -8.38029408e-01 -2.56615338e-03 1.52747858e+02] [ 8.38020974e-01 5.45625056e-01 -3.76103627e-03 2.60962643e+01] [ 4.55201658e-03 -9.83973947e-05 9.99989635e-01 -2.39499851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.33538475 meters 0.06132350432380115 Centerline is valid? [True, True] Translation: X:152.77, Y:26.12, Z:-2.40 [[ 5.42952623e-01 -8.39755460e-01 -3.63540098e-03 1.52765116e+02] [ 8.39738569e-01 5.42964770e-01 -5.32860274e-03 2.61171610e+01] [ 6.44861790e-03 -1.59607580e-04 9.99979195e-01 -2.39590404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.36538475 meters 0.061331560940381176 Centerline is valid? [True, True] Translation: X:152.78, Y:26.14, Z:-2.40 [[ 5.41820289e-01 -8.40486493e-01 -3.63720451e-03 1.52780821e+02] [ 8.40469588e-01 5.41832472e-01 -5.33325779e-03 2.61409837e+01] [ 6.45328664e-03 -1.67292502e-04 9.99979163e-01 -2.39607629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.39538475 meters 0.0622865130900688 Centerline is valid? [True, True] Translation: X:152.80, Y:26.16, Z:-2.40 [[ 5.39569795e-01 -8.41932943e-01 -3.65458593e-03 1.52798151e+02] [ 8.41915906e-01 5.39582139e-01 -5.35923004e-03 2.61621322e+01] [ 6.48406161e-03 -1.85175377e-04 9.99978961e-01 -2.39736186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.42538475 meters 0.0624522115849014 Centerline is valid? [True, True] Translation: X:152.81, Y:26.18, Z:-2.40 [[ 5.38453038e-01 -8.42650031e-01 -3.04138480e-03 1.52813854e+02] [ 8.42638211e-01 5.38461604e-01 -4.46611661e-03 2.61847200e+01] [ 5.40104225e-03 -1.57992987e-04 9.99985402e-01 -2.39761077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.45538475 meters 0.06279940295951544 Centerline is valid? [True, True] Translation: X:152.83, Y:26.21, Z:-2.40 [[ 5.37022692e-01 -8.43562182e-01 -3.07777389e-03 1.52828852e+02] [ 8.43550076e-01 5.37031486e-01 -4.52250595e-03 2.62074242e+01] [ 5.46787647e-03 -1.67568077e-04 9.99985037e-01 -2.39782245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.48538475 meters 0.06306107962211609 Centerline is valid? [True, True] Translation: X:152.84, Y:26.23, Z:-2.40 [[ 5.36379886e-01 -8.43967714e-01 -3.88790540e-03 1.52843776e+02] [ 8.43948394e-01 5.36393933e-01 -5.71456359e-03 2.62286506e+01] [ 6.90835604e-03 -2.16014551e-04 9.99976114e-01 -2.39828382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.51538475 meters 0.06310756866296917 Centerline is valid? [True, True] Translation: X:152.86, Y:26.25, Z:-2.40 [[ 5.35514069e-01 -8.44514797e-01 -4.40899538e-03 1.52858099e+02] [ 8.44489939e-01 5.35532160e-01 -6.48444643e-03 2.62514215e+01] [ 7.83736978e-03 -2.50839947e-04 9.99969256e-01 -2.39828116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.54538475 meters 0.06355159123559717 Centerline is valid? [True, True] Translation: X:152.87, Y:26.27, Z:-2.40 [[ 5.36027265e-01 -8.44188695e-01 -4.49657995e-03 1.52871484e+02] [ 8.44162794e-01 5.36046067e-01 -6.61756494e-03 2.62747158e+01] [ 7.99684751e-03 -2.48650263e-04 9.99967994e-01 -2.39930106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.57538475 meters 0.06289676347063813 Centerline is valid? [True, True] Translation: X:152.88, Y:26.30, Z:-2.40 [[ 5.37429047e-01 -8.43295411e-01 -4.78226541e-03 1.52883533e+02] [ 8.43266048e-01 5.37450266e-01 -7.04159716e-03 2.62999146e+01] [ 8.50837638e-03 -2.48363199e-04 9.99963772e-01 -2.39981837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.60538475 meters 0.06193100843676438 Centerline is valid? [True, True] Translation: X:152.89, Y:26.33, Z:-2.40 [[ 5.41158985e-01 -8.40897068e-01 -6.25095341e-03 1.52893034e+02] [ 8.40846696e-01 5.41195018e-01 -9.20798956e-03 2.63262946e+01] [ 1.11259563e-02 -2.73107229e-04 9.99938067e-01 -2.40123790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.63538475000001 meters 0.061320065293507864 Centerline is valid? [True, True] Translation: X:152.91, Y:26.35, Z:-2.40 [[ 5.44000959e-01 -8.39060021e-01 -6.42164861e-03 1.52905696e+02] [ 8.39006671e-01 5.44038807e-01 -9.46475205e-03 2.63513509e+01] [ 1.14351211e-02 -2.38971837e-04 9.99934588e-01 -2.39984848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.66538475000002 meters 0.060510895920654076 Centerline is valid? [True, True] Translation: X:152.91, Y:26.38, Z:-2.40 [[ 5.49174462e-01 -8.35675549e-01 -7.33397519e-03 1.52914484e+02] [ 8.35605574e-01 5.49223398e-01 -1.08159203e-02 2.63782653e+01] [ 1.30665909e-02 -1.88483326e-04 9.99914611e-01 -2.39987421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.69538475000002 meters 0.06014428239683228 Centerline is valid? [True, True] Translation: X:152.93, Y:26.40, Z:-2.40 [[ 5.51650383e-01 -8.34041816e-01 -7.49024710e-03 1.52926266e+02] [ 8.33968602e-01 5.51701211e-01 -1.10518878e-02 2.64038218e+01] [ 1.33501150e-02 -1.49852747e-04 9.99910872e-01 -2.40034613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.72538475 meters 0.05984597912285155 Centerline is valid? [True, True] Translation: X:152.93, Y:26.43, Z:-2.40 [[ 5.57469904e-01 -8.30157695e-01 -8.09373520e-03 1.52934365e+02] [ 8.30071674e-01 5.57528653e-01 -1.19506387e-02 2.64317398e+01] [ 1.44334039e-02 -5.62589375e-05 9.99895831e-01 -2.40062340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.75538475 meters 0.060040451748550286 Centerline is valid? [True, True] Translation: X:152.94, Y:26.46, Z:-2.40 [[ 5.62365143e-01 -8.26846232e-01 -8.41152816e-03 1.52940807e+02] [ 8.26752870e-01 5.62428046e-01 -1.24251422e-02 2.64585286e+01] [ 1.50045614e-02 3.32118294e-05 9.99887425e-01 -2.40448317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.78538475 meters 0.059989485615049534 Centerline is valid? [True, True] Translation: X:152.95, Y:26.48, Z:-2.40 [[ 5.63783844e-01 -8.25886009e-01 -7.75095669e-03 1.52953025e+02] [ 8.25806514e-01 5.63837119e-01 -1.14588052e-02 2.64832211e+01] [ 1.38339440e-02 5.94987215e-05 9.99904305e-01 -2.40276172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.81538475 meters 0.06020973609069195 Centerline is valid? [True, True] Translation: X:152.97, Y:26.51, Z:-2.40 [[ 5.65944041e-01 -8.24408306e-01 -7.63461885e-03 1.52965690e+02] [ 8.24330938e-01 5.65995525e-01 -1.12947108e-02 2.65076523e+01] [ 1.36326135e-02 9.87217782e-05 9.99907067e-01 -2.40222723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.84538475 meters 0.0609112426546818 Centerline is valid? [True, True] Translation: X:152.98, Y:26.53, Z:-2.40 [[ 5.68804031e-01 -8.22436319e-01 -7.77657067e-03 1.52976656e+02] [ 8.22355830e-01 5.68857169e-01 -1.15069651e-02 2.65327231e+01] [ 1.38875040e-02 1.50099939e-04 9.99903553e-01 -2.40488924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.87538475 meters 0.06119356558222669 Centerline is valid? [True, True] Translation: X:152.99, Y:26.56, Z:-2.40 [[ 5.71013549e-01 -8.20907855e-01 -7.33622023e-03 1.52990379e+02] [ 8.20835964e-01 5.71060644e-01 -1.08655500e-02 2.65564823e+01] [ 1.31090420e-02 1.82542886e-04 9.99914056e-01 -2.40329427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.90538475 meters 0.06140621989525076 Centerline is valid? [True, True] Translation: X:153.00, Y:26.58, Z:-2.40 [[ 5.71301270e-01 -8.20709364e-01 -7.14135500e-03 1.53004518e+02] [ 8.20641123e-01 5.71345872e-01 -1.05849490e-02 2.65783953e+01] [ 1.27673505e-02 1.86705236e-04 9.99918477e-01 -2.40409217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.93538475 meters 0.06144035775887275 Centerline is valid? [True, True] Translation: X:153.02, Y:26.60, Z:-2.40 [[ 5.71221657e-01 -8.20773087e-01 -6.11214920e-03 1.53022011e+02] [ 8.20723047e-01 5.71254333e-01 -9.06459979e-03 2.66001233e+01] [ 1.09315713e-02 1.61513997e-04 9.99940236e-01 -2.40011937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.96538475 meters 0.061463006912547795 Centerline is valid? [True, True] Translation: X:153.04, Y:26.62, Z:-2.40 [[ 5.71355735e-01 -8.20679933e-01 -6.08869599e-03 1.53037377e+02] [ 8.20630195e-01 5.71388152e-01 -9.03677995e-03 2.66231101e+01] [ 1.08953127e-02 1.66648278e-04 9.99940630e-01 -2.39961097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.99538475 meters 0.062130320916040406 Centerline is valid? [True, True] Translation: X:153.05, Y:26.65, Z:-2.40 [[ 5.73371299e-01 -8.19269541e-01 -6.54002505e-03 1.53049992e+02] [ 8.19212005e-01 5.73408558e-01 -9.71169566e-03 2.66471459e+01] [ 1.17066028e-02 2.10740530e-04 9.99931453e-01 -2.40104492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.02538475 meters 0.06283211616347878 Centerline is valid? [True, True] Translation: X:153.06, Y:26.67, Z:-2.40 [[ 5.74914044e-01 -8.18182334e-01 -7.17713845e-03 1.53063053e+02] [ 8.18112881e-01 5.74958783e-01 -1.06636253e-02 2.66714916e+01] [ 1.28513487e-02 2.58958554e-04 9.99917384e-01 -2.40369437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.05538475 meters 0.06321017065617576 Centerline is valid? [True, True] Translation: X:153.08, Y:26.70, Z:-2.41 [[ 5.75994443e-01 -8.17417738e-01 -7.65787234e-03 1.53076711e+02] [ 8.17338522e-01 5.76045270e-01 -1.13836285e-02 2.66962785e+01] [ 1.37164610e-02 2.97832686e-04 9.99905881e-01 -2.40592201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.08538475 meters 0.0646361449735451 Centerline is valid? [True, True] Translation: X:153.09, Y:26.72, Z:-2.41 [[ 5.79119557e-01 -8.15187677e-01 -9.46519144e-03 1.53088015e+02] [ 8.15066223e-01 5.79196736e-01 -1.40781177e-02 2.67219327e+01] [ 1.69585161e-02 4.38155465e-04 9.99856098e-01 -2.41057130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.11538475 meters 0.06680430672505867 Centerline is valid? [True, True] Translation: X:153.10, Y:26.75, Z:-2.42 [[ 5.83570961e-01 -8.11997570e-01 -1.02411097e-02 1.53096360e+02] [ 8.11854706e-01 5.83660526e-01 -1.52422691e-02 2.67484234e+01] [ 1.83540170e-02 5.80652489e-04 9.99831382e-01 -2.41664230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.14538475 meters 0.06788073105131469 Centerline is valid? [True, True] Translation: X:153.11, Y:26.77, Z:-2.42 [[ 5.85479092e-01 -8.10612411e-01 -1.10341377e-02 1.53110276e+02] [ 8.10446161e-01 5.85582667e-01 -1.64304370e-02 2.67726266e+01] [ 1.97801160e-02 6.77102837e-04 9.99804125e-01 -2.41851469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.17538475 meters 0.06937072883435388 Centerline is valid? [True, True] Translation: X:153.13, Y:26.79, Z:-2.42 [[ 5.87502070e-01 -8.09145334e-01 -1.11868882e-02 1.53125911e+02] [ 8.08974038e-01 5.87608101e-01 -1.66651122e-02 2.67936542e+01] [ 2.00580039e-02 7.40885796e-04 9.99798543e-01 -2.41963897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.20538475 meters 0.0696742246653617 Centerline is valid? [True, True] Translation: X:153.14, Y:26.82, Z:-2.42 [[ 5.87535912e-01 -8.09130906e-01 -1.04272995e-02 1.53142620e+02] [ 8.08981882e-01 5.87628020e-01 -1.55442891e-02 2.68158818e+01] [ 1.87047381e-02 6.97331684e-04 9.99824808e-01 -2.41921981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.23538475 meters 0.06862838036412557 Centerline is valid? [True, True] Translation: X:153.17, Y:26.83, Z:-2.42 [[ 5.84534487e-01 -8.11307710e-01 -9.96158272e-03 1.53166964e+02] [ 8.11171904e-01 5.84619051e-01 -1.48562314e-02 2.68323471e+01] [ 1.78767061e-02 6.03423593e-04 9.99840017e-01 -2.42175506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.26538475 meters 0.06962588893837858 Centerline is valid? [True, True] Translation: X:153.18, Y:26.85, Z:-2.42 [[ 5.85487092e-01 -8.10621779e-01 -9.85884006e-03 1.53181873e+02] [ 8.10488535e-01 5.85569760e-01 -1.47101999e-02 2.68538065e+01] [ 1.76974470e-02 6.22155315e-04 9.99843194e-01 -2.42219340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.29538475 meters 0.06903701453586854 Centerline is valid? [True, True] Translation: X:153.20, Y:26.87, Z:-2.42 [[ 5.88179155e-01 -8.08678535e-01 -9.18193213e-03 1.53201896e+02] [ 8.08562563e-01 5.88250471e-01 -1.37099996e-02 2.68741438e+01] [ 1.64882583e-02 6.39769406e-04 9.99863855e-01 -2.41623462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.32538475 meters 0.07135187347715255 Centerline is valid? [True, True] Translation: X:153.21, Y:26.90, Z:-2.42 [[ 5.89708792e-01 -8.07574217e-01 -8.21124137e-03 1.53211678e+02] [ 8.07481234e-01 5.89765646e-01 -1.22694290e-02 2.69000352e+01] [ 1.47511826e-02 6.04966837e-04 9.99891012e-01 -2.41909916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.35538475 meters 0.07037069469687778 Centerline is valid? [True, True] Translation: X:153.23, Y:26.92, Z:-2.41 [[ 5.93380464e-01 -8.04893404e-01 -6.79953840e-03 1.53228949e+02] [ 8.04829378e-01 5.93419156e-01 -1.01674792e-02 2.69221833e+01] [ 1.22187133e-02 5.60715274e-04 9.99925192e-01 -2.41487094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.38538475000001 meters 0.07274682399448104 Centerline is valid? [True, True] Translation: X:153.24, Y:26.95, Z:-2.42 [[ 5.94814766e-01 -8.03837822e-01 -6.33636420e-03 1.53238571e+02] [ 8.03782121e-01 5.94848265e-01 -9.47860802e-03 2.69476034e+01] [ 1.13884389e-02 5.44959757e-04 9.99935001e-01 -2.41863798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.41538475000002 meters 0.07413507837272053 Centerline is valid? [True, True] Translation: X:153.25, Y:26.97, Z:-2.42 [[ 5.96115278e-01 -8.02871001e-01 -6.68816636e-03 1.53251015e+02] [ 8.02808830e-01 5.96152497e-01 -1.00091598e-02 2.69712777e+01] [ 1.20232312e-02 5.97294045e-04 9.99927540e-01 -2.42222938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.44538475000002 meters 0.07476539724617323 Centerline is valid? [True, True] Translation: X:153.27, Y:27.00, Z:-2.42 [[ 5.96367320e-01 -8.02680756e-01 -7.04440095e-03 1.53266114e+02] [ 8.02611684e-01 5.96408583e-01 -1.05492637e-02 2.69950223e+01] [ 1.26690321e-02 6.37317590e-04 9.99919541e-01 -2.42486416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.47538475 meters 0.07698094265515797 Centerline is valid? [True, True] Translation: X:153.28, Y:27.02, Z:-2.43 [[ 5.95989828e-01 -8.02956263e-01 -7.57394950e-03 1.53278092e+02] [ 8.02876344e-01 5.96037560e-01 -1.13491587e-02 2.70193463e+01] [ 1.36272365e-02 6.83038264e-04 9.99906912e-01 -2.42957276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.50538475 meters 0.07559195312713352 Centerline is valid? [True, True] Translation: X:153.30, Y:27.04, Z:-2.43 [[ 5.95255520e-01 -8.03490066e-01 -8.63599056e-03 1.53297573e+02] [ 8.03386096e-01 5.95317665e-01 -1.29482806e-02 2.70387930e+01] [ 1.55449726e-02 7.69500775e-04 9.99878874e-01 -2.43073068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.53538475 meters 0.07146361767957567 Centerline is valid? [True, True] Translation: X:153.32, Y:27.06, Z:-2.43 [[ 5.91013277e-01 -8.06633720e-01 -6.73413784e-03 1.53321668e+02] [ 8.06570598e-01 5.91051393e-01 -1.01055221e-02 2.70556448e+01] [ 1.21316764e-02 5.40940150e-04 9.99926262e-01 -2.42621826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.56538475 meters 0.07099159358986487 Centerline is valid? [True, True] Translation: X:153.34, Y:27.08, Z:-2.43 [[ 5.89340339e-01 -8.07857830e-01 -6.60997054e-03 1.53338342e+02] [ 8.07797026e-01 5.89377186e-01 -9.92461176e-03 2.70777311e+01] [ 1.19134412e-02 5.09459525e-04 9.99928903e-01 -2.42502779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.59538475 meters 0.06987797230174002 Centerline is valid? [True, True] Translation: X:153.35, Y:27.10, Z:-2.43 [[ 5.86040003e-01 -8.10265920e-01 -5.12388856e-03 1.53354319e+02] [ 8.10229416e-01 5.86062291e-01 -7.69965676e-03 2.71002901e+01] [ 9.24168734e-03 3.60781637e-04 9.99957230e-01 -2.42511225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.62538475 meters 0.07168648263196903 Centerline is valid? [True, True] Translation: X:153.36, Y:27.13, Z:-2.43 [[ 5.85304260e-01 -8.10800338e-01 -4.66209493e-03 1.53364278e+02] [ 8.10770096e-01 5.85322738e-01 -7.01029070e-03 2.71266266e+01] [ 8.41277624e-03 3.23265861e-04 9.99964560e-01 -2.42946509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.65538475 meters 0.07032182082113712 Centerline is valid? [True, True] Translation: X:153.38, Y:27.15, Z:-2.43 [[ 5.82703498e-01 -8.12673089e-01 -4.36846500e-03 1.53382509e+02] [ 8.12646552e-01 5.82719805e-01 -6.57341706e-03 2.71476803e+01] [ 7.88763022e-03 2.80335097e-04 9.99968853e-01 -2.43022423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.68538475 meters 0.06770973610988565 Centerline is valid? [True, True] Translation: X:153.41, Y:27.17, Z:-2.43 [[ 5.80663173e-01 -8.14134065e-01 -4.00053286e-03 1.53405816e+02] [ 8.14111818e-01 5.80676904e-01 -6.02333965e-03 2.71663285e+01] [ 7.22682303e-03 2.40650436e-04 9.99973857e-01 -2.42597834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.71538475 meters 0.06731796623795852 Centerline is valid? [True, True] Translation: X:153.42, Y:27.19, Z:-2.43 [[ 5.79401101e-01 -8.15035432e-01 -3.40715861e-03 1.53422287e+02] [ 8.15019285e-01 5.79411085e-01 -5.13418576e-03 2.71888945e+01] [ 6.15868878e-03 1.97852908e-04 9.99981016e-01 -2.42543837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.74538475 meters 0.06731796623795852 Centerline is valid? [True, True] Translation: X:153.44, Y:27.21, Z:-2.43 [[ 5.79149676e-01 -8.15214117e-01 -3.40518899e-03 1.53436975e+02] [ 8.15197966e-01 5.79159653e-01 -5.13549343e-03 2.72113956e+01] [ 6.15867481e-03 1.98316218e-04 9.99981016e-01 -2.42579838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.77538475 meters 0.0660591049045165 Centerline is valid? [True, True] Translation: X:153.46, Y:27.23, Z:-2.43 [[ 5.76522895e-01 -8.17077663e-01 -2.33345074e-03 1.53456161e+02] [ 8.17070075e-01 5.76527603e-01 -3.52364169e-03 2.72320178e+01] [ 4.22438767e-03 1.24867337e-04 9.99991069e-01 -2.42551989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.80538475 meters 0.06641035141529945 Centerline is valid? [True, True] Translation: X:153.47, Y:27.25, Z:-2.43 [[ 5.75806420e-01 -8.17583346e-01 -2.10714696e-03 1.53470191e+02] [ 8.17577149e-01 5.75810264e-01 -3.18512557e-03 2.72548751e+01] [ 3.81742247e-03 1.11260551e-04 9.99992707e-01 -2.42690898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.83538475 meters 0.0662631123005588 Centerline is valid? [True, True] Translation: X:153.49, Y:27.28, Z:-2.43 [[ 5.75630545e-01 -8.17707575e-01 -1.94860855e-03 1.53486694e+02] [ 8.17702268e-01 5.75633834e-01 -2.94789918e-03 2.72772187e+01] [ 3.53220450e-03 1.03519179e-04 9.99993756e-01 -2.42760687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.86538475 meters 0.06589869649686414 Centerline is valid? [True, True] Translation: X:153.50, Y:27.30, Z:-2.43 [[ 5.75459835e-01 -8.17830035e-01 -1.09308629e-04 1.53503593e+02] [ 8.17830017e-01 5.75459846e-01 -1.71885769e-04 2.73001259e+01] [ 2.03476071e-04 9.51747809e-06 9.99999979e-01 -2.42515084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.89538475 meters 0.06570897182633684 Centerline is valid? [True, True] Translation: X:153.52, Y:27.32, Z:-2.42 [[ 5.75521084e-01 -8.17786847e-01 3.93884337e-04 1.53518326e+02] [ 8.17786636e-01 5.75521218e-01 5.87426755e-04 2.73230197e+01] [-7.07078668e-04 -1.59631358e-05 9.99999750e-01 -2.42482852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.92538475 meters 0.06572961027916445 Centerline is valid? [True, True] Translation: X:153.53, Y:27.35, Z:-2.43 [[ 5.74876214e-01 -8.18239252e-01 1.36580079e-03 1.53532013e+02] [ 8.18236664e-01 5.74877833e-01 2.05875827e-03 2.73455126e+01] [-2.46972543e-03 -6.59828777e-05 9.99996948e-01 -2.42552845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.95538475 meters 0.06475033166679259 Centerline is valid? [True, True] Translation: X:153.55, Y:27.37, Z:-2.43 [[ 5.71293201e-01 -8.20745282e-01 1.12265908e-03 1.53550068e+02] [ 8.20743542e-01 5.71294303e-01 1.69069807e-03 2.73664725e+01] [-2.02900120e-03 -4.44691194e-05 9.99997941e-01 -2.42633624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.98538475 meters 0.06457338132172816 Centerline is valid? [True, True] Translation: X:153.57, Y:27.39, Z:-2.43 [[ 5.69540088e-01 -8.21963182e-01 7.84741669e-04 1.53565170e+02] [ 8.21962333e-01 5.69540628e-01 1.18187927e-03 2.73880613e+01] [-1.41840351e-03 -2.80995298e-05 9.99998994e-01 -2.42792620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.01538475 meters 0.06361217756616801 Centerline is valid? [True, True] Translation: X:153.59, Y:27.41, Z:-2.43 [[ 5.65374534e-01 -8.24834279e-01 -2.21667452e-04 1.53585070e+02] [ 8.24834208e-01 5.65374577e-01 -3.41951085e-04 2.74090349e+01] [ 4.07378117e-04 1.04915381e-05 9.99999917e-01 -2.42926237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.04538475 meters 0.06316433607511775 Centerline is valid? [True, True] Translation: X:153.60, Y:27.43, Z:-2.43 [[ 5.62711269e-01 -8.26653396e-01 -4.36878445e-04 1.53602434e+02] [ 8.26653126e-01 5.62711438e-01 -6.68735416e-04 2.74312747e+01] [ 7.98648900e-04 1.51580224e-05 9.99999681e-01 -2.43017674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.07538475 meters 0.06286330357715145 Centerline is valid? [True, True] Translation: X:153.62, Y:27.45, Z:-2.43 [[ 5.57831916e-01 -8.29953591e-01 -7.69044836e-04 1.53620924e+02] [ 8.29952765e-01 5.57832446e-01 -1.17075341e-03 2.74514503e+01] [ 1.40066915e-03 1.48127274e-05 9.99999019e-01 -2.43153804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.10538475 meters 0.06220079221950418 Centerline is valid? [True, True] Translation: X:153.64, Y:27.47, Z:-2.43 [[ 5.52484610e-01 -8.33523007e-01 3.89761851e-04 1.53639962e+02] [ 8.33522803e-01 5.52484748e-01 5.83794196e-04 2.74717002e+01] [-7.01943373e-04 2.33808185e-06 9.99999754e-01 -2.42863489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.13538475000001 meters 0.06189799664093869 Centerline is valid? [True, True] Translation: X:153.66, Y:27.49, Z:-2.43 [[ 5.48487791e-01 -8.36157991e-01 9.78527544e-04 1.53657134e+02] [ 8.36156685e-01 5.48488664e-01 1.47767516e-03 2.74933039e+01] [-1.77228116e-03 7.71556251e-06 9.99998429e-01 -2.42663748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.16538475000002 meters 0.062100470051921965 Centerline is valid? [True, True] Translation: X:153.67, Y:27.51, Z:-2.43 [[ 5.46213734e-01 -8.37643733e-01 1.87979627e-03 1.53672650e+02] [ 8.37638893e-01 5.46216969e-01 2.84744485e-03 2.75146088e+01] [-3.41192095e-03 1.92769812e-05 9.99994179e-01 -2.42743465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.19538475000002 meters 0.062298150447507555 Centerline is valid? [True, True] Translation: X:153.69, Y:27.53, Z:-2.43 [[ 5.40238712e-01 -8.41502855e-01 3.88305797e-03 1.53690353e+02] [ 8.41482212e-01 5.40252661e-01 5.89479202e-03 2.75343624e+01] [-7.05831672e-03 8.29293671e-05 9.99975086e-01 -2.42608486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.22538475 meters 0.06253165063270004 Centerline is valid? [True, True] Translation: X:153.71, Y:27.56, Z:-2.42 [[ 5.38692253e-01 -8.42489331e-01 4.73111628e-03 1.53705590e+02] [ 8.42458666e-01 5.38713016e-01 7.18907424e-03 2.75574122e+01] [-8.60543227e-03 1.13071313e-04 9.99962966e-01 -2.42472802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.25538475 meters 0.06290629777907317 Centerline is valid? [True, True] Translation: X:153.72, Y:27.58, Z:-2.43 [[ 5.34843856e-01 -8.44939178e-01 4.45366860e-03 1.53723754e+02] [ 8.44912057e-01 5.34862380e-01 6.77130832e-03 2.75777069e+01] [-8.10344347e-03 1.41365650e-04 9.99967157e-01 -2.42573206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.28538475 meters 0.06321507985694796 Centerline is valid? [True, True] Translation: X:153.74, Y:27.60, Z:-2.43 [[ 5.33908705e-01 -8.45534903e-01 3.49593072e-03 1.53741231e+02] [ 8.45518192e-01 5.33920138e-01 5.31722662e-03 2.75980060e+01] [-6.36244851e-03 1.16959441e-04 9.99979753e-01 -2.42692340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.31538475 meters 0.06261770493183817 Centerline is valid? [True, True] Translation: X:153.75, Y:27.62, Z:-2.43 [[ 5.34056013e-01 -8.45438517e-01 4.22950064e-03 1.53752614e+02] [ 8.45414007e-01 5.34072743e-01 6.43917899e-03 2.76227367e+01] [-7.70279095e-03 1.36796819e-04 9.99970324e-01 -2.42760939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.34538475 meters 0.06223654648831928 Centerline is valid? [True, True] Translation: X:153.77, Y:27.65, Z:-2.43 [[ 5.35547025e-01 -8.44499103e-01 3.26320884e-03 1.53767645e+02] [ 8.44484486e-01 5.35556958e-01 4.96968505e-03 2.76455464e+01] [-5.94452877e-03 9.42291970e-05 9.99982327e-01 -2.42962753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.37538475 meters 0.062147773508213516 Centerline is valid? [True, True] Translation: X:153.78, Y:27.67, Z:-2.43 [[ 5.35331722e-01 -8.44635320e-01 3.33529154e-03 1.53783153e+02] [ 8.44620030e-01 5.35342103e-01 5.08302559e-03 2.76686075e+01] [-6.07882493e-03 9.59491943e-05 9.99981519e-01 -2.42954276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.40538475 meters 0.06234243554285907 Centerline is valid? [True, True] Translation: X:153.80, Y:27.69, Z:-2.43 [[ 5.33409792e-01 -8.45853480e-01 2.42592013e-03 1.53799711e+02] [ 8.45845403e-01 5.33415302e-01 3.69730538e-03 2.76889191e+01] [-4.42140154e-03 7.97744965e-05 9.99990222e-01 -2.43070259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.43538475 meters 0.06237234512235141 Centerline is valid? [True, True] Translation: X:153.82, Y:27.71, Z:-2.43 [[ 5.31692326e-01 -8.46933577e-01 2.60495564e-03 1.53815660e+02] [ 8.46924260e-01 5.31698699e-01 3.97385978e-03 2.77110535e+01] [-4.75064680e-03 9.33293725e-05 9.99988711e-01 -2.43025741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.46538475 meters 0.06242470698218857 Centerline is valid? [True, True] Translation: X:153.83, Y:27.73, Z:-2.43 [[ 5.30510560e-01 -8.47675431e-01 2.21570575e-03 1.53830856e+02] [ 8.47668692e-01 5.30515180e-01 3.38113340e-03 2.77340649e+01] [-4.04156925e-03 8.44574219e-05 9.99991829e-01 -2.43069546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.49538475 meters 0.0627072409387885 Centerline is valid? [True, True] Translation: X:153.84, Y:27.76, Z:-2.43 [[ 5.29086811e-01 -8.48566283e-01 1.55214239e-03 1.53844201e+02] [ 8.48562983e-01 5.29089084e-01 2.36758244e-03 2.77565982e+01] [-2.83027223e-03 6.44339311e-05 9.99995993e-01 -2.43287871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.52538475 meters 0.06269027397712584 Centerline is valid? [True, True] Translation: X:153.86, Y:27.78, Z:-2.43 [[ 5.27619650e-01 -8.49479190e-01 1.61585383e-03 1.53856011e+02] [ 8.49475611e-01 5.27622119e-01 2.46706666e-03 2.77812460e+01] [-2.94828201e-03 7.09555738e-05 9.99995651e-01 -2.43457268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.55538475 meters 0.06298158101571286 Centerline is valid? [True, True] Translation: X:153.87, Y:27.80, Z:-2.44 [[ 5.26089037e-01 -8.50427915e-01 1.63901583e-03 1.53871228e+02] [ 8.50424231e-01 5.26091585e-01 2.50440031e-03 2.78022281e+01] [-2.99208437e-03 7.63212302e-05 9.99995521e-01 -2.43531813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.58538475 meters 0.06325489155165238 Centerline is valid? [True, True] Translation: X:153.89, Y:27.82, Z:-2.44 [[ 5.24663639e-01 -8.51308444e-01 1.41412085e-03 1.53886541e+02] [ 8.51305704e-01 5.24665540e-01 2.16107647e-03 2.78247077e+01] [-2.58168312e-03 7.00109032e-05 9.99996665e-01 -2.43532013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.61538475 meters 0.0636533869624016 Centerline is valid? [True, True] Translation: X:153.90, Y:27.85, Z:-2.44 [[ 5.22939925e-01 -8.52367587e-01 1.82547566e-03 1.53903294e+02] [ 8.52363015e-01 5.22943102e-01 2.79346804e-03 2.78455318e+01] [-3.33568152e-03 9.51519709e-05 9.99994432e-01 -2.43631853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.64538475 meters 0.06358378445571644 Centerline is valid? [True, True] Translation: X:153.92, Y:27.87, Z:-2.43 [[ 5.20927507e-01 -8.53597743e-01 2.32934170e-03 1.53918279e+02] [ 8.53590290e-01 5.20932699e-01 3.56936705e-03 2.78683116e+01] [-4.26023391e-03 1.28921976e-04 9.99990917e-01 -2.43441226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.67538475 meters 0.0645690279163022 Centerline is valid? [True, True] Translation: X:153.94, Y:27.89, Z:-2.43 [[ 5.16851911e-01 -8.56066578e-01 3.75712561e-03 1.53938263e+02] [ 8.56047194e-01 5.16865512e-01 5.76568696e-03 2.78880472e+01] [-6.87774056e-03 2.36270518e-04 9.99976320e-01 -2.43252320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.70538475 meters 0.06584571041550659 Centerline is valid? [True, True] Translation: X:153.96, Y:27.91, Z:-2.43 [[ 5.14338174e-01 -8.57580853e-01 3.36518669e-03 1.53956702e+02] [ 8.57565313e-01 5.14349132e-01 5.16759952e-03 2.79070482e+01] [-6.16251526e-03 2.27973681e-04 9.99980986e-01 -2.43323447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.73538475 meters 0.0651706978499043 Centerline is valid? [True, True] Translation: X:153.97, Y:27.93, Z:-2.43 [[ 5.13958212e-01 -8.57810899e-01 2.72354481e-03 1.53968764e+02] [ 8.57800725e-01 5.13965395e-01 4.18209846e-03 2.79303697e+01] [-4.98725742e-03 1.86834863e-04 9.99987546e-01 -2.43336211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.76538475 meters 0.06506273351570116 Centerline is valid? [True, True] Translation: X:153.98, Y:27.95, Z:-2.44 [[ 5.13915538e-01 -8.57838692e-01 1.89682405e-03 1.53982951e+02] [ 8.57833756e-01 5.13919022e-01 2.91286213e-03 2.79543047e+01] [-3.47357981e-03 1.30194592e-04 9.99993959e-01 -2.43570167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.79538475 meters 0.0652251890962099 Centerline is valid? [True, True] Translation: X:154.00, Y:27.98, Z:-2.44 [[ 5.13187711e-01 -8.58275496e-01 1.24355351e-03 1.53997451e+02] [ 8.58273379e-01 5.13189210e-01 1.90836067e-03 2.79771002e+01] [-2.27607745e-03 8.79616329e-05 9.99997406e-01 -2.43664721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.82538475 meters 0.06539301754666445 Centerline is valid? [True, True] Translation: X:154.01, Y:28.00, Z:-2.44 [[ 5.11712002e-01 -8.59157044e-01 4.47802984e-06 1.54011788e+02] [ 8.59157044e-01 5.11712002e-01 -7.01075286e-07 2.80002373e+01] [-1.68912844e-06 4.20607954e-06 1.00000000e+00 -2.43851382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.85538475 meters 0.06602458659765095 Centerline is valid? [True, True] Translation: X:154.03, Y:28.02, Z:-2.44 [[ 5.10394294e-01 -8.59940405e-01 -4.06268230e-04 1.54026637e+02] [ 8.59940171e-01 5.10394455e-01 -6.34773439e-04 2.80217616e+01] [ 7.53224379e-04 -2.53816302e-05 9.99999716e-01 -2.44018377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.88538475000001 meters 0.06633383132418635 Centerline is valid? [True, True] Translation: X:154.04, Y:28.04, Z:-2.44 [[ 5.09324918e-01 -8.60573677e-01 -1.03622487e-03 1.54041108e+02] [ 8.60572179e-01 5.09325967e-01 -1.60764455e-03 2.80443098e+01] [ 1.91127282e-03 -7.29328677e-05 9.99998171e-01 -2.44058651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.91538475000002 meters 0.06661661076991368 Centerline is valid? [True, True] Translation: X:154.06, Y:28.07, Z:-2.44 [[ 5.08122285e-01 -8.61284748e-01 -5.70844203e-04 1.54055155e+02] [ 8.61284290e-01 5.08122604e-01 -8.89299938e-04 2.80675485e+01] [ 1.05599932e-03 -3.97860275e-05 9.99999442e-01 -2.44081481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.94538475000002 meters 0.06588265212457158 Centerline is valid? [True, True] Translation: X:154.07, Y:28.09, Z:-2.44 [[ 5.09405246e-01 -8.60526743e-01 1.42374067e-04 1.54066625e+02] [ 8.60526717e-01 5.09405266e-01 2.12722201e-04 2.80922928e+01] [-2.55579243e-04 1.41548832e-05 9.99999967e-01 -2.43961991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.97538475 meters 0.06544175282587626 Centerline is valid? [True, True] Translation: X:154.08, Y:28.12, Z:-2.44 [[ 5.10490600e-01 -8.59882942e-01 8.20615098e-04 1.54079015e+02] [ 8.59882018e-01 5.10491256e-01 1.26204838e-03 2.81167882e+01] [-1.50413071e-03 6.13683318e-05 9.99998867e-01 -2.43905912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.00538475 meters 0.06447065979562604 Centerline is valid? [True, True] Translation: X:154.09, Y:28.14, Z:-2.44 [[ 5.13217006e-01 -8.58257608e-01 1.47719981e-03 1.54088289e+02] [ 8.58254589e-01 5.13219123e-01 2.27872085e-03 2.81428426e+01] [-2.71385670e-03 9.83352242e-05 9.99996313e-01 -2.43771505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.03538475 meters 0.06319066342107114 Centerline is valid? [True, True] Translation: X:154.10, Y:28.17, Z:-2.44 [[ 5.15684902e-01 -8.56776578e-01 1.72538393e-03 1.54099017e+02] [ 8.56772439e-01 5.15687778e-01 2.66507801e-03 2.81685794e+01] [-3.17313582e-03 1.03920902e-04 9.99994960e-01 -2.43828351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.06538475 meters 0.06179946811306298 Centerline is valid? [True, True] Translation: X:154.11, Y:28.20, Z:-2.44 [[ 5.20820181e-01 -8.53665130e-01 1.47805240e-03 1.54106895e+02] [ 8.53662080e-01 5.20822274e-01 2.28309270e-03 2.81955813e+01] [-2.71879923e-03 7.26765345e-05 9.99996301e-01 -2.44018824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.09538475 meters 0.061264210160597965 Centerline is valid? [True, True] Translation: X:154.12, Y:28.22, Z:-2.44 [[ 5.23908278e-01 -8.51773701e-01 1.29602788e-03 1.54118170e+02] [ 8.51771344e-01 5.23909878e-01 2.00414599e-03 2.82193575e+01] [-2.38608065e-03 5.39307354e-05 9.99997152e-01 -2.44157158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.12538475 meters 0.06023077693994401 Centerline is valid? [True, True] Translation: X:154.13, Y:28.25, Z:-2.45 [[ 5.30991342e-01 -8.47377053e-01 -5.70770420e-04 1.54126019e+02] [ 8.47376582e-01 5.30991648e-01 -8.93057234e-04 2.82463684e+01] [ 1.05983053e-03 -9.45182884e-06 9.99999438e-01 -2.44602085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.15538475 meters 0.059904848115155375 Centerline is valid? [True, True] Translation: X:154.13, Y:28.27, Z:-2.45 [[ 5.34620989e-01 -8.45091058e-01 -1.22530014e-03 1.54134831e+02] [ 8.45088898e-01 5.34622393e-01 -1.91106534e-03 2.82720198e+01] [ 2.27009713e-03 -1.37919043e-05 9.99997423e-01 -2.44769064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.18538475 meters 0.05991930181517504 Centerline is valid? [True, True] Translation: X:154.14, Y:28.30, Z:-2.45 [[ 5.42558387e-01 -8.40014045e-01 -2.60803701e-03 1.54140003e+02] [ 8.40004224e-01 5.42564655e-01 -4.06184507e-03 2.82989267e+01] [ 4.82703561e-03 1.30260069e-05 9.99988350e-01 -2.45392674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.21538475 meters 0.05986302538417607 Centerline is valid? [True, True] Translation: X:154.15, Y:28.32, Z:-2.45 [[ 5.46076959e-01 -8.37729382e-01 -3.07207939e-03 1.54151833e+02] [ 8.37715716e-01 5.46085599e-01 -4.78522798e-03 2.83240036e+01] [ 5.68634439e-03 3.95735640e-05 9.99983832e-01 -2.45202902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.24538475 meters 0.0604519531164038 Centerline is valid? [True, True] Translation: X:154.17, Y:28.35, Z:-2.45 [[ 5.49063192e-01 -8.35773958e-01 -3.39157323e-03 1.54165746e+02] [ 8.35757247e-01 5.49073662e-01 -5.28561800e-03 2.83473121e+01] [ 6.27980541e-03 6.76063820e-05 9.99980280e-01 -2.45164938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.27538475 meters 0.06013078030042174 Centerline is valid? [True, True] Translation: X:154.18, Y:28.37, Z:-2.45 [[ 5.48230191e-01 -8.36322984e-01 -2.74316029e-03 1.54182347e+02] [ 8.36312034e-01 5.48237051e-01 -4.27985652e-03 2.83676159e+01] [ 5.08324449e-03 5.22085933e-05 9.99987079e-01 -2.44934340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.30538475 meters 0.059909690063501005 Centerline is valid? [True, True] Translation: X:154.20, Y:28.39, Z:-2.45 [[ 5.46023498e-01 -8.37760827e-01 -3.89053072e-03 1.54200252e+02] [ 8.37738843e-01 5.46037355e-01 -6.06942817e-03 2.83891869e+01] [ 7.20910427e-03 5.48016963e-05 9.99974013e-01 -2.45011598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.33538475 meters 0.060072992408656885 Centerline is valid? [True, True] Translation: X:154.22, Y:28.41, Z:-2.45 [[ 5.44663351e-01 -8.38644962e-01 -4.05735515e-03 1.54215081e+02] [ 8.38621035e-01 5.44678461e-01 -6.33514065e-03 2.84107845e+01] [ 7.52288775e-03 4.79355645e-05 9.99971702e-01 -2.45243741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.36538475 meters 0.05986493964237918 Centerline is valid? [True, True] Translation: X:154.23, Y:28.43, Z:-2.45 [[ 5.41978987e-01 -8.40382720e-01 -3.95759152e-03 1.54232276e+02] [ 8.40359971e-01 5.41993435e-01 -6.18339773e-03 2.84324027e+01] [ 7.34140923e-03 2.54701391e-05 9.99973051e-01 -2.45077919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.39538475 meters 0.05970332844226905 Centerline is valid? [True, True] Translation: X:154.25, Y:28.45, Z:-2.45 [[ 5.39892176e-01 -8.41728879e-01 -2.98879447e-03 1.54248818e+02] [ 8.41715919e-01 5.39900448e-01 -4.67099581e-03 2.84535727e+01] [ 5.54536354e-03 6.11820500e-06 9.99984624e-01 -2.45196547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.42538475 meters 0.05959408326531124 Centerline is valid? [True, True] Translation: X:154.27, Y:28.47, Z:-2.45 [[ 5.34419506e-01 -8.45214988e-01 -2.72320823e-03 1.54269456e+02] [ 8.45204243e-01 5.34426443e-01 -4.26193680e-03 2.84734777e+01] [ 5.05760735e-03 -2.40049956e-05 9.99987210e-01 -2.44734623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.45538475 meters 0.059802017203363034 Centerline is valid? [True, True] Translation: X:154.28, Y:28.50, Z:-2.45 [[ 5.33554434e-01 -8.45762969e-01 -2.16011526e-03 1.54283732e+02] [ 8.45756206e-01 5.33558806e-01 -3.38228914e-03 2.84954536e+01] [ 4.01316343e-03 -2.22955121e-05 9.99991947e-01 -2.44753498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.48538475 meters 0.06007187724007732 Centerline is valid? [True, True] Translation: X:154.30, Y:28.52, Z:-2.45 [[ 5.33143558e-01 -8.46018790e-01 -3.18631025e-03 1.54297360e+02] [ 8.46004068e-01 5.33153079e-01 -4.99123937e-03 2.85190134e+01] [ 5.92147342e-03 -3.45843142e-05 9.99982467e-01 -2.44971984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.51538475 meters 0.06016527296947981 Centerline is valid? [True, True] Translation: X:154.31, Y:28.54, Z:-2.45 [[ 5.34195227e-01 -8.45352548e-01 -3.81161666e-03 1.54310066e+02] [ 8.45331445e-01 5.34208825e-01 -5.97320765e-03 2.85435492e+01] [ 7.08566556e-03 -3.12204001e-05 9.99974896e-01 -2.45225363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.54538475 meters 0.06030932935066434 Centerline is valid? [True, True] Translation: X:154.32, Y:28.57, Z:-2.45 [[ 5.34698415e-01 -8.45033698e-01 -3.95641816e-03 1.54323714e+02] [ 8.45010924e-01 5.34713052e-01 -6.20403995e-03 2.85669080e+01] [ 7.35817125e-03 -2.59262374e-05 9.99972928e-01 -2.45249389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.57538475 meters 0.06044178389124085 Centerline is valid? [True, True] Translation: X:154.34, Y:28.59, Z:-2.45 [[ 5.37052769e-01 -8.43534178e-01 -4.94094894e-03 1.54336763e+02] [ 8.43498559e-01 5.37075498e-01 -7.75178597e-03 2.85900079e+01] [ 9.19255902e-03 -4.56519098e-06 9.99957748e-01 -2.45403199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.60538475 meters 0.06054416533530052 Centerline is valid? [True, True] Translation: X:154.35, Y:28.61, Z:-2.45 [[ 5.37590203e-01 -8.43188325e-01 -5.49738741e-03 1.54350261e+02] [ 8.43144162e-01 5.37618311e-01 -8.62982243e-03 2.86124242e+01] [ 1.02320617e-02 4.21789021e-06 9.99947651e-01 -2.45450877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.63538475000001 meters 0.060613722256588745 Centerline is valid? [True, True] Translation: X:154.36, Y:28.64, Z:-2.45 [[ 5.38779440e-01 -8.42426909e-01 -5.79800729e-03 1.54363549e+02] [ 8.42377680e-01 5.38810636e-01 -9.10726996e-03 2.86369439e+01] [ 1.07962373e-02 2.26978812e-05 9.99941719e-01 -2.45347046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.66538475000002 meters 0.06127488080271631 Centerline is valid? [True, True] Translation: X:154.37, Y:28.66, Z:-2.46 [[ 5.41744989e-01 -8.40507166e-01 -7.75051528e-03 1.54373220e+02] [ 8.40418956e-01 5.41800421e-01 -1.21771094e-02 2.86615810e+01] [ 1.44341802e-02 8.32080411e-05 9.99895818e-01 -2.45905921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.69538475000002 meters 0.06127488080271631 Centerline is valid? [True, True] Translation: X:154.39, Y:28.68, Z:-2.46 [[ 5.41471006e-01 -8.40683741e-01 -7.74573632e-03 1.54386977e+02] [ 8.40595506e-01 5.41526398e-01 -1.21801510e-02 2.86836944e+01] [ 1.44341756e-02 8.41674685e-05 9.99895818e-01 -2.45940819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.72538475 meters 0.06179606805265831 Centerline is valid? [True, True] Translation: X:154.40, Y:28.71, Z:-2.46 [[ 5.43018452e-01 -8.39669591e-01 -9.27037413e-03 1.54397350e+02] [ 8.39542914e-01 5.43097560e-01 -1.45854648e-02 2.87082040e+01] [ 1.72816888e-02 1.37299608e-04 9.99850651e-01 -2.46363340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.75538475 meters 0.06167754794582804 Centerline is valid? [True, True] Translation: X:154.41, Y:28.73, Z:-2.46 [[ 5.43658978e-01 -8.39251184e-01 -9.61068525e-03 1.54412102e+02] [ 8.39114808e-01 5.43743896e-01 -1.51299388e-02 2.87316317e+01] [ 1.79235705e-02 1.61058783e-04 9.99839347e-01 -2.46123182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.78538475 meters 0.062230452145359556 Centerline is valid? [True, True] Translation: X:154.42, Y:28.76, Z:-2.46 [[ 5.44223753e-01 -8.38886694e-01 -9.46689282e-03 1.54423918e+02] [ 8.38754109e-01 5.44306057e-01 -1.49150989e-02 2.87550381e+01] [ 1.76649651e-02 1.76755823e-04 9.99843947e-01 -2.46448682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.81538475 meters 0.061893907407930625 Centerline is valid? [True, True] Translation: X:154.44, Y:28.78, Z:-2.46 [[ 5.44457535e-01 -8.38738356e-01 -9.16309329e-03 1.54439036e+02] [ 8.38613955e-01 5.44534606e-01 -1.44463728e-02 2.87775738e+01] [ 1.71063484e-02 1.81138653e-04 9.99853659e-01 -2.45859132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.84538475 meters 0.062298624150266865 Centerline is valid? [True, True] Translation: X:154.45, Y:28.80, Z:-2.46 [[ 5.45868815e-01 -8.37820558e-01 -9.16242275e-03 1.54452654e+02] [ 8.37695893e-01 5.45945663e-01 -1.44541637e-02 2.88012512e+01] [ 1.71121805e-02 2.14753320e-04 9.99853553e-01 -2.45931031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.87538475 meters 0.062229251876425876 Centerline is valid? [True, True] Translation: X:154.47, Y:28.82, Z:-2.46 [[ 5.46053307e-01 -8.37699892e-01 -9.20203888e-03 1.54466846e+02] [ 8.37573954e-01 5.46130791e-01 -1.45268824e-02 2.88242660e+01] [ 1.71946846e-02 2.25064069e-04 9.99852135e-01 -2.45780213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.90538475 meters 0.06307899338218395 Centerline is valid? [True, True] Translation: X:154.48, Y:28.85, Z:-2.46 [[ 5.47613953e-01 -8.36679418e-01 -9.30111060e-03 1.54477407e+02] [ 8.36550504e-01 5.47692873e-01 -1.46891398e-02 2.88481875e+01] [ 1.73842529e-02 2.63129169e-04 9.99848848e-01 -2.46096335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.93538475 meters 0.06284237669779368 Centerline is valid? [True, True] Translation: X:154.49, Y:28.87, Z:-2.46 [[ 5.47338646e-01 -8.36866633e-01 -8.63975211e-03 1.54492057e+02] [ 8.36755243e-01 5.47406776e-01 -1.36559633e-02 2.88718019e+01] [ 1.61576789e-02 2.45078594e-04 9.99869426e-01 -2.45842409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.96538475 meters 0.06308432741204384 Centerline is valid? [True, True] Translation: X:154.51, Y:28.89, Z:-2.46 [[ 5.46949127e-01 -8.37116649e-01 -9.07575775e-03 1.54506033e+02] [ 8.36993594e-01 5.47024361e-01 -1.43552131e-02 2.88939869e+01] [ 1.69816485e-02 2.55220178e-04 9.99855769e-01 -2.45902399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.99538475 meters 0.06335565499646914 Centerline is valid? [True, True] Translation: X:154.52, Y:28.92, Z:-2.46 [[ 5.47578948e-01 -8.36699632e-01 -9.54050376e-03 1.54519945e+02] [ 8.36563403e-01 5.47661978e-01 -1.51006447e-02 2.89169565e+01] [ 1.78596750e-02 2.87558844e-04 9.99840462e-01 -2.45964514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.02538475 meters 0.06369491742560852 Centerline is valid? [True, True] Translation: X:154.53, Y:28.94, Z:-2.46 [[ 5.48143121e-01 -8.36325124e-01 -9.97025202e-03 1.54534175e+02] [ 8.36176102e-01 5.48233696e-01 -1.57905290e-02 2.89400913e+01] [ 1.86720442e-02 3.18583396e-04 9.99825611e-01 -2.46015138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.05538475 meters 0.06403785621057294 Centerline is valid? [True, True] Translation: X:154.55, Y:28.96, Z:-2.46 [[ 5.47911230e-01 -8.36469776e-01 -1.05639966e-02 1.54548596e+02] [ 8.36302271e-01 5.48012956e-01 -1.67425062e-02 2.89622423e+01] [ 1.97938074e-02 3.38712781e-04 9.99804026e-01 -2.46318580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.08538475 meters 0.0650542691883306 Centerline is valid? [True, True] Translation: X:154.56, Y:28.98, Z:-2.47 [[ 5.48730232e-01 -8.35913886e-01 -1.19627425e-02 1.54562143e+02] [ 8.35698671e-01 5.48860459e-01 -1.89717382e-02 2.89842044e+01] [ 2.24246157e-02 4.13118255e-04 9.99748451e-01 -2.46681413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.11538475 meters 0.06538847097195037 Centerline is valid? [True, True] Translation: X:154.58, Y:29.01, Z:-2.47 [[ 5.48860449e-01 -8.35821446e-01 -1.24385726e-02 1.54576658e+02] [ 8.35588474e-01 5.49001200e-01 -1.97378991e-02 2.90078324e+01] [ 2.33261506e-02 4.39824286e-04 9.99727812e-01 -2.46883195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.14538475 meters 0.06658516240128279 Centerline is valid? [True, True] Translation: X:154.59, Y:29.03, Z:-2.47 [[ 5.51526192e-01 -8.34046556e-01 -1.36089214e-02 1.54589661e+02] [ 8.33766759e-01 5.51693771e-01 -2.16096060e-02 2.90313193e+01] [ 2.55313746e-02 5.71597445e-04 9.99673858e-01 -2.47156596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.17538475 meters 0.06792675083464346 Centerline is valid? [True, True] Translation: X:154.60, Y:29.05, Z:-2.47 [[ 5.54384459e-01 -8.32149024e-01 -1.36335258e-02 1.54601081e+02] [ 8.31867386e-01 5.54551673e-01 -2.16585898e-02 2.90545565e+01] [ 2.55836689e-02 6.65900134e-04 9.99672463e-01 -2.47323814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.20538475 meters 0.06866593151704466 Centerline is valid? [True, True] Translation: X:154.61, Y:29.08, Z:-2.48 [[ 5.55260638e-01 -8.31554300e-01 -1.42502542e-02 1.54613908e+02] [ 8.31245965e-01 5.55442983e-01 -2.26547477e-02 2.90772077e+01] [ 2.67538565e-02 7.33823351e-04 9.99641782e-01 -2.47517988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.23538475 meters 0.06868828407899313 Centerline is valid? [True, True] Translation: X:154.63, Y:29.10, Z:-2.47 [[ 5.56199047e-01 -8.30935666e-01 -1.37309266e-02 1.54628417e+02] [ 8.30648797e-01 5.56368011e-01 -2.18451849e-02 2.90991420e+01] [ 2.57913916e-02 7.44693351e-04 9.99667069e-01 -2.47292120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.26538475 meters 0.06811898573574958 Centerline is valid? [True, True] Translation: X:154.64, Y:29.12, Z:-2.47 [[ 5.57373487e-01 -8.30170880e-01 -1.22924738e-02 1.54644146e+02] [ 8.29940490e-01 5.57508575e-01 -1.95696489e-02 2.91218991e+01] [ 2.30993122e-02 7.05581758e-04 9.99732926e-01 -2.46600922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.29538475 meters 0.06859739560850982 Centerline is valid? [True, True] Translation: X:154.66, Y:29.14, Z:-2.47 [[ 5.58408675e-01 -8.29483322e-01 -1.17120013e-02 1.54655939e+02] [ 8.29273685e-01 5.58531035e-01 -1.86611204e-02 2.91448554e+01] [ 2.20206043e-02 7.08077069e-04 9.99757266e-01 -2.46572394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.32538475 meters 0.06927120066832607 Centerline is valid? [True, True] Translation: X:154.67, Y:29.17, Z:-2.47 [[ 5.59680105e-01 -8.28640306e-01 -1.06500895e-02 1.54666350e+02] [ 8.28466564e-01 5.59781011e-01 -1.69815440e-02 2.91693039e+01] [ 2.00333096e-02 6.80989295e-04 9.99799081e-01 -2.46560537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.35538475 meters 0.07107849241997173 Centerline is valid? [True, True] Translation: X:154.67, Y:29.20, Z:-2.47 [[ 5.60554849e-01 -8.28046226e-01 -1.08493596e-02 1.54674721e+02] [ 8.27865584e-01 5.60659368e-01 -1.73103612e-02 2.91955084e+01] [ 2.04165744e-02 7.21595532e-04 9.99791300e-01 -2.47078258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.38538475000001 meters 0.06896349172910834 Centerline is valid? [True, True] Translation: X:154.69, Y:29.22, Z:-2.47 [[ 5.60530028e-01 -8.28064057e-01 -1.07705670e-02 1.54693193e+02] [ 8.27885800e-01 5.60633032e-01 -1.71960961e-02 2.92160109e+01] [ 2.02778047e-02 7.22128721e-04 9.99794123e-01 -2.46632026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.41538475000002 meters 0.06940806538462663 Centerline is valid? [True, True] Translation: X:154.71, Y:29.24, Z:-2.47 [[ 5.61298982e-01 -8.27540965e-01 -1.09272426e-02 1.54706474e+02] [ 8.27357237e-01 5.61404828e-01 -1.74534014e-02 2.92391312e+01] [ 2.05780114e-02 7.55843200e-04 9.99787965e-01 -2.46698221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.44538475000002 meters 0.06942357272157886 Centerline is valid? [True, True] Translation: X:154.72, Y:29.26, Z:-2.47 [[ 5.61042551e-01 -8.27715241e-01 -1.08965718e-02 1.54720527e+02] [ 8.27532267e-01 5.61147849e-01 -1.74194992e-02 2.92614972e+01] [ 2.05329728e-02 7.55815548e-04 9.99788891e-01 -2.46814523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.47538475 meters 0.06969519810707579 Centerline is valid? [True, True] Translation: X:154.73, Y:29.28, Z:-2.47 [[ 5.61987454e-01 -8.27067180e-01 -1.14009425e-02 1.54734744e+02] [ 8.26866478e-01 5.62102485e-01 -1.82380008e-02 2.92844231e+01] [ 2.14925500e-02 8.22470434e-04 9.99768670e-01 -2.46771185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.50538475 meters 0.07172011260701715 Centerline is valid? [True, True] Translation: X:154.74, Y:29.31, Z:-2.48 [[ 5.61037546e-01 -8.27711330e-01 -1.14379219e-02 1.54744137e+02] [ 8.27509179e-01 5.61153546e-01 -1.83100067e-02 2.93092541e+01] [ 2.15738304e-02 8.07615832e-04 9.99766932e-01 -2.47580068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.53538475 meters 0.06950088364780682 Centerline is valid? [True, True] Translation: X:154.76, Y:29.33, Z:-2.47 [[ 5.60284826e-01 -8.28210990e-01 -1.21437464e-02 1.54763985e+02] [ 8.27982962e-01 5.60415779e-01 -1.94517207e-02 2.93290052e+01] [ 2.29156759e-02 8.43688842e-04 9.99737045e-01 -2.47333742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.56538475 meters 0.06972958945817215 Centerline is valid? [True, True] Translation: X:154.78, Y:29.35, Z:-2.47 [[ 5.61468885e-01 -8.27400000e-01 -1.27252535e-02 1.54779132e+02] [ 8.27149078e-01 5.61612306e-01 -2.03965852e-02 2.93518819e+01] [ 2.40227935e-02 9.26366204e-04 9.99710982e-01 -2.47408289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.59538475 meters 0.0707494716667922 Centerline is valid? [True, True] Translation: X:154.79, Y:29.38, Z:-2.48 [[ 5.62789945e-01 -8.26505600e-01 -1.24888722e-02 1.54790628e+02] [ 8.26263353e-01 5.62927688e-01 -2.00321878e-02 2.93753296e+01] [ 2.35870474e-02 9.54816449e-04 9.99721331e-01 -2.47540180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.62538475 meters 0.07216584070940937 Centerline is valid? [True, True] Translation: X:154.80, Y:29.40, Z:-2.48 [[ 5.64249370e-01 -8.25513432e-01 -1.22565281e-02 1.54802005e+02] [ 8.25279575e-01 5.64381611e-01 -1.96728538e-02 2.93987935e+01] [ 2.31575641e-02 9.85333063e-04 9.99731342e-01 -2.47636159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.65538475 meters 0.06862270574583404 Centerline is valid? [True, True] Translation: X:154.83, Y:29.42, Z:-2.47 [[ 5.57655180e-01 -8.30002451e-01 -1.07995980e-02 1.54826555e+02] [ 8.29821475e-01 5.57759289e-01 -1.73463318e-02 2.94157257e+01] [ 2.04210740e-02 7.11533492e-04 9.99791215e-01 -2.47138517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.68538475 meters 0.06724113021857847 Centerline is valid? [True, True] Translation: X:154.84, Y:29.44, Z:-2.47 [[ 5.54729930e-01 -8.31961878e-01 -1.06835751e-02 1.54844447e+02] [ 8.31784896e-01 5.54832430e-01 -1.71715172e-02 2.94365922e+01] [ 2.02136416e-02 6.39118118e-04 9.99795479e-01 -2.47008030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.71538475 meters 0.06711034610604935 Centerline is valid? [True, True] Translation: X:154.86, Y:29.46, Z:-2.47 [[ 5.53493505e-01 -8.32784729e-01 -1.07020962e-02 1.54857776e+02] [ 8.32607150e-01 5.53596620e-01 -1.72080393e-02 2.94592621e+01] [ 2.02552366e-02 6.13896186e-04 9.99794653e-01 -2.47244311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.74538475 meters 0.06698846928182665 Centerline is valid? [True, True] Translation: X:154.87, Y:29.48, Z:-2.48 [[ 5.52267893e-01 -8.33593467e-01 -1.10501834e-02 1.54871403e+02] [ 8.33403997e-01 5.52378093e-01 -1.77825688e-02 2.94816925e+01] [ 2.09273124e-02 6.11474822e-04 9.99780813e-01 -2.47568845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.77538475 meters 0.06646228186167162 Centerline is valid? [True, True] Translation: X:154.89, Y:29.50, Z:-2.48 [[ 5.49586222e-01 -8.35367109e-01 -1.08063559e-02 1.54885469e+02] [ 8.35186025e-01 5.49692190e-01 -1.74011812e-02 2.95036968e+01] [ 2.04765439e-02 5.38131986e-04 9.99790189e-01 -2.47808729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.80538475 meters 0.06565116871960243 Centerline is valid? [True, True] Translation: X:154.90, Y:29.53, Z:-2.48 [[ 5.47918110e-01 -8.36467664e-01 -1.03726775e-02 1.54901815e+02] [ 8.36300831e-01 5.48016072e-01 -1.67124265e-02 2.95263675e+01] [ 1.96637983e-02 4.82362308e-04 9.99806532e-01 -2.47800426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.83538475 meters 0.06294707659126746 Centerline is valid? [True, True] Translation: X:154.93, Y:29.54, Z:-2.47 [[ 5.40889931e-01 -8.41031619e-01 -1.01930059e-02 1.54927131e+02] [ 8.40871084e-01 5.40985872e-01 -1.64349165e-02 2.95428644e+01] [ 1.93365566e-02 3.18476893e-04 9.99812981e-01 -2.47255337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.86538475 meters 0.06294339989003626 Centerline is valid? [True, True] Translation: X:154.94, Y:29.56, Z:-2.48 [[ 5.37114566e-01 -8.43451108e-01 -9.90815513e-03 1.54943673e+02] [ 8.43299610e-01 5.37205897e-01 -1.59872398e-02 2.95634501e+01] [ 1.88071744e-02 2.31435988e-04 9.99823103e-01 -2.47620023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.89538475 meters 0.0623175500314552 Centerline is valid? [True, True] Translation: X:154.96, Y:29.58, Z:-2.48 [[ 5.32454929e-01 -8.46402972e-01 -9.68284603e-03 1.54962072e+02] [ 8.46258592e-01 5.32542948e-01 -1.56334241e-02 2.95828146e+01] [ 1.83887080e-02 1.29902077e-04 9.99830905e-01 -2.47752921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.92538475 meters 0.06155542850383702 Centerline is valid? [True, True] Translation: X:154.98, Y:29.60, Z:-2.47 [[ 5.29425612e-01 -8.48301216e-01 -9.67311548e-03 1.54979026e+02] [ 8.48157217e-01 5.29513968e-01 -1.56298711e-02 2.96037863e+01] [ 1.83808884e-02 7.05313681e-05 9.99831055e-01 -2.47312072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.95538475 meters 0.06147139041791536 Centerline is valid? [True, True] Translation: X:155.00, Y:29.62, Z:-2.47 [[ 5.25795436e-01 -8.50561266e-01 -9.20284106e-03 1.54995996e+02] [ 8.50431098e-01 5.25875967e-01 -1.48800142e-02 2.96241807e+01] [ 1.74959167e-02 -2.53867371e-06 9.99846935e-01 -2.47308216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.98538475 meters 0.06111756835825045 Centerline is valid? [True, True] Translation: X:155.01, Y:29.65, Z:-2.47 [[ 5.22403540e-01 -8.52651948e-01 -8.89929015e-03 1.55012218e+02] [ 8.52530351e-01 5.22479331e-01 -1.43995998e-02 2.96467354e+01] [ 1.69275420e-02 -6.45130513e-05 9.99856717e-01 -2.46793895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.01538475 meters 0.06172019890017884 Centerline is valid? [True, True] Translation: X:155.03, Y:29.67, Z:-2.47 [[ 5.21304783e-01 -8.53320907e-01 -9.20615277e-03 1.55026494e+02] [ 8.53190781e-01 5.21386059e-01 -1.49019717e-02 2.96684048e+01] [ 1.75161237e-02 -8.61355321e-05 9.99846577e-01 -2.47484210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.04538475 meters 0.062014210786982125 Centerline is valid? [True, True] Translation: X:155.04, Y:29.69, Z:-2.48 [[ 5.19820801e-01 -8.54225938e-01 -9.18599189e-03 1.55039980e+02] [ 8.54096291e-01 5.19901948e-01 -1.48825675e-02 2.96897660e+01] [ 1.74888902e-02 -1.09453457e-04 9.99847052e-01 -2.47875273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.07538475 meters 0.06151265296729634 Centerline is valid? [True, True] Translation: X:155.05, Y:29.71, Z:-2.48 [[ 5.20375086e-01 -8.53894197e-01 -8.62960784e-03 1.55052187e+02] [ 8.53779603e-01 5.20446628e-01 -1.39891341e-02 2.97146878e+01] [ 1.64364907e-02 -8.81862975e-05 9.99864908e-01 -2.47637103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.10538475 meters 0.06117756419980238 Centerline is valid? [True, True] Translation: X:155.06, Y:29.74, Z:-2.47 [[ 5.19919045e-01 -8.54174240e-01 -8.39965851e-03 1.55062878e+02] [ 8.54065520e-01 5.19986884e-01 -1.36282250e-02 2.97389668e+01] [ 1.60085910e-02 -8.82849787e-05 9.99871850e-01 -2.47125267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.13538475000001 meters 0.06117446607083853 Centerline is valid? [True, True] Translation: X:155.08, Y:29.76, Z:-2.47 [[ 5.20380016e-01 -8.53897735e-01 -7.95593848e-03 1.55075718e+02] [ 8.53800001e-01 5.20440825e-01 -1.29192035e-02 2.97609268e+01] [ 1.51722738e-02 -6.98849563e-05 9.99884892e-01 -2.47254502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.16538475000002 meters 0.06072100796570366 Centerline is valid? [True, True] Translation: X:155.09, Y:29.78, Z:-2.47 [[ 5.21698822e-01 -8.53096504e-01 -7.52955223e-03 1.55088351e+02] [ 8.53008754e-01 5.21753154e-01 -1.22357311e-02 2.97847308e+01] [ 1.43668271e-02 -3.94074379e-05 9.99896791e-01 -2.46985336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.19538475000002 meters 0.06061311952166912 Centerline is valid? [True, True] Translation: X:155.10, Y:29.81, Z:-2.47 [[ 5.22101070e-01 -8.52850261e-01 -7.54358938e-03 1.55101096e+02] [ 8.52762029e-01 5.22155563e-01 -1.22674226e-02 2.98079926e+01] [ 1.44012017e-02 -2.80521320e-05 9.99896297e-01 -2.47109023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.22538475 meters 0.06036962871557844 Centerline is valid? [True, True] Translation: X:155.11, Y:29.83, Z:-2.47 [[ 5.25047863e-01 -8.51038881e-01 -7.58717315e-03 1.55112035e+02] [ 8.50949323e-01 5.25102678e-01 -1.23461032e-02 2.98334491e+01] [ 1.44910587e-02 2.59952183e-05 9.99894999e-01 -2.47042374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.25538475 meters 0.060481703591435114 Centerline is valid? [True, True] Translation: X:155.12, Y:29.86, Z:-2.47 [[ 5.26033557e-01 -8.50428691e-01 -7.72909019e-03 1.55124024e+02] [ 8.50335521e-01 5.26090334e-01 -1.25881801e-02 2.98557173e+01] [ 1.47715491e-02 4.94852003e-05 9.99890893e-01 -2.47223269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.28538475 meters 0.06018923360810592 Centerline is valid? [True, True] Translation: X:155.15, Y:29.87, Z:-2.47 [[ 5.21046156e-01 -8.53500211e-01 -6.94934996e-03 1.55145082e+02] [ 8.53425067e-01 5.21092496e-01 -1.13254585e-02 2.98743071e+01] [ 1.32875353e-02 -2.96628619e-05 9.99911716e-01 -2.47058341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.31538475 meters 0.06030321002951945 Centerline is valid? [True, True] Translation: X:155.16, Y:29.89, Z:-2.47 [[ 5.17903776e-01 -8.55413222e-01 -6.62555397e-03 1.55161691e+02] [ 8.55344949e-01 5.17946150e-01 -1.08075618e-02 2.98940730e+01] [ 1.26766114e-02 -6.98570818e-05 9.99919646e-01 -2.47098230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.34538475 meters 0.06073943998229605 Centerline is valid? [True, True] Translation: X:155.18, Y:29.91, Z:-2.47 [[ 5.13076237e-01 -8.58317660e-01 -6.60065172e-03 1.55180480e+02] [ 8.58250066e-01 5.13118675e-01 -1.07726431e-02 2.99148404e+01] [ 1.26332675e-02 -1.37822568e-04 9.99920188e-01 -2.47166327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.37538475 meters 0.06100956030614971 Centerline is valid? [True, True] Translation: X:155.20, Y:29.94, Z:-2.47 [[ 5.10671709e-01 -8.59746447e-01 -7.10303357e-03 1.55195244e+02] [ 8.59668259e-01 5.10721072e-01 -1.15961923e-02 2.99370260e+01] [ 1.35974541e-02 -1.84405158e-04 9.99907533e-01 -2.47425836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.40538475 meters 0.061452989641258976 Centerline is valid? [True, True] Translation: X:155.21, Y:29.96, Z:-2.48 [[ 5.08944041e-01 -8.60769162e-01 -7.23972609e-03 1.55208891e+02] [ 8.60687900e-01 5.08995487e-01 -1.18293270e-02 2.99596548e+01] [ 1.38673078e-02 -2.10679148e-04 9.99903822e-01 -2.47523307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.43538475 meters 0.06093268390928591 Centerline is valid? [True, True] Translation: X:155.22, Y:29.98, Z:-2.47 [[ 5.06596326e-01 -8.62156928e-01 -6.75227079e-03 1.55221873e+02] [ 8.62086242e-01 5.06641273e-01 -1.10422514e-02 2.99831291e+01] [ 1.29411326e-02 -2.27075753e-04 9.99916234e-01 -2.47208775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.46538475 meters 0.061387588923358556 Centerline is valid? [True, True] Translation: X:155.24, Y:30.01, Z:-2.47 [[ 5.07036435e-01 -8.61900670e-01 -6.42568493e-03 1.55236407e+02] [ 8.61836556e-01 5.07077107e-01 -1.05146407e-02 3.00056761e+01] [ 1.23208936e-02 -2.06584230e-04 9.99924074e-01 -2.47422510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.49538475 meters 0.061103919295302844 Centerline is valid? [True, True] Translation: X:155.25, Y:30.03, Z:-2.47 [[ 5.08172437e-01 -8.61226357e-01 -7.06649545e-03 1.55247248e+02] [ 8.61148637e-01 5.08221526e-01 -1.15717351e-02 3.00287156e+01] [ 1.35572284e-02 -2.04866104e-04 9.99908076e-01 -2.47488479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.52538475 meters 0.060995017184366125 Centerline is valid? [True, True] Translation: X:155.26, Y:30.05, Z:-2.48 [[ 5.08487448e-01 -8.61038658e-01 -7.27626989e-03 1.55259311e+02] [ 8.60956129e-01 5.08539466e-01 -1.19229113e-02 3.00528052e+01] [ 1.39663579e-02 -2.01898412e-04 9.99902445e-01 -2.47655241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.55538475 meters 0.060995017184366125 Centerline is valid? [True, True] Translation: X:155.27, Y:30.08, Z:-2.48 [[ 5.08220767e-01 -8.61196123e-01 -7.27258467e-03 1.55272638e+02] [ 8.61113577e-01 5.08272759e-01 -1.19251603e-02 3.00751810e+01] [ 1.39663585e-02 -2.01907295e-04 9.99902445e-01 -2.47690076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.58538475 meters 0.060183513718693286 Centerline is valid? [True, True] Translation: X:155.28, Y:30.10, Z:-2.47 [[ 5.10269825e-01 -8.59983374e-01 -7.30091225e-03 1.55282759e+02] [ 8.59899958e-01 5.10322026e-01 -1.19788599e-02 3.01007870e+01] [ 1.40274367e-02 -1.65603379e-04 9.99901597e-01 -2.47394106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.61538475 meters 0.05968753714567862 Centerline is valid? [True, True] Translation: X:155.29, Y:30.13, Z:-2.47 [[ 5.11392049e-01 -8.59320595e-01 -6.80349105e-03 1.55293747e+02] [ 8.59247990e-01 5.11437286e-01 -1.11711442e-02 3.01259814e+01] [ 1.30791533e-02 -1.33051685e-04 9.99914455e-01 -2.47180749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.64538475 meters 0.06002120984988043 Centerline is valid? [True, True] Translation: X:155.31, Y:30.14, Z:-2.47 [[ 5.08952017e-01 -8.60771909e-01 -6.29013470e-03 1.55312859e+02] [ 8.60709837e-01 5.08990863e-01 -1.03382409e-02 3.01441355e+01] [ 1.21004884e-02 -1.52312269e-04 9.99926775e-01 -2.47246880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.67538475 meters 0.060015019489788206 Centerline is valid? [True, True] Translation: X:155.33, Y:30.17, Z:-2.47 [[ 5.09301028e-01 -8.60563284e-01 -6.58002835e-03 1.55326559e+02] [ 8.60495261e-01 5.09343510e-01 -1.08210448e-02 3.01665221e+01] [ 1.26636886e-02 -1.50913972e-04 9.99919801e-01 -2.47340131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.70538475 meters 0.05993641786726032 Centerline is valid? [True, True] Translation: X:155.34, Y:30.19, Z:-2.47 [[ 5.05606802e-01 -8.62739684e-01 -6.48065411e-03 1.55343380e+02] [ 8.62673792e-01 5.05648294e-01 -1.06645248e-02 3.01883824e+01] [ 1.24776405e-02 -1.98634150e-04 9.99922131e-01 -2.47040991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.73538475 meters 0.06080175042747058 Centerline is valid? [True, True] Translation: X:155.36, Y:30.21, Z:-2.48 [[ 5.04807567e-01 -8.63202306e-01 -7.14842644e-03 1.55360077e+02] [ 8.63122072e-01 5.04858126e-01 -1.17712145e-02 3.02089889e+01] [ 1.37698807e-02 -2.27766481e-04 9.99905165e-01 -2.47609281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.76538475 meters 0.060117751783920904 Centerline is valid? [True, True] Translation: X:155.37, Y:30.23, Z:-2.47 [[ 5.04485149e-01 -8.63387755e-01 -7.50461655e-03 1.55373838e+02] [ 8.63299224e-01 5.04540908e-01 -1.23661724e-02 3.02321567e+01] [ 1.44631878e-02 -2.40179320e-04 9.99895374e-01 -2.47220105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.79538475 meters 0.06106563430494541 Centerline is valid? [True, True] Translation: X:155.39, Y:30.25, Z:-2.48 [[ 5.03237926e-01 -8.64117827e-01 -7.20906999e-03 1.55389859e+02] [ 8.64036064e-01 5.03289500e-01 -1.18894259e-02 3.02521509e+01] [ 1.39021141e-02 -2.45686429e-04 9.99903331e-01 -2.47634484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.82538475 meters 0.06065793667255543 Centerline is valid? [True, True] Translation: X:155.40, Y:30.28, Z:-2.47 [[ 5.01188921e-01 -8.65310667e-01 -6.86399235e-03 1.55403121e+02] [ 8.65236571e-01 5.01235853e-01 -1.13267826e-02 3.02761573e+01] [ 1.32416648e-02 -2.62119277e-04 9.99912291e-01 -2.47163247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.85538475 meters 0.06076178675656273 Centerline is valid? [True, True] Translation: X:155.42, Y:30.30, Z:-2.47 [[ 4.99903686e-01 -8.66054461e-01 -6.78050788e-03 1.55417305e+02] [ 8.65982126e-01 4.99949593e-01 -1.11965461e-02 3.02997718e+01] [ 1.30867308e-02 -2.74603976e-04 9.99914327e-01 -2.47270239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.88538475000001 meters 0.06044497801871906 Centerline is valid? [True, True] Translation: X:155.43, Y:30.32, Z:-2.47 [[ 5.01085635e-01 -8.65368313e-01 -7.13222275e-03 1.55427181e+02] [ 8.65288074e-01 5.01136321e-01 -1.17871291e-02 3.03236958e+01] [ 1.37744239e-02 -2.65066199e-04 9.99905093e-01 -2.47367722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.91538475000002 meters 0.060406113863080625 Centerline is valid? [True, True] Translation: X:155.44, Y:30.35, Z:-2.47 [[ 5.00849214e-01 -8.65507207e-01 -6.88042971e-03 1.55439632e+02] [ 8.65432439e-01 5.00896406e-01 -1.13790628e-02 3.03474302e+01] [ 1.32950434e-02 -2.55352411e-04 9.99911584e-01 -2.47401150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.94538475000002 meters 0.0617355068963667 Centerline is valid? [True, True] Translation: X:155.46, Y:30.37, Z:-2.47 [[ 4.95514085e-01 -8.68581158e-01 -5.70643659e-03 1.55458991e+02] [ 8.68529891e-01 4.95546864e-01 -9.44109875e-03 3.03664718e+01] [ 1.10281672e-02 -2.78013340e-04 9.99939149e-01 -2.47417036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.97538475 meters 0.0628710288085034 Centerline is valid? [True, True] Translation: X:155.48, Y:30.39, Z:-2.47 [[ 4.90940905e-01 -8.71176922e-01 -5.27252987e-03 1.55479105e+02] [ 8.71133225e-01 4.90969120e-01 -8.73082842e-03 3.03860357e+01] [ 1.01947456e-02 -3.06755151e-04 9.99947985e-01 -2.47476150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.00538475 meters 0.06274388031027892 Centerline is valid? [True, True] Translation: X:155.49, Y:30.41, Z:-2.47 [[ 4.91974127e-01 -8.70589353e-01 -5.96962518e-03 1.55491468e+02] [ 8.70533208e-01 4.92010233e-01 -9.89267685e-03 3.04079947e+01] [ 1.15495758e-02 -3.29815903e-04 9.99933247e-01 -2.47429565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.03538475 meters 0.06485524172006464 Centerline is valid? [True, True] Translation: X:155.51, Y:30.43, Z:-2.48 [[ 4.87530677e-01 -8.73076130e-01 -7.20495064e-03 1.55510529e+02] [ 8.72994577e-01 4.87583689e-01 -1.19421591e-02 3.04260493e+01] [ 1.39394304e-02 -4.67713939e-04 9.99902732e-01 -2.47587888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.06538475 meters 0.06619097683212367 Centerline is valid? [True, True] Translation: X:155.53, Y:30.44, Z:-2.48 [[ 4.84658679e-01 -8.74673341e-01 -7.24654491e-03 1.55527922e+02] [ 8.74590914e-01 4.84712579e-01 -1.20187074e-02 3.04449184e+01] [ 1.40249345e-02 -5.12791463e-04 9.99901514e-01 -2.47570381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.09538475 meters 0.06800170115002165 Centerline is valid? [True, True] Translation: X:155.54, Y:30.47, Z:-2.48 [[ 4.80836398e-01 -8.76781599e-01 -7.09832478e-03 1.55544995e+02] [ 8.76702599e-01 4.80888466e-01 -1.17828796e-02 3.04652739e+01] [ 1.37445145e-02 -5.57482405e-04 9.99905384e-01 -2.47561802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.12538475 meters 0.06832262843343186 Centerline is valid? [True, True] Translation: X:155.56, Y:30.49, Z:-2.48 [[ 4.81164800e-01 -8.76598238e-01 -7.48097314e-03 1.55556736e+02] [ 8.76510345e-01 4.81222605e-01 -1.24266020e-02 3.04881093e+01] [ 1.44931508e-02 -5.77906887e-04 9.99894802e-01 -2.47615367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.15538475 meters 0.06586814730704267 Centerline is valid? [True, True] Translation: X:155.56, Y:30.52, Z:-2.47 [[ 4.80734015e-01 -8.76832081e-01 -7.76587987e-03 1.55563717e+02] [ 8.76737281e-01 4.80796358e-01 -1.29074511e-02 3.05161319e+01] [ 1.50514740e-02 -6.03585583e-04 9.99886538e-01 -2.47236861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.18538475 meters 0.06862949929891134 Centerline is valid? [True, True] Translation: X:155.58, Y:30.54, Z:-2.48 [[ 4.82000019e-01 -8.76129766e-01 -8.52145791e-03 1.55577910e+02] [ 8.76015323e-01 4.82074925e-01 -1.41746481e-02 3.05374200e+01] [ 1.65268123e-02 -6.32747025e-04 9.99863223e-01 -2.47992401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.21538475 meters 0.06820459277223669 Centerline is valid? [True, True] Translation: X:155.59, Y:30.56, Z:-2.48 [[ 4.83426014e-01 -8.75345196e-01 -8.37119411e-03 1.55589086e+02] [ 8.75234514e-01 4.83498126e-01 -1.39322240e-02 3.05621966e+01] [ 1.62429620e-02 -5.91558468e-04 9.99867899e-01 -2.48093227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.24538475 meters 0.06438489948059319 Centerline is valid? [True, True] Translation: X:155.59, Y:30.59, Z:-2.47 [[ 4.87597006e-01 -8.73031340e-01 -8.08944703e-03 1.55592756e+02] [ 8.72927508e-01 4.87663856e-01 -1.34732746e-02 3.05912315e+01] [ 1.57075219e-02 -4.91972497e-04 9.99876508e-01 -2.47368278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.27538475 meters 0.06538542057410016 Centerline is valid? [True, True] Translation: X:155.61, Y:30.61, Z:-2.48 [[ 4.89872062e-01 -8.71755924e-01 -8.18364997e-03 1.55607008e+02] [ 8.71649338e-01 4.89940206e-01 -1.36391586e-02 3.06135733e+01] [ 1.58995165e-02 -4.51830326e-04 9.99873493e-01 -2.47888710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.30538475 meters 0.06209380275499324 Centerline is valid? [True, True] Translation: X:155.61, Y:30.65, Z:-2.48 [[ 4.96458796e-01 -8.68015502e-01 -8.81776767e-03 1.55606344e+02] [ 8.67890999e-01 4.96536972e-01 -1.47053934e-02 3.06451878e+01] [ 1.71428571e-02 -3.52239312e-04 9.99852988e-01 -2.47714255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.33538475 meters 0.06155205664854774 Centerline is valid? [True, True] Translation: X:155.62, Y:30.67, Z:-2.48 [[ 4.99537789e-01 -8.66241772e-01 -9.33757412e-03 1.55615918e+02] [ 8.66101681e-01 4.99624960e-01 -1.55813204e-02 3.06713984e+01] [ 1.81624756e-02 -3.03830326e-04 9.99835002e-01 -2.47801581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.36538475 meters 0.06010463527431726 Centerline is valid? [True, True] Translation: X:155.62, Y:30.70, Z:-2.48 [[ 5.07944517e-01 -8.61333911e-01 -9.81133433e-03 1.55619551e+02] [ 8.61178101e-01 5.08039248e-01 -1.63829405e-02 3.07007664e+01] [ 1.90957251e-02 -1.27681485e-04 9.99817652e-01 -2.47533620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.39538475 meters 0.06004266756096879 Centerline is valid? [True, True] Translation: X:155.63, Y:30.73, Z:-2.48 [[ 5.12933326e-01 -8.58363129e-01 -1.05896997e-02 1.55628786e+02] [ 8.58180744e-01 5.13042628e-01 -1.76938688e-02 3.07273595e+01] [ 2.06207319e-02 -1.21014297e-05 9.99787370e-01 -2.47598946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.42538475 meters 0.060887123327164706 Centerline is valid? [True, True] Translation: X:155.63, Y:30.76, Z:-2.48 [[ 5.21624677e-01 -8.53100468e-01 -1.12821947e-02 1.55633695e+02] [ 8.52891905e-01 5.21746628e-01 -1.88641132e-02 3.07551785e+01] [ 2.19794309e-02 2.17494406e-04 9.99758399e-01 -2.47916902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.45538475 meters 0.06167940177880965 Centerline is valid? [True, True] Translation: X:155.64, Y:30.78, Z:-2.48 [[ 5.25261277e-01 -8.50864551e-01 -1.14064572e-02 1.55642859e+02] [ 8.50650548e-01 5.25385014e-01 -1.90848509e-02 3.07808467e+01] [ 2.22314047e-02 3.21624114e-04 9.99752800e-01 -2.48056411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.48538475 meters 0.06459461934782156 Centerline is valid? [True, True] Translation: X:155.64, Y:30.81, Z:-2.48 [[ 5.35463323e-01 -8.44488140e-01 -1.09000404e-02 1.55643729e+02] [ 8.44291194e-01 5.35573954e-01 -1.82460935e-02 3.08103344e+01] [ 2.12463873e-02 5.67305738e-04 9.99774109e-01 -2.48272491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.51538475 meters 0.06686010285258642 Centerline is valid? [True, True] Translation: X:155.65, Y:30.84, Z:-2.49 [[ 5.39916846e-01 -8.41649731e-01 -1.07485017e-02 1.55650337e+02] [ 8.41457455e-01 5.40023402e-01 -1.80021463e-02 3.08367140e+01] [ 2.09559440e-02 6.75255126e-04 9.99780172e-01 -2.48529709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.54538475 meters 0.0725955794891174 Centerline is valid? [True, True] Translation: X:155.65, Y:30.87, Z:-2.49 [[ 5.48971498e-01 -8.35765827e-01 -1.12150585e-02 1.55652751e+02] [ 8.35554926e-01 5.49085223e-01 -1.87984797e-02 3.08652522e+01] [ 2.18691498e-02 9.49032159e-04 9.99760391e-01 -2.48922198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.57538475 meters 0.07371752307938553 Centerline is valid? [True, True] Translation: X:155.66, Y:30.89, Z:-2.49 [[ 5.52946301e-01 -8.33147440e-01 -1.07578645e-02 1.55664058e+02] [ 8.32952629e-01 5.53050007e-01 -1.80445966e-02 3.08901922e+01] [ 2.09834465e-02 1.01690142e-03 9.99779306e-01 -2.48653621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.60538475 meters 0.07961777482941557 Centerline is valid? [True, True] Translation: X:155.67, Y:30.92, Z:-2.49 [[ 5.58220861e-01 -8.29630065e-01 -1.01698912e-02 1.55668116e+02] [ 8.29455140e-01 5.58312421e-01 -1.70707827e-02 3.09179760e+01] [ 1.98404111e-02 1.09379851e-03 9.99802561e-01 -2.48831023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.63538475000001 meters 0.07786998293401476 Centerline is valid? [True, True] Translation: X:155.69, Y:30.94, Z:-2.49 [[ 5.58656555e-01 -8.29335982e-01 -1.02314960e-02 1.55685771e+02] [ 8.29158673e-01 5.58749123e-01 -1.71846708e-02 3.09395230e+01] [ 1.99687052e-02 1.11679535e-03 9.99799982e-01 -2.48589213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.66538475000002 meters 0.07856652920719367 Centerline is valid? [True, True] Translation: X:155.70, Y:30.96, Z:-2.49 [[ 5.58329427e-01 -8.29544476e-01 -1.11451464e-02 1.55699263e+02] [ 8.29333876e-01 5.58439332e-01 -1.87305897e-02 3.09632197e+01] [ 2.17617454e-02 1.21479195e-03 9.99762447e-01 -2.48988316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.69538475000002 meters 0.07727962193638903 Centerline is valid? [True, True] Translation: X:155.71, Y:30.98, Z:-2.49 [[ 5.57921326e-01 -8.29818655e-01 -1.11710817e-02 1.55714593e+02] [ 8.29606807e-01 5.58031829e-01 -1.87888934e-02 3.09845662e+01] [ 2.18251934e-02 1.21511891e-03 9.99761064e-01 -2.49038682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.72538475 meters 0.0773038539309731 Centerline is valid? [True, True] Translation: X:155.73, Y:31.01, Z:-2.49 [[ 5.57227315e-01 -8.30277307e-01 -1.17180576e-02 1.55728896e+02] [ 8.30043983e-01 5.57349079e-01 -1.97228215e-02 3.10063208e+01] [ 2.29064597e-02 1.26359165e-03 9.99736814e-01 -2.49239782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.75538475 meters 0.07781619252808017 Centerline is valid? [True, True] Translation: X:155.74, Y:31.03, Z:-2.49 [[ 5.56401121e-01 -8.30834008e-01 -1.15171314e-02 1.55741775e+02] [ 8.30608443e-01 5.56518955e-01 -1.93976300e-02 3.10291039e+01] [ 2.25257126e-02 1.22663650e-03 9.99745511e-01 -2.49438780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.78538475 meters 0.07946906113280498 Centerline is valid? [True, True] Translation: X:155.75, Y:31.05, Z:-2.50 [[ 5.57135943e-01 -8.30343170e-01 -1.13912843e-02 1.55753451e+02] [ 8.30122113e-01 5.57251005e-01 -1.91988294e-02 3.10525536e+01] [ 2.22894215e-02 1.24020090e-03 9.99750791e-01 -2.49678161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.81538475 meters 0.08172169470362323 Centerline is valid? [True, True] Translation: X:155.76, Y:31.08, Z:-2.50 [[ 5.58602837e-01 -8.29365479e-01 -1.07597650e-02 1.55764654e+02] [ 8.29167816e-01 5.58705133e-01 -1.81468372e-02 3.10759100e+01] [ 2.10618963e-02 1.21522390e-03 9.99777435e-01 -2.49657432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.84538475 meters 0.08269858973371408 Centerline is valid? [True, True] Translation: X:155.78, Y:31.10, Z:-2.50 [[ 5.59169687e-01 -8.28989651e-01 -1.02674062e-02 1.55776718e+02] [ 8.28809383e-01 5.59262700e-01 -1.73273976e-02 3.11003953e+01] [ 2.01064107e-02 1.17923286e-03 9.99797150e-01 -2.49746639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.87538475 meters 0.08170992315894376 Centerline is valid? [True, True] Translation: X:155.79, Y:31.12, Z:-2.50 [[ 5.59782706e-01 -8.28585987e-01 -9.41192594e-03 1.55791197e+02] [ 8.28434211e-01 5.59860741e-01 -1.58968256e-02 3.11221925e+01] [ 1.84412547e-02 1.10160661e-03 9.99829339e-01 -2.49556737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.90538475 meters 0.08334892037738963 Centerline is valid? [True, True] Translation: X:155.80, Y:31.15, Z:-2.50 [[ 5.61046903e-01 -8.27740195e-01 -8.51717127e-03 1.55802703e+02] [ 8.27615640e-01 5.61110607e-01 -1.43957646e-02 3.11458279e+01] [ 1.66950281e-02 1.02775499e-03 9.99860100e-01 -2.49554286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.93538475 meters 0.07866901646070579 Centerline is valid? [True, True] Translation: X:155.83, Y:31.16, Z:-2.49 [[ 5.58727900e-01 -8.29305544e-01 -8.68606840e-03 1.55827436e+02] [ 8.29176004e-01 5.58794507e-01 -1.46919365e-02 3.11626764e+01] [ 1.70378317e-02 1.00651535e-03 9.99854339e-01 -2.49156754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.96538475 meters 0.07800366465809574 Centerline is valid? [True, True] Translation: X:155.84, Y:31.19, Z:-2.49 [[ 5.59783920e-01 -8.28593364e-01 -8.66027194e-03 1.55843491e+02] [ 8.28464352e-01 5.59849958e-01 -1.46574874e-02 3.11855080e+01] [ 1.69935497e-02 1.03029918e-03 9.99855068e-01 -2.49026416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.99538475 meters 0.08023940817620494 Centerline is valid? [True, True] Translation: X:155.85, Y:31.21, Z:-2.49 [[ 5.59636559e-01 -8.28698841e-01 -8.07172562e-03 1.55853972e+02] [ 8.28586599e-01 5.59693936e-01 -1.36728183e-02 3.12097848e+01] [ 1.58483445e-02 9.63685273e-04 9.99873943e-01 -2.49356791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.02538475 meters 0.07965879671058328 Centerline is valid? [True, True] Translation: X:155.87, Y:31.23, Z:-2.50 [[ 5.57321484e-01 -8.30260375e-01 -7.77644324e-03 1.55869561e+02] [ 8.30156255e-01 5.57375026e-01 -1.31784933e-02 3.12306364e+01] [ 1.52759761e-02 8.88994473e-04 9.99882920e-01 -2.49513410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.05538475 meters 0.07752096522071707 Centerline is valid? [True, True] Translation: X:155.89, Y:31.25, Z:-2.50 [[ 5.53610596e-01 -8.32732354e-01 -8.49324098e-03 1.55890851e+02] [ 8.32608244e-01 5.53675005e-01 -1.44048769e-02 3.12492338e+01] [ 1.66979023e-02 9.03150019e-04 9.99860172e-01 -2.49669144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.08538475 meters 0.08126640086621094 Centerline is valid? [True, True] Translation: X:155.90, Y:31.27, Z:-2.50 [[ 5.50758334e-01 -8.34624386e-01 -8.20924706e-03 1.55898150e+02] [ 8.34508541e-01 5.50818900e-01 -1.39296057e-02 3.12746749e+01] [ 1.61477970e-02 8.21159634e-04 9.99869279e-01 -2.50280309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.11538475 meters 0.0731169395679406 Centerline is valid? [True, True] Translation: X:155.93, Y:31.29, Z:-2.49 [[ 5.47629283e-01 -8.36681721e-01 -8.11580130e-03 1.55928889e+02] [ 8.36568532e-01 5.47688892e-01 -1.37829139e-02 3.12881722e+01] [ 1.59768464e-02 7.58503290e-04 9.99872074e-01 -2.49428062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.14538475 meters 0.07240522699913667 Centerline is valid? [True, True] Translation: X:155.94, Y:31.31, Z:-2.49 [[ 5.44329149e-01 -8.38844014e-01 -6.81886385e-03 1.55944360e+02] [ 8.38764147e-01 5.44371539e-01 -1.15902632e-02 3.13103324e+01] [ 1.34344183e-02 5.89499589e-04 9.99909580e-01 -2.49388527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.17538475 meters 0.07153392351681813 Centerline is valid? [True, True] Translation: X:155.96, Y:31.33, Z:-2.50 [[ 5.40995439e-01 -8.41008580e-01 -5.33892514e-03 1.55958741e+02] [ 8.40959635e-01 5.41021616e-01 -9.08312021e-03 3.13323154e+01] [ 1.05274559e-02 4.24106068e-04 9.99944495e-01 -2.49514035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.20538475 meters 0.07261420800263028 Centerline is valid? [True, True] Translation: X:155.97, Y:31.36, Z:-2.50 [[ 5.38847905e-01 -8.42387564e-01 -5.11153628e-03 1.55969973e+02] [ 8.42342732e-01 5.38872013e-01 -8.69911564e-03 3.13562369e+01] [ 1.00824907e-02 3.81834806e-04 9.99949098e-01 -2.49843456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.23538475 meters 0.06922566856496036 Centerline is valid? [True, True] Translation: X:155.99, Y:31.37, Z:-2.50 [[ 5.32611085e-01 -8.46350335e-01 -4.06721294e-03 1.55994766e+02] [ 8.46322001e-01 5.32626556e-01 -6.92979971e-03 3.13736213e+01] [ 8.03134393e-03 2.48716346e-04 9.99967717e-01 -2.49544663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.26538475 meters 0.06989423648260408 Centerline is valid? [True, True] Translation: X:156.01, Y:31.40, Z:-2.50 [[ 5.30976001e-01 -8.47380415e-01 -3.30435337e-03 1.56006438e+02] [ 8.47361695e-01 5.30986248e-01 -5.63586903e-03 3.13976703e+01] [ 6.53029123e-03 1.92528726e-04 9.99978659e-01 -2.49737587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.29538475 meters 0.06765712070016813 Centerline is valid? [True, True] Translation: X:156.03, Y:31.42, Z:-2.49 [[ 5.27076225e-01 -8.49813630e-01 -2.72907945e-03 1.56026882e+02] [ 8.49800867e-01 5.27083272e-01 -4.65951666e-03 3.14169101e+01] [ 5.39817289e-03 1.36746364e-04 9.99985420e-01 -2.49439865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.32538475 meters 0.06679782592471421 Centerline is valid? [True, True] Translation: X:156.04, Y:31.44, Z:-2.49 [[ 5.23696341e-01 -8.51902100e-01 -2.22583687e-03 1.56043736e+02] [ 8.51893613e-01 5.23701062e-01 -3.80388778e-03 3.14386360e+01] [ 4.40621312e-03 9.59058991e-05 9.99990288e-01 -2.49467923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.35538475 meters 0.06637868080367033 Centerline is valid? [True, True] Translation: X:156.06, Y:31.46, Z:-2.50 [[ 5.21958698e-01 -8.52967973e-01 -2.18049211e-03 1.56056886e+02] [ 8.52959826e-01 5.21963246e-01 -3.72894247e-03 3.14620208e+01] [ 4.31880524e-03 8.64817863e-05 9.99990670e-01 -2.49653254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.38538475000001 meters 0.06591162759758849 Centerline is valid? [True, True] Translation: X:156.07, Y:31.49, Z:-2.50 [[ 5.21733434e-01 -8.53104844e-01 -2.51960613e-03 1.56071275e+02] [ 8.53093957e-01 5.21739508e-01 -4.31115028e-03 3.14852280e+01] [ 4.99244125e-03 9.98104744e-05 9.99987533e-01 -2.49628396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.41538475000002 meters 0.06603607712242973 Centerline is valid? [True, True] Translation: X:156.08, Y:31.51, Z:-2.50 [[ 5.22324410e-01 -8.52743067e-01 -2.54425474e-03 1.56083528e+02] [ 8.52731946e-01 5.22330596e-01 -4.35631346e-03 3.15098451e+01] [ 5.04375819e-03 1.05841565e-04 9.99987275e-01 -2.49749304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.44538475000002 meters 0.06599057839203863 Centerline is valid? [True, True] Translation: X:156.10, Y:31.53, Z:-2.50 [[ 5.22456217e-01 -8.52663028e-01 -2.29381111e-03 1.56095078e+02] [ 8.52653973e-01 5.22461243e-01 -3.93097788e-03 3.15344791e+01] [ 4.55022691e-03 9.79366752e-05 9.99989643e-01 -2.49909146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.47538475 meters 0.06599057839203863 Centerline is valid? [True, True] Translation: X:156.11, Y:31.56, Z:-2.50 [[ 5.22195838e-01 -8.52822520e-01 -2.29260551e-03 1.56108447e+02] [ 8.52813462e-01 5.22200862e-01 -3.93168187e-03 3.15577801e+01] [ 4.55022741e-03 9.79430646e-05 9.99989643e-01 -2.49945105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.50538475 meters 0.06588924562492014 Centerline is valid? [True, True] Translation: X:156.12, Y:31.58, Z:-2.50 [[ 5.21854263e-01 -8.53032781e-01 -1.78973988e-03 1.56121421e+02] [ 8.53027248e-01 5.21857326e-01 -3.07319216e-03 3.15818480e+01] [ 3.55552252e-03 7.70615473e-05 9.99993676e-01 -2.50005149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.53538475 meters 0.06659146480174767 Centerline is valid? [True, True] Translation: X:156.13, Y:31.61, Z:-2.50 [[ 5.23968881e-01 -8.51735468e-01 -1.81801004e-03 1.56130596e+02] [ 8.51729742e-01 5.23972027e-01 -3.12430476e-03 3.16068020e+01] [ 3.61366758e-03 8.85852500e-05 9.99993467e-01 -2.50232481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.56538475 meters 0.06619137718556982 Centerline is valid? [True, True] Translation: X:156.14, Y:31.63, Z:-2.50 [[ 5.23293357e-01 -8.52151165e-01 -1.56662039e-03 1.56144608e+02] [ 8.52146904e-01 5.23295697e-01 -2.69598848e-03 3.16297929e+01] [ 3.11719544e-03 7.58021490e-05 9.99995139e-01 -2.50239012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.59538475 meters 0.06574316206594429 Centerline is valid? [True, True] Translation: X:156.16, Y:31.65, Z:-2.50 [[ 5.20974096e-01 -8.53570374e-01 -1.89942224e-03 1.56161583e+02] [ 8.53564122e-01 5.20977552e-01 -3.26809848e-03 3.16513487e+01] [ 3.77910839e-03 8.13159731e-05 9.99992856e-01 -2.50317528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.62538475 meters 0.06508394680286521 Centerline is valid? [True, True] Translation: X:156.18, Y:31.67, Z:-2.50 [[ 5.17834495e-01 -8.55478353e-01 -2.05520890e-03 1.56178522e+02] [ 8.55471038e-01 5.17838568e-01 -3.53840204e-03 3.16722745e+01] [ 4.09129278e-03 7.41349435e-05 9.99991628e-01 -2.50381939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.65538475 meters 0.0642196522044607 Centerline is valid? [True, True] Translation: X:156.20, Y:31.69, Z:-2.50 [[ 5.14663325e-01 -8.57389342e-01 -2.27550545e-03 1.56198483e+02] [ 8.57380391e-01 5.14668351e-01 -3.91832674e-03 3.16934533e+01] [ 4.53066222e-03 6.56453168e-05 9.99989734e-01 -2.50106658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.68538475 meters 0.06403861403136925 Centerline is valid? [True, True] Translation: X:156.21, Y:31.72, Z:-2.50 [[ 5.12444141e-01 -8.58718199e-01 -2.01436653e-03 1.56211617e+02] [ 8.58711175e-01 5.12448097e-01 -3.47344601e-03 3.17166441e+01] [ 4.01496959e-03 5.01879996e-05 9.99991939e-01 -2.50334123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.71538475 meters 0.0634963172985048 Centerline is valid? [True, True] Translation: X:156.23, Y:31.74, Z:-2.50 [[ 5.09790292e-01 -8.60298601e-01 -4.19011665e-04 1.56226507e+02] [ 8.60298292e-01 5.09790464e-01 -7.29384517e-04 3.17398256e+01] [ 8.41096630e-04 1.13581258e-05 9.99999646e-01 -2.50192164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.74538475 meters 0.06343049346408432 Centerline is valid? [True, True] Translation: X:156.24, Y:31.76, Z:-2.50 [[ 5.08068357e-01 -8.61316741e-01 1.30168769e-04 1.56239797e+02] [ 8.61316713e-01 5.08068374e-01 2.16943306e-04 3.17619851e+01] [-2.52991536e-04 1.89450772e-06 9.99999968e-01 -2.50372181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.77538475 meters 0.06330594319208145 Centerline is valid? [True, True] Translation: X:156.25, Y:31.78, Z:-2.50 [[ 5.07851960e-01 -8.61444120e-01 6.44215699e-04 1.56253799e+02] [ 8.61443416e-01 5.07852369e-01 1.10131624e-03 3.17844533e+01] [-1.27588887e-03 -4.35023979e-06 9.99999186e-01 -2.50072510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.80538475 meters 0.06318860682884689 Centerline is valid? [True, True] Translation: X:156.27, Y:31.80, Z:-2.50 [[ 5.02201472e-01 -8.64747989e-01 2.14401309e-03 1.56273473e+02] [ 8.64740118e-01 5.02206048e-01 3.68956253e-03 3.18036034e+01] [-4.26727812e-03 1.11040242e-06 9.99990895e-01 -2.49957503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.83538475 meters 0.06311594772285928 Centerline is valid? [True, True] Translation: X:156.29, Y:31.82, Z:-2.50 [[ 4.95714916e-01 -8.68477828e-01 3.60336389e-03 1.56294479e+02] [ 8.68455619e-01 4.95728010e-01 6.21109803e-03 3.18224164e+01] [-7.18048934e-03 5.04276798e-05 9.99974219e-01 -2.49717516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.86538475 meters 0.06342679611864659 Centerline is valid? [True, True] Translation: X:156.32, Y:31.84, Z:-2.50 [[ 4.89177594e-01 -8.72173502e-01 4.32024714e-03 1.56315932e+02] [ 8.72141652e-01 4.89196656e-01 7.45456843e-03 3.18415531e+01] [-8.61512751e-03 1.21259629e-04 9.99962882e-01 -2.49543073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.89538475 meters 0.06443924867236224 Centerline is valid? [True, True] Translation: X:156.33, Y:31.86, Z:-2.50 [[ 4.82161424e-01 -8.76071662e-01 4.33644921e-03 1.56333537e+02] [ 8.76039685e-01 4.82180887e-01 7.48751297e-03 3.18624510e+01] [-8.65055086e-03 1.88711686e-04 9.99962565e-01 -2.49702912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.92538475 meters 0.06504603850152751 Centerline is valid? [True, True] Translation: X:156.35, Y:31.88, Z:-2.50 [[ 4.79072381e-01 -8.77766192e-01 4.02072661e-03 1.56348663e+02] [ 8.77738718e-01 4.79089211e-01 6.94766637e-03 3.18838748e+01] [-8.02471339e-03 2.00712353e-04 9.99967781e-01 -2.49932892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.95538475 meters 0.0666183326386227 Centerline is valid? [True, True] Translation: X:156.37, Y:31.90, Z:-2.50 [[ 4.73523054e-01 -8.80774563e-01 3.47658923e-03 1.56366168e+02] [ 8.80754095e-01 4.73535766e-01 6.00850604e-03 3.19039288e+01] [-6.93842863e-03 2.16854073e-04 9.99975905e-01 -2.50041210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.98538475 meters 0.06795715439415528 Centerline is valid? [True, True] Translation: X:156.38, Y:31.92, Z:-2.50 [[ 4.69427182e-01 -8.82965778e-01 3.09107387e-03 1.56383400e+02] [ 8.82949619e-01 4.69437308e-01 5.34644200e-03 3.19239058e+01] [-6.17179072e-03 2.19497292e-04 9.99980930e-01 -2.50204059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.01538475 meters 0.06698926805877946 Centerline is valid? [True, True] Translation: X:156.39, Y:31.95, Z:-2.50 [[ 4.67398624e-01 -8.84042338e-01 2.76972026e-03 1.56393641e+02] [ 8.84029378e-01 4.67406783e-01 4.79150940e-03 3.19497797e+01] [-5.53048321e-03 2.08969175e-04 9.99984685e-01 -2.50143009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.04538475 meters 0.0693645934080607 Centerline is valid? [True, True] Translation: X:156.41, Y:31.97, Z:-2.50 [[ 4.65397102e-01 -8.85098233e-01 2.57970406e-03 1.56413224e+02] [ 8.85086994e-01 4.65404206e-01 4.46515212e-03 3.19692932e+01] [-5.15270338e-03 2.05193659e-04 9.99986704e-01 -2.50352412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.07538475 meters 0.06915908909231222 Centerline is valid? [True, True] Translation: X:156.42, Y:31.99, Z:-2.51 [[ 4.66476989e-01 -8.84532141e-01 1.45295089e-03 1.56423391e+02] [ 8.84528578e-01 4.66479238e-01 2.51316725e-03 3.19934774e+01] [-2.90074863e-03 1.12841893e-04 9.99995786e-01 -2.50600913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.10538475 meters 0.06847044005713991 Centerline is valid? [True, True] Translation: X:156.43, Y:32.02, Z:-2.51 [[ 4.67945548e-01 -8.83755812e-01 1.62110388e-03 1.56432458e+02] [ 8.83751363e-01 4.67948341e-01 2.80702264e-03 3.20189583e+01] [-3.23931544e-03 1.19119015e-04 9.99994746e-01 -2.50781895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.13538475000001 meters 0.06728471782282722 Centerline is valid? [True, True] Translation: X:156.44, Y:32.05, Z:-2.51 [[ 4.72555352e-01 -8.81300053e-01 1.28673643e-03 1.56438166e+02] [ 8.81297241e-01 4.72557097e-01 2.22783927e-03 3.20450978e+01] [-2.57145130e-03 8.12198921e-05 9.99996691e-01 -2.51109757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.16538475000002 meters 0.06547338546352977 Centerline is valid? [True, True] Translation: X:156.44, Y:32.07, Z:-2.51 [[ 4.77281161e-01 -8.78748808e-01 1.79610622e-03 1.56443416e+02] [ 8.78743290e-01 4.77284532e-01 3.11540425e-03 3.20712875e+01] [-3.59491149e-03 9.13925342e-05 9.99993534e-01 -2.51093565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.19538475000002 meters 0.064024224419309 Centerline is valid? [True, True] Translation: X:156.45, Y:32.10, Z:-2.51 [[ 4.79295230e-01 -8.77649727e-01 2.65297779e-03 1.56450995e+02] [ 8.77637631e-01 4.79302558e-01 4.60943620e-03 3.20986453e+01] [-5.31704946e-03 1.19072363e-04 9.99985857e-01 -2.50779414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.22538475 meters 0.06339942939242423 Centerline is valid? [True, True] Translation: X:156.46, Y:32.12, Z:-2.51 [[ 4.84160481e-01 -8.74971666e-01 3.63478985e-03 1.56461804e+02] [ 8.74948832e-01 4.84174110e-01 6.32242577e-03 3.21227853e+01] [-7.29181456e-03 1.19186428e-04 9.99973407e-01 -2.50683855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.25538475 meters 0.06241657065073372 Centerline is valid? [True, True] Translation: X:156.47, Y:32.15, Z:-2.51 [[ 4.85637226e-01 -8.74151161e-01 4.02901166e-03 1.56469913e+02] [ 8.74123028e-01 4.85653925e-01 7.01411453e-03 3.21494760e+01] [-8.08810168e-03 1.15536746e-04 9.99967284e-01 -2.50533189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.28538475 meters 0.06192694448432689 Centerline is valid? [True, True] Translation: X:156.48, Y:32.18, Z:-2.51 [[ 4.91068740e-01 -8.71105466e-01 5.17302929e-03 1.56479165e+02] [ 8.71058826e-01 4.91095980e-01 9.01445510e-03 3.21751396e+01] [-1.03929950e-02 7.92957159e-05 9.99945988e-01 -2.50563341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.31538475 meters 0.061743146888200734 Centerline is valid? [True, True] Translation: X:156.49, Y:32.20, Z:-2.51 [[ 4.91666977e-01 -8.70769689e-01 4.87157186e-03 1.56491801e+02] [ 8.70728260e-01 4.91691106e-01 8.49435238e-03 3.21969233e+01] [-9.79193314e-03 6.54227388e-05 9.99952056e-01 -2.50799317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.34538475 meters 0.0617669607539503 Centerline is valid? [True, True] Translation: X:156.51, Y:32.22, Z:-2.51 [[ 4.92413883e-01 -8.70348330e-01 4.72791213e-03 1.56505556e+02] [ 8.70309228e-01 4.92436577e-01 8.25016769e-03 3.22193316e+01] [-9.50871654e-03 5.22484544e-05 9.99954790e-01 -2.50953520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.37538475 meters 0.06218365148916019 Centerline is valid? [True, True] Translation: X:156.53, Y:32.24, Z:-2.51 [[ 4.87435666e-01 -8.73147043e-01 4.55110378e-03 1.56528489e+02] [ 8.73110879e-01 4.87456901e-01 7.94741383e-03 3.22363633e+01] [-9.15772783e-03 9.97652705e-05 9.99958062e-01 -2.51013361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.40538475 meters 0.06194774590987018 Centerline is valid? [True, True] Translation: X:156.55, Y:32.26, Z:-2.51 [[ 4.85921694e-01 -8.73991327e-01 4.38954008e-03 1.56546407e+02] [ 8.73957676e-01 4.85941508e-01 7.67017021e-03 3.22572725e+01] [-8.83672196e-03 1.09170147e-04 9.99960949e-01 -2.50751058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.43538475 meters 0.06199282360091396 Centerline is valid? [True, True] Translation: X:156.56, Y:32.28, Z:-2.51 [[ 4.85181687e-01 -8.74402871e-01 4.28371638e-03 1.56559715e+02] [ 8.74370791e-01 4.85200585e-01 7.49079055e-03 3.22801918e+01] [-8.62843045e-03 1.11162085e-04 9.99962768e-01 -2.50820935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.46538475 meters 0.06202113531437052 Centerline is valid? [True, True] Translation: X:156.57, Y:32.30, Z:-2.51 [[ 4.84035381e-01 -8.75038984e-01 4.06520940e-03 1.56571476e+02] [ 8.75010076e-01 4.84052438e-01 7.11363762e-03 3.23045566e+01] [-8.19248476e-03 1.13846889e-04 9.99966435e-01 -2.51028073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.49538475 meters 0.06213726432781477 Centerline is valid? [True, True] Translation: X:156.58, Y:32.33, Z:-2.51 [[ 4.83769082e-01 -8.75186259e-01 4.06035561e-03 1.56582321e+02] [ 8.75157382e-01 4.83786108e-01 7.11040175e-03 3.23282512e+01] [-8.18726955e-03 1.13657655e-04 9.99966477e-01 -2.51305776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.52538475 meters 0.06229904511900251 Centerline is valid? [True, True] Translation: X:156.59, Y:32.35, Z:-2.51 [[ 4.83250954e-01 -8.75474786e-01 3.52349337e-03 1.56592591e+02] [ 8.75453022e-01 4.83263788e-01 6.17386207e-03 3.23523481e+01] [-7.10783733e-03 1.01128182e-04 9.99974734e-01 -2.51488513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.55538475 meters 0.06237705807964057 Centerline is valid? [True, True] Translation: X:156.61, Y:32.38, Z:-2.51 [[ 4.82100686e-01 -8.76109838e-01 3.23735998e-03 1.56606827e+02] [ 8.76091450e-01 4.82111545e-01 5.67700926e-03 3.23758073e+01] [-6.53445228e-03 9.93333407e-05 9.99978645e-01 -2.51471837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.58538475 meters 0.062371412770419576 Centerline is valid? [True, True] Translation: X:156.62, Y:32.40, Z:-2.51 [[ 4.80632835e-01 -8.76914950e-01 3.49966663e-03 1.56622224e+02] [ 8.76893451e-01 4.80645562e-01 6.14160328e-03 3.23970292e+01] [-7.06776297e-03 1.16978549e-04 9.99975016e-01 -2.51247477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.61538475 meters 0.062293774299406295 Centerline is valid? [True, True] Translation: X:156.64, Y:32.42, Z:-2.51 [[ 4.80699877e-01 -8.76877726e-01 3.61695351e-03 1.56635327e+02] [ 8.76854728e-01 4.80713470e-01 6.35184476e-03 3.24192432e+01] [-7.30850946e-03 1.18211793e-04 9.99973286e-01 -2.51184780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.64538475 meters 0.062017904916408115 Centerline is valid? [True, True] Translation: X:156.65, Y:32.44, Z:-2.51 [[ 4.81370346e-01 -8.76511078e-01 3.30451199e-03 1.56646493e+02] [ 8.76491847e-01 4.81381678e-01 5.80712169e-03 3.24438154e+01] [-6.68073802e-03 1.01001642e-04 9.99977679e-01 -2.51217201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.67538475 meters 0.06181604498779047 Centerline is valid? [True, True] Translation: X:156.66, Y:32.47, Z:-2.51 [[ 4.79480584e-01 -8.77545954e-01 3.38638815e-03 1.56659084e+02] [ 8.77525751e-01 4.79492528e-01 5.95586905e-03 3.24676434e+01] [-6.85029661e-03 1.15919233e-04 9.99976530e-01 -2.51287103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.70538475 meters 0.06328638810089039 Centerline is valid? [True, True] Translation: X:156.68, Y:32.49, Z:-2.51 [[ 4.75480296e-01 -8.79711888e-01 5.04809191e-03 1.56678946e+02] [ 8.79667007e-01 4.75507044e-01 8.88860739e-03 3.24866730e+01] [-1.02198168e-02 2.14282237e-04 9.99947753e-01 -2.51256171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.73538475 meters 0.06303588879286202 Centerline is valid? [True, True] Translation: X:156.69, Y:32.51, Z:-2.51 [[ 4.75136580e-01 -8.79898200e-01 4.93849513e-03 1.56689837e+02] [ 8.79855195e-01 4.75162198e-01 8.70187678e-03 3.25105702e+01] [-1.00033519e-02 2.10580620e-04 9.99949943e-01 -2.51193877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.76538475 meters 0.06268685816397387 Centerline is valid? [True, True] Translation: X:156.70, Y:32.53, Z:-2.52 [[ 4.76047244e-01 -8.79411841e-01 3.71956896e-03 1.56699270e+02] [ 8.79387412e-01 4.76061752e-01 6.55656902e-03 3.25341110e+01] [-7.53666895e-03 1.49705508e-04 9.99971588e-01 -2.51580283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.79538475 meters 0.06301592038367673 Centerline is valid? [True, True] Translation: X:156.71, Y:32.56, Z:-2.52 [[ 4.75800106e-01 -8.79547669e-01 3.18696304e-03 1.56712174e+02] [ 8.79529717e-01 4.75810762e-01 5.62098398e-03 3.25578119e+01] [-6.46031467e-03 1.28563931e-04 9.99979124e-01 -2.51785371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.82538475 meters 0.06341471886390018 Centerline is valid? [True, True] Translation: X:156.73, Y:32.58, Z:-2.52 [[ 4.74087305e-01 -8.80474055e-01 2.58162992e-03 1.56726383e+02] [ 8.80462281e-01 4.74094321e-01 4.55479441e-03 3.25793065e+01] [-5.23431439e-03 1.13657565e-04 9.99986294e-01 -2.51863188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.85538475 meters 0.06347825173458935 Centerline is valid? [True, True] Translation: X:156.74, Y:32.60, Z:-2.52 [[ 4.74138983e-01 -8.80446888e-01 2.34542310e-03 1.56738752e+02] [ 8.80437160e-01 4.74144774e-01 4.14012358e-03 3.26021191e+01] [-4.75722902e-03 1.02003671e-04 9.99988679e-01 -2.51866581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.88538475000001 meters 0.06396348714327531 Centerline is valid? [True, True] Translation: X:156.75, Y:32.62, Z:-2.52 [[ 4.72869825e-01 -8.81129150e-01 2.35561585e-03 1.56751600e+02] [ 8.81119329e-01 4.72875680e-01 4.16169785e-03 3.26241816e+01] [-4.78090674e-03 1.07637322e-04 9.99988566e-01 -2.51884341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.91538475000002 meters 0.06416389947285052 Centerline is valid? [True, True] Translation: X:156.76, Y:32.65, Z:-2.52 [[ 4.71631488e-01 -8.81792068e-01 2.54719044e-03 1.56764907e+02] [ 8.81780572e-01 4.71638351e-01 4.50435909e-03 3.26472053e+01] [-5.17326081e-03 1.21665463e-04 9.99986611e-01 -2.51828463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.94538475000002 meters 0.06393785675624364 Centerline is valid? [True, True] Translation: X:156.78, Y:32.67, Z:-2.52 [[ 4.70837951e-01 -8.82216943e-01 2.21124762e-03 1.56778091e+02] [ 8.82208275e-01 4.70843131e-01 3.91238353e-03 3.26709530e+01] [-4.49272178e-03 1.08682303e-04 9.99989902e-01 -2.51694550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.97538475 meters 0.06396952378097907 Centerline is valid? [True, True] Translation: X:156.79, Y:32.69, Z:-2.52 [[ 4.70505515e-01 -8.82394838e-01 1.97760000e-03 1.56790718e+02] [ 8.82387902e-01 4.70509661e-01 3.49990221e-03 3.26939913e+01] [-4.01877555e-03 9.82870246e-05 9.99991920e-01 -2.51775008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.00538475 meters 0.06326805990119867 Centerline is valid? [True, True] Translation: X:156.80, Y:32.72, Z:-2.52 [[ 4.73844749e-01 -8.80608274e-01 4.70734797e-04 1.56798376e+02] [ 8.80607885e-01 4.73844982e-01 8.28336144e-04 3.27216556e+01] [-9.52494984e-04 2.20300421e-05 9.99999546e-01 -2.52137689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.03538475 meters 0.06277668458685097 Centerline is valid? [True, True] Translation: X:156.81, Y:32.75, Z:-2.52 [[ 4.76191865e-01 -8.79341384e-01 -1.92639470e-04 1.56808001e+02] [ 8.79341315e-01 4.76191904e-01 -3.50335959e-04 3.27472274e+01] [ 3.99798263e-04 -2.56871096e-06 9.99999920e-01 -2.52354983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.06538475 meters 0.06209645302365708 Centerline is valid? [True, True] Translation: X:156.81, Y:32.78, Z:-2.52 [[ 4.81861034e-01 -8.76247203e-01 -8.84823484e-04 1.56812713e+02] [ 8.76245778e-01 4.81861846e-01 -1.58063809e-03 3.27756102e+01] [ 1.81139239e-03 -1.36749345e-05 9.99998359e-01 -2.52482969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.09538475 meters 0.061805787773709396 Centerline is valid? [True, True] Translation: X:156.82, Y:32.80, Z:-2.53 [[ 4.88604019e-01 -8.72503713e-01 -1.83938016e-03 1.56817090e+02] [ 8.72497543e-01 4.88607482e-01 -3.28136460e-03 3.28031847e+01] [ 3.76173770e-03 -1.56673230e-06 9.99992925e-01 -2.52515135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.12538475 meters 0.061928058685420936 Centerline is valid? [True, True] Translation: X:156.83, Y:32.83, Z:-2.53 [[ 4.90617159e-01 -8.71372657e-01 -2.12057527e-03 1.56826829e+02] [ 8.71364449e-01 4.90621741e-01 -3.78207249e-03 3.28274184e+01] [ 4.33599489e-03 7.75575488e-06 9.99990600e-01 -2.52527322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.15538475 meters 0.0618831138810803 Centerline is valid? [True, True] Translation: X:156.84, Y:32.85, Z:-2.52 [[ 4.91066017e-01 -8.71121117e-01 -1.47174586e-03 1.56840468e+02] [ 8.71117144e-01 4.91068222e-01 -2.63089453e-03 3.28500241e+01] [ 3.01455540e-03 9.87984837e-06 9.99995456e-01 -2.52297149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.18538475 meters 0.06191682328845159 Centerline is valid? [True, True] Translation: X:156.86, Y:32.87, Z:-2.53 [[ 4.87763961e-01 -8.72974301e-01 -1.47893241e-03 1.56855730e+02] [ 8.72970291e-01 4.87766204e-01 -2.64620864e-03 3.28707242e+01] [ 3.03144539e-03 -3.38843882e-07 9.99995405e-01 -2.52543141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.21538475 meters 0.06213632186894975 Centerline is valid? [True, True] Translation: X:156.87, Y:32.89, Z:-2.52 [[ 4.86642954e-01 -8.73599206e-01 -1.75025181e-03 1.56869759e+02] [ 8.73593592e-01 4.86646102e-01 -3.13177284e-03 3.28928202e+01] [ 3.58766748e-03 -4.95358156e-06 9.99993564e-01 -2.52318695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.24538475 meters 0.06255987224246853 Centerline is valid? [True, True] Translation: X:156.88, Y:32.92, Z:-2.53 [[ 4.88320234e-01 -8.72661291e-01 -2.37073799e-03 1.56878587e+02] [ 8.72650998e-01 4.88325989e-01 -4.23838001e-03 3.29182559e+01] [ 4.85636314e-03 8.59845450e-07 9.99988208e-01 -2.52881692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.27538475 meters 0.06253862559416111 Centerline is valid? [True, True] Translation: X:156.89, Y:32.94, Z:-2.53 [[ 4.88447906e-01 -8.72590101e-01 -2.27137660e-03 1.56889998e+02] [ 8.72580624e-01 4.88453187e-01 -4.06672812e-03 3.29424289e+01] [ 4.65804784e-03 4.42561918e-06 9.99989151e-01 -2.52751784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.30538475 meters 0.06278110986629731 Centerline is valid? [True, True] Translation: X:156.90, Y:32.96, Z:-2.53 [[ 4.87098215e-01 -8.73341646e-01 -3.11411000e-03 1.56903747e+02] [ 8.73323864e-01 4.87108170e-01 -5.57315256e-03 3.29643327e+01] [ 6.38417465e-03 -4.95391354e-06 9.99979621e-01 -2.52925610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.33538475 meters 0.06299810504353916 Centerline is valid? [True, True] Translation: X:156.92, Y:32.99, Z:-2.53 [[ 4.85805404e-01 -8.74061568e-01 -3.07975679e-03 1.56919021e+02] [ 8.74044146e-01 4.85815166e-01 -5.51861078e-03 3.29851560e+01] [ 6.31979815e-03 -1.08724549e-05 9.99980030e-01 -2.53216958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.36538475 meters 0.06285486838052527 Centerline is valid? [True, True] Translation: X:156.93, Y:33.01, Z:-2.53 [[ 4.85075512e-01 -8.74467322e-01 -2.94123624e-03 1.56932636e+02] [ 8.74451417e-01 4.85084428e-01 -5.27415746e-03 3.30074337e+01] [ 6.03882625e-03 -1.36035658e-05 9.99981766e-01 -2.52853100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.39538475 meters 0.06285486838052527 Centerline is valid? [True, True] Translation: X:156.95, Y:33.03, Z:-2.53 [[ 4.84801737e-01 -8.74619137e-01 -2.93958623e-03 1.56945082e+02] [ 8.74603229e-01 4.84810649e-01 -5.27507803e-03 3.30303001e+01] [ 6.03882690e-03 -1.36046184e-05 9.99981766e-01 -2.52887925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.42538475 meters 0.06281686229248926 Centerline is valid? [True, True] Translation: X:156.96, Y:33.05, Z:-2.53 [[ 4.84163078e-01 -8.74971494e-01 -3.31647790e-03 1.56958080e+02] [ 8.74951225e-01 4.84174436e-01 -5.95556938e-03 3.30532158e+01] [ 6.81670725e-03 -1.82895965e-05 9.99976766e-01 -2.52677129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.45538475 meters 0.06325233332378896 Centerline is valid? [True, True] Translation: X:156.97, Y:33.08, Z:-2.53 [[ 4.86008476e-01 -8.73942227e-01 -4.55462922e-03 1.56968953e+02] [ 8.73903964e-01 4.86029817e-01 -8.17794767e-03 3.30767256e+01] [ 9.36073941e-03 -5.75664663e-06 9.99956187e-01 -2.53136375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.48538475 meters 0.06343497638463487 Centerline is valid? [True, True] Translation: X:156.98, Y:33.10, Z:-2.53 [[ 4.91282470e-01 -8.70987507e-01 -4.72196566e-03 1.56975336e+02] [ 8.70946175e-01 4.91305159e-01 -8.48529213e-03 3.31049132e+01] [ 9.71050953e-03 5.60973422e-05 9.99952850e-01 -2.53088318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.51538475 meters 0.06377594445361082 Centerline is valid? [True, True] Translation: X:156.98, Y:33.13, Z:-2.53 [[ 4.94068290e-01 -8.69408866e-01 -4.97475653e-03 1.56983780e+02] [ 8.69362884e-01 4.94093326e-01 -8.94208128e-03 3.31308870e+01] [ 1.02323187e-02 9.31301178e-05 9.99947644e-01 -2.53274352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.54538475 meters 0.06411691983918812 Centerline is valid? [True, True] Translation: X:156.99, Y:33.16, Z:-2.54 [[ 4.96784369e-01 -8.67860685e-01 -4.80858941e-03 1.56993126e+02] [ 8.67817572e-01 4.96807625e-01 -8.65129004e-03 3.31567664e+01] [ 9.89705838e-03 1.24847278e-04 9.99951015e-01 -2.53501346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.57538475 meters 0.06560040284897582 Centerline is valid? [True, True] Translation: X:157.00, Y:33.18, Z:-2.54 [[ 5.02041713e-01 -8.64826760e-01 -5.36600608e-03 1.56999762e+02] [ 8.64772827e-01 5.02070345e-01 -9.66057038e-03 3.31834641e+01] [ 1.10488323e-02 2.09633052e-04 9.99938938e-01 -2.53729460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.60538475 meters 0.06599978650429066 Centerline is valid? [True, True] Translation: X:157.01, Y:33.21, Z:-2.54 [[ 5.03240746e-01 -8.64128660e-01 -5.51461212e-03 1.57010840e+02] [ 8.64071588e-01 5.03270906e-01 -9.93411067e-03 3.32083932e+01] [ 1.13596936e-02 2.34229618e-04 9.99935449e-01 -2.53817754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.63538475000001 meters 0.06737393794494584 Centerline is valid? [True, True] Translation: X:157.02, Y:33.23, Z:-2.54 [[ 5.07322151e-01 -8.61734665e-01 -6.13209923e-03 1.57020926e+02] [ 8.61663827e-01 5.07359106e-01 -1.10538300e-02 3.32329964e+01] [ 1.26366449e-02 3.24044717e-04 9.99920102e-01 -2.53922759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.66538475000002 meters 0.06816125431061794 Centerline is valid? [True, True] Translation: X:157.03, Y:33.26, Z:-2.54 [[ 5.09318538e-01 -8.60556377e-01 -6.11133536e-03 1.57031687e+02] [ 8.60485835e-01 5.09355077e-01 -1.10241914e-02 3.32576892e+01] [ 1.25997779e-02 3.56107545e-04 9.99920556e-01 -2.53947355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.69538475000002 meters 0.07004961154063728 Centerline is valid? [True, True] Translation: X:157.04, Y:33.28, Z:-2.54 [[ 5.13426329e-01 -8.58110808e-01 -6.26463208e-03 1.57039313e+02] [ 8.58036401e-01 5.13464366e-01 -1.13084140e-02 3.32835174e+01] [ 1.29205376e-02 4.30755103e-04 9.99916434e-01 -2.54156701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.72538475 meters 0.07062810976871545 Centerline is valid? [True, True] Translation: X:157.05, Y:33.31, Z:-2.54 [[ 5.18423047e-01 -8.55098937e-01 -6.58430001e-03 1.57052021e+02] [ 8.55016381e-01 5.18464580e-01 -1.18939932e-02 3.33070680e+01] [ 1.35842672e-02 5.36435808e-04 9.99907586e-01 -2.53992671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.75538475 meters 0.07253380253317254 Centerline is valid? [True, True] Translation: X:157.06, Y:33.33, Z:-2.54 [[ 5.18748162e-01 -8.54902542e-01 -6.47979711e-03 1.57061009e+02] [ 8.54822451e-01 5.18788352e-01 -1.17142332e-02 3.33318346e+01] [ 1.33761710e-02 5.37660911e-04 9.99910390e-01 -2.54194378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.78538475 meters 0.06932122093766141 Centerline is valid? [True, True] Translation: X:157.09, Y:33.35, Z:-2.54 [[ 5.12657135e-01 -8.58570681e-01 -6.24877274e-03 1.57086051e+02] [ 8.58496361e-01 5.12695035e-01 -1.13048153e-02 3.33484903e+01] [ 1.29096978e-02 4.30945587e-04 9.99916574e-01 -2.53689760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.81538475 meters 0.06809493228683304 Centerline is valid? [True, True] Translation: X:157.10, Y:33.37, Z:-2.54 [[ 5.08611073e-01 -8.60974767e-01 -6.10135978e-03 1.57104833e+02] [ 8.60903983e-01 5.08647537e-01 -1.10460395e-02 3.33690453e+01] [ 1.26138029e-02 3.65453070e-04 9.99920376e-01 -2.53586520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.84538475 meters 0.06583371407093212 Centerline is valid? [True, True] Translation: X:157.13, Y:33.39, Z:-2.54 [[ 4.99740905e-01 -8.66156382e-01 -5.67015782e-03 1.57127518e+02] [ 8.66095472e-01 4.99773021e-01 -1.02743124e-02 3.33858940e+01] [ 1.17329531e-02 2.23596162e-04 9.99931142e-01 -2.53511477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.87538475 meters 0.06529893420354027 Centerline is valid? [True, True] Translation: X:157.14, Y:33.41, Z:-2.54 [[ 4.96690958e-01 -8.67908062e-01 -5.80414355e-03 1.57143347e+02] [ 8.67844286e-01 4.96724833e-01 -1.05230893e-02 3.34087325e+01] [ 1.20161363e-02 1.89630514e-04 9.99927786e-01 -2.53589971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.90538475 meters 0.06479482848925079 Centerline is valid? [True, True] Translation: X:157.16, Y:33.43, Z:-2.54 [[ 4.91421330e-01 -8.70902557e-01 -5.81476192e-03 1.57158820e+02] [ 8.70838660e-01 4.91455716e-01 -1.05502216e-02 3.34304951e+01] [ 1.20459129e-02 1.20884439e-04 9.99927438e-01 -2.53895093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.93538475 meters 0.06451386282251513 Centerline is valid? [True, True] Translation: X:157.17, Y:33.45, Z:-2.54 [[ 4.89750730e-01 -8.71843334e-01 -5.78129732e-03 1.57171511e+02] [ 8.71780137e-01 4.89784841e-01 -1.04977535e-02 3.34541001e+01] [ 1.19839882e-02 1.01262270e-04 9.99928184e-01 -2.54014287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.96538475 meters 0.06437225309562805 Centerline is valid? [True, True] Translation: X:157.18, Y:33.48, Z:-2.54 [[ 4.88165413e-01 -8.72731967e-01 -5.78295537e-03 1.57184169e+02] [ 8.72668704e-01 4.88199658e-01 -1.05084619e-02 3.34777866e+01] [ 1.19943075e-02 8.32634986e-05 9.99928062e-01 -2.54252071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.99538475 meters 0.06425726381118863 Centerline is valid? [True, True] Translation: X:157.20, Y:33.50, Z:-2.54 [[ 4.86646396e-01 -8.73580173e-01 -5.74169988e-03 1.57195700e+02] [ 8.73517766e-01 4.86680262e-01 -1.04419786e-02 3.35008087e+01] [ 1.19162775e-02 6.60744072e-05 9.99928996e-01 -2.54402981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.02538475 meters 0.06393506422070304 Centerline is valid? [True, True] Translation: X:157.21, Y:33.52, Z:-2.55 [[ 4.85128105e-01 -8.74424544e-01 -5.69554599e-03 1.57208094e+02] [ 8.74363101e-01 4.85161535e-01 -1.03659535e-02 3.35229845e+01] [ 1.18275040e-02 4.88401359e-05 9.99930051e-01 -2.54524815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.05538475 meters 0.06369038665276011 Centerline is valid? [True, True] Translation: X:157.22, Y:33.55, Z:-2.54 [[ 4.84942553e-01 -8.74529896e-01 -5.30860526e-03 1.57220923e+02] [ 8.74476433e-01 4.84971606e-01 -9.66999241e-03 3.35459217e+01] [ 1.10312203e-02 4.71406148e-05 9.99939153e-01 -2.54084454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.08538475 meters 0.06354572266557829 Centerline is valid? [True, True] Translation: X:157.23, Y:33.57, Z:-2.54 [[ 4.84556180e-01 -8.74742615e-01 -5.53762231e-03 1.57233859e+02] [ 8.74684369e-01 4.84587819e-01 -1.00945490e-02 3.35692316e+01] [ 1.15135965e-02 4.77044354e-05 9.99933715e-01 -2.54145017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.11538475 meters 0.06354837939885062 Centerline is valid? [True, True] Translation: X:157.24, Y:33.59, Z:-2.54 [[ 4.85648105e-01 -8.74135895e-01 -5.68813703e-03 1.57244920e+02] [ 8.74074297e-01 4.85681410e-01 -1.03774133e-02 3.35917768e+01] [ 1.18338919e-02 6.79167170e-05 9.99929975e-01 -2.54215666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.14538475 meters 0.06375357963575945 Centerline is valid? [True, True] Translation: X:157.26, Y:33.62, Z:-2.55 [[ 4.87150590e-01 -8.73295215e-01 -6.30640317e-03 1.57255524e+02] [ 8.73219356e-01 4.87191397e-01 -1.15108312e-02 3.36168982e+01] [ 1.31247792e-02 1.00634910e-04 9.99913861e-01 -2.54515416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.17538475 meters 0.06376137312997104 Centerline is valid? [True, True] Translation: X:157.27, Y:33.64, Z:-2.55 [[ 4.87682032e-01 -8.73002822e-01 -5.68406671e-03 1.57266547e+02] [ 8.72941054e-01 4.87715145e-01 -1.03852914e-02 3.36397925e+01] [ 1.18385941e-02 1.02864846e-04 9.99929916e-01 -2.54685184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.20538475 meters 0.06404750104338075 Centerline is valid? [True, True] Translation: X:157.28, Y:33.66, Z:-2.55 [[ 4.90126597e-01 -8.71629152e-01 -6.20816158e-03 1.57277650e+02] [ 8.71555287e-01 4.90165889e-01 -1.13482743e-02 3.36649260e+01] [ 1.29345158e-02 1.51335036e-04 9.99916334e-01 -2.54772474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.23538475 meters 0.0642713149436971 Centerline is valid? [True, True] Translation: X:157.29, Y:33.69, Z:-2.55 [[ 4.91457664e-01 -8.70882270e-01 -5.78239281e-03 1.57289664e+02] [ 8.70818016e-01 4.91491652e-01 -1.05801480e-02 3.36877595e+01] [ 1.20560611e-02 1.64282976e-04 9.99927310e-01 -2.54921372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.26538475 meters 0.06468147818874197 Centerline is valid? [True, True] Translation: X:157.30, Y:33.71, Z:-2.55 [[ 4.94190765e-01 -8.69339091e-01 -5.00333742e-03 1.57299500e+02] [ 8.69290832e-01 4.94216060e-01 -9.16158374e-03 3.37131228e+01] [ 1.04372526e-02 1.78214725e-04 9.99945515e-01 -2.54761664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.29538475 meters 0.06427772539535671 Centerline is valid? [True, True] Translation: X:157.31, Y:33.73, Z:-2.54 [[ 4.93618524e-01 -8.69670331e-01 -3.77715934e-03 1.57314301e+02] [ 8.69642783e-01 4.93632958e-01 -6.92333160e-03 3.37348234e+01] [ 7.88554642e-03 1.32705370e-04 9.99968900e-01 -2.54209403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.32538475 meters 0.06269899794440438 Centerline is valid? [True, True] Translation: X:157.33, Y:33.75, Z:-2.54 [[ 4.86992725e-01 -8.73403954e-01 -1.90249489e-03 1.57334288e+02] [ 8.73396965e-01 4.86996440e-01 -3.49426322e-03 3.37539768e+01] [ 3.97841155e-03 4.00475038e-05 9.99992085e-01 -2.53909578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.35538475 meters 0.062217424608996034 Centerline is valid? [True, True] Translation: X:157.35, Y:33.78, Z:-2.54 [[ 4.82604181e-01 -8.75836856e-01 -1.73382871e-03 1.57352114e+02] [ 8.75831058e-01 4.82607295e-01 -3.18704260e-03 3.37753359e+01] [ 3.62808776e-03 1.95390505e-05 9.99993418e-01 -2.53727645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.38538475000001 meters 0.06216397146246893 Centerline is valid? [True, True] Translation: X:157.37, Y:33.79, Z:-2.54 [[ 4.75017956e-01 -8.79973806e-01 -2.01041262e-03 1.57371022e+02] [ 8.79966034e-01 4.75022210e-01 -3.69846414e-03 3.37935954e+01] [ 4.20954221e-03 -1.22579405e-05 9.99991140e-01 -2.53989766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.41538475000002 meters 0.06249320292782927 Centerline is valid? [True, True] Translation: X:157.39, Y:33.81, Z:-2.54 [[ 4.70960203e-01 -8.82152741e-01 -1.74044199e-03 1.57387607e+02] [ 8.82146921e-01 4.70963418e-01 -3.20441493e-03 3.38142351e+01] [ 3.64646793e-03 -2.61736378e-05 9.99993351e-01 -2.54328220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.44538475000002 meters 0.06324067283928947 Centerline is valid? [True, True] Translation: X:157.40, Y:33.83, Z:-2.55 [[ 4.67419686e-01 -8.84029385e-01 -3.29913627e-03 1.57403834e+02] [ 8.84008557e-01 4.67431322e-01 -6.06875554e-03 3.38337887e+01] [ 6.90707786e-03 -7.98088880e-05 9.99976143e-01 -2.54796046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.47538475 meters 0.0637136570437725 Centerline is valid? [True, True] Translation: X:157.42, Y:33.86, Z:-2.55 [[ 4.65638833e-01 -8.84965177e-01 -4.13687063e-03 1.57417537e+02] [ 8.84932424e-01 4.65657195e-01 -7.61459714e-03 3.38563401e+01] [ 8.66501687e-03 -1.15198829e-04 9.99962451e-01 -2.54894568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.50538475 meters 0.06387676893576835 Centerline is valid? [True, True] Translation: X:157.43, Y:33.88, Z:-2.55 [[ 4.63687777e-01 -8.85983912e-01 -5.11409829e-03 1.57429230e+02] [ 8.85933876e-01 4.63715949e-01 -9.41732258e-03 3.38812791e+01] [ 1.07150852e-02 -1.64055546e-04 9.99942578e-01 -2.54975334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.53538475 meters 0.06373083418131278 Centerline is valid? [True, True] Translation: X:157.44, Y:33.91, Z:-2.55 [[ 4.63763845e-01 -8.85942284e-01 -5.41901673e-03 1.57440139e+02] [ 8.85886007e-01 4.63795474e-01 -9.98705636e-03 3.39057338e+01] [ 1.13612710e-02 -1.68995428e-04 9.99935444e-01 -2.54978334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.56538475 meters 0.06336835349377365 Centerline is valid? [True, True] Translation: X:157.45, Y:33.93, Z:-2.55 [[ 4.64285812e-01 -8.85667700e-01 -5.60448675e-03 1.57448455e+02] [ 8.85607385e-01 4.64319608e-01 -1.03373322e-02 3.39316849e+01] [ 1.17577143e-02 -1.63898183e-04 9.99930862e-01 -2.54876330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.59538475 meters 0.06359860175683082 Centerline is valid? [True, True] Translation: X:157.46, Y:33.95, Z:-2.55 [[ 4.64142311e-01 -8.85745035e-01 -5.25824906e-03 1.57460914e+02] [ 8.85691847e-01 4.64172070e-01 -9.70783626e-03 3.39537026e+01] [ 1.10394001e-02 -1.51370766e-04 9.99939053e-01 -2.55179796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.62538475 meters 0.06286032235046228 Centerline is valid? [True, True] Translation: X:157.47, Y:33.98, Z:-2.55 [[ 4.65313554e-01 -8.85135471e-01 -4.30050549e-03 1.57471254e+02] [ 8.85099820e-01 4.65333414e-01 -7.94496050e-03 3.39798373e+01] [ 9.03353525e-03 -1.09478831e-04 9.99959191e-01 -2.54848080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.65538475 meters 0.06245265333580067 Centerline is valid? [True, True] Translation: X:157.48, Y:34.00, Z:-2.55 [[ 4.67307632e-01 -8.84085722e-01 -4.00170075e-03 1.57480544e+02] [ 8.84054787e-01 4.67324759e-01 -7.39613922e-03 3.40049060e+01] [ 8.40891492e-03 -8.14503960e-05 9.99964641e-01 -2.54724216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.68538475 meters 0.06198100238209329 Centerline is valid? [True, True] Translation: X:157.49, Y:34.03, Z:-2.55 [[ 4.70715669e-01 -8.82278780e-01 -3.30354945e-03 1.57488052e+02] [ 8.82257608e-01 4.70727260e-01 -6.11233699e-03 3.40323454e+01] [ 6.94785600e-03 -3.74088383e-05 9.99975863e-01 -2.54750419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.71538475 meters 0.061888622703052044 Centerline is valid? [True, True] Translation: X:157.50, Y:34.06, Z:-2.55 [[ 4.74504221e-01 -8.80247973e-01 -3.04134968e-03 1.57496477e+02] [ 8.80229946e-01 4.74513968e-01 -5.63359226e-03 3.40579614e+01] [ 6.40212107e-03 -3.92375305e-06 9.99979506e-01 -2.54762563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.74538475 meters 0.06242895220142028 Centerline is valid? [True, True] Translation: X:157.50, Y:34.09, Z:-2.55 [[ 4.81393600e-01 -8.76498773e-01 -3.17848178e-03 1.57499408e+02] [ 8.76478985e-01 4.81404090e-01 -5.88989893e-03 3.40856958e+01] [ 6.69262331e-03 4.94871674e-05 9.99977603e-01 -2.55362308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.77538475 meters 0.06244289240896669 Centerline is valid? [True, True] Translation: X:157.51, Y:34.11, Z:-2.55 [[ 4.83768188e-01 -8.75189916e-01 -3.30924160e-03 1.57509827e+02] [ 8.75168401e-01 4.83779501e-01 -6.13711824e-03 3.41106762e+01] [ 6.97208724e-03 7.27988924e-05 9.99975692e-01 -2.55215185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.80538475 meters 0.06192374140251836 Centerline is valid? [True, True] Translation: X:157.53, Y:34.13, Z:-2.55 [[ 4.80160807e-01 -8.77177454e-01 -2.30510468e-03 1.57528233e+02] [ 8.77167010e-01 4.80166339e-01 -4.28069276e-03 3.41306656e+01] [ 4.86176085e-03 3.34591068e-05 9.99988181e-01 -2.54919170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.83538475 meters 0.061652777793814825 Centerline is valid? [True, True] Translation: X:157.54, Y:34.15, Z:-2.55 [[ 4.77577238e-01 -8.78587430e-01 -2.02736899e-03 1.57544540e+02] [ 8.78579355e-01 4.77581540e-01 -3.76676142e-03 3.41525469e+01] [ 4.27766324e-03 1.77149743e-05 9.99990851e-01 -2.54857645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.86538475 meters 0.06161484269161896 Centerline is valid? [True, True] Translation: X:157.57, Y:34.17, Z:-2.55 [[ 4.68943453e-01 -8.83227737e-01 -8.96207959e-04 1.57568018e+02] [ 8.83226153e-01 4.68944309e-01 -1.67269307e-03 3.41693970e+01] [ 1.89764053e-03 -7.15584458e-06 9.99998199e-01 -2.54794286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.89538475 meters 0.061842863054016144 Centerline is valid? [True, True] Translation: X:157.59, Y:34.19, Z:-2.55 [[ 4.65686730e-01 -8.84949032e-01 -1.03965874e-03 1.57585283e+02] [ 8.84946906e-01 4.65687890e-01 -1.93976267e-03 3.41898191e+01] [ 2.20074759e-03 -1.67210529e-05 9.99997578e-01 -2.54753497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.92538475 meters 0.06244026236871454 Centerline is valid? [True, True] Translation: X:157.60, Y:34.21, Z:-2.55 [[ 4.61885956e-01 -8.86937349e-01 -1.87167412e-03 1.57601258e+02] [ 8.86930493e-01 4.61889745e-01 -3.48758115e-03 3.42112201e+01] [ 3.95777306e-03 -4.91800939e-05 9.99992167e-01 -2.54868470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.95538475 meters 0.06261351884605477 Centerline is valid? [True, True] Translation: X:157.61, Y:34.23, Z:-2.55 [[ 4.61419643e-01 -8.87180462e-01 -1.65546070e-03 1.57611442e+02] [ 8.87175097e-01 4.61422610e-01 -3.08571392e-03 3.42343032e+01] [ 3.50145210e-03 -4.48744916e-05 9.99993869e-01 -2.55156359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.98538475 meters 0.06169544936188142 Centerline is valid? [True, True] Translation: X:157.62, Y:34.26, Z:-2.55 [[ 4.61258886e-01 -8.87264552e-01 -1.36192216e-03 1.57619530e+02] [ 8.87260906e-01 4.61260895e-01 -2.54372753e-03 3.42611797e+01] [ 2.88516070e-03 -3.50633602e-05 9.99995837e-01 -2.54653290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.01538475 meters 0.06206772193908501 Centerline is valid? [True, True] Translation: X:157.63, Y:34.28, Z:-2.55 [[ 4.60839226e-01 -8.87482935e-01 -1.11729633e-03 1.57633234e+02] [ 8.87480470e-01 4.60840580e-01 -2.09168787e-03 3.42833027e+01] [ 2.37123278e-03 -2.76468543e-05 9.99997188e-01 -2.54990298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.04538475 meters 0.0625494204741883 Centerline is valid? [True, True] Translation: X:157.65, Y:34.30, Z:-2.55 [[ 4.58519163e-01 -8.88684323e-01 -5.93377441e-04 1.57652148e+02] [ 8.88683624e-01 4.58519546e-01 -1.11483205e-03 3.43031036e+01] [ 1.26280892e-03 -1.61529554e-05 9.99999203e-01 -2.54989247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.07538475 meters 0.06306229772780168 Centerline is valid? [True, True] Translation: X:157.67, Y:34.33, Z:-2.55 [[ 4.53372881e-01 -8.91320898e-01 -2.94971342e-04 1.57669136e+02] [ 8.91320723e-01 4.53372977e-01 -5.58343415e-04 3.43254023e+01] [ 6.31395189e-04 -9.77630684e-06 9.99999801e-01 -2.54666436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.10538475 meters 0.06468294366002086 Centerline is valid? [True, True] Translation: X:157.69, Y:34.35, Z:-2.55 [[ 4.50545896e-01 -8.92753161e-01 -4.35555740e-04 1.57685409e+02] [ 8.92752784e-01 4.50546106e-01 -8.20598465e-04 3.43451093e+01] [ 9.28829815e-04 -1.91263280e-05 9.99999568e-01 -2.54859670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.13538475000001 meters 0.06403997298548225 Centerline is valid? [True, True] Translation: X:157.70, Y:34.37, Z:-2.55 [[ 4.46198902e-01 -8.94933557e-01 -6.84533406e-04 1.57696566e+02] [ 8.94932632e-01 4.46199425e-01 -1.28730816e-03 3.43703371e+01] [ 1.45749368e-03 -3.82157969e-05 9.99998937e-01 -2.54534498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.16538475000002 meters 0.07063274958957408 Centerline is valid? [True, True] Translation: X:157.73, Y:34.38, Z:-2.55 [[ 4.37414477e-01 -8.99259218e-01 -1.19767553e-03 1.57727103e+02] [ 8.99256420e-01 4.37416106e-01 -2.24533438e-03 3.43834764e+01] [ 2.54302021e-03 -9.48756400e-05 9.99996762e-01 -2.55088303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.19538475000002 meters 0.06806938372648609 Centerline is valid? [True, True] Translation: X:157.73, Y:34.41, Z:-2.55 [[ 4.32907770e-01 -9.01436622e-01 -1.69706360e-03 1.57733060e+02] [ 9.01431014e-01 4.32911070e-01 -3.18327002e-03 3.44111127e+01] [ 3.60419379e-03 -1.51723440e-04 9.99993493e-01 -2.54563151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.22538475 meters 0.0707241594091727 Centerline is valid? [True, True] Translation: X:157.75, Y:34.43, Z:-2.54 [[ 4.25874167e-01 -9.04782235e-01 -5.48579470e-04 1.57750442e+02] [ 9.04781646e-01 4.25874517e-01 -1.03398691e-03 3.44308277e+01] [ 1.16915900e-03 -5.59963236e-05 9.99999315e-01 -2.54419899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.25538475 meters 0.07497347544434185 Centerline is valid? [True, True] Translation: X:157.77, Y:34.45, Z:-2.55 [[ 4.24415544e-01 -9.05467272e-01 -6.81732451e-04 1.57770736e+02] [ 9.05466365e-01 4.24416085e-01 -1.28362364e-03 3.44493994e+01] [ 1.45161741e-03 -7.24959813e-05 9.99998944e-01 -2.54618437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.28538475 meters 0.07497347544434185 Centerline is valid? [True, True] Translation: X:157.78, Y:34.47, Z:-2.55 [[ 4.24115264e-01 -9.05607962e-01 -6.80252049e-04 1.57782337e+02] [ 9.05607054e-01 4.24115804e-01 -1.28441323e-03 3.44718432e+01] [ 1.45168049e-03 -7.13017980e-05 9.99998944e-01 -2.54652269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.31538475 meters 0.07164193999722263 Centerline is valid? [True, True] Translation: X:157.78, Y:34.50, Z:-2.55 [[ 4.24484514e-01 -9.05434603e-01 -1.03837554e-03 1.57784501e+02] [ 9.05432495e-01 4.24485770e-01 -1.95678649e-03 3.45011678e+01] [ 2.21251784e-03 -1.09553395e-04 9.99997546e-01 -2.54849683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.34538475 meters 0.07025813966551663 Centerline is valid? [True, True] Translation: X:157.79, Y:34.53, Z:-2.55 [[ 4.28991618e-01 -9.03307910e-01 -1.00573379e-03 1.57788943e+02] [ 9.03305923e-01 4.28992786e-01 -1.89731074e-03 3.45277883e+01] [ 2.14530834e-03 -9.45548842e-05 9.99997694e-01 -2.55106517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.37538475 meters 0.06872804184947076 Centerline is valid? [True, True] Translation: X:157.80, Y:34.55, Z:-2.55 [[ 4.31367613e-01 -9.02175577e-01 -1.10001163e-03 1.57796438e+02] [ 9.02173195e-01 4.31369005e-01 -2.07565116e-03 3.45535351e+01] [ 2.34711270e-03 -9.70323171e-05 9.99997241e-01 -2.55240979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.40538475 meters 0.06560078534137774 Centerline is valid? [True, True] Translation: X:157.80, Y:34.58, Z:-2.55 [[ 4.40996878e-01 -8.97507772e-01 -1.24631191e-03 1.57800499e+02] [ 8.97504698e-01 4.40998631e-01 -2.35036554e-03 3.45810734e+01] [ 2.65909318e-03 -8.20669307e-05 9.99996461e-01 -2.55337997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.43538475 meters 0.06480419356703156 Centerline is valid? [True, True] Translation: X:157.81, Y:34.60, Z:-2.56 [[ 4.43634533e-01 -8.96206805e-01 -1.32792251e-03 1.57812544e+02] [ 8.96203302e-01 4.43636514e-01 -2.50714761e-03 3.46045515e+01] [ 2.83603766e-03 -7.78312811e-05 9.99995975e-01 -2.55528088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.46538475 meters 0.0642873638657812 Centerline is valid? [True, True] Translation: X:157.83, Y:34.63, Z:-2.56 [[ 4.46313896e-01 -8.94874766e-01 -1.74930186e-03 1.57825324e+02] [ 8.94868686e-01 4.46317314e-01 -3.29998894e-03 3.46268717e+01] [ 3.73382054e-03 -9.25645372e-05 9.99993025e-01 -2.55747977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.49538475 meters 0.06110758915372351 Centerline is valid? [True, True] Translation: X:157.83, Y:34.66, Z:-2.55 [[ 4.59615750e-01 -8.88116662e-01 -1.46882422e-03 1.57825440e+02] [ 8.88112330e-01 4.59618096e-01 -2.77395369e-03 3.46571300e+01] [ 3.13869268e-03 -2.95280926e-05 9.99995074e-01 -2.54927949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.52538475 meters 0.06058714609010602 Centerline is valid? [True, True] Translation: X:157.83, Y:34.68, Z:-2.55 [[ 4.67986310e-01 -8.83733894e-01 -1.79384844e-03 1.57829252e+02] [ 8.83727392e-01 4.67989748e-01 -3.39005415e-03 3.46846829e+01] [ 3.83540844e-03 1.22592977e-06 9.99992645e-01 -2.55183386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.55538475 meters 0.06070367834381698 Centerline is valid? [True, True] Translation: X:157.84, Y:34.71, Z:-2.55 [[ 4.68900657e-01 -8.83249217e-01 -1.73060355e-03 1.57837542e+02] [ 8.83243149e-01 4.68903850e-01 -3.27389995e-03 3.47088299e+01] [ 3.70315623e-03 6.59010883e-06 9.99993143e-01 -2.55273131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.58538475 meters 0.060752814853584365 Centerline is valid? [True, True] Translation: X:157.85, Y:34.73, Z:-2.55 [[ 4.65602810e-01 -8.84993121e-01 -1.09546210e-03 1.57854103e+02] [ 8.84990684e-01 4.65604098e-01 -2.07682511e-03 3.47297636e+01] [ 2.34802758e-03 -2.49814424e-06 9.99997243e-01 -2.55266026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.61538475 meters 0.06071936160750281 Centerline is valid? [True, True] Translation: X:157.86, Y:34.75, Z:-2.55 [[ 4.64987142e-01 -8.85316813e-01 -1.04845273e-03 1.57864615e+02] [ 8.85314575e-01 4.64988324e-01 -1.99031366e-03 3.47546541e+01] [ 2.24957642e-03 -2.74021881e-06 9.99997470e-01 -2.55128660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.64538475 meters 0.06125152611225894 Centerline is valid? [True, True] Translation: X:157.87, Y:34.78, Z:-2.56 [[ 4.64808891e-01 -8.85408958e-01 -1.91625971e-03 1.57874401e+02] [ 8.85401511e-01 4.64812841e-01 -3.63145128e-03 3.47808477e+01] [ 4.10602161e-03 -8.72839967e-06 9.99991570e-01 -2.55538590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.67538475 meters 0.06137607834007749 Centerline is valid? [True, True] Translation: X:157.89, Y:34.80, Z:-2.56 [[ 4.63305025e-01 -8.86195591e-01 -2.41404494e-03 1.57887684e+02] [ 8.86183778e-01 4.63311314e-01 -4.57578023e-03 3.48043159e+01] [ 5.17349060e-03 -1.93054856e-05 9.99986617e-01 -2.55687968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.70538475 meters 0.06138476292855753 Centerline is valid? [True, True] Translation: X:157.90, Y:34.83, Z:-2.56 [[ 4.63011270e-01 -8.86348944e-01 -2.47254977e-03 1.57900493e+02] [ 8.86336530e-01 4.63017871e-01 -4.69103390e-03 3.48280958e+01] [ 5.30272767e-03 -1.95096194e-05 9.99985940e-01 -2.55641528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.73538475 meters 0.061604374272562816 Centerline is valid? [True, True] Translation: X:157.91, Y:34.85, Z:-2.56 [[ 4.61779465e-01 -8.86990411e-01 -2.78148499e-03 1.57912994e+02] [ 8.86974700e-01 4.61787841e-01 -5.27937624e-03 3.48508960e+01] [ 5.96721205e-03 -2.91992842e-05 9.99982196e-01 -2.55716691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.76538475 meters 0.061770353723770016 Centerline is valid? [True, True] Translation: X:157.93, Y:34.87, Z:-2.56 [[ 4.60787839e-01 -8.87502951e-01 -3.61654946e-03 1.57926026e+02] [ 8.87476388e-01 4.60802029e-01 -6.86667115e-03 3.48737620e+01] [ 7.76070424e-03 -4.55236919e-05 9.99969884e-01 -2.55925229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.79538475 meters 0.06212244683101597 Centerline is valid? [True, True] Translation: X:157.94, Y:34.90, Z:-2.56 [[ 4.59149919e-01 -8.88351780e-01 -3.53082192e-03 1.57940422e+02] [ 8.88326443e-01 4.59163492e-01 -6.70963839e-03 3.48966190e+01] [ 7.58174372e-03 -5.57925512e-05 9.99971257e-01 -2.55918724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.82538475 meters 0.062369751396202995 Centerline is valid? [True, True] Translation: X:157.95, Y:34.92, Z:-2.56 [[ 4.57189709e-01 -8.89360849e-01 -3.85361134e-03 1.57954231e+02] [ 8.89330676e-01 4.57205943e-01 -7.32630118e-03 3.49199252e+01] [ 8.27761945e-03 -7.76252775e-05 9.99965737e-01 -2.55957210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.85538475 meters 0.0623661960599325 Centerline is valid? [True, True] Translation: X:157.97, Y:34.94, Z:-2.56 [[ 4.57778208e-01 -8.89057679e-01 -3.94400598e-03 1.57965404e+02] [ 8.89026005e-01 4.57795192e-01 -7.50500684e-03 3.49445524e+01] [ 8.47793094e-03 -7.06952991e-05 9.99964059e-01 -2.55900632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.88538475000001 meters 0.06257203455791024 Centerline is valid? [True, True] Translation: X:157.98, Y:34.97, Z:-2.56 [[ 4.56370610e-01 -8.89779405e-01 -4.29849640e-03 1.57981695e+02] [ 8.89741805e-01 4.56390844e-01 -8.18032582e-03 3.49661627e+01] [ 9.24047984e-03 -9.12916667e-05 9.99957302e-01 -2.55845112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.91538475000002 meters 0.0627032442218467 Centerline is valid? [True, True] Translation: X:157.99, Y:34.99, Z:-2.56 [[ 4.56129877e-01 -8.89901319e-01 -4.60203584e-03 1.57992811e+02] [ 8.89858138e-01 4.56153082e-01 -8.76698273e-03 3.49901941e+01] [ 9.90098232e-03 -9.62762924e-05 9.99950979e-01 -2.55751403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.94538475000002 meters 0.06325317448345373 Centerline is valid? [True, True] Translation: X:158.00, Y:35.01, Z:-2.56 [[ 4.55216163e-01 -8.90368272e-01 -4.75239648e-03 1.58004744e+02] [ 8.90322174e-01 4.55240957e-01 -9.06081023e-03 3.50129182e+01] [ 1.02309435e-02 -1.06536698e-04 9.99947657e-01 -2.56139536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.97538475 meters 0.06343269275477996 Centerline is valid? [True, True] Translation: X:158.02, Y:35.04, Z:-2.56 [[ 4.54453705e-01 -8.90754598e-01 -5.29877805e-03 1.58016985e+02] [ 8.90697253e-01 4.54484577e-01 -1.01080176e-02 3.50361241e+01] [ 1.14119760e-02 -1.25981027e-04 9.99934873e-01 -2.56298610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.00538475 meters 0.06351136319522681 Centerline is valid? [True, True] Translation: X:158.03, Y:35.06, Z:-2.56 [[ 4.53985566e-01 -8.90993399e-01 -5.27914390e-03 1.58027660e+02] [ 8.90936421e-01 4.54016241e-01 -1.00770022e-02 3.50579538e+01] [ 1.13753595e-02 -1.28568025e-04 9.99935290e-01 -2.56324581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.03538475 meters 0.06345556267305862 Centerline is valid? [True, True] Translation: X:158.04, Y:35.08, Z:-2.56 [[ 4.53868470e-01 -8.91052347e-01 -5.39690857e-03 1.58036767e+02] [ 8.90992705e-01 4.53900538e-01 -1.03102214e-02 3.50827465e+01] [ 1.16366067e-02 -1.29121756e-04 9.99932284e-01 -2.56269227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.06538475 meters 0.0640167325588836 Centerline is valid? [True, True] Translation: X:158.05, Y:35.10, Z:-2.56 [[ 4.52366775e-01 -8.91814167e-01 -5.63843007e-03 1.58050403e+02] [ 8.91749023e-01 4.52401888e-01 -1.07801224e-02 3.51048205e+01] [ 1.21647023e-02 -1.51495316e-04 9.99925996e-01 -2.56314560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.09538475 meters 0.06437204647843918 Centerline is valid? [True, True] Translation: X:158.06, Y:35.13, Z:-2.56 [[ 4.51061959e-01 -8.92472358e-01 -6.01658884e-03 1.58063337e+02] [ 8.92398135e-01 4.51102050e-01 -1.15112929e-02 3.51269795e+01] [ 1.29876062e-02 -1.76886347e-04 9.99915642e-01 -2.56361705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.12538475 meters 0.06450248715128153 Centerline is valid? [True, True] Translation: X:158.08, Y:35.15, Z:-2.56 [[ 4.49871191e-01 -8.93074532e-01 -5.81302634e-03 1.58075677e+02] [ 8.93005174e-01 4.49908709e-01 -1.11315935e-02 3.51494537e+01] [ 1.25566738e-02 -1.83279363e-04 9.99921145e-01 -2.56342036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.15538475 meters 0.06536680671040807 Centerline is valid? [True, True] Translation: X:158.09, Y:35.17, Z:-2.57 [[ 4.47059545e-01 -8.94479745e-01 -6.61434943e-03 1.58090398e+02] [ 8.94390037e-01 4.47108402e-01 -1.26703942e-02 3.51699086e+01] [ 1.42907422e-02 -2.51387571e-04 9.99897851e-01 -2.56530899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.18538475 meters 0.06578214990715822 Centerline is valid? [True, True] Translation: X:158.10, Y:35.19, Z:-2.57 [[ 4.46416873e-01 -8.94797651e-01 -7.01001539e-03 1.58102479e+02] [ 8.94696768e-01 4.46471825e-01 -1.34388476e-02 3.51932412e+01] [ 1.51548236e-02 -2.72509818e-04 9.99885122e-01 -2.56601365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.21538475 meters 0.06633595549395219 Centerline is valid? [True, True] Translation: X:158.12, Y:35.21, Z:-2.57 [[ 4.44342721e-01 -8.95823814e-01 -7.69681394e-03 1.58116758e+02] [ 8.95702168e-01 4.44409253e-01 -1.47662215e-02 3.52148468e+01] [ 1.66484682e-02 -3.32789903e-04 9.99861349e-01 -2.56726950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.24538475 meters 0.06597549292354239 Centerline is valid? [True, True] Translation: X:158.13, Y:35.24, Z:-2.56 [[ 4.42680206e-01 -8.96643055e-01 -8.09113658e-03 1.58127878e+02] [ 8.96508629e-01 4.42753981e-01 -1.55303290e-02 3.52383196e+01] [ 1.75075445e-02 -3.78804534e-04 9.99846659e-01 -2.56318306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.27538475 meters 0.06884512139576764 Centerline is valid? [True, True] Translation: X:158.15, Y:35.26, Z:-2.57 [[ 4.39373889e-01 -8.98267492e-01 -8.13012856e-03 1.58148658e+02] [ 8.98131787e-01 4.39448883e-01 -1.56196158e-02 3.52565131e+01] [ 1.76033690e-02 -4.39075538e-04 9.99844952e-01 -2.57247980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.30538475 meters 0.06846565273527086 Centerline is valid? [True, True] Translation: X:158.16, Y:35.28, Z:-2.57 [[ 4.38624705e-01 -8.98630228e-01 -8.49006882e-03 1.58159862e+02] [ 8.98482106e-01 4.38706614e-01 -1.63221549e-02 3.52801345e+01] [ 1.83922311e-02 -4.68874542e-04 9.99830739e-01 -2.57075823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.33538475 meters 0.06854830459412986 Centerline is valid? [True, True] Translation: X:158.17, Y:35.30, Z:-2.57 [[ 4.35191089e-01 -9.00298368e-01 -8.45962903e-03 1.58174262e+02] [ 9.00151396e-01 4.35272979e-01 -1.62757213e-02 3.53026501e+01] [ 1.83352533e-02 -5.31897985e-04 9.99831754e-01 -2.56748793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.36538475 meters 0.07008961879487649 Centerline is valid? [True, True] Translation: X:158.19, Y:35.32, Z:-2.57 [[ 4.26604963e-01 -9.04403886e-01 -7.86240584e-03 1.58194955e+02] [ 9.04277405e-01 4.26676912e-01 -1.51389583e-02 3.53215551e+01] [ 1.70464397e-02 -6.51441223e-04 9.99854487e-01 -2.56536407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.39538475 meters 0.07266997193549458 Centerline is valid? [True, True] Translation: X:158.22, Y:35.34, Z:-2.56 [[ 4.20180165e-01 -9.07411670e-01 -7.25884185e-03 1.58216802e+02] [ 9.07304109e-01 4.20242264e-01 -1.39890210e-02 3.53395514e+01] [ 1.57442730e-02 -7.08067888e-04 9.99875801e-01 -2.56423065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.42538475 meters 0.07404788473724329 Centerline is valid? [True, True] Translation: X:158.23, Y:35.36, Z:-2.56 [[ 4.16983239e-01 -9.08887269e-01 -6.99366291e-03 1.58233480e+02] [ 9.08787460e-01 4.17041243e-01 -1.34890374e-02 3.53603671e+01] [ 1.51766602e-02 -7.31050637e-04 9.99884561e-01 -2.56242488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.45538475 meters 0.07329300914100043 Centerline is valid? [True, True] Translation: X:158.25, Y:35.38, Z:-2.56 [[ 4.10578400e-01 -9.11805271e-01 -6.04366348e-03 1.58247118e+02] [ 9.11730962e-01 4.10622244e-01 -1.16630298e-02 3.53842779e+01] [ 1.31160747e-02 -7.21607017e-04 9.99913720e-01 -2.55779336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.48538475 meters 0.07922449679081446 Centerline is valid? [True, True] Translation: X:158.27, Y:35.40, Z:-2.56 [[ 4.06528233e-01 -9.13619253e-01 -5.88703486e-03 1.58271721e+02] [ 9.13548841e-01 4.06570152e-01 -1.13677442e-02 3.54007202e+01] [ 1.27792826e-02 -7.56784908e-04 9.99918055e-01 -2.56183985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.51538475 meters 0.07756925320127878 Centerline is valid? [True, True] Translation: X:158.28, Y:35.43, Z:-2.56 [[ 4.00428021e-01 -9.16309549e-01 -5.84901285e-03 1.58282945e+02] [ 9.16240199e-01 4.00469871e-01 -1.13039673e-02 3.54258407e+01] [ 1.27002866e-02 -8.32675453e-04 9.99919001e-01 -2.55883484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.54538475 meters 0.07977831476699804 Centerline is valid? [True, True] Translation: X:158.30, Y:35.45, Z:-2.56 [[ 3.96856665e-01 -9.17862441e-01 -5.77286389e-03 1.58299815e+02] [ 9.17794919e-01 3.96897704e-01 -1.11668432e-02 3.54465074e+01] [ 1.25408623e-02 -8.66669011e-04 9.99920985e-01 -2.56071010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.57538475 meters 0.08191660419988209 Centerline is valid? [True, True] Translation: X:158.32, Y:35.47, Z:-2.56 [[ 3.90756830e-01 -9.20477000e-01 -5.58503207e-03 1.58317153e+02] [ 9.20413998e-01 3.90795664e-01 -1.08083872e-02 3.54680643e+01] [ 1.21314781e-02 -9.17090591e-04 9.99925990e-01 -2.55917929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.60538475 meters 0.08195309458114915 Centerline is valid? [True, True] Translation: X:158.33, Y:35.49, Z:-2.56 [[ 3.89085548e-01 -9.21182203e-01 -5.98211246e-03 1.58330660e+02] [ 9.21109891e-01 3.89130241e-01 -1.15855422e-02 3.54919939e+01] [ 1.30002161e-02 -1.00241592e-03 9.99914991e-01 -2.55945117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.63538475000001 meters 0.08578903301901714 Centerline is valid? [True, True] Translation: X:158.35, Y:35.51, Z:-2.56 [[ 3.82986968e-01 -9.23731358e-01 -6.43115422e-03 1.58350922e+02] [ 9.23647978e-01 3.83039186e-01 -1.24657246e-02 3.55109004e+01] [ 1.39783648e-02 -1.16591252e-03 9.99901618e-01 -2.56274874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.66538475000002 meters 0.0977309518761319 Centerline is valid? [True, True] Translation: X:158.38, Y:35.52, Z:-2.57 [[ 3.80576810e-01 -9.24725455e-01 -6.64266871e-03 1.58381554e+02] [ 9.24636497e-01 3.80632764e-01 -1.28859319e-02 3.55240736e+01] [ 1.44443666e-02 -1.23796706e-03 9.99894908e-01 -2.57031257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.69538475000002 meters 0.08219911161994135 Centerline is valid? [True, True] Translation: X:158.37, Y:35.56, Z:-2.56 [[ 3.80701063e-01 -9.24670984e-01 -7.09029180e-03 1.58370619e+02] [ 9.24569460e-01 3.80764812e-01 -1.37648655e-02 3.55598849e+01] [ 1.54277054e-02 -1.31516832e-03 9.99880121e-01 -2.56035885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.72538475 meters 0.0881707376508061 Centerline is valid? [True, True] Translation: X:158.39, Y:35.58, Z:-2.56 [[ 3.80242528e-01 -9.24861058e-01 -6.90238028e-03 1.58391808e+02] [ 9.24764694e-01 3.80303006e-01 -1.34120948e-02 3.55771240e+01] [ 1.50293201e-02 -1.28322877e-03 9.99886230e-01 -2.56424551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.75538475 meters 0.08301966146826029 Centerline is valid? [True, True] Translation: X:158.39, Y:35.61, Z:-2.56 [[ 3.82046616e-01 -9.24117900e-01 -6.81834012e-03 1.58393438e+02] [ 9.24023619e-01 3.82105458e-01 -1.32578631e-02 3.56062501e+01] [ 1.48571535e-02 -1.23518559e-03 9.99888863e-01 -2.56166621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.78538475 meters 0.08278622925552954 Centerline is valid? [True, True] Translation: X:158.40, Y:35.63, Z:-2.56 [[ 3.84746644e-01 -9.22997744e-01 -6.72193431e-03 1.58403212e+02] [ 9.22905773e-01 3.84803580e-01 -1.30820483e-02 3.56302306e+01] [ 1.46613255e-02 -1.17043779e-03 9.99891832e-01 -2.56250702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.81538475 meters 0.08136515477566185 Centerline is valid? [True, True] Translation: X:158.41, Y:35.66, Z:-2.56 [[ 3.86192473e-01 -9.22394748e-01 -6.58042043e-03 1.58412228e+02] [ 9.22306392e-01 3.86246909e-01 -1.28157716e-02 3.56556853e+01] [ 1.43628674e-02 -1.11980931e-03 9.99896222e-01 -2.56237854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.84538475 meters 0.08146310272814006 Centerline is valid? [True, True] Translation: X:158.42, Y:35.68, Z:-2.56 [[ 3.88509221e-01 -9.21418712e-01 -6.93845719e-03 1.58424276e+02] [ 9.21320166e-01 3.88569506e-01 -1.35236968e-02 3.56791120e+01] [ 1.51570602e-02 -1.13845962e-03 9.99884477e-01 -2.56305571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.87538475 meters 0.07924590711958658 Centerline is valid? [True, True] Translation: X:158.43, Y:35.70, Z:-2.56 [[ 3.94441563e-01 -9.18892894e-01 -7.19048587e-03 1.58432890e+02] [ 9.18786467e-01 3.94505635e-01 -1.40261581e-02 3.57036267e+01] [ 1.57252242e-02 -1.07402137e-03 9.99875774e-01 -2.56375522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.90538475 meters 0.07685021396492143 Centerline is valid? [True, True] Translation: X:158.44, Y:35.73, Z:-2.56 [[ 3.96668431e-01 -9.17931475e-01 -7.48091697e-03 1.58441815e+02] [ 9.17815944e-01 3.96737514e-01 -1.46026590e-02 3.57297233e+01] [ 1.63722007e-02 -1.07369105e-03 9.99865390e-01 -2.56307245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.93538475 meters 0.07400869218822644 Centerline is valid? [True, True] Translation: X:158.45, Y:35.76, Z:-2.56 [[ 4.05410540e-01 -9.14100415e-01 -7.91988595e-03 1.58448352e+02] [ 9.13969967e-01 4.05486742e-01 -1.54726352e-02 3.57552527e+01] [ 1.73549510e-02 -9.65768514e-04 9.99848925e-01 -2.56385150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.96538475 meters 0.07275651471833162 Centerline is valid? [True, True] Translation: X:158.46, Y:35.78, Z:-2.57 [[ 4.10414434e-01 -9.11864711e-01 -7.92087840e-03 1.58457620e+02] [ 9.11733597e-01 4.10489950e-01 -1.54870985e-02 3.57792560e+01] [ 1.73735796e-02 -8.65602168e-04 9.99848693e-01 -2.56507940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.99538475 meters 0.06694220357432044 Centerline is valid? [True, True] Translation: X:158.45, Y:35.81, Z:-2.56 [[ 4.20123025e-01 -9.07432711e-01 -7.90686028e-03 1.58454990e+02] [ 9.07301137e-01 4.20196880e-01 -1.54670537e-02 3.58112455e+01] [ 1.73577485e-02 -6.75837925e-04 9.99849115e-01 -2.56311006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.02538475 meters 0.06775485158352583 Centerline is valid? [True, True] Translation: X:158.47, Y:35.83, Z:-2.57 [[ 4.25120609e-01 -9.05098147e-01 -8.35534437e-03 1.58468486e+02] [ 9.04950483e-01 4.25202278e-01 -1.63599018e-02 3.58334819e+01] [ 1.83600282e-02 -6.06241515e-04 9.99831257e-01 -2.56997975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.05538475 meters 0.06418723370077775 Centerline is valid? [True, True] Translation: X:158.47, Y:35.86, Z:-2.57 [[ 4.34009634e-01 -9.00869874e-01 -8.31314594e-03 1.58469433e+02] [ 9.00722684e-01 4.34089041e-01 -1.62896202e-02 3.58631134e+01] [ 1.82834737e-02 -4.17987012e-04 9.99832756e-01 -2.56504525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.08538475 meters 0.06342470090019343 Centerline is valid? [True, True] Translation: X:158.48, Y:35.89, Z:-2.57 [[ 4.37365423e-01 -8.99248113e-01 -8.01985042e-03 1.58478699e+02] [ 8.99110642e-01 4.37438819e-01 -1.57268036e-02 3.58877923e+01] [ 1.76504924e-02 -3.32372746e-04 9.99844163e-01 -2.56528094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.11538475 meters 0.06313693640529745 Centerline is valid? [True, True] Translation: X:158.49, Y:35.91, Z:-2.57 [[ 4.42961848e-01 -8.96512624e-01 -7.06511920e-03 1.58488081e+02] [ 8.96405383e-01 4.43018147e-01 -1.38676061e-02 3.59122659e+01] [ 1.55624599e-02 -1.90390461e-04 9.99878879e-01 -2.56799079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.14538475 meters 0.06233589088474501 Centerline is valid? [True, True] Translation: X:158.50, Y:35.94, Z:-2.56 [[ 4.44371270e-01 -8.95818125e-01 -6.63787486e-03 1.58496936e+02] [ 8.95723268e-01 4.44420818e-01 -1.30369721e-02 3.59391622e+01] [ 1.46287657e-02 -1.52443120e-04 9.99892982e-01 -2.56264461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.17538475 meters 0.062183013133552116 Centerline is valid? [True, True] Translation: X:158.51, Y:35.96, Z:-2.56 [[ 4.43608596e-01 -8.96200881e-01 -5.94931254e-03 1.58509402e+02] [ 8.96124579e-01 4.43648465e-01 -1.16952701e-02 3.59627601e+01] [ 1.31207147e-02 -1.43202859e-04 9.99913909e-01 -2.56146711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.20538475 meters 0.062183013133552116 Centerline is valid? [True, True] Translation: X:158.52, Y:35.99, Z:-2.56 [[ 4.43318175e-01 -8.96344604e-01 -5.94532520e-03 1.58520973e+02] [ 8.96268287e-01 4.43358016e-01 -1.16972984e-02 3.59861086e+01] [ 1.31207179e-02 -1.42981444e-04 9.99913909e-01 -2.56181560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.23538475 meters 0.0620561466070497 Centerline is valid? [True, True] Translation: X:158.53, Y:36.01, Z:-2.56 [[ 4.41443019e-01 -8.97274881e-01 -5.08424767e-03 1.58534426e+02] [ 8.97219066e-01 4.41472273e-01 -1.00089457e-02 3.60079413e+01] [ 1.12253299e-02 -1.43304749e-04 9.99936984e-01 -2.55890092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.26538475 meters 0.062130197523621276 Centerline is valid? [True, True] Translation: X:158.55, Y:36.03, Z:-2.56 [[ 4.38879337e-01 -8.98535118e-01 -4.42366520e-03 1.58548385e+02] [ 8.98492836e-01 4.38901605e-01 -8.71806522e-03 3.60308619e+01] [ 9.77504152e-03 -1.48452804e-04 9.99952212e-01 -2.55795080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.29538475 meters 0.06265862281372389 Centerline is valid? [True, True] Translation: X:158.56, Y:36.05, Z:-2.56 [[ 4.36150130e-01 -8.99863525e-01 -4.32431257e-03 1.58562400e+02] [ 8.99823113e-01 4.36171533e-01 -8.52992151e-03 3.60530272e+01] [ 9.56190728e-03 -1.70790019e-04 9.99954269e-01 -2.55787168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.32538475 meters 0.06431645835401686 Centerline is valid? [True, True] Translation: X:158.58, Y:36.07, Z:-2.56 [[ 4.28855435e-01 -9.03364664e-01 -3.91140034e-03 1.58579691e+02] [ 9.03331683e-01 4.28873215e-01 -7.72239892e-03 3.60730676e+01] [ 8.65363714e-03 -2.21499102e-04 9.99962532e-01 -2.55750828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.35538475 meters 0.0660307060991543 Centerline is valid? [True, True] Translation: X:158.59, Y:36.09, Z:-2.56 [[ 4.23409288e-01 -9.05929347e-01 -4.07336350e-03 1.58594781e+02] [ 9.05893646e-01 4.23428787e-01 -8.04767503e-03 3.60945715e+01] [ 9.01540435e-03 -2.82573753e-04 9.99959320e-01 -2.55929417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.38538475000001 meters 0.06758875748416267 Centerline is valid? [True, True] Translation: X:158.61, Y:36.12, Z:-2.56 [[ 4.18910204e-01 -9.08018997e-01 -3.96760285e-03 1.58609768e+02] [ 9.07985158e-01 4.18928874e-01 -7.84551874e-03 3.61162333e+01] [ 8.78602345e-03 -3.15956646e-04 9.99961352e-01 -2.55949737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.41538475000002 meters 0.07080768569251757 Centerline is valid? [True, True] Translation: X:158.63, Y:36.14, Z:-2.56 [[ 4.11580027e-01 -9.11365992e-01 -3.72954125e-03 1.58628884e+02] [ 9.11336174e-01 4.11596766e-01 -7.38105642e-03 3.61356069e+01] [ 8.26191092e-03 -3.60970448e-04 9.99965805e-01 -2.55869490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.44538475000002 meters 0.0692710915262847 Centerline is valid? [True, True] Translation: X:158.64, Y:36.16, Z:-2.56 [[ 4.07583892e-01 -9.13160743e-01 -3.58176578e-03 1.58637630e+02] [ 9.13133290e-01 4.07599452e-01 -7.09090538e-03 3.61609523e+01] [ 7.93506219e-03 -3.80490767e-04 9.99968445e-01 -2.55593464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.47538475 meters 0.07194497688170087 Centerline is valid? [True, True] Translation: X:158.65, Y:36.18, Z:-2.56 [[ 4.01333496e-01 -9.15928003e-01 -2.70514802e-03 1.58654834e+02] [ 9.15912355e-01 4.01342481e-01 -5.36383770e-03 3.61811755e+01] [ 5.99857997e-03 -3.24990756e-04 9.99981956e-01 -2.55552191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.50538475 meters 0.07629617101616996 Centerline is valid? [True, True] Translation: X:158.68, Y:36.20, Z:-2.56 [[ 4.00227027e-01 -9.16410882e-01 -3.06954842e-03 1.58675083e+02] [ 9.16390719e-01 4.00238622e-01 -6.09062653e-03 3.61996212e+01] [ 6.81006826e-03 -3.75272332e-04 9.99976741e-01 -2.55898666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.53538475 meters 0.07705160413795464 Centerline is valid? [True, True] Translation: X:158.69, Y:36.22, Z:-2.56 [[ 3.99176955e-01 -9.16868780e-01 -3.06574699e-03 1.58688244e+02] [ 9.16848658e-01 3.99188545e-01 -6.08638086e-03 3.62224284e+01] [ 6.80422367e-03 -3.81283034e-04 9.99976778e-01 -2.55900194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.56538475 meters 0.0768459817048795 Centerline is valid? [True, True] Translation: X:158.70, Y:36.25, Z:-2.56 [[ 3.99980249e-01 -9.16517335e-01 -3.43138923e-03 1.58699279e+02] [ 9.16492085e-01 3.99994749e-01 -6.81615037e-03 3.62458993e+01] [ 7.61965765e-03 -4.18515544e-04 9.99970882e-01 -2.56002299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.59538475 meters 0.07491101792568038 Centerline is valid? [True, True] Translation: X:158.71, Y:36.27, Z:-2.56 [[ 4.03822603e-01 -9.14833933e-01 -2.48613342e-03 1.58706089e+02] [ 9.14820605e-01 4.03830161e-01 -4.94594229e-03 3.62703029e+01] [ 5.52869149e-03 -2.77082791e-04 9.99984678e-01 -2.55663330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.62538475 meters 0.07068462156534025 Centerline is valid? [True, True] Translation: X:158.71, Y:36.30, Z:-2.55 [[ 4.05655487e-01 -9.14023514e-01 -2.15445939e-03 1.58709216e+02] [ 9.14013483e-01 4.05661143e-01 -4.28824915e-03 3.62986845e+01] [ 4.79354102e-03 -2.29653131e-04 9.99988485e-01 -2.55142621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.65538475 meters 0.07222364395798818 Centerline is valid? [True, True] Translation: X:158.72, Y:36.32, Z:-2.56 [[ 4.08433155e-01 -9.12785168e-01 -2.36538953e-03 1.58721740e+02] [ 9.12773031e-01 4.08439937e-01 -4.71298994e-03 3.63208108e+01] [ 5.26806686e-03 -2.34122424e-04 9.99986096e-01 -2.55545260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.68538475 meters 0.06619862365301825 Centerline is valid? [True, True] Translation: X:158.72, Y:36.35, Z:-2.55 [[ 4.09075899e-01 -9.12497811e-01 -2.15724332e-03 1.58718926e+02] [ 9.12487696e-01 4.09081534e-01 -4.30157313e-03 3.63527822e+01] [ 4.80766447e-03 -2.08788097e-04 9.99988421e-01 -2.55192566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.71538475 meters 0.06860552951682322 Centerline is valid? [True, True] Translation: X:158.73, Y:36.37, Z:-2.56 [[ 4.11032742e-01 -9.11617557e-01 -2.34827873e-03 1.58734718e+02] [ 9.11605541e-01 4.11039394e-01 -4.68549882e-03 3.63740397e+01] [ 5.23661806e-03 -2.14810470e-04 9.99986266e-01 -2.55767887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.74538475 meters 0.06832984800580942 Centerline is valid? [True, True] Translation: X:158.75, Y:36.40, Z:-2.56 [[ 4.11814912e-01 -9.11264263e-01 -2.43325116e-03 1.58745426e+02] [ 9.11251336e-01 4.11822043e-01 -4.85879622e-03 3.63969925e+01] [ 5.42971382e-03 -2.16378630e-04 9.99985236e-01 -2.55875620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.77538475 meters 0.06945278130319922 Centerline is valid? [True, True] Translation: X:158.76, Y:36.42, Z:-2.56 [[ 4.09605265e-01 -9.12259466e-01 -2.48869709e-03 1.58758951e+02] [ 9.12245937e-01 4.09612759e-01 -4.97376182e-03 3.64183244e+01] [ 5.55676338e-03 -2.33024783e-04 9.99984534e-01 -2.56049302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.80538475 meters 0.06946035084662884 Centerline is valid? [True, True] Translation: X:158.77, Y:36.44, Z:-2.56 [[ 4.09490931e-01 -9.12310110e-01 -2.72766731e-03 1.58771604e+02] [ 9.12293838e-01 4.09499936e-01 -5.45480940e-03 3.64407302e+01] [ 6.09345735e-03 -2.54739107e-04 9.99981402e-01 -2.56103044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.83538475 meters 0.06976270839136225 Centerline is valid? [True, True] Translation: X:158.78, Y:36.46, Z:-2.56 [[ 4.09184777e-01 -9.12447371e-01 -2.75927752e-03 1.58783864e+02] [ 9.12430692e-01 4.09193999e-01 -5.52298438e-03 3.64618434e+01] [ 6.16851238e-03 -2.57728364e-04 9.99980941e-01 -2.56127837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.86538475 meters 0.06673767384607031 Centerline is valid? [True, True] Translation: X:158.79, Y:36.49, Z:-2.56 [[ 4.08913940e-01 -9.12568127e-01 -2.96717199e-03 1.58789963e+02] [ 9.12548821e-01 4.08924610e-01 -5.94248895e-03 3.64890679e+01] [ 6.63627566e-03 -2.77722733e-04 9.99977941e-01 -2.55821783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.89538475 meters 0.06624307018439111 Centerline is valid? [True, True] Translation: X:158.80, Y:36.51, Z:-2.56 [[ 4.10253922e-01 -9.11963326e-01 -3.82239673e-03 1.58801676e+02] [ 9.11931226e-01 4.10271585e-01 -7.65933850e-03 3.65120744e+01] [ 8.55325658e-03 -3.43489278e-04 9.99963361e-01 -2.56049051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.92538475 meters 0.06619616511566735 Centerline is valid? [True, True] Translation: X:158.81, Y:36.54, Z:-2.56 [[ 4.10755117e-01 -9.11737008e-01 -3.98272859e-03 1.58814453e+02] [ 9.11702101e-01 4.10774275e-01 -7.98591379e-03 3.65355446e+01] [ 8.91705560e-03 -3.50807072e-04 9.99960181e-01 -2.56179576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.95538475 meters 0.06448088453262658 Centerline is valid? [True, True] Translation: X:158.82, Y:36.56, Z:-2.56 [[ 4.15559912e-01 -9.09557255e-01 -3.94448273e-03 1.58822267e+02] [ 9.09522855e-01 4.15578525e-01 -7.91610662e-03 3.65600217e+01] [ 8.83939452e-03 -2.97980622e-04 9.99960887e-01 -2.56193896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.98538475 meters 0.06367646983100443 Centerline is valid? [True, True] Translation: X:158.83, Y:36.58, Z:-2.56 [[ 4.16172397e-01 -9.09277898e-01 -3.77368725e-03 1.58831873e+02] [ 9.09246348e-01 4.16189414e-01 -7.57963381e-03 3.65848668e+01] [ 8.46256217e-03 -2.76776977e-04 9.99964154e-01 -2.56208251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.01538475 meters 0.06232702149804205 Centerline is valid? [True, True] Translation: X:158.84, Y:36.61, Z:-2.56 [[ 4.21336552e-01 -9.06898292e-01 -3.31629748e-03 1.58840527e+02] [ 9.06873801e-01 4.21349557e-01 -6.66785586e-03 3.66090635e+01] [ 7.44438756e-03 -1.98051895e-04 9.99972271e-01 -2.56145176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.04538475 meters 0.06160889224579253 Centerline is valid? [True, True] Translation: X:158.85, Y:36.63, Z:-2.56 [[ 4.22719464e-01 -9.06256085e-01 -2.85722230e-03 1.58850753e+02] [ 9.06237872e-01 4.22729090e-01 -5.74767681e-03 3.66341045e+01] [ 6.41669807e-03 -1.59668197e-04 9.99979400e-01 -2.56004907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.07538475 meters 0.060493097208243994 Centerline is valid? [True, True] Translation: X:158.86, Y:36.66, Z:-2.56 [[ 4.26066418e-01 -9.04690260e-01 -1.71478008e-03 1.58858347e+02] [ 9.04683655e-01 4.26069862e-01 -3.45795987e-03 3.66581908e+01] [ 3.85899872e-03 -7.80129343e-05 9.99992551e-01 -2.55730243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.10538475 meters 0.06010100519865032 Centerline is valid? [True, True] Translation: X:158.87, Y:36.68, Z:-2.56 [[ 4.26625766e-01 -9.04427606e-01 -1.07795644e-03 1.58868151e+02] [ 9.04424988e-01 4.26627125e-01 -2.17644140e-03 3.66834048e+01] [ 2.42831914e-03 -4.64047634e-05 9.99997051e-01 -2.55800197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.13538475000001 meters 0.06022086176033663 Centerline is valid? [True, True] Translation: X:158.88, Y:36.71, Z:-2.56 [[ 4.26080898e-01 -9.04684955e-01 -4.47711251e-04 1.58878792e+02] [ 9.04684498e-01 4.26081133e-01 -9.09879383e-04 3.67060271e+01] [ 1.01391550e-03 -1.73552040e-05 9.99999486e-01 -2.55715631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.16538475000002 meters 0.06090569938513765 Centerline is valid? [True, True] Translation: X:158.89, Y:36.73, Z:-2.56 [[ 4.23756200e-01 -9.05776278e-01 1.32168199e-04 1.58892956e+02] [ 9.05776242e-01 4.23756220e-01 2.56810305e-04 3.67281665e+01] [-2.88619780e-04 1.08898559e-05 9.99999958e-01 -2.55554605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.19538475000002 meters 0.06267873602358472 Centerline is valid? [True, True] Translation: X:158.91, Y:36.75, Z:-2.55 [[ 4.18166667e-01 -9.08370229e-01 4.06587106e-04 1.58910115e+02] [ 9.08369868e-01 4.18166864e-01 8.10345536e-04 3.67491669e+01] [-9.06115016e-04 3.04719835e-05 9.99999589e-01 -2.55334127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.22538475 meters 0.06313488781859315 Centerline is valid? [True, True] Translation: X:158.92, Y:36.77, Z:-2.55 [[ 4.15134618e-01 -9.09759983e-01 1.48652724e-04 1.58922068e+02] [ 9.09759937e-01 4.15134644e-01 2.90230216e-04 3.67724363e+01] [-3.25750733e-04 1.47536835e-05 9.99999947e-01 -2.55440933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.25538475 meters 0.06306595776290438 Centerline is valid? [True, True] Translation: X:158.93, Y:36.80, Z:-2.56 [[ 4.13956195e-01 -9.10296621e-01 -5.75551854e-04 1.58931333e+02] [ 9.10295867e-01 4.13956593e-01 -1.17198742e-03 3.67973397e+01] [ 1.30510967e-03 -3.87710230e-05 9.99999148e-01 -2.55721494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.28538475 meters 0.06486102267229608 Centerline is valid? [True, True] Translation: X:158.95, Y:36.82, Z:-2.56 [[ 4.13861730e-01 -9.10338240e-01 -1.66014628e-03 1.58945382e+02] [ 9.10332026e-01 4.13865043e-01 -3.36574370e-03 3.68191935e+01] [ 3.75104171e-03 -1.18331818e-04 9.99992958e-01 -2.56328136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.31538475 meters 0.06267174340044061 Centerline is valid? [True, True] Translation: X:158.95, Y:36.85, Z:-2.57 [[ 4.16175889e-01 -9.09279391e-01 -2.93571947e-03 1.58948410e+02] [ 9.09259956e-01 4.16186198e-01 -5.94828791e-03 3.68471251e+01] [ 6.63046153e-03 -1.93798152e-04 9.99977999e-01 -2.56509996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.34538475 meters 0.06302331751857247 Centerline is valid? [True, True] Translation: X:158.96, Y:36.87, Z:-2.57 [[ 4.15880480e-01 -9.09413871e-01 -3.13643878e-03 1.58959969e+02] [ 9.09391651e-01 4.15892255e-01 -6.36066153e-03 3.68701629e+01] [ 7.08889442e-03 -2.06976264e-04 9.99974852e-01 -2.56586501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.37538475 meters 0.06262298982847787 Centerline is valid? [True, True] Translation: X:158.97, Y:36.89, Z:-2.57 [[ 4.17068166e-01 -9.08869903e-01 -3.10568171e-03 1.58971600e+02] [ 9.08848073e-01 4.17079683e-01 -6.30227560e-03 3.68942322e+01] [ 7.02326535e-03 -1.94114312e-04 9.99975318e-01 -2.56541090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.40538475 meters 0.06196250808434801 Centerline is valid? [True, True] Translation: X:158.98, Y:36.92, Z:-2.56 [[ 4.19397517e-01 -9.07798167e-01 -2.86551436e-03 1.58980942e+02] [ 9.07779520e-01 4.19407276e-01 -5.82073208e-03 3.69184239e+01] [ 6.48586749e-03 -1.60054665e-04 9.99978954e-01 -2.56439103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.43538475 meters 0.06085190207600578 Centerline is valid? [True, True] Translation: X:158.99, Y:36.94, Z:-2.56 [[ 4.22742117e-01 -9.06246925e-01 -2.36908821e-03 1.58987493e+02] [ 9.06234128e-01 4.22748741e-01 -4.81743155e-03 3.69438018e+01] [ 5.36731159e-03 -1.10417376e-04 9.99985590e-01 -2.56282101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.46538475 meters 0.06071510918919817 Centerline is valid? [True, True] Translation: X:159.00, Y:36.97, Z:-2.56 [[ 4.23708983e-01 -9.05795653e-01 -2.22084814e-03 1.58997732e+02] [ 9.05784382e-01 4.23714793e-01 -4.51980457e-03 3.69684758e+01] [ 5.03502554e-03 -9.65277556e-05 9.99987320e-01 -2.56300768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.49538475 meters 0.06085413840484059 Centerline is valid? [True, True] Translation: X:159.01, Y:36.99, Z:-2.56 [[ 4.24797474e-01 -9.05285533e-01 -2.28271712e-03 1.59007684e+02] [ 9.05273606e-01 4.24803597e-01 -4.64792023e-03 3.69911035e+01] [ 5.17740138e-03 -9.20587921e-05 9.99986593e-01 -2.56347710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.52538475 meters 0.06099461554910163 Centerline is valid? [True, True] Translation: X:159.02, Y:37.01, Z:-2.56 [[ 4.23430079e-01 -9.05926327e-01 -2.11142679e-03 1.59021718e+02] [ 9.05916108e-01 4.23435334e-01 -4.30392072e-03 3.70137546e+01] [ 4.79308780e-03 -9.03660481e-05 9.99988509e-01 -2.56146243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.55538475 meters 0.060690394387612145 Centerline is valid? [True, True] Translation: X:159.03, Y:37.04, Z:-2.56 [[ 4.22133864e-01 -9.06532301e-01 -1.47904985e-03 1.59031012e+02] [ 9.06527271e-01 4.22136450e-01 -3.02056024e-03 3.70385320e+01] [ 3.36259628e-03 -6.57182611e-05 9.99994344e-01 -2.55714372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.58538475 meters 0.060821646773740114 Centerline is valid? [True, True] Translation: X:159.04, Y:37.06, Z:-2.56 [[ 4.20341037e-01 -9.07364902e-01 -1.53211678e-03 1.59042640e+02] [ 9.07359506e-01 4.20343822e-01 -3.13005042e-03 3.70636832e+01] [ 3.48411372e-03 -7.44920893e-05 9.99993928e-01 -2.55861624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.61538475 meters 0.06130816533414702 Centerline is valid? [True, True] Translation: X:159.05, Y:37.09, Z:-2.56 [[ 4.19841638e-01 -9.07595141e-01 -2.01449045e-03 1.59054630e+02] [ 9.07585824e-01 4.19846459e-01 -4.11368842e-03 3.70865384e+01] [ 4.57934030e-03 -1.01225287e-04 9.99989510e-01 -2.56138954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.64538475 meters 0.062453144177080776 Centerline is valid? [True, True] Translation: X:159.07, Y:37.11, Z:-2.56 [[ 4.16869464e-01 -9.08962517e-01 -2.64450695e-03 1.59066652e+02] [ 9.08946458e-01 4.16877824e-01 -5.40511451e-03 3.71096328e+01] [ 6.01548279e-03 -1.50488036e-04 9.99981896e-01 -2.56451741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.67538475 meters 0.06286987204835585 Centerline is valid? [True, True] Translation: X:159.08, Y:37.13, Z:-2.57 [[ 4.15282805e-01 -9.09687357e-01 -3.01739030e-03 1.59078575e+02] [ 9.09666449e-01 4.15293727e-01 -6.17026102e-03 3.71331258e+01] [ 6.86611170e-03 -1.82415412e-04 9.99976411e-01 -2.56626134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.70538475 meters 0.062366669917114155 Centerline is valid? [True, True] Translation: X:159.09, Y:37.16, Z:-2.56 [[ 4.14030591e-01 -9.10258413e-01 -2.87951397e-03 1.59087646e+02] [ 9.10239357e-01 4.14040564e-01 -5.89277505e-03 3.71591350e+01] [ 6.55618366e-03 -1.81257808e-04 9.99978492e-01 -2.56284541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.73538475 meters 0.06259808761157366 Centerline is valid? [True, True] Translation: X:159.10, Y:37.18, Z:-2.57 [[ 4.14638478e-01 -9.09981328e-01 -2.98578250e-03 1.59097010e+02] [ 9.09960788e-01 4.14649189e-01 -6.11673613e-03 3.71825569e+01] [ 6.80416795e-03 -1.80710831e-04 9.99976835e-01 -2.56574146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.76538475 meters 0.06247513788842607 Centerline is valid? [True, True] Translation: X:159.11, Y:37.21, Z:-2.57 [[ 4.15178301e-01 -9.09733528e-01 -3.44767593e-03 1.59107110e+02] [ 9.09706104e-01 4.15192567e-01 -7.06660436e-03 3.72075080e+01] [ 7.86017633e-03 -2.02471042e-04 9.99969088e-01 -2.56629105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.79538475 meters 0.06195167024063881 Centerline is valid? [True, True] Translation: X:159.11, Y:37.23, Z:-2.57 [[ 4.19079517e-01 -9.07937570e-01 -4.66125549e-03 1.59114364e+02] [ 9.07887303e-01 4.19105377e-01 -9.55652467e-03 3.72341033e+01] [ 1.06302850e-02 -2.26950933e-04 9.99943471e-01 -2.56941385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.82538475 meters 0.0617633249334947 Centerline is valid? [True, True] Translation: X:159.12, Y:37.26, Z:-2.57 [[ 4.21350066e-01 -9.06884113e-01 -5.03252560e-03 1.59124144e+02] [ 9.06825366e-01 4.21380065e-01 -1.03245765e-02 3.72597329e+01] [ 1.14838004e-02 -2.13360867e-04 9.99934036e-01 -2.57084856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.85538475 meters 0.0619172072817416 Centerline is valid? [True, True] Translation: X:159.13, Y:37.29, Z:-2.58 [[ 4.25227060e-01 -9.05071732e-01 -5.20638839e-03 1.59133128e+02] [ 9.05008629e-01 4.25258900e-01 -1.06887388e-02 3.72850681e+01] [ 1.18881383e-02 -1.66685442e-04 9.99929320e-01 -2.57521383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.88538475000001 meters 0.06135843954778576 Centerline is valid? [True, True] Translation: X:159.14, Y:37.31, Z:-2.57 [[ 4.26734699e-01 -9.04362113e-01 -5.16384859e-03 1.59141290e+02] [ 9.04299872e-01 4.26765918e-01 -1.06110020e-02 3.73102521e+01] [ 1.17999428e-02 -1.41584848e-04 9.99930368e-01 -2.57200026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.91538475000002 meters 0.06130005730319921 Centerline is valid? [True, True] Translation: X:159.15, Y:37.34, Z:-2.57 [[ 4.28896325e-01 -9.03339434e-01 -5.08030696e-03 1.59149909e+02] [ 9.03279040e-01 4.28926398e-01 -1.04460767e-02 3.73363393e+01] [ 1.16154308e-02 -1.08650879e-04 9.99932533e-01 -2.57210705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.94538475000002 meters 0.06151684876618473 Centerline is valid? [True, True] Translation: X:159.16, Y:37.36, Z:-2.58 [[ 4.29497683e-01 -9.03054387e-01 -4.95120023e-03 1.59160989e+02] [ 9.02996899e-01 4.29526210e-01 -1.01899379e-02 3.73598810e+01] [ 1.13287384e-02 -9.43637258e-05 9.99935823e-01 -2.57564483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.97538475 meters 0.06147445150162446 Centerline is valid? [True, True] Translation: X:159.17, Y:37.38, Z:-2.57 [[ 4.28563109e-01 -9.03498520e-01 -4.90782515e-03 1.59171667e+02] [ 9.03441971e-01 4.28591198e-01 -1.01088963e-02 3.73841875e+01] [ 1.12368235e-02 -1.01635185e-04 9.99936860e-01 -2.57218123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.00538475 meters 0.06151295899603723 Centerline is valid? [True, True] Translation: X:159.18, Y:37.41, Z:-2.57 [[ 4.28257572e-01 -9.03644729e-01 -4.65358095e-03 1.59182115e+02] [ 9.03593801e-01 4.28282844e-01 -9.59417808e-03 3.74071989e+01] [ 1.06627773e-02 -9.61674817e-05 9.99943146e-01 -2.57329819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.03538475 meters 0.06171985452303561 Centerline is valid? [True, True] Translation: X:159.19, Y:37.43, Z:-2.57 [[ 4.27495921e-01 -9.04003286e-01 -5.02954940e-03 1.59191212e+02] [ 9.03943755e-01 4.27525492e-01 -1.03750187e-02 3.74333684e+01] [ 1.15293115e-02 -1.11151618e-04 9.99933529e-01 -2.57427161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.06538475 meters 0.06219711379254007 Centerline is valid? [True, True] Translation: X:159.20, Y:37.46, Z:-2.58 [[ 4.27184990e-01 -9.04146173e-01 -5.71681087e-03 1.59203374e+02] [ 9.04069164e-01 4.27223222e-01 -1.18011058e-02 3.74571596e+01] [ 1.31122790e-02 -1.27137183e-04 9.99914022e-01 -2.57963857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.09538475 meters 0.06219711379254007 Centerline is valid? [True, True] Translation: X:159.21, Y:37.48, Z:-2.58 [[ 4.26878586e-01 -9.04290905e-01 -5.71241268e-03 1.59214075e+02] [ 9.04213880e-01 4.26916787e-01 -1.18032364e-02 3.74800028e+01] [ 1.31122842e-02 -1.26693979e-04 9.99914022e-01 -2.57997594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.12538475 meters 0.0628209068282883 Centerline is valid? [True, True] Translation: X:159.23, Y:37.50, Z:-2.58 [[ 4.23311942e-01 -9.05965921e-01 -5.72280959e-03 1.59228967e+02] [ 9.05888696e-01 4.23350587e-01 -1.18301119e-02 3.75005984e+01] [ 1.31404330e-02 -1.76400893e-04 9.99913645e-01 -2.58148518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.15538475 meters 0.06318269263224321 Centerline is valid? [True, True] Translation: X:159.25, Y:37.52, Z:-2.58 [[ 4.18587874e-01 -9.08158699e-01 -5.65406033e-03 1.59245351e+02] [ 9.08083371e-01 4.18625991e-01 -1.16992037e-02 3.75222051e+01] [ 1.29916702e-02 -2.37213351e-04 9.99915577e-01 -2.58020786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.18538475 meters 0.06397336458835505 Centerline is valid? [True, True] Translation: X:159.26, Y:37.54, Z:-2.58 [[ 4.17092069e-01 -9.08846869e-01 -5.61913832e-03 1.59259857e+02] [ 9.08772397e-01 4.17129842e-01 -1.16372064e-02 3.75438607e+01] [ 1.29203489e-02 -2.52731296e-04 9.99916497e-01 -2.58310131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.21538475 meters 0.06378547958262427 Centerline is valid? [True, True] Translation: X:159.27, Y:37.57, Z:-2.58 [[ 4.15612074e-01 -9.09523688e-01 -5.76759205e-03 1.59271001e+02] [ 9.09445178e-01 4.15651999e-01 -1.19534480e-02 3.75676204e+01] [ 1.32692553e-02 -2.77311450e-04 9.99911921e-01 -2.58245421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.24538475 meters 0.06436313012073111 Centerline is valid? [True, True] Translation: X:159.28, Y:37.59, Z:-2.58 [[ 4.14114503e-01 -9.10205462e-01 -5.93253482e-03 1.59283185e+02] [ 9.10122325e-01 4.14156884e-01 -1.23056307e-02 3.75896473e+01] [ 1.36576524e-02 -3.03392234e-04 9.99906684e-01 -2.58345088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.27538475 meters 0.06456433360252097 Centerline is valid? [True, True] Translation: X:159.29, Y:37.61, Z:-2.58 [[ 4.13015661e-01 -9.10706402e-01 -5.64909734e-03 1.59294480e+02] [ 9.10630923e-01 4.13054184e-01 -1.17287129e-02 3.76132073e+01] [ 1.30147973e-02 -3.00100591e-04 9.99915259e-01 -2.58498864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.30538475 meters 0.06631590765496347 Centerline is valid? [True, True] Translation: X:159.31, Y:37.63, Z:-2.59 [[ 4.10484757e-01 -9.11853727e-01 -5.00435765e-03 1.59309483e+02] [ 9.11794474e-01 4.10515156e-01 -1.03992727e-02 3.76343422e+01] [ 1.15369803e-02 -2.94202706e-04 9.99933404e-01 -2.58729806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.33538475 meters 0.06667074081068823 Centerline is valid? [True, True] Translation: X:159.32, Y:37.66, Z:-2.58 [[ 4.06698655e-01 -9.13551847e-01 -4.38476356e-03 1.59322546e+02] [ 9.13506377e-01 4.06722183e-01 -9.11952434e-03 3.76572147e+01] [ 1.01145389e-02 -2.96611191e-04 9.99948803e-01 -2.58450649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.36538475 meters 0.06799476902842379 Centerline is valid? [True, True] Translation: X:159.34, Y:37.68, Z:-2.58 [[ 4.03138737e-01 -9.15130987e-01 -3.79936361e-03 1.59337159e+02] [ 9.15096839e-01 4.03156537e-01 -7.91086926e-03 3.76781896e+01] [ 8.77121987e-03 -2.87607790e-04 9.99961491e-01 -2.58428278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.39538475 meters 0.07065318932856283 Centerline is valid? [True, True] Translation: X:159.35, Y:37.70, Z:-2.58 [[ 3.98239143e-01 -9.17277583e-01 -2.72421437e-03 1.59352911e+02] [ 9.17260049e-01 3.98248390e-01 -5.67643337e-03 3.76985209e+01] [ 6.29177907e-03 -2.38235043e-04 9.99980178e-01 -2.58289001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.42538475 meters 0.07256572970184816 Centerline is valid? [True, True] Translation: X:159.37, Y:37.72, Z:-2.58 [[ 3.94287029e-01 -9.18983565e-01 -2.63570008e-03 1.59368763e+02] [ 9.18967155e-01 3.94295756e-01 -5.49770520e-03 3.77202541e+01] [ 6.09154607e-03 -2.54447951e-04 9.99981414e-01 -2.58329683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.45538475 meters 0.07308221176101015 Centerline is valid? [True, True] Translation: X:159.38, Y:37.74, Z:-2.58 [[ 3.86000640e-01 -9.22497113e-01 -1.60700008e-03 1.59381584e+02] [ 9.22491015e-01 3.86003940e-01 -3.35940503e-03 3.77434228e+01] [ 3.71934980e-03 -1.85710645e-04 9.99993066e-01 -2.58023099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.48538475 meters 0.07426301476786236 Centerline is valid? [True, True] Translation: X:159.40, Y:37.77, Z:-2.58 [[ 3.83637696e-01 -9.23483402e-01 -7.23808175e-04 1.59395170e+02] [ 9.23482156e-01 3.83638369e-01 -1.51958829e-03 3.77666862e+01] [ 1.68099515e-03 -8.54525854e-05 9.99998583e-01 -2.57899301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.51538475 meters 0.07500742697875248 Centerline is valid? [True, True] Translation: X:159.41, Y:37.79, Z:-2.58 [[ 3.81815867e-01 -9.24238404e-01 -1.23662875e-04 1.59408457e+02] [ 9.24238366e-01 3.81815887e-01 -2.67972051e-04 3.77897371e+01] [ 2.94886510e-04 -1.19779921e-05 9.99999956e-01 -2.57736195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.54538475 meters 0.07235916129846709 Centerline is valid? [True, True] Translation: X:159.42, Y:37.82, Z:-2.57 [[ 3.76236312e-01 -9.26521977e-01 1.80670295e-03 1.59418050e+02] [ 9.26514364e-01 3.76240562e-01 3.76463346e-03 3.78152916e+01] [-4.16777057e-03 2.57544425e-04 9.99991282e-01 -2.57208111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.57538475 meters 0.07531473065837314 Centerline is valid? [True, True] Translation: X:159.44, Y:37.83, Z:-2.57 [[ 3.69496193e-01 -9.29221537e-01 4.46084800e-03 1.59439687e+02] [ 9.29175088e-01 3.69522452e-01 9.31732771e-03 3.78341623e+01] [-1.03062451e-02 7.02191721e-04 9.99946643e-01 -2.57240704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.60538475 meters 0.07894914253142474 Centerline is valid? [True, True] Translation: X:159.46, Y:37.85, Z:-2.57 [[ 3.68764169e-01 -9.29507646e-01 5.34086187e-03 1.59459009e+02] [ 9.29440959e-01 3.68801872e-01 1.11661669e-02 3.78540017e+01] [-1.23487573e-02 8.46333543e-04 9.99923393e-01 -2.57141607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.63538475000001 meters 0.0773210905549174 Centerline is valid? [True, True] Translation: X:159.47, Y:37.88, Z:-2.57 [[ 3.67327096e-01 -9.30058858e-01 7.83100950e-03 1.59470057e+02] [ 9.29915279e-01 3.67408395e-01 1.63904139e-02 3.78786364e+01] [-1.81212283e-02 1.26153224e-03 9.99835001e-01 -2.56807433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.66538475000002 meters 0.07787892645819552 Centerline is valid? [True, True] Translation: X:159.48, Y:37.90, Z:-2.57 [[ 3.66978803e-01 -9.30190191e-01 8.53037348e-03 1.59482711e+02] [ 9.30019548e-01 3.67075356e-01 1.78696064e-02 3.79025345e+01] [-1.97534224e-02 1.37564733e-03 9.99803936e-01 -2.56682545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.69538475000002 meters 0.077770863011836 Centerline is valid? [True, True] Translation: X:159.50, Y:37.93, Z:-2.56 [[ 3.68543166e-01 -9.29554491e-01 1.02167644e-02 1.59496089e+02] [ 9.29308988e-01 3.68681284e-01 2.14223202e-02 3.79261485e+01] [-2.36799437e-02 1.59948129e-03 9.99718311e-01 -2.56340948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.72538475 meters 0.07843542952623342 Centerline is valid? [True, True] Translation: X:159.51, Y:37.95, Z:-2.56 [[ 3.67563214e-01 -9.29934108e-01 1.09470315e-02 1.59509714e+02] [ 9.29651913e-01 3.67722112e-01 2.29732415e-02 3.79495314e+01] [-2.53890664e-02 1.73281029e-03 9.99676144e-01 -2.56253945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.75538475 meters 0.07973190202750922 Centerline is valid? [True, True] Translation: X:159.52, Y:37.97, Z:-2.56 [[ 3.67612663e-01 -9.29891385e-01 1.27648900e-02 1.59523472e+02] [ 9.29506889e-01 3.67828738e-01 2.68134990e-02 3.79710947e+01] [-2.96289351e-02 2.00807139e-03 9.99558950e-01 -2.55998559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.78538475 meters 0.07911939935007667 Centerline is valid? [True, True] Translation: X:159.53, Y:37.99, Z:-2.56 [[ 3.69103281e-01 -9.29295710e-01 1.31244341e-02 1.59534871e+02] [ 9.28888120e-01 3.69331095e-01 2.75935167e-02 3.79947166e+01] [-3.04897984e-02 2.00627340e-03 9.99533065e-01 -2.56028371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 2889.85 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%| | 0/6460 [00:00